KR20080022343A - Robot cleaner apparatus and therefor control process - Google Patents

Abstract

A robot cleaner and a control method thereof are provided to detect docking condition of the robot cleaner by detecting precipice recognition units and a precipice recognition member. A robot cleaner comprises a robot cleaner, precipice detection units installed at the robot cleaner, and a charger(300) having a precipice recognition member(330) for recognizing the precipice by the precipice detection units. The precipice detection units are infrared ray sensors for sensing an electric wave reflected from the precipice recognition member whose at least one portion is dark material. The precipice recognition member is installed at positions corresponding to the plural precipice detection units in the charger. The precipice detection units consist of a contact bar installed at the robot cleaner to be contacted with the precipice recognition member, and a detection unit placed at at least one of the robot cleaner or the contact bar to detect contacted status of the precipice recognition member and the contact bar.

Description

Robot cleaner apparatus and control method according thereto {Robot cleaner apparatus and therefor control process}

1 is a perspective view showing a dust collector of a robot cleaner according to an embodiment of the present invention,

Figure 2 is a perspective view showing the internal structure of the robot cleaner shown in Figure 1,

Figure 3 is a perspective view of the lower part of the robot cleaner shown in Figure 1,

Figure 4 is a top perspective view of the suction nozzle unit of the robot cleaner shown in Figure 2,

5 is a bottom perspective view of the suction nozzle unit of the robot cleaner shown in FIG. 2;

6 is a cross-sectional view of the robot cleaner shown in the cliff detection unit shown in Figure 3,

7 is a plan view showing the robot cleaner and the charging table according to the present invention,

8 is an exemplary view showing the docking of the robot cleaner according to the present invention,

9 is a cross-sectional view showing a cliff detection unit of the robot cleaner according to a second embodiment of the present invention,

10 is a perspective view of a robot cleaner and a charging stand according to a second embodiment of the present invention.

<Simple description of the code for the main part of the drawing>

110 case 120 air intake device

130: suction nozzle unit 131: nozzle case

132: inlet 133: exhaust port

134: edge data 134a: blade

140: dust collector 140a: dust collector mounting portion

150: left driving wheel 160: right driving wheel

170: auxiliary wheel 180: control unit

190: battery 200: cliff detection unit

202: contact bar 202a: once

202b: other end 203: contact member

204: switch 204a: front switch

204b rear switch 205 hinge

206: installation groove 300: charging stand

310: main body 320: electrode terminal

322: first electrode 324: second electrode

330: cliff recognition member 340: charging plate plate

345: groove 400: cliff detection unit

The present invention relates to a robot cleaner device and a control method thereof, and more particularly, to a robot cleaner device for correcting a posture when docking with a charging station using a cliff detection unit and a control method thereof.

A robot cleaner, a kind of mobile robot, sucks dust or foreign substances by moving itself in a certain space such as a house or office.

Here, the robot cleaner includes a driving means including a right / left wheel motor for moving the robot cleaner along with a configuration of a general vacuum cleaner that sucks dust or foreign substances, a sensing sensor for detecting / avoiding various obstacles in the cleaning area, and the driving. It comprises a control means for controlling the means and the sensor and the like to be cleaned.

In addition, the robot cleaner is provided with a charging table for charging the battery, the robot cleaner returns to the charging station to perform the charging.

However, even when the robot cleaner according to the prior art returns to the charging station, the electrode of the charging station and the electrode of the battery do not exactly match, and thus there is a problem in that charging is not performed properly.

An object of the present invention is to provide a robot cleaner device and a control method according to the present invention, in which a cliff recognition member is installed on a charging stand, and the cliff detection unit installed in the robot cleaner detects the cliff recognition member to determine whether the dock is correct.

The robot cleaner apparatus according to the first aspect of the present invention comprises: a robot cleaner; A cliff detection unit installed in the robot cleaner; And a charging stand on which a cliff recognition member is installed to be recognized as a cliff by the cliff detection unit, wherein the cliff detection unit is a sensor for detecting radio waves reflected from the cliff recognition member.

The cliff detection unit is an infrared sensor, and at least a part of the cliff recognition member is a dark material.

