AUTOMATIC DOCKING SYSTEM OF MOBILE ROBOT CHARGING STATION AND METHOD THEREOF

摘要

The present invention relates to an automatic docking system of a mobile robot charging station, and a method thereof. More specifically, the system for automatic docking of a mobile robot on a charging station is applied to a mobile robot that, when it is time to charge a battery, searches for a charging station, automatically returns thereto, and performs a charging operation. The system senses a signal transmitted from an infrared transmitting unit provided in the charging station, controls the rotational direction, rotating speed, and linear speed of the mobile robot in response to the sensed signal, and leads the mobile robot to a docking position. According to the system, there are three infrared transmitting units disposed such that areas of signals transmitted from the infrared transmitting units partially overlap each other, and three infrared receiving units having predetermined sensing angle ranges are provided on the rear of the mobile robot. According to the combinations of signals overlapping each other and sensed by each of the infrared receiving units, the system adjusts the rotational direction, rotating speed, and linear speed of the mobile robot to lead the mobile robot to the docking position. Thus, the system not only accurately identifies the positions of the charging station and the mobile robot and a distance therebetween but also controls the rotational direction, rotating speed, and linear speed of the mobile robot more precisely based on the positions and the distance. Accordingly, the damage caused by a collision between the mobile robot and the charging station is prevented and a docking success rate is increased.;COPYRIGHT KIPO 2016