Wireless power transmission system and wireless power charging method using same

Abstract

A wireless power transmission system is provided on a travel path of a multi-legged walking robot so as to wirelessly transmit power. The wireless power transmission system comprises unit tiles, a power transmission circuit and a controller. The unit tiles include transmission electrodes and are modularized to be continuously arranged. The power transmission circuit applies an alternating current voltage to generate a capacitive electric field, thereby transmitting power to reception electrodes attached to soles. The controller controls the multi-legged walking robot and / or the power transmission circuit such that capacitive coupling between the reception electrodes and the transmission electrodes is maintained. Therefore, the multi-legged walking robot can be reliably and wirelessly charged even while moving.

Description

Wireless power transmission system and wireless power charging method using the same

[0001] The present disclosure relates to a wireless power transmission system and a wireless power charging method using the same, and more specifically, to a wireless power transmission system that wirelessly transmits power through capacitive coupling during the charging of a multi-legged walking robot and a wireless power charging method using the same.

[0002] Conventional wireless charging technology primarily utilizes magnetic induction or magnetic resonance methods. However, these methods have the following problems.

[0003] First, most systems can only be charged at specific charging stations. Consequently, the robot must stop its work and return to that location, which reduces operational efficiency.

[0004] Second, to ensure sufficient working time for mobile robots, they must be equipped with high-capacity batteries. However, increasing the battery size increases the robot's weight, which reduces mobility efficiency and causes issues with the durability of load-bearing structures.

[0005] Third, conversely, reducing battery capacity shortens the charging cycle, requiring the robot to return frequently for recharging. This also significantly impedes work continuity.

[0006] Fourth, while there are cases where wireless charging during operation has been applied to wheeled robots, this is based on the premise that the wheels remain in contact with the ground. Since the feet of bipedal or humanoid robots detach periodically, it is difficult to apply the same method.

[0007] As such, conventional technology fails to provide a structure that allows a bipedal robot to move freely while continuously receiving power. Consequently, there is a problem in that it is difficult to guarantee continuous operation of the robot in actual work environments.

[0008] To solve the above-mentioned problems, one objective of the present disclosure is to provide a wireless power transmission system capable of stable wireless charging during the movement of a multi-legged walking robot.

[0009] Another objective of the present disclosure is to provide a wireless power charging method capable of stable wireless charging during the movement of a multi-legged walking robot.

[0010] A wireless power transmission system according to embodiments of the present disclosure for achieving the above objective is installed in the driving path of a multi-legged walking robot having a plurality of legs and wirelessly transmits power to the multi-legged walking robot. The wireless power transmission system includes a unit tile, a power transmission circuit, and a control unit. The unit tile includes a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode, and is modularized so as to be arranged continuously. The power transmission circuit generates a capacitive electric field by applying an alternating voltage to the first transmitting electrode and the second transmitting electrode to transmit power to the first receiving electrode and the second receiving electrode attached to the soles of two legs of the multi-legged walking robot. The control unit controls at least one of the multi-legged walking robot and the power transmission circuit so that capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode.

[0011] In one embodiment, the control unit may command or perform a selection operation for detecting the first receiving electrode and the second receiving electrode of the multi-legged walking robot, a ping operation for transmitting a detection signal to the multi-legged walking robot and receiving a response from the unit tile, an identification and configuration operation for receiving information about the ID and control parameters of the multi-legged walking robot, and a power transfer operation for transmitting power to the unit tile.

[0012] In one embodiment, the control unit may command or perform at least one of foreign object detection (FOD) for detecting foreign objects in a charging area, calibration for correcting the reported value of the multi-legged walking robot, power negotiation for determining power for charging with the multi-legged walking robot, renegotiation for performing a negotiation procedure again for a new power contract, and control and termination for terminating a session.

[0013] In one embodiment, the control unit can control the multi-legged walking robot such that the center of the multi-legged walking robot or the midpoint of the virtual line connecting the first receiving electrode and the second receiving electrode is located in the central area of ​​the unit tile.

[0014] In one embodiment, the unit tile may have a square shape in which a plurality of unit tiles can be continuously arranged along a first direction and a second direction perpendicular to the first direction, and the unit tile may include a first tile and a second tile corresponding to two triangular shapes formed by dividing by the diagonal of the square shape, and the first tile and the second tile may each include the first transmitting electrode and the second transmitting electrode.

[0015] In one embodiment, the plurality of unit tiles may be arranged continuously in an upright manner, and the first tile and the second tile may be repeatedly arranged in the order of the first tile and the second tile along the first direction, and may be repeatedly arranged in the order of the first tile and the second tile along the second direction.

[0016] In one embodiment, the control unit can control the multi-legged walking robot such that when the multi-legged walking robot stops, the first receiving electrode and the second receiving electrode of the multi-legged walking robot are positioned apart in the first direction or the second direction.

[0017] In one embodiment, the control unit can control the multi-legged walking robot to move in the first direction or the second direction when the multi-legged walking robot moves.

[0018] In one embodiment, the plurality of unit tiles may be arranged continuously in the order of upright and inverted, and the first tile and the second tile may be repeatedly arranged along the first direction in the order of the first tile, the second tile, the second tile, and the first tile, and may be repeatedly arranged along the second direction in the order of the first tile, the second tile, the second tile, and the first tile.

[0019] In one embodiment, the control unit can control the multi-legged walking robot such that when the multi-legged walking robot stops, the first receiving electrode and the second receiving electrode of the multi-legged walking robot are positioned spaced apart from the first direction and the second direction and inclined direction.

[0020] In one embodiment, the control unit can control the multi-legged walking robot to move in the first direction and the second direction and in an inclined direction when the multi-legged walking robot moves.

[0021] In one embodiment, the control unit can control the multi-legged walking robot such that the triangular shapes of the first tile and the second tile correspond to the first receiving electrode and the second receiving electrode, respectively.

[0022] In one embodiment, the control unit can control the polarity of the alternating voltage applied to the first transmitting electrode and the second transmitting electrode of the power transmitting circuit according to the position of the multi-legged walking robot.