In particular, a plurality of cliff detection units are installed in the robot cleaner, and the cliff detection unit is installed at a position corresponding to the plurality of cliff detection units, respectively, in the charging stand, and the cliff detection unit is a left / right of the robot cleaner. It is provided on both sides, and the cliff recognition member is disposed on both left and right sides of the charging station.

In addition, a plurality of the cliff recognition member is disposed in a direction in which the robot cleaner is docked with the charging station.

The cliff recognition member is inserted into a predetermined depth from the surface of the charging stand.

On the other hand, the cliff detection unit is installed in the robot cleaner and the contact bar in contact with the cliff recognition member; And a sensing means installed on at least one of the robot cleaner or the contact bar to detect contact between the cliff recognition member and the contact bar.

Here, the cliff recognition member is formed in the charging stand and is a groove formed so as not to contact the contact bar, and the groove is formed in plural in the direction in which the robot cleaner is docked with the charging stand.

According to a second aspect of the present invention, there is provided a method for controlling a robot cleaner, comprising: a robot cleaner on which a cliff detection unit is disposed; A cliff recognition member is disposed to be recognized as a cliff by the cliff detection unit, and includes a charging stand that transmits radio waves to guide the robot cleaner.

The robot cleaner is guided to the charging station according to the radio wave transmitted from the charging station, and detects the cliff recognition member disposed on the charging station through the cliff detection unit to correct a relative position with respect to the charging station.

Here, the cliff detection unit may detect the radio wave reflected from the cliff recognition member or detect contact or separation with the cliff recognition member.

In particular, when the robot cleaner does not detect the cliff recognition member in the charging station, the robot cleaner may perform at least one of linear movement or rotation to correct the relative position with respect to the charging station, and the robot cleaner is in place. It can rotate in or rotate in a certain radius.

In addition, when the relative position with respect to the charging station is incorrect, the robot cleaner may perform at least one of linear movement or rotation to correct the relative position with respect to the charging station.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing a dust collecting device of the robot cleaner according to the present invention, Figure 2 is a perspective view showing the internal structure of the robot cleaner according to the present invention, Figure 3 is a perspective view showing a lower part of the robot cleaner according to the present invention to be.

1 to 3 and 7, the robot cleaner device includes a robot cleaner 100 for cleaning while moving the floor 1, and a charging stand 300 for charging power to the robot cleaner 100. It consists of

The robot cleaner 100 has a case 110 forming an appearance, and an air suction device installed inside the case 110 to suck air from the bottom of the case 110 and discharge the air to the outside of the case 110 ( 120 and a suction nozzle unit installed in the case 110 and connected to the air suction device 120 to provide a flow path through which external air is sucked, and an edge data 134 to float dust on the floor ( 130, and a dust collecting device 140 configured to separate and collect foreign substances sucked from the suction nozzle unit 130 from air.

The case 110 is formed in a circular disk shape having a predetermined height.

In addition, the case 110 is provided with the air suction device 120, the suction nozzle unit 130, and the dust collector 140 in communication with the suction nozzle unit 130.

In addition, the case 110 is provided with a sensor (not shown) that detects a distance between an indoor wall or an obstacle, and a bumper 112 that buffers a shock when colliding with each other. Left and right driving wheels 150 and 160 for the movement of the robot cleaner 100 are provided.

Here, the left / right driving wheels 150 and 160 are respectively configured to rotate by the left wheel motor 151 and the right wheel motor 161 controlled by the controller 180, and the robot cleaner is configured to rotate the left / right motor ( 151, 161 is moved in a straight line, backward, turning movement and rotation in accordance with the rotational direction and the rotation rate.

At least one auxiliary wheel 170 is provided at the bottom of the case 110 to prevent the bottom surface of the case 110 from directly contacting the floor and to minimize friction between the robot cleaner and the floor.

In more detail, the internal configuration of the robot cleaner 100, the front side of the case 110 is provided with a controller 180 is arranged a variety of electrical components for controlling the driving of the robot cleaner 100, On the rear side of the controller 180, a battery 190 for supplying power to each component of the robot cleaner is provided.

