KR101470364B1 - Wireless charging device of the robot cleaner and controlling method thereof - Google Patents

Abstract

The present invention relates to a wireless charging device of a robot cleaner and a controlling method and, more specifically, to a robot cleaner and a controlling method being free from distance during charging by using a magnetic resonance method rather than a magnetic induction method in order to wirelessly transmit power, and making the coil of a transmitter and a receiver improve lowered efficiency caused by temperature rise as power is transmitted or received. The robot cleaner comprises: an AD converter receiving power and generating direct current; a driver generating vibration current with resonance frequency using the direct current outputted by the AD converter; a first coil which the vibration current generated by the driver is applied to and which generates a magnetic field; a power measuring sensor measuring voltage and current applied to the first coil; a first controller controlling the driver to compensate for a variation of the voltage and the current measured by the power measuring sensor; a second coil resonated with the same resonance frequency with the first coil to generate induction current; and a battery management part supplying the power applied from a voltage converting circuit, and monitoring and blocking excessive charge, excessive discharge, temperature rise, excessive current, and short-circuit current to extend a life expectancy of the charging battery.

Description

Technical Field [0001] The present invention relates to a wireless charging device for a robot cleaner,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wireless charging device for a robot cleaner and, more particularly, to a wireless charging device that uses a self-resonance method to transmit power wirelessly to a rechargeable battery of a robot cleaner, And more particularly to a wireless charging device and a control method thereof for a robot cleaner provided with a battery manager for improving the service life and efficiency of the rechargeable battery.

Generally, a self-resonant system generates a magnetic field that vibrates at a resonant frequency (natural frequency of an electronic circuit) in a transmitter coil, and forms and transmits an energy tunnel so that energy is concentratedly transmitted to a receiver coil having the same resonant frequency. Although it can be said that it is similar to the magnetic induction method, unlike the magnetic induction method, it has a characteristic of 90% at a distance of about 1 m and 40% at a distance of 2 m. Also, since the energy that is not absorbed by the receiver coil is radiated to the air and is not destroyed, it is absorbed again by the coil of the transmitter, and the energy is transmitted using only the magnetic field that is not absorbed by the human body. Even if there is an obstacle such as wall, water, air, etc. between the transmitter and the receiver, it can be transmitted without any problem, and power can be transmitted without connecting the wire in the sealed structure.

This self-resonance method was first implemented in 2007 by a team of researchers at the Massachusetts Institute of Technology (MIT). At that time, the researchers succeeded in lighting a 60-W bulb that was separated by 2.4 m. This is based on the physical phenomenon that only the tuning fork with the same natural frequency vibrates together when one of the various tuning forks is knocked, so that a magnetic field oscillating at the resonant frequency is generated in the transmitter coil so that energy is concentrated on only the receiver coil designed at the same resonant frequency It is a technology.

The above-described conventional technique for wireless charging is disclosed in Japanese Patent Registration No. 10-1181818 (2012.09.05).

As shown in FIG. 1, the prior art is directed to a wireless charging system for improving electromagnetic compatibility. The wireless charging system for improving the EMC includes a power source such as the adapter 1, A frequency generator 3 for converting the output of the line filter 2 into a square wave; a filter 3 for filtering the output of the frequency generator 3; A driver (4) for receiving the output of the first EMC filter and adjusting the output voltage to a constant voltage, an inverter (5) receiving the output of the driver (4) and converting the output to an AC voltage, A secondary side coil 7 for receiving and receiving the electric power radiated from the primary side coil 6 and the primary side coil 6, and an inverter for receiving the output of the secondary side coil 7 and converting the received DC into DC The power converter 8 and the above- Receives the output from the war converter 8 comprises a regulator (9) for adjusting a constant voltage or constant current.

In the above-mentioned prior art, a wireless charging system for improving EMC is a system in which a certain frequency band is filtered using a plurality of EMC filters in a transmitter and a receiver, a noise included in a power source is removed using a line filter, And electromagnetic waves derived from other electronic media are also filtered and received, thereby reducing the induced interference caused by electromagnetic waves.

However, the conventional wireless charging system has a problem in that when a user equipment (UE) requiring charging is separated by 1 cm or more from the transmitting unit or is not centered, the charging is not performed due to transmission of power through magnetic induction.

In addition, since the conventional wireless charging system manages only the external radio noise, there is a problem that the lifetime of the rechargeable battery is shortened to a complete discharge because the lifetime of the rechargeable battery of the user equipment UE is not provided with protection means .