[0023] A wireless power charging method for a multi-legged walking robot according to embodiments of the present disclosure for achieving the above objective is performed by a multi-legged walking robot that receives power wirelessly by a wireless power transmission system. The wireless power charging method comprises the steps of: controlling the movement of the multi-legged walking robot on a modular unit tile that includes a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode, wherein the center of the multi-legged walking robot, including a first receiving electrode and a second receiving electrode that contact a driving path, is positioned at the center of the unit tile; receiving power to the first receiving electrode and the second receiving electrode from a capacitive electric field generated by an alternating voltage applied to the first transmitting electrode and the second transmitting electrode through a power transmission circuit; and controlling the multi-legged walking robot such that a capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode.

[0024] In one embodiment, the wireless power charging method may further include a ping step of receiving a detection signal from the unit tile and transmitting a response to the unit tile, an identification and configuration step of transmitting information regarding the ID and control parameters of the multi-legged walking robot to the unit tile, and a power transfer step of receiving power transmitted from the unit tile.

[0025] In one embodiment, the wireless power charging method may further include at least one of a foreign object detection (FOD) step for detecting a foreign object in a charging area, a calibration step for correcting a reported value of the multi-legged walking robot, a power negotiation step for determining power for charging with the wireless power transmission system, a renegotiation step for performing a negotiation procedure again for a new power contract, and a control and termination step for terminating a session.

[0026] A wireless power charging method for a multi-legged walking robot according to embodiments of the present disclosure for achieving the above objective is performed by a wireless power transmission system that wirelessly transmits power to the multi-legged walking robot. The wireless power charging method includes a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode, and a step of detecting whether the center of the multi-legged walking robot, which includes a first receiving electrode and a second receiving electrode in contact with a driving path on a unit tile that is modularized to be continuously arranged, is located in the central region of the unit tile; a step of generating a capacitive electric field by applying an alternating voltage to the first transmitting electrode and the second transmitting electrode to transmit power to the first receiving electrode and the second receiving electrode through a power transmission circuit; and a step of controlling the power transmission circuit so that a capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode.

[0027] In one embodiment, the wireless power charging method may further include a selection step for detecting the first receiving electrode and the second receiving electrode of the multi-legged walking robot, a ping step for transmitting a detection signal to the multi-legged walking robot and receiving a response from the unit tile, an identification and configuration step for receiving information about the ID and control parameters of the multi-legged walking robot, and a power transfer step for transmitting power to the unit tile.

[0028] In one embodiment, the method may further include at least one of a foreign object detection (FOD) step for detecting foreign objects in a charging area, a calibration step for correcting the reported value of the multi-legged walking robot, a power negotiation step for determining power for charging with the wireless power transmission system, a renegotiation step for performing a negotiation procedure again for a new power contract, and a control and termination step for terminating the session.

[0029] In one embodiment, the method may further include the step of controlling the multi-legged walking robot such that the center of the multi-legged walking robot or the midpoint of the virtual line connecting the first receiving electrode and the second receiving electrode is located in the central area of ​​the unit tile.

[0030] According to embodiments of the present disclosure, by employing a modular floor tile structure and controlling at least one of a multi-legged walking robot and a power transmission circuit such that a capacitive coupling is maintained between the receiving electrodes of the multi-legged walking robot and the transmitting electrodes of the unit tile, stable wireless charging can be performed even while the multi-legged walking robot is moving.

[0031] In addition, constraints on the charging location can be minimized, and continuous charging can be achieved in various directions of movement through a modular floor tile structure. Furthermore, by omitting a large-capacity battery, lightweighting and work continuity of the multi-legged walking robot can be achieved.

[0032] FIG. 1 is a conceptual diagram for explaining a wireless power transmission system according to one embodiment of the present disclosure.

[0033] Figure 2 is a conceptual diagram illustrating a multi-legged walking robot and a power transmission circuit of the wireless power transmission system of Figure 1.

[0034] FIGS. 3 and FIGS. 4 are conceptual diagrams illustrating the receiving electrodes and transmitting electrodes of FIG. 1.

[0035] FIG. 5 is a conceptual diagram illustrating an example of the arrangement of unit tiles of FIG. 1.

[0036] FIG. 6 is a conceptual diagram illustrating another embodiment of the arrangement of unit tiles of FIG. 1.

[0037] Wireless charging method

[0038] FIG. 7 is a flowchart illustrating a wireless charging method according to one embodiment of the present disclosure.

[0039] FIG. 8 is a flowchart illustrating a wireless charging method according to one embodiment of the present disclosure.

[0040] FIG. 9 is a block diagram illustrating a generalized configuration of hardware included in or associated with a wireless power charging system of the present disclosure, which controls a sequence for wireless power transmission.

[0041] The present disclosure is susceptible to various modifications and may have various embodiments; specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present disclosure to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the present disclosure. Similar reference numerals have been used for similar components in the description of each drawing.

[0042] Terms such as first, second, A, B, etc., may be used to describe various components, but said components shall not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0043] In the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B". Additionally, in the embodiments of the present application, "at least one of A and B" may mean "at least one of A or B" or "at least one of one or more combinations of A and B".

[0044] When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

[0045] The terms used in this application are used merely to describe specific embodiments and are not intended to limit the disclosure. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as “comprising” or “having” are intended to specify the presence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0046] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this disclosure pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0047] Meanwhile, even if technology is known prior to the filing date of this application, it may be included as part of the composition of this application disclosure if necessary, and such details are described in this specification to the extent that they do not obscure the intent of this disclosure. However, in describing the composition of this application disclosure, detailed descriptions of matters that are known prior to the filing date and are obvious to those skilled in the art may obscure the intent of this disclosure, so overly detailed descriptions of known technology are omitted.

[0048] Hereinafter, preferred embodiments of the present disclosure will be described in more detail with reference to the attached drawings. In order to facilitate an overall understanding of the present disclosure, the same reference numerals are used for identical components in the drawings, and redundant descriptions of identical components are omitted.

[0049] FIG. 1 is a conceptual diagram for explaining a wireless power transmission system according to one embodiment of the present disclosure. FIG. 2 is a conceptual diagram illustrating a multi-legged walking robot and a power transmission circuit (120) of the wireless power transmission system of FIG. 1.