The air suction device 120 for generating an air suction force is installed at the rear of the battery 190, and the dust collector mounting part 140a is installed at the rear of the air suction device 120 to install the dust collector 140. ) Is installed, and the dust collector 140 has a structure in which the dust collector is fixed to the dust collector mounting portion 140a and detached from the rear.

In addition, the suction nozzle unit 130 is provided below the dust collecting device 140 to suck foreign substances on the floor together with air.

Here, the air suction device 120 is installed inclined between the battery 190 and the dust collector 140, the motor (not shown) electrically connected to the battery 190 and the rotating shaft of the motor It is configured to include a fan (not shown) connected to force the flow of air.

On the other hand, the suction nozzle unit 130 is installed to face the bottom of the case 110 so that the suction port 132 is exposed to the lower side of the case 110.

As described above, the suction nozzle unit 130 for sucking the foreign matter accumulated on the floor of the outside, that is, the room, will be described in more detail with reference to FIGS. 4 and 5.

4 is a top perspective view of the suction nozzle unit of the robot cleaner according to the present invention, FIG. 5 is a bottom perspective view of the suction nozzle unit of the robot cleaner according to the present invention, and FIG. 6 is a cliff detection unit according to the present invention. This is a cross-sectional view of the robot cleaner shown.

4 to 6, the suction nozzle unit 130 has a suction port 132 and an exhaust port 133 formed therein, the nozzle case 131 installed in the case 110, and the nozzle case 131. It is installed inside the suction port 132 is configured to include an edge data 134 to float the dust of the floor.

Here, the suction port 132 is formed in communication with the bottom surface of the case 110, that is, the bottom, and the exhaust port 133 is formed in communication with the dust collector 140 is sucked in the suction port 132 Guide air to the dust collector 140.

In addition, a separate auxiliary wheel 131a is installed on the bottom surface of the nozzle case 131 to prevent the suction port 132 from coming into close contact with the floor.

In addition, the suction port 132 sucks the foreign matter accumulated on the floor by the air suction force generated by the air suction device 120, and the exhaust port 133 is connected to the dust collector 140 and the communication pipe 133a. do.

In addition, a plurality of suction grooves 132a are formed in a lower surface of the nozzle case 131 in a forward / backward direction of the robot cleaner, and the suction grooves 132a may have foreign substances on the front bottom of the nozzle case 131. By forming a passage through which the suction port 132 is blocked, the overload of the motor provided in the air suction device 120 is prevented.

The edge data 134 is rotatably or reciprocally rotated so that both ends are rotatably connected to both sidewalls of the inlet 132 to shake off dust on the floor or carpet and float in the air.

In addition, a plurality of blades 134a provided in a spiral direction may be formed on an outer circumferential surface of the edge data 134, and a brush may be installed between the blades 134a formed in a spiral shape.

In addition, in order to operate the edge data 134, the nozzle case 131 is a power transmission for transmitting the power of the edge data motor 134b and the edge data motor 134b to the edge data 134. A belt 134c is provided as a mechanism.

Thus, when the rotational force of the edge data motor 134b is transmitted to the edge data 134 through the belt 134c, the edge data 134 rotates to sweep up foreign substances on the floor to the suction port 132. .

On the other hand, as shown in Figure 3, the case 110 is provided with a cliff detection unit 400 for detecting the cliff during the movement of the robot cleaner 100, in the present embodiment the cliff detection unit 400 Is an infrared sensor (hereinafter referred to as 'infrared ray sensor').

The cliff detection unit 400 is to prevent the robot cleaner from falling by detecting a cliff such as a staircase without a floor during the movement of the robot cleaner, and in the present embodiment, the charging stand 300 is used by using the cliff detection function. It is also used to correct the docking position of the robot cleaner 100 when the robot cleaner 100 is docked.

7 is a plan view showing a robot cleaner and a charging table according to the present invention, Figure 8 is an illustration showing a docking of the robot cleaner according to the present invention.

As shown in FIG. 7, the robot cleaner according to the present invention returns to the charging stand 300 to charge the battery 190 when the power of the battery 190 is exhausted to a set value or less.