In the conventional wireless charging system, when an antenna coil for transmitting and receiving radio waves generates heat due to a change in load (increase) or the like, there is provided means for increasing the resistance and increasing the resistance to increase the loss, The charging efficiency can not be improved.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a magnetic resonance imaging system, which is free from magnetic fields of several tens cm to several meters in a charging distance, In order to reduce the efficiency rapidly due to the rise of the temperature of the coil of the transmitting and receiving part, the auxiliary resistive element (the master) is connected to the transmitting and receiving antenna coil by the auxiliary resistance element The resistance is reduced so that the total resistance does not change so that the power transmission and reception efficiency can be maintained at the highest level at all times and the charging efficiency and the life of the rechargeable battery are ensured. In addition, by providing a battery management system, the battery balance of each battery cell is adjusted to 0.01V or less, and battery life such as over-temperature, over-current, overcharge, And a method of controlling the same.

According to another aspect of the present invention, there is provided a wireless charging device for a robot cleaner that transmits electric power wirelessly using a self-resonant self-resonance method, A driver for generating a vibration current having a resonance frequency using the direct current output from the AD converter; a first coil for generating a magnetic field by applying the vibration current generated by the driver; A transmission module having a power measurement sensor for measuring a voltage and a current applied to the first coil and for detecting a communication signal, and a first controller for controlling the driver according to a communication signal detected by the power measurement sensor; A second coil which resonates at the same resonance frequency as the first coil to generate an induction current; a rectifier that rectifies an induced current generated in the second coil to convert the induced current into a direct current; A receiving module having a voltage converting circuit for converting the voltage of the voltage converting circuit to have a predetermined charging voltage and a second controller for controlling driving of the voltage converting circuit and transmitting a charging state to the transmitting module; A battery management unit for supplying the power supplied from the voltage conversion circuit and monitoring and blocking the overcharge, over discharge, temperature rise, over current, and short circuit current of the rechargeable battery to extend the rechargeable battery life; And a charging circuit for receiving the power supplied from the battery management unit to charge the rechargeable battery. The transmitting module includes an ultrasonic sensor for measuring a distance between the receiving module and the receiving module.

Wherein the first coil and the second coil are provided with first and second sisters connected in series to prevent transmission and reception efficiency from being lowered due to heat generated by transmission and reception of electric power, Wherein the first coil and the second coil have the same diameter as the first coil and the second coil have the same diameter as the first coil and the second coil, 2 is a distance between the centers of the two coils.

Wherein the battery management unit includes a charging signal terminal for generating a signal indicating that charging is required when the charging state of the rechargeable battery falls below a reference value and a charging completion terminal for generating a signal indicating that the charging state of the rechargeable battery is fully charged .

And the rectifier, the voltage conversion circuit, the second controller, the battery management unit, and the charging circuit are integrally formed.

A method of controlling a wireless charging device of a robot cleaner according to the present invention includes a transmitting step of transmitting power at a resonant frequency by controlling power according to a PID control and a PWM duty cycle in response to a request from a receiving module in a transmitting module, And a receiving step of receiving and charging the power transmitted from the receiving module through the energy coupling,

The transmission step may include: a transmission module setup step of establishing an input / output IO interface between the transmission module and the reception module to perform initial setup for communication and power transmission; and setting a PWM parameter between the transmission module and the reception module, A connection mode step of determining a charging state of a battery connected to the reception module and setting a charging current; and an interrupt signal, a cleaning robot power state, a charging effective distance, an overvoltage, an overcurrent, and an overcurrent according to a PWM parameter transmitted in the connection mode A power transmission step of turning on a main power switch according to the transmission determination step and transmitting power to the reception module; and a step of determining whether or not the power transmission has been performed in the transmission determination step and the power transmission step And an ending step of terminating the process.

The receiving step may include a step of turning on the power of the robot cleaner, a step of powering up the cleaning robot, a step of setting up a receiving module for initial setup for communication and power control between the transmitting module and the receiving module, A connection mode step of establishing communication by setting a PWM parameter and determining a charging state of a battery connected to the reception module and setting a charging current; and an interruption requesting power transmission according to the charging voltage of the battery detected in the connection mode step A charging step of charging power transmitted from the transmission module when the foreign matter is not determined, and a charging step of charging the foreign matter with the foreign matter, If there is a foreign object detected in the judgment step, a buzzer sounds to alert and terminate the shutdown It characterized by comprising.

The connection mode step includes a PWM setup step of setting up a PWM parameter between the transmission module and the reception module, a condition setting step of setting up a charging condition of the battery connected to the reception module, a voltage check step of checking a charging voltage of the battery And a charging current setting step of determining the charging voltage in the step of checking the charging voltage and setting an initial battery setting current to 0.1 A or a constant current of 0.1 A or more and less than 1.8 A to set up a charging current .

The interruption generating step may include a current setting returning step of controlling power transmission according to the PWM count by the receiving module and returning the currently set interrupt signal when the PWM count is less than 1 to 20, An enable signal is set to enable by generating a reset pulse when charging is required according to the power use of the robot cleaner after a full charge by setting the PWM count to 0 and returning by setting the interrupt signal to disable And an enable returning step of returning the result.

As described above, the wireless charging apparatus and the control method of the robot cleaner according to the present invention have the following effects.

First, it is possible to supply the power to the robot cleaner because the charge distance can be spaced from several tens of cm to several meters by using the self-resonance method free from the distance during charging than the magnetic induction method among the power transmission methods by radio,

Second, since the coil of the transmitter and the receiver of the wireless charging device is controlled by the dummies in order to improve the efficiency with which the temperature is lowered as the temperature rises during power transmission and reception, the power transmission and reception efficiency can be improved,

Third, the life expectancy of the rechargeable battery is improved and the lifetime of the rechargeable battery is improved by utilizing the charge mode divided into three stages for the full charge even when the rechargeable battery is fully charged.

1 is a configuration diagram showing a conventional wireless charging device,
2 is a block diagram of a wireless charging device according to the present invention,
3 is a circuit diagram showing a resonance relationship between a coil, a capacitor, and a dummy according to the present invention,
FIG. 4 is a perspective view illustrating a state of charge of a conventional robot cleaner and a robot cleaner according to the present invention,
FIG. 5 is a flowchart illustrating a signal processing process of a transmission module of a wireless charging device according to the present invention,
6 is a flowchart illustrating a signal processing process of the receiving module of the wireless charging device according to the present invention,
FIG. 7 is a flowchart illustrating connection mode steps of a wireless charging device according to the present invention,
8 is a flowchart showing an interrupt generating step of the wireless charging apparatus according to the present invention,
FIG. 9 is a flowchart showing a termination step and a charging step of the wireless charging device according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a wireless charging device and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 2 and 3, the wireless charging apparatus of the robot cleaner according to the present invention is a wireless charging apparatus provided in a robot cleaner for wirelessly transmitting power P using a self-resonance self-resonance method, (12) for generating a vibration current having a resonant frequency by using the direct current outputted from the AD converter (11), and a driver (15) for measuring a voltage and a current applied to the first coil (13) and detecting a communication signal, a first coil (13) for generating a magnetic field by applying the vibration current generated in the first coil A transmission module 10 having a first controller 16 for controlling the driver 12 according to a communication signal detected by the power measurement sensor 15; A second coil 21 resonating at the same resonance frequency as the first coil 13 to generate an induced current and a rectifier 23 for rectifying an induced current generated in the second coil 21 and converting the induced current into a DC current A voltage conversion circuit (24) for converting the DC current converted by the rectifier (23) to have a predetermined charging voltage; and a control circuit for controlling the driving of the voltage conversion circuit (24) A receiving module 20 having a second controller 25 for transmitting the received data to the second controller 25; A battery management unit 30 for supplying the power supplied from the voltage conversion circuit 24 and extending the service life of the rechargeable battery B by monitoring and shutting off the overcharge, over discharge, temperature rise, over current and short- )Wow; And a charging circuit 40 for receiving the power supplied from the battery management unit 30 to charge the rechargeable battery B. The transmission module 10 is provided with a distance And an ultrasonic sensor 17 for measuring the ultrasonic wave.

The power measurement sensor 15 senses a PWM interrupt signal and senses a change in voltage of the battery state information generated by the reception module 20, that is, status information such as voltage, current, and PWM parameters, Signal.

The voltage conversion circuit 24 supplies the charging voltage for supplying power to the rechargeable battery B to about 5 V or so.

The first and second sisters 14 and 22, which are connected in series, are connected to the first coil 13 and the second coil 21 to prevent transmission and reception efficiency from being lowered due to heat generated by power transmission / The first coil 13 and the second coil 21 are formed in the same toroidal structure so as to be resonantly coupled to each other. The first coil 13 and the second coil 21 The distance D is equal to the distance D between the center of the first coil 13 and the center of the second coil 21, .

The temperature of the first coil 13 and the second coil 21 is generally increased due to the R component remaining in the coil as the power P is transmitted and received. As the temperature rises, the Q factor ). The following is an expression that affects the Q factor.

Therefore, even if the temperature of the first coil 13 and the second coil 21 rises, the resistances of the first and second dummies 14 and 25 are reduced by resistors having negative characteristics, The resistance of the wireless charging device is inserted so that the R value is stably maintained.

Also, the physical structure of the first coil 13 and the second coil 21 acts as an important factor in resonance, and the same structure of the first coil 13 and the second coil 21 facilitates resonance It is difficult to change the resonance frequency depending on the applied resonance frequency. Therefore, it is preferable to use a variable capacitor.

The battery management unit 30 includes a charging signal terminal 31 for generating a signal indicating that charging is required if the charging state of the rechargeable battery B falls below a reference value, And a fully charged terminal 32 for generating a signal indicating buffering.

The signal generated from the charging signal terminal 31 and the charging completion terminal 32 is transmitted to the system controller (not shown) of the second controller 25 or the robot cleaner to optimize the movement of the robot cleaner RO .

Here, the reference value generates a signal at the charging signal terminal 31 when the charging state of the rechargeable battery B drops to about 20% or less.

2, the rectifier 23, the voltage conversion circuit 24, the second controller 25, the battery management unit 30, and the charging circuit 40 are integrally formed and connected to the robot cleaner RO So that the problem of volume can be solved at the time of mounting.

Next, a method of controlling the wireless charging device according to the present invention will be described with reference to FIGS. 5 to 9. FIG.

As shown in FIGS. 4 and 5, the control method of the wireless charging device according to the present invention controls the power according to the PID control and the PWM duty cycle at the request of the reception module 20 in the transmission module 10, (S100) for transmitting at a resonant frequency; and a receiving step (S200) for receiving and charging the power transmitted in the transmitting step (S100) through energy coupling in the receiving module (20) In step S100, an input / output I / O interface between the transmitting module 10 and the receiving module 20 is established to perform initial setup for communication and power transmission. (S20) for establishing a PWM parameter between the receiving modules (20) and establishing communication by connecting the receiving module (20) and setting a charging current by checking a charging state of the battery connected to the receiving module (20) ) ≪ / RTI > A transmission discrimination step S30 for discriminating an interrupt signal according to an interrupt signal, a cleaning robot power state, a charging effective distance, an over voltage, an over current and an over temperature; (S40) for transmitting power to the power control unit (S40), and a finalization step (S50) for terminating power discrimination or power transmission performed in the transmission discrimination step (S30) and the power transmission step (S40).

Meanwhile, when the charging is completed, the power transmission step S40 proceeds to the connection mode in step S50, which is performed by the first controller 16 receiving the charging completion signal.

In the receiving step S200, the cleaning robot power-on step S1 for turning on the power of the robot cleaner and the initial setup for communication and power control between the transmitting module 10 and the receiving module 20 A receiving module setting step (S60) for setting a PWM parameter between the transmitting module (10) and the receiving module (20), communicating with the receiving module (20) (S70) for generating an interrupt requesting power transmission according to the charging voltage of the battery detected in the connection mode step (S20) A step S80 of judging whether there is a foreign substance between the receiving module 20 and a charging step S90 of charging the power transmitted from the transmitting module 10 when the foreign substance is not judged S80 (S80). In the step S80, And an ending step S50 of terminating the alarm by sounding a buzzer when there is an evil foreign object.

In the transmission module setup step S10 and the reception module setup step S60, a UART for asynchronous transmission and reception and PWM and current PID control for power transmission control are constructed.

The connection mode step S20 includes a PWM setup step S21 for setting up a PWM parameter between the transmission module 10 and the reception module 20 and a step S21 for setting a charging condition of the battery connected to the reception module 20 (S22), a voltage checking step (S23) of checking the charging voltage of the battery, and a step S23 of checking the charging voltage are discriminated (S24), and an initial battery setting current (S24a) or a charge current setting step S25 for setting a constant current of 0.1 A or more and less than 1.8 A (S24b) and setting up a charge current.

Here, the condition setting step S22 sets the buffering voltage, the charging current, the PID setting, the current, the voltage, and the temperature limit.

In the interruption generation step S70, the power received from the reception module 20 is controlled according to the PWM count, and when the PWM count is less than 1 to 20, the current interruption signal Returning to step S71, a disable returning step S72 for setting the PWM count to 0 to completely disable the interrupt signal and returning the interrupt signal to the disabled state, And an enable return step S75 for generating a reset pulse (S73) and returning the interrupt signal to enable (S75).

The operation of the wireless charging device of the robot cleaner according to the present invention constructed as described above will be described below.

(D): Coil loop radius (r) = 100: 10: 10, as shown in the above description, the magnetic resonance type wireless charging device implemented by the research team of Dr. Marin Sullishichi of the Massachusetts Institute of Technology (MIT) 1, and was implemented according to the amperage induction law.

Here, the wavelength? Is inversely proportional to the resonant frequency f ₀ and is determined by the propagation velocity v.

As shown in FIG. 4, in the wireless charging apparatus of the present invention, when a general robot cleaner (RO) uses a charging method of a contact type, a case where the charging can not be performed due to a malfunction of the robot cleaner occurs, The position of the transmission module 10 is relatively free and the malfunction of the robot cleaner RO according to the positional deviation is minimized.

In addition, the voltage transfer function (M _v) between the first coil 13 and the second coil 21 applied to the present invention is shown in the following equation according to the diagram shown in FIG.

Where Q refers to Equation 1,

,

,

,

,

,

,

,

,

to be.

₀ 는 공진주파수이며

_n 은 정규화 동작주파수이고, 아랫첨자p는 상기 송신모듈(10)측 값이고, 아랫첨자s는 상기 수신모듈(20)측의 소자 값이다.here

₀ is the resonant frequency

_n is the normalization operating frequency, the subscript p is the value of the transmitting module 10, and the subscript s is the element value of the receiving module 20 side.

_n=1)일 때의 전압 전달함수 값이다. Also, changing the first coil 13 or the output resistance r _{p of} the transmission module 10 affects the Q value. In the wireless recharging device, the resonant frequency of the transmitting module 10 and the resonant frequency of the receiving module 20 are always equal to each other. Therefore,

_n = 1). &_lt; / RTI >

On the other hand, the lower the Q value, the more sensitive the voltage transfer function at the resonance frequency point. On the other hand, the higher the Q value, the less is the sensitivity at the resonance frequency. Also, it can be seen that the coupling coefficient k, which is known in the above equation, also has a great influence on the wireless charging device.

Therefore, the first and the second sisters 14 and 22 applied to the present invention stably maintain the values of R, r _s and r _p , thereby increasing the efficiency of the wireless charger.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

10: Transmission module 11: AD converter
12: driver 13: first coil
14: First Dummer 15: Power Measurement Sensor
16: first controller 17: ultrasonic sensor
20: receiving module 21: second coil
22: Second Dummy 23: Rectifier
24: voltage conversion circuit 25: second controller
30: Battery management unit 31: Charge signal terminal
32: Charging completed terminal 40: Charging circuit
A: Conventional charging stand B: Rechargeable battery
C _P : Transmit module capacitance C _S: Receive module capacitance
M: mutual inductance R: load load
S100: transmission step S200: reception step
S1: Power on the cleaning robot Step S10: Transmission module setup step
S20: Connection mode step S30: Transmission discrimination step
S40: Power transmission step S50: End step
S60: Receiving module setup step SS: Alarm
S70: Interrupt generation step S71: Current setting return step
S72: Disable return step S75: Enable return step
S76: Interrupt return phase
S80: Foreign matter judging step
S90: Charging step

Claims (8)

A wireless charging device provided in a robot cleaner for wirelessly transmitting electric power (P) using a self-resonance system between coils,
An AD converter 11 that receives the power P to generate a DC current, a driver 12 that generates a vibration current having a resonant frequency using the DC current output from the AD converter 11, A first coil 13 for applying a vibration current generated by the driver 12 to generate a magnetic field, a power measuring sensor 13 for measuring a voltage and a current applied to the first coil 13, A transmission module 10 having a first controller 16 for controlling the driver 12 according to a communication signal detected by the power measurement sensor 15; A second coil 21 resonating at the same resonance frequency as the first coil 13 to generate an induced current and a rectifier 23 for rectifying an induced current generated in the second coil 21 and converting the induced current into a DC current A voltage conversion circuit (24) for converting the DC current converted by the rectifier (23) to have a predetermined charging voltage; and a control circuit for controlling the driving of the voltage conversion circuit (24) A receiving module 20 having a second controller 25 for transmitting the received data to the second controller 25; A battery management unit 30 for supplying the power supplied from the voltage conversion circuit 24 and extending the service life of the rechargeable battery B by monitoring and shutting off the overcharge, over discharge, temperature rise, over current and short- )Wow; And a charging circuit 40 for receiving the power supplied from the battery management unit 30 to charge the rechargeable battery B,
The transmission module 10 is provided with an ultrasonic sensor 17 for measuring a distance from the reception module 20,
The first and second sisters 14 and 22, which are connected in series, are connected to the first coil 13 and the second coil 21 to prevent transmission and reception efficiency from being lowered due to heat generated by power transmission / Respectively,
The first coil 13 and the second coil 21 are formed in the same donut shape so as to be resonantly coupled to each other. The diameters of the first coil 13 and the second coil 21 are And the distance D is a distance between the center of the first coil 13 and the center of the second coil 21, Wherein the robot cleaner comprises: delete The method according to claim 1,
The battery management unit 30 includes a charging signal terminal 31 for generating a signal indicating that charging is required if the charging state of the rechargeable battery B falls below a reference value, And a charging completion terminal (32) for generating a signal informing of buffering. The method according to claim 1,
Wherein the rectifier (23), the voltage conversion circuit (24), the second controller (25), the battery management unit (30), and the charging circuit (40) are integrally formed. A method for controlling a wireless charging device of a robot cleaner, comprising the steps of:
A transmitting step S100 of transmitting power at a resonant frequency by controlling the power according to a PID control and a PWM duty cycle in response to a request from the receiving module 20 in the transmitting module 10, And a receiving step (S200) of receiving and charging the received power through the energy coupling in the receiving module (20)
The transmission step S100 includes a transmission module setup step S10 for establishing an input / output IO interface between the transmission module 10 and the reception module 20 for initial setup for communication and power transmission, (S20) for establishing a PWM parameter between the receiving module (20) and the receiving module (20), establishing a communication, setting a charging current by checking the charging state of the battery connected to the receiving module (20) A transmission discrimination step S30 for discriminating an interrupt signal, a cleaning robot power state, a charging effective distance, an overvoltage, an overcurrent and an overtemperature according to the PWM parameter transmitted in step S20, A power transmission step S40 for transmitting power to the reception module 20 and a termination step S50 for terminating power transmission or discrimination performed in the transmission discrimination step S30 and the power transmission step S40 ),
The receiving step S200 includes a step S4 of turning on the power of the robot cleaner and a step of receiving the initial setting signal for the communication between the transmitting module 10 and the receiving module 20, A connection for setting a PWM parameter between the transmitting module 10 and the receiving module 20 to establish a communication connection and determining a charging state of the battery connected to the receiving module 20 to set a charging current, An interrupting step S70 for generating an interrupt requesting power transmission according to the charging voltage of the battery detected in the connection mode step S20, A charging step S90 for charging the power transmitted from the transmission module 10 when the foreign matter is not present in the determination step S80; In the foreign substance determination step S80, If a substance A control method of a robot cleaner to the wireless charging device consisting of a termination phase (S50) to ring the buzzer alarm (SS) and exit characterized. delete 6. The method of claim 5,
The connection mode step S20
A PWM setting step (S21) of setting a PWM parameter between the transmitting module (10) and the receiving module (20)
A condition setting step (S22) of setting up a charging condition of the battery connected to the receiving module (20)
A voltage checking step (S23) of checking the charging voltage of the battery,
(S24), the initial battery set current is set to 0.1 A (S24a), the constant current is set to 0.1 A or more and less than 1.8 A (S24b), and the charge current The charging current setting step S25
And a control unit for controlling the robot cleaner. 6. The method of claim 5,
The interrupt process (S70)
A current setting returning step (S71) of controlling the power transmission according to the PWM count by the receiving module (20), returning the currently set interrupt signal when the PWM count is less than 1 to 20,
A disable return step S72 for setting and returning the interrupt signal to 0 by setting the PWM count to 0 at full charge,
If charging is required according to the use of electric power of the robot cleaner after full charging, a reset pulse is generated (S73), and an enable returning step S75 is performed
And a control unit for controlling the robot cleaner.

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