[0050] Referring to FIGS. 1 and 2, according to one embodiment of the present disclosure, a wireless power transmission system (100) installed in the driving path of a multi-legged walking robot (10) having a plurality of legs and wirelessly transmitting power to the multi-legged walking robot (10) comprises a unit tile (110), a power transmission circuit (120), and a control unit (130).

[0051] In the present disclosure, “multi-legged robot (or robot capable of multi-legged locomotion)” refers to a legged robot that walks using two or more legs, and may also include a configuration in which wheels are mounted on the legs to drive on wheels, or a hybrid configuration combining leg walking and wheel driving. Here, “multi-legged” may include two or more legs, feet, wheels, etc., and “locomotion” may include walking motion, rolling motion using wheels, or a combination thereof.

[0052] In addition, the charging process in which the wireless power transmission system (100) wirelessly transmits power to the multi-legged walking robot (10) can be performed not only when the multi-legged walking robot (10) is stationary, but also when it is operating, driving, walking, or locomotion.

[0053] The above-mentioned operation refers to the act of the multi-legged walking robot (10) performing general tasks or functions; the above-mentioned driving refers to the act of the multi-legged walking robot (10) driving using wheels or a moving device; the above-mentioned walking refers to the act of the multi-legged walking robot (10) walking; and the above-mentioned locomotion refers to the act of the multi-legged walking robot (10) collectively performing the specific locomotions (driving, walking) described above.

[0054] That is, the above-mentioned multi-legged walking robot (10) can be automatically charged in a stationary state or in any activity state (working, driving, walking, moving).

[0055] The above unit tile (110) includes a first transmitting electrode (112e) and a second transmitting electrode (114e) having a polarity different from that of the first transmitting electrode (112e), and is modularized so as to be arranged continuously.

[0056] That is, the unit tile (110) is modularized so that the electrode array can be continuously expanded between adjacent unit tiles (110). Thus, when a plurality of unit tiles (110) are combined, a transmitting electrode array capable of applying alternating current voltage over the entire area can be formed.

[0057] The power transmission circuit (120) generates a capacitive electric field by applying an alternating voltage to the first transmitting electrode (112e) and the second transmitting electrode (114e) so as to transmit power to the first receiving electrode (12e) and the second receiving electrode (14e) attached to the soles (12, 14) of the two legs of the multi-legged walking robot (10).

[0058] That is, the power transmission circuit (120) can control the voltage phase, magnitude, or frequency so that capacitive coupling is maintained between the first and second receiving electrodes (12e, 14e) and the first and second transmitting electrodes (112e, 114e) when the multi-legged walking robot (10) periodically lifts its legs or has the soles of its feet come into contact with the floor while walking.

[0059] The control unit (130) controls at least one of the multi-legged walking robot and the power transmission circuit (120) so that capacitive coupling is maintained between the first receiving electrode (12e) and the second receiving electrode (14e) and the first transmitting electrode (112e) and the second transmitting electrode (114e).

[0060] That is, the control unit (130) can control the walking motion of the multi-legged walking robot (10), control the operation parameters of the power transmission circuit (120), or control both, so that capacitive coupling between the first and second receiving electrodes (12e, 14e) and the first and second transmitting electrodes (112e, 114e) is stably maintained. Accordingly, the control unit (130) enables the multi-legged walking robot (10) to stably receive wireless power not only when stationary but also while moving.

[0061] Meanwhile, the power supplied to the multi-legged walking robot (10) through the first and second receiving electrodes (12e, 14e) can be charged to an on-board charger (OBC) (16) mounted on the robot.

[0062] In this way, by adopting a modular floor tile structure and controlling at least one of the multi-legged walking robot and the power transmission circuit so that capacitive coupling is maintained between the receiving electrodes of the multi-legged walking robot and the transmitting electrodes of the unit tile, stable wireless charging can be performed even while the multi-legged walking robot is moving.

[0063] FIGS. 3 and FIGS. 4 are conceptual diagrams illustrating the receiving electrodes and transmitting electrodes of FIG. 1.

[0064] Referring to FIGS. 1 to 4, in one embodiment, the unit tile (110) may have a square shape in which a plurality of unit tiles (110) can be arranged continuously, and the unit tile (110) may include a first tile (112) and a second tile (114) corresponding to two triangular shapes formed by dividing the square shape by a diagonal. Additionally, the first tile (112) and the second tile (114) may each include the first transmitting electrode (112e) and the second transmitting electrode (114e).

[0065] The first transmitting electrode (112e) and the second transmitting electrode (114e) may be formed adjacently with an electrically insulated boundary between them, and the first transmitting electrode (112e) and the second transmitting electrode (114e) may be arranged symmetrically with respect to the diagonal boundary of the unit tile (110). The adjacent unit tiles (110) may have alternating complementary polarities or be arranged according to a certain rule. Thus, when a plurality of unit tiles (110) are combined, a transmitting electrode array is formed to which an alternating voltage is applied over the entire area, and the capacitive electric field can be uniformly expanded.

[0066] The central region (CR) defined at the center of the unit tile (110) may be formed in a circular or polygonal shape, for example. The boundary of the central region (CR) may be spaced apart from the boundary of the first transmitting electrode (112e) and the second transmitting electrode (114e) at a certain distance, as shown in FIGS. 3 and 4. The central region (CR) may be used as a reference point where the center (CG) (or center of gravity) of the multi-legged walking robot (10) or the projection center of the first and second receiving electrodes (12e, 14e) is located.

[0067] In one embodiment, the control unit (130) can control the multi-legged walking robot (10) such that the triangular shapes of the first tile (112) and the second tile (114) correspond to the first receiving electrode (12e) and the second receiving electrode (14e), respectively.

[0068] In addition, in one embodiment, the control unit (130) can control the multi-legged walking robot (10) so that the center (CG) of the multi-legged walking robot (10) is located in the central area (CR) of the unit tile (110).