To this end, the robot cleaner 100 receives an IR (Infrared Ray) signal or RF (Radio Frequency) signal transmitted from the charging station 300 to check the position and direction of the charging station 300, the robot The controller 180 of the cleaner 100 returns the robot cleaner 100 to the charging station 300.

Here, the controller 180 implements various algorithms for returning the robot cleaner 100 to the charging station 300.

Although the controller 180 has been described as being installed in the robot cleaner 100 in the present embodiment, it may be installed in the charging unit 300 to control the robot cleaner 100.

The charging unit 300 includes a main body 310, an electrode terminal 320 installed on the main body 310, a cliff recognition member 330 for correcting the posture of the robot cleaner 100, and the main body ( It is composed of a charging plate plate 340 connected to the 310 is disposed on the bottom.

The main body 310 is connected to an outlet (not shown) and a wire (not shown) to which power is input, and an adapter (not shown) for converting the input power into a DC current is installed, and the converted DC current is It is connected to the electrode terminal 320.

In this case, the electrode terminal 320 includes a first terminal 322 having a positive pole and a second terminal 324 having a negative pole.

The charging stand plate 340 is integrally formed with the main body 310, and the cliff recognition member 330 is installed on the charging stand plate 340.

The cliff recognition member 330 is a member for the cliff detection unit 400 installed in the robot cleaner 100 to recognize a portion of the charging plate plate 340 as a cliff.

In particular, in the present embodiment, the IR sensor is composed of a dark material recognized as a cliff, and the cliff recognition member 330 of the dark material has a color such as black, brown, blue, red, green, and the like. The absorption rate of the signal with respect to is formed more than 50%.

For example, the cliff recognition member 330 is rubber or synthetic resin whose surface is painted black.

When the height of the cliff recognition member 330 is low on the surface of the charging stand plate 340, the recognition rate of the IR sensor is recognized as a cliff is increased. The cliff recognition member 330 may be configured with respect to the charging stand plate 340. 330 is installed lower.

In particular, in the present embodiment, the cliff recognition member 330 is inserted into and installed in the groove 342 of the charging plate plate 340.

Thus, when the control unit 180 returns to the charging station 300 according to the docking signal transmitted from the charging station 300, the cliff detection unit 400 installed on both sides of the case 110 is the cliff recognition member. The docking direction or the docking position of the robot cleaner 100 is determined through 330.

Hereinafter, the attitude correction method when docking the robot cleaner according to the present invention will be described in more detail with reference to FIGS. 3 or 7 and 8.

First, as shown in Figure 3 or 7, 7, 8, the robot cleaner 100 according to the present invention, if the battery 190 is sufficient power, when the operation command for cleaning is input from the user, the room itself Clean the floor while moving it.

At this time, the charging station 300 transmits a predetermined RF signal or radio wave, and the robot cleaner 100 receives the radio wave transmitted from the charging station 300 upon returning to the charging station 300 to the charging station 300. Will return.

Here, the robot cleaner 100 guided to the charging station 300 includes the first and second terminals 101 and 102 installed on the robot cleaner 100 to charge the battery 190. Docking is performed to connect the one and two terminals 322 and 324.

Thus, when the robot cleaner 100 enters the charging station 300 and the cliff detection unit 400 is positioned above the charging plate plate 340, the controller 180 detects the climbing detection unit 400. Even if the value corresponds to the cliff, the robot cleaner 100 continues without going forward or backward.

Here, the position of the robot cleaner 100 located above the charging plate plate 340 may be detected by the intensity of the radio wave received by the controller 180 or the angle of the radio wave transmitted from the charging station 300. .

Therefore, the robot cleaner 100 positioned above the charging plate plate 340 and going straight toward the first and second terminals 322 and 324 of the charging stand 300 continues to be in direct contact with the main body 320.

Herein, when the first and second terminals 322 and 324 of the charging station 300 and the first and second terminals 101 and 102 of the robot cleaner 100 are correctly contacted, the controller 180 is The cliff detection unit 400 installed on both sides of the case 110 receives a signal corresponding to the cliff. (See FIG. 8A)

That is, whether the docking of the first and second terminals 322 and 324 of the charging unit 300 and the first and second terminals 101 and 102 of the robot cleaner 100 is corrected on both sides of the cliff detection unit ( Determined by the received signal of 400, the signal detected by the cliff detection unit 400 is a signal by the cliff recognition member 330 installed on the charging plate plate 340.

On the other hand, when the robot cleaner 100 does not enter the charging station 300 in the correct direction, the first and second terminals 101, 102, 322, and 324 do not contact correctly. ), The cliff signal is received only in any one of the cliff detection unit 400, or the cliff signal is not received.

That is, when the cliff signal is not received at all by the controller 180, the robot cleaner 100 going straight collides with the charging station 300, and the bumper 112 installed in front of the robot cleaner 100 is By detecting a collision, the robot cleaner 100 is stopped and backed up, and again, the radio wave transmitted from the charging stand 300 is determined and docking is performed on the charging stand 300. (See Figure 8c)

Next, when only one of the cliff signals is received by the controller 180, the controller 180 determines that there is a predetermined distance error in the relative position between the robot cleaner 100 and the charging station 300, After reversing the predetermined distance (②), move to the left or right and try docking again (see Fig. 8B or ③).

Therefore, when the cliff signal is received through the cliff detection unit 400 when the dock again, the docking is completed.

On the other hand, if the signal detected through the cliff detection unit 400 is weaker or not detected when re-docking, rewinds and moves the robot cleaner 100 to the right or left in the opposite direction as when re-docking. Dock.

As described above, the present invention is a cliff recognition member 330 is installed on the charging stand to correct the entry direction and position of the robot cleaner 100 to be moved when the robot cleaner 100 and the charging stand 300 is docked more accurately. By connecting the first and second terminals 101 and 102 installed in the robot cleaner 100 and the first and second terminals 322 and 324 installed in the charging station 300.

On the other hand, as shown in Figure 8d, the robot cleaner 100 may be rotated in place to correct the relative position with the charging station 300.

9 is a cross-sectional view showing a cliff detection unit of a robot cleaner according to a second embodiment of the present invention, Figure 10 is a perspective view showing a robot cleaner and a charging table according to a second embodiment of the present invention.

As illustrated in FIG. 9 or FIG. 10, the cliff detecting unit 200 according to the second embodiment is a device for detecting a cliff by directly contacting the charging stand plate 340 or the bottom 1. A groove 345 is formed to recognize the cliff detection unit 200 as a cliff.

The groove 345 is a cliff recognition member.

The cliff detecting unit 200 is a contact bar 202 installed in the case 110 and a switch which is installed in the case 110 and a sensing means contacted with the contact bar 202 when the robot cleaner is moved. 204.

The contact bar 202 is connected to the hinge 205 to the case 110, the hinge 205 is installed to be rotated in the front / rear direction during the front / rear movement of the robot cleaner.

Thus, the contact bar 202 is rotated about the hinge 205 when the robot cleaner before / after the movement, the switch 204 is disposed in the installation groove 206 of the case 110.

The installation groove 206 is formed by opening the lower side, one end of the contact bar 202 is inserted, the one end 202a of the contact bar 202 and the switch 204 are in contact with each other.

The switch 204 is a sensing means for detecting the contact of the contact bar 202 and the bottom 1, it can be installed in both the case 110 or the contact bar 202, in this embodiment It is installed in the case 110.

In particular, the switch 204 is a front switch 204a which contacts the one end 202a of the contact bar 202 when the robot cleaner moves forward, and one end of the contact bar 202 when the robot cleaner moves backward. And a rear switch 204b in contact with 202a.

The front switch 204a is disposed at the rear of the installation groove 206, the rear switch 204b is disposed at the front of the installation groove 206, and the switch 204 is a control unit of the robot cleaner. The electrical signal is transmitted to the controller 180 when the front / rear switches 204a and 204b are pressed by the contact bar 202.

On the other hand, the end 202b of the contact bar 202 is in contact with the bottom 1, a contact member 203 is further provided to increase the friction force with the bottom (1).

The contact member 203 is formed of a flexible rubber or synthetic resin material so that the contact bar 202 rotates more smoothly about the hinge 205 when the contact member 203 is in contact with the bottom 1.

In addition, the contact member 203 is formed of a flexible material and does not form a scratch when the bottom 1 contacts the contact bar 202.

Although not shown, when the torsion spring which is an elastic member is installed on the hinge 205 and no external force is applied to the contact bar 202, no contact is made with any of the switches 204a and 204b. In order not to provide an elastic force to the contact bar 202 may be provided.

In addition, a plurality of grooves 345 which are detected as a cliff by the cliff detection unit 200 are formed in the charging plate plate 340 of the charging stand 300, and in the present embodiment, the grooves 345 are the robot cleaner 100. Two or more rows are formed with respect to the advancing direction of the column).

Thus, when the contact bar 202 of the cliff detection unit 200 is located in the groove 345, the controller 180 determines that the docking position or the docking entry direction of the robot cleaner 100 is correct.

In the present embodiment, the grooves 345 are formed in parallel in the docking direction of the robot cleaner 100, and the controller 180 detects all of the grooves 345 through the cliff detection unit 200. When the first and second terminals 101, 102, 322 and 324 are in contact, it is determined that the docking is performed correctly.

On the other hand, when only one of the left or right grooves 345 is detected, the robot cleaner 100 is retracted and then docked again to detect the grooves 345 while the first and second terminals ( 101, 102, 322, 324 are in contact.

Here, the controller 180 may determine the entry degree and the entry distance of the robot cleaner 100 when docking through the gaps L1, L2, and L3 of the grooves 345.

Hereinafter, since the rest of the configuration according to the second embodiment is similar to the first embodiment, a detailed description thereof will be omitted.

In addition, the present invention is not limited to the embodiments and drawings disclosed herein, and may be applied by those skilled in the art within the scope of the technical idea of the present invention.

The present invention has an effect of determining whether the robot cleaner is properly docked by detecting the cliff recognition member installed on the charging station or the cliff detection unit or the cliff detection unit.

In addition, the present invention has the effect that the robot cleaner is docked correctly by attempting to dock again after correcting the position or entry direction of the robot cleaner when the cliff recognition member installed in the charging station is not detected.

In addition, since the present invention determines the docking accuracy of the robot vacuum cleaner using the edge detecting unit or the sensing unit that recognizes the floor during the operation of the robot vacuum cleaner, there is an effect that the additional configuration for posture correction and position correction of the robot vacuum cleaner is minimized. .

Claims (16)

A robot cleaner; A cliff detection unit installed in the robot cleaner; And a charging stand equipped with a cliff recognition member to be recognized as a cliff by the cliff detection unit. The method according to claim 1, The cliff detection unit is a robot cleaner device for detecting a radio wave reflected from the cliff recognition member. The method according to claim 1, The cliff detection unit is an infrared sensor, at least a portion of the cliff recognition member is a robot cleaner device. The method according to claim 1, And a plurality of cliff detection units are installed in the robot cleaner, and each of the cliff recognition units is installed at a position corresponding to the plurality of cliff detection units in the charging stand. The method according to claim 4, The cliff detecting unit is installed on both left and right sides of the robot cleaner, and the cliff recognition member is installed on both left and right sides of the charging station. The method according to claim 4, The cliff recognition member has a plurality of robot cleaner device disposed in the direction in which the robot cleaner docked with the charging table. The method according to any one of claims 1 to 6, The cliff recognition member is a robot cleaner device installed by being inserted a predetermined depth from the surface of the charging stand. The method according to claim 1, The cliff detection unit A contact bar installed in the robot cleaner and in contact with the cliff recognition member; And a detecting means installed on at least one of the robot cleaner or the contact bar to detect contact between the cliff recognition member and the contact bar. The method according to claim 8, The cliff recognition member is a robot cleaner device, which is formed in the charging stand and is formed so as not to contact the contact bar. The method according to claim 8, And a plurality of grooves formed in the direction in which the robot cleaner is docked with the charging station. A robot cleaner on which a cliff detection unit is disposed; The cliff recognition unit is disposed by the cliff detection unit to be recognized as a cliff, and includes a charging station for transmitting radