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A Robot System Maintained with Renewable Energy

  • Kim, Jaehyun (School of Electrical Engineering, Kookmin University) ;
  • Moon, Chanwoo (School of Electrical Engineering, Kookmin University)
  • Received : 2019.01.22
  • Accepted : 2019.01.31
  • Published : 2019.03.31

Abstract

Energy autonomy is a system that is sustained by energy from an independent and distributed source such as renewable energy. In this paper, we propose a robotic energy autonomy in which a robot obtains energy from a renewable energy source with a limited storage capacity. As an energy transfer method, wireless power transfer is used to solve the problem of the conventional contact charging method, mechanical complexity, and to obtain high energy transfer efficiency, the image information is used to align the transmitting and receiving coils accurately. A small scale thermoelectric energy source with boost converter, battery charger, and wireless power transfer coil is constructed and an actual charging experiment is conducted to verify the proposed autonomy system.

Keywords

Robotic Energy autonomy;Renewable energy;Thermoelectric energy source;Wireless power transfer;Image information

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Figure 1. Structure of an energy node

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Figure 2. Structure of a thermoelectric energy node

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Figure 3. Surrounding environment for experiment

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Figure 4. Flowchart showing charging process

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Figure 5. ROS nodes configuration

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Figure 6. Detected marker for coil alignment

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Figure 7. Robot in charging position

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Figure 8. Robot trajectory

Table 1. Outputs of a thermoelectric energy node

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Acknowledgement

Supported by : National Research Foundation of Korea (NRF)

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