[0069] Specifically, the control unit (130) can control the multi-legged walking robot (10) so that when observed on a plane, the center (CG) (or center of gravity) of the multi-legged walking robot (10) is positioned in the central area (CR) of the unit tile (110) and does not deviate from the center, and accordingly, the capacitive coupling between the first and second receiving electrodes (12e, 14e) and the first and second transmitting electrodes (112e, 114e) can be stably maintained even while the multi-legged walking robot (10) is in a stationary state or performing a specific operation.

[0070] In addition, in one embodiment, the control unit (130) can control the multi-legged walking robot (10) such that the midpoint (CP) of the virtual line (VL) connecting the first receiving electrode (12e) and the second receiving electrode (14e) is located in the central area (CR) of the unit tile (110).

[0071] Specifically, the multi-legged walking robot (10) is controlled so that the midpoint (CP) of the virtual line (VL) connecting the first receiving electrode (12e) and the second receiving electrode (14e) is located in the central area (CR) without being skewed to one side with respect to the unit tile (110), thereby positioning the first and second receiving electrodes (12e, 14e) correspondingly within the first and second transmitting electrodes (112e, 114e), respectively, so that the capacitive coupling between the first and second receiving electrodes (12e, 14e) and the first and second transmitting electrodes (112e, 114e) can be stably maintained even while the multi-legged walking robot (10) is in a stationary state or performing a specific operation.

[0072] Meanwhile, the virtual line (VL) connecting the first receiving electrode (12e) and the second receiving electrode (14e) can be controlled to be substantially parallel to the horizontal direction (first direction; D1) or vertical direction (second direction; D2) of the unit tile (110), as shown in FIGS. 3 and 4. In this case, in an example where the unit tile (110) has a generally square shape, the virtual line (VL) can form an angle of approximately 45 degrees with the diagonal of the unit tile (110), and thus the first receiving electrode (12e) and the second receiving electrode (14e) can be stably corresponded to the first transmitting electrode (112e) and the second transmitting electrode (114e), respectively, having different polarities.

[0073] The control unit (130) can integrally perform position control to maintain the center of gravity (CG) or the midpoint (CP) of the virtual line (VL) inside the central area (CR), and direction control to align the virtual line (VL) with the horizontal direction (first direction; D1) or vertical direction (second direction; D2) of the unit tile (110), thereby enabling the multi-legged walking robot (10) to stably receive wireless power not only in a stationary state but also during walking and rotation movements.

[0074] In one embodiment, the control unit (130) can correct the direction of the virtual line (VL), and the correction can be performed based on real-time capacitive coupling values. For example, the control unit (130) can estimate a direction error by calculating the difference in coupling magnitude detected at the first receiving electrode (12e) and the second receiving electrode (14e), and can adjust the yaw angle if the error exceeds an allowable range. Additionally, since coupling imbalance may temporarily occur during the walking phase transition process (e.g., a single support section where one foot is lifted), the control unit (130) can perform control that strengthens the correction amount in the two-foot support section and relaxes the correction amount in the single support section.

[0075] Additionally, if movement to an adjacent unit tile (110) is anticipated, the control unit (130) can predict the target central area (CR) in advance to plan a walking path and control the power transmission circuit (120) to drive the transmission electrodes of the adjacent unit tile (110) in advance. At the same time, the transmission electrodes of the existing unit tile (110) are attenuated in stages so that the reduction in power transmission efficiency due to discontinuities in the electric field can be mitigated.

[0076] FIG. 5 is a conceptual diagram illustrating an example of the arrangement of unit tiles of FIG. 1.

[0077] Referring to FIG. 5, in one embodiment, the plurality of unit tiles (110) may be arranged continuously in an upright manner, and accordingly, the first tile (112) and the second tile (114) may be repeatedly arranged in the order of the first tile (112) and the second tile (114) along a first direction (D1), and may be repeatedly arranged in the order of the first tile (112) and the second tile (114) along a second direction (D2) perpendicular to the first direction (D1). In the present disclosure, the upright manner is defined as the form of the unit tile (110) shown in FIG. 3 and FIG. 4, in which the first tile (112) is located on the upper left side and the second tile (114) is located on the lower right side.

[0078] In one embodiment, the control unit (130) can control the multi-legged walking robot (10) so that when the multi-legged walking robot (10) stops, the first receiving electrode (12e) and the second receiving electrode (14e) of the multi-legged walking robot (10) are positioned apart in the first direction (D1) or the second direction (D2). For example, the control unit (130) can control the posture of the multi-legged walking robot (10) so that the multi-legged walking robot (10) faces the direction of the arrow shown in FIG. 5, for example, the first direction (D1) or the second direction (D2).

[0079] Through this, the first and second receiving electrodes (12e, 14e) can be positioned to correspond to the first transmitting electrode (112e) and the second transmitting electrode (114e), each having different polarities, and as a result, the capacitive coupling can be stably maintained even while the robot performs a work operation in a stationary state. Here, "stationary" means the cessation of walking motion, and other operations, such as work using a robot arm or sensor, can be performed simultaneously.

[0080] In one embodiment, the control unit (130) can control the multi-legged walking robot (10) to move in the first direction (D1) or the second direction (D2) when the multi-legged walking robot (10) moves. For example, the control unit (130) can control the direction of movement of the multi-legged walking robot (10) so that the multi-legged walking robot (10) moves in the direction of the arrow shown in FIG. 5.

[0081] Thus, the multi-legged walking robot (10) can walk by aligning its movement path with the arrangement direction of the unit tile (110), so that the contact point of the foot always alternately corresponds to the first transmitting electrode (112e) and the second transmitting electrode (114e), and the handover of power transmission between adjacent unit tiles (110) can be smoothly performed. Accordingly, the multi-legged walking robot (10) can stably maintain wireless power transmission efficiency even while moving and minimize power loss due to path deviation or electrode mismatch.

[0082] FIG. 6 is a conceptual diagram illustrating another embodiment of the arrangement of unit tiles of FIG. 1.

[0083] Referring to FIG. 6, in one embodiment, the plurality of unit tiles (110) may be arranged continuously in the order of upright and inverted, and the first tile (112) and the second tile (114) may be repeatedly arranged along a first direction (D1) in the order of the first tile (112), the second tile (114), the second tile (114), and the first tile (112), and may be repeatedly arranged along a second direction (D2) perpendicular to the first direction (D1) in the order of the first tile (112), the second tile (114), the second tile (114), and the first tile (112). In the present disclosure, the inverted type is defined as an inverted form of the unit tile (110) shown in FIGS. 3 and 4, in which the second tile (114) is located on the upper left side and the first tile (112) is located on the lower right side.

[0084] In one embodiment, the control unit (130) can control the multi-legged walking robot (10) so that when the multi-legged walking robot (10) stops, the first receiving electrode (12e) and the second receiving electrode (14e) of the multi-legged walking robot (10) are positioned apart from the first direction (D1) and the second direction (D2) in an inclined direction (e.g., a 45-degree inclined direction). For example, the control unit (130) can control the posture of the multi-legged walking robot (10) so that the multi-legged walking robot (10) faces the direction of the arrow shown in FIG. 6, for example, the first direction (D1) or the second direction (D2) in an inclined direction at 45 degrees.

[0085] Through this, corresponding to the electrode pattern of the alternately arranged unit tiles (110), the first and second receiving electrodes (12e, 14e) can be stably corresponded to the first and second transmitting electrodes (112e, 114e) having different polarities in an orientation facing an inclined direction, and the capacitive coupling can be stably maintained.

[0086] In one embodiment, the control unit (130) can control the multi-legged walking robot (10) to move in an inclined direction with respect to the first direction (D1) and the second direction (D2) when the multi-legged walking robot (10) moves. For example, the control unit (130) can control the direction of movement of the multi-legged walking robot (10) so that the multi-legged walking robot (10) moves in the direction of the arrow shown in FIG. 6.

[0087] That is, the movement path of the multi-legged walking robot (10) may be a direction parallel to the diagonal direction of the unit tile (110), and as a result, the foot contact points of the multi-legged walking robot (10) during walking correspond sequentially to the first transmitting electrode (112e) and the second transmitting electrode (114e) arranged alternately, so that the handover of power transmission between adjacent unit tiles (110) can be smoothly performed. Accordingly, the multi-legged walking robot (10) can stably receive wireless power not only in a stationary state but also when moving in an inclined direction, and can minimize discontinuity or efficiency degradation of power transmission.

[0088] Meanwhile, the square shape of the unit tile (110) and the triangular shapes of the first tile (112) and the second tile (114) may be various shapes if, depending on the path of the multi-legged walking robot (10), the first and second receiving electrodes (12e, 14e) correspond to the first and second transmitting electrodes (112e, 114e) having different polarities when stopped and / or moving.

[0089] In one embodiment, as shown in FIGS. 3 to 6, the square shape of the unit tile (110) may include a square shape, and the triangular shapes of the first tile (112) and the second tile (114) may include a right isosceles triangle shape that defines the square.

[0090] In another embodiment, the triangular shapes of the first tile (112) and the second tile (114) may include equilateral triangle shapes. In this case, the square shape of the unit tile (110) may have a parallelogram shape formed by combining two equilateral triangles.

[0091] In one embodiment, the control unit (130) can control the polarity of the alternating voltage applied to the first transmitting electrode (112e) and the second transmitting electrode (114e) of the power transmitting circuit (120) according to the position of the multi-legged walking robot (10).

[0092] That is, the control unit (130) can dynamically control the polarity of the alternating current voltage applied to the first transmitting electrode (112e) and the second transmitting electrode (114e) controlled by the power transmitting circuit (120) according to the position of the multi-legged walking robot (10).

[0093] Specifically, the control unit (130) detects whether the grounding position of the first receiving electrode (12e) and the second receiving electrode (14e) of the multi-legged walking robot (10) corresponds to the first tile (112) and the second tile (114) of the unit tile (110), and by switching the phase or polarity of the voltage applied to the first transmitting electrode (112e) and the second transmitting electrode (114e) according to the position, each receiving electrode can be coupled with a transmitting electrode of a different polarity.

[0094] When the polarity of the alternating voltage is controlled in this way, it is possible to prevent the first and second receiving electrodes (12e, 14e) from being simultaneously positioned on the transmitting electrode of the same polarity, even when the multi-legged walking robot (10) rotates its direction on the unit tile (110) or moves along an electrode array in which a forward arrangement and an alternating arrangement are mixed. Therefore, the reduction in efficiency of the capacitive coupling is minimized, and the multi-legged walking robot (10) can stably receive wireless power even while moving.

[0095] In one embodiment, a wireless power charging system employing the wireless power transmission system (100) wirelessly transmits and receives power on the driving path of a multi-legged walking robot (10) having multiple legs, and may have a configuration including the multi-legged walking robot (10), the unit tile (110), the power transmission circuit (120), and the control unit (130).

[0096] Hereinafter, a wireless charging method using the above-described wireless power transmission system (100) or the above-described wireless power charging system will be described in more detail with reference to the drawings.

[0097] FIG. 7 is a flowchart illustrating a wireless charging method according to one embodiment of the present disclosure.

[0098] Referring to FIGS. 1 to 7, a wireless power charging method for wirelessly transmitting and receiving power on the driving path of the multi-legged walking robot (10) can be performed as follows.

[0099] First, the movement of a multi-legged walking robot (10) is controlled by a control unit (130) on a modularized unit tile (110) that includes a first transmitting electrode (112e) and a second transmitting electrode (114e) having a polarity different from that of the first transmitting electrode (112e), so as to be arranged continuously, and the center of the multi-legged walking robot (10), which includes a first receiving electrode (12e) and a second receiving electrode (14e) in contact with the driving path, is controlled so that the center of the multi-legged walking robot (10) is located at the center of the unit tile (110) (S110).

[0100] Next, an alternating voltage is applied to the first transmitting electrode (112e) and the second transmitting electrode (114e) by the control unit (130) to transmit power to the first receiving electrode (12e) and the second receiving electrode (14e) through the power transmitting circuit (120) to generate a capacitive electric field (S120).

[0101] Next, at least one of the multi-legged walking robot (10) and the power transmission circuit (120) is controlled by the control unit (130) so that a capacitive coupling is maintained between the first receiving electrode (12e) and the second receiving electrode (14e) and the first transmitting electrode (112e) and the second transmitting electrode (114e) (S130).

[0102] During each of the above steps, or before and after each of the above steps, the configuration and operation of the wireless power transmission system (100) described in FIGS. 1 to 6 may be utilized.

[0103] For example, it can have the following configuration, and the following operations can be performed.

[0104] In one embodiment, in the wireless power charging method, the multi-legged walking robot (10) can be controlled by the control unit (130) so that the center of the multi-legged walking robot (10) is located in the central area (CR) of the unit tile (110).

[0105] In one embodiment, the unit tile (110) may have a square shape in which a plurality of unit tiles (110) can be arranged continuously, and the unit tile (110) may include a first tile (112) and a second tile (114) corresponding to two triangular shapes formed by dividing by the diagonal of the square shape, and the first tile (112) and the second tile (114) may each include the first transmitting electrode (112e) and the second transmitting electrode (114e).

[0106] In one embodiment, the plurality of unit tiles (110) may be arranged continuously along a first direction (D1) and a second direction (D2) perpendicular to the first direction (D1).

[0107] In one embodiment, in the wireless power charging method, the multi-legged walking robot (10) can be controlled by the control unit (130) to move in the first direction (D1) or the second direction (D1) when the multi-legged walking robot (10) moves.

[0108] Meanwhile, the wireless power transmission system (100) according to the present disclosure may follow a sequence compatible with the charging procedure of the Qi standard defined by the Wireless Power Consortium (WPC).

[0109] Specifically, the wireless power transmission system can perform a procedure consisting of a selection step, a ping step, an identification and configuration step, and a power transfer step, and in each step, communication between the multi-legged walking robot (10) corresponding to the receiver and the wireless power transmission system (100) corresponding to the transmitter can correspond to a procedure defined in the Qi standard. Accordingly, the wireless power transmission system according to the embodiments of the present disclosure can ensure interoperability with Qi-based devices.

[0110] Meanwhile, while the Qi standard is based on a power transmission method based on inductive coupling, the wireless power transmission system (100) according to the embodiments of the present disclosure transmits power using capacitive coupling. Accordingly, the wireless power transmission system (100) according to the embodiments of the present disclosure provides an environment in which power can be supplied to the robot through a tile structure placed on the driving path of the multi-legged walking robot.

[0111] Accordingly, the charging according to the present disclosure is distinguished from the charging pad-based static charging presupposed by the Qi standard, and the wireless power transmission system (100) has a differentiated technical feature of a tile-based capacitive charging structure while being compatible with the Qi procedure.

[0112] FIG. 8 is a flowchart illustrating a wireless charging method according to one embodiment of the present disclosure.

[0113] Referring to FIGS. 1 to 8, the wireless power charging method described in FIGS. 1 to 7 can be performed through the following process. Each step of the wireless power charging method can be accomplished by communication between the multi-legged walking robot (10) corresponding to the receiver and the wireless power transmission system (100) corresponding to the transmitter.

[0114] First, the wireless power transmission system (100) performs a selection step (S210) to detect the multi-legged walking robot (10). Specifically, the wireless power transmission system (100) monitors the interface surface to monitor and detect whether the first and second receiving electrodes (12e, 14e) of the multi-legged walking robot (10) are located on the surface of the unit tile (110) of the wireless power transmission system (100). At this time, it can be checked whether there is a foreign object such as a key or a coin on the surface, and if the multi-legged walking robot (10) can be selected, it goes to the next step, otherwise it returns to the selection step.

[0115] Next, a ping step is performed to receive a packet for the first time from the multi-legged walking robot (10) (S220). Specifically, this step is a step to confirm the existence of a charging target, and the wireless power transmission system (100) transmits a detection signal, i.e., a digital ping signal, to the multi-legged walking robot (10) and waits for a response from the multi-legged walking robot (10). If the response is received, the process proceeds to the next step, and if no response is received, it returns to the selection step. For example, the transmission of the detection signal and the reception of the response can be performed through the unit tile (110) and the first and second receiving electrodes (12e, 14e) of the multi-legged walking robot (10). Meanwhile, the multi-legged walking robot (10) transmits a packet to communicate with the wireless power transmission system (100), and the packet may include a preamble, a header, a message, and a checksum.

[0116] Next, an identification and configuration step is performed to receive basic information from the multi-legged walking robot (10) (S230). Specifically, when a response is received from the multi-legged walking robot (10), the wireless power transmission system (100) transmits the device ID, manufacturer code, extended ID, and relevant parameters required for power transmission from the multi-legged walking robot (10) to the wireless power transmission system (100). Through this, the wireless power transmission system (100) can determine what type of device the multi-legged walking robot (10) is, what power profile (baseline power profile; BPP or extended power profile; EPP) it supports, and up to what amount of power it can accommodate. Additionally, the wireless power transmission system (100) determines the charging mode (BPP or EPP) based on the above information and sets the power level that can be transmitted thereafter. Once the information exchange is successfully completed, the transmitter prepares to move on to the power transmission phase.

[0117] Next, a power transfer step is performed (S240) in which power is transmitted from the wireless power transmission system (100) to the multi-legged walking robot (10). Specifically, the wireless power transmission system (100) transmits actual power, and the multi-legged walking robot (10) charges the battery. During charging, the multi-legged walking robot (10) provides status feedback to the wireless power transmission system (100), and the wireless power transmission system (100) can adjust the power based on this. At the same time, a foreign object detection (FOD) function is activated, and the process transitions to a termination step upon completion of charging or the occurrence of an abnormality.

[0118] Meanwhile, the above-described wireless power charging method may further include at least one of a foreign object detection (FOD) step for detecting foreign objects in a charging area, a calibration step for correcting the reported value of the multi-legged walking robot (10), a power negotiation step for determining power for charging, a renegotiation step for performing a negotiation procedure again for a new power contract, and a control and termination step for terminating the session.

[0119] The above foreign substance detection (FOD) step performs detection of foreign substances (FOD) that may interfere with power transmission, such as metal, and can be continuously performed from the selection step until the end of power transmission.

[0120] The above calibration step is a process for increasing the accuracy of FOD (Foreign Object Detection), wherein the wireless power transmission system (100) calculates a calibration constant using the power report value of the multi-legged walking robot (10), and then uses this constant to compare the difference between the transmitted power and the received power to determine whether there is a foreign object.

[0121] The above power negotiation step can be performed in such a way that when the multi-legged walking robot (10) requests the required power in EPP (Extended Power Profile) mode, the wireless power transmission system (100) responds with supply availability conditions, and if the negotiation is successful, the power contract is confirmed.

[0122] The above renegotiation step allows the negotiation procedure to be performed again to establish a new power contract if the power requirement of the multi-legged walking robot (10) changes during the charging process (e.g., heat generation, change in charging mode).

[0123] The above control and termination step is a step of terminating the session when charging is completed normally or when abnormal situations such as overheating, detection of foreign matter, or displacement occur, and the multi-legged walking robot (10) can transmit an end power transfer packet. At this time, the end power transfer packet may include a termination reason code (normal termination, error termination, etc.).

[0124] FIG. 9 is a block diagram illustrating a generalized configuration of hardware included in or associated with a wireless power charging system of the present disclosure, which controls a sequence for wireless power transmission.

[0125] For convenience of explanation, hardware that controls the sequence for wireless power transmission may be referred to as a controller (1000).

[0126] The controller (1000) may be placed on the side of the multi-legged walking robot (10) or on the side of the wireless power transmission system (100).

[0127] The controller (1000) may include at least one processor (1100), a memory (1200) storing at least one command for which the above-described operation is executed through the processor (1100), and a communication interface (1300) connected to a network to perform communication. The controller (1000) for wireless power transmission may further include a storage device (1400) capable of storing at least one command for which the above-described operation is executed or data generated during the execution process. The controller (1000) for wireless power transmission may further include an input interface (1500) for interaction with a user and an output interface (1600). Each component included in the controller (1000) for wireless power transmission may be connected by a system bus (1700) to perform communication with each other.

[0128] A controller (1000) or computing system according to one embodiment of the present disclosure may include at least one processor (1100) and a memory (1200) that stores instructions instructing the at least one processor (1100) to perform at least one step. At least some steps of a method according to one embodiment of the present disclosure may be performed by the at least one processor (1100) loading instructions from the memory (1200) and executing them.

[0129] The processor (1100) may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which the methods according to embodiments of the present disclosure are performed.

[0130] Each of the memory (1200) and the storage device (1400) may be composed of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory (1200) may be composed of at least one of a read-only memory (ROM) and a random access memory (RAM).

[0131] Here, at least one command may include at least one sequence capable of mutually identifying at least one of the multi-legged walking robot (10), the wireless power transmission system (100), and other external devices; a sequence of wireless communication association between at least two of the multi-legged walking robot (10), the wireless power transmission system (100), and other external devices; a sequence of performing alignment and / or pairing by mutual positioning; and at least one sequence of allowing the application of an alternating current signal so that power is transmitted after alignment and / or pairing.

[0132] Additionally, the controller (1000) may include a communication interface (1300) that performs communication through a wireless network.

[0133] Additionally, the controller (1000) may further include a storage device (1400), an input interface (1500), an output interface (1600), etc.

[0134] Additionally, each component included in the controller (1000) can be connected by a bus (1700) to communicate with each other.

[0135] Examples of the controller (1000) of the present disclosure may include a communicable desktop computer, laptop computer, notebook, smartphone, tablet PC, mobile phone, smart watch, smart glass, e-book reader, PMP (portable multimedia player), portable game console, navigation device, digital camera, DMB (digital multimedia broadcasting) player, digital audio recorder, digital audio player, digital video recorder, digital video player, PDA (Personal Digital Assistant), etc. The operation of the method according to the embodiment of the present disclosure may be implemented as a computer-readable program or code on a computer-readable recording medium. A computer-readable recording medium includes all types of recording devices in which information that can be read by a computer system is stored. In addition, computer-readable recording media are distributed across networked computer systems, allowing computer-readable programs or code to be stored and executed in a distributed manner.

[0136] In addition, computer-readable recording media may include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Program instructions may include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0137] Some aspects of the present disclosure have been described in the context of a device, but may also be described according to a corresponding method, wherein a block or device corresponds to a method step or a feature of a method step. Similarly, aspects described in the context of a method may also be described according to a corresponding block or item or a feature of a corresponding device. Some or all of the method steps may be performed by (or using) a hardware device, such as, for example, a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, at least one of the most important method steps may be performed by such a device.

[0138] In the embodiments, a programmable logic device (e.g., a field-programmable gate array) may be used to perform some or all of the functions of the methods described herein. In the embodiments, a field-programmable gate array may operate with a microprocessor to perform one of the methods described herein. Generally, it is preferable that the methods be performed by some hardware device.

[0139] Although the present disclosure has been described with reference to preferred embodiments, those skilled in the art will understand that various modifications and changes can be made to the present disclosure without departing from the spirit and scope of the present disclosure as set forth in the following claims.

Claims

1. A wireless power transmission system installed in the driving path of a multi-legged walking robot having multiple legs, and wirelessly transmitting power to the multi-legged walking robot, A modular unit tile comprising a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode, which can be arranged continuously; A power transmission circuit that generates a capacitive electric field by applying an alternating voltage to a first transmitting electrode and a second transmitting electrode to transmit power to a first receiving electrode and a second receiving electrode attached to the soles of two legs of the multi-legged walking robot; and A control unit comprising at least one of the multi-legged walking robot and the power transmission circuit, wherein a capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode. Wireless power transmission system.

2. In Claim 1, The above control unit is, A selection operation for detecting the first receiving electrode and the second receiving electrode of the multi-legged walking robot, a ping operation for transmitting a detection signal to the multi-legged walking robot and receiving a response from the unit tile, an identification and configuration operation for receiving information regarding the ID and control parameters of the multi-legged walking robot, and a power transfer operation for transmitting power to the unit tile, wherein the selection operation is commanded or performed. Wireless power transmission system.

3. In Claim 1, The above control unit is, Command or perform at least one of Foreign Object Detection (FOD) for detecting foreign objects in a charging area, Calibration for correcting the reported value of the multi-legged walking robot, Power Negotiation for determining power for charging with the multi-legged walking robot, Renegotiation for re-performing the negotiation procedure for a new power contract, and Control & Termination for terminating the session. Wireless power transmission system.

4. In Claim 1, The control unit controls the multi-legged walking robot such that the center of the multi-legged walking robot or the midpoint of the virtual line connecting the first receiving electrode and the second receiving electrode is located in the central area of ​​the unit tile. Wireless power transmission system.

5. In Claim 1, The above unit tile has a rectangular shape in which a plurality of unit tiles can be continuously arranged along a first direction and a second direction perpendicular to the first direction, and The above unit tile includes a first tile and a second tile corresponding to each of two triangular shapes formed by dividing by the diagonal of the square shape, and The first tile and the second tile each include the first transmitting electrode and the second transmitting electrode, Wireless power transmission system.

6. In Claim 5, The above plurality of unit tiles are arranged continuously in an upright manner, and The first tile and the second tile are, The first tile and the second tile are repeatedly arranged in the order of the first tile and the second tile along the first direction, and A repeating arrangement of the first tile and the second tile in the order along the second direction. Wireless power transmission system 7. In Claim 5, The control unit controls the multi-legged walking robot such that, when the multi-legged walking robot stops, the first receiving electrode and the second receiving electrode of the multi-legged walking robot are positioned apart in the first direction or the second direction. Wireless power transmission system.

8. In Claim 5, The above control unit controls the multi-legged walking robot to move in the first direction or the second direction when the multi-legged walking robot moves. Wireless power transmission system.

9. In Claim 5, The above plurality of unit tiles are arranged continuously in the order of upright and inverted types, and The first tile and the second tile are, Along the first direction, the first tile, the second tile, the second tile, and the first tile are repeatedly arranged in that order, and A repeating arrangement along the second direction in the order of the first tile, the second tile, the second tile, and the first tile. Wireless power transmission system 10. In Claim 5, The control unit controls the multi-legged walking robot such that, when the multi-legged walking robot stops, the first receiving electrode and the second receiving electrode of the multi-legged walking robot are positioned spaced apart from the first direction and the second direction and inclined direction. Wireless power transmission system.

11. In Claim 5, The above control unit controls the multi-legged walking robot to move in the first direction and the second direction and in an inclined direction when the multi-legged walking robot moves. Wireless power transmission system.

12. In Claim 5, The control unit controls the multi-legged walking robot such that the triangular shapes of the first tile and the second tile correspond to the first receiving electrode and the second receiving electrode, respectively. Wireless power transmission system.

13. In Claim 5, The control unit controls the polarity of the alternating voltage applied to the first transmitting electrode and the second transmitting electrode of the power transmitting circuit according to the position of the multi-legged walking robot. Wireless power transmission system.

14. A wireless power charging method for a multi-legged walking robot performed by a multi-legged walking robot that receives power wirelessly by a wireless power transmission system, A step of controlling the movement of a multi-legged walking robot on a modular unit tile that includes a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode, wherein the center of the multi-legged walking robot, which includes a first receiving electrode and a second receiving electrode in contact with a driving path, is located in the central region of the unit tile; A step of receiving power to the first receiving electrode and the second receiving electrode from a capacitive electric field generated by an alternating voltage applied to the first transmitting electrode and the second transmitting electrode through a power transmitting circuit; and A step of controlling the multi-legged walking robot such that a capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode. Wireless power charging method.

15. In Claim 14, A ping step of receiving a detection signal from the unit tile and transmitting a response to the unit tile; An identification and configuration step of transmitting information regarding the ID and control parameters of the multi-legged walking robot to the unit tile; and A power transfer step further comprising receiving power transmitted from the above unit tile, Wireless power charging method.

16. In Claim 14, A foreign object detection (FOD) step for detecting foreign objects in a charging area; A calibration step for correcting the reported value of the above-mentioned multi-legged walking robot; The above wireless power transmission system and a power negotiation step for determining power for charging; A renegotiation phase to re-conduct the negotiation process for a new power contract; and further comprising at least one of a control and termination step for terminating a session, Wireless power charging method.

17. A wireless power charging method for a multi-legged walking robot performed by a wireless power transmission system that wirelessly transmits power to the multi-legged walking robot, wherein A step of detecting whether the center of a multi-legged walking robot, comprising a first receiving electrode and a second receiving electrode in contact with a driving path, is located in the central region of a unit tile that is modularized to be continuously arranged and includes a first transmitting electrode and a second transmitting electrode having a polarity different from that of the first transmitting electrode; A step of generating a capacitive electric field by applying an alternating voltage to the first transmitting electrode and the second transmitting electrode to transmit power to the first receiving electrode and the second receiving electrode through a power transmitting circuit; and A step of controlling the power transmission circuit such that capacitive coupling is maintained between the first receiving electrode and the second receiving electrode and the first transmitting electrode and the second transmitting electrode. Wireless power charging method.

18. In Claim 17, A selection step for detecting the first receiving electrode and the second receiving electrode of the multi-legged walking robot; A ping step of transmitting a detection signal to the above-mentioned multi-legged walking robot and receiving a response from the above-mentioned unit tile; An identification and configuration step for receiving information regarding the ID and control parameters of the above-mentioned multi-legged walking robot; and A power transfer step further comprising transferring power to the above unit tiles, Wireless power charging method.

19. In Claim 17, A foreign object detection (FOD) step for detecting foreign objects in a charging area; A calibration step for correcting the reported value of the above-mentioned multi-legged walking robot; The above wireless power transmission system and a power negotiation step for determining power for charging; A renegotiation phase to re-conduct the negotiation process for a new power contract; and A wireless power charging method comprising at least one additional control and termination step for terminating a session.

20. In Claim 17, The method further includes the step of controlling the multi-legged walking robot such that the center of the multi-legged walking robot or the midpoint of the virtual line connecting the first receiving electrode and the second receiving electrode is located in the central area of ​​the unit tile. Wireless power charging method.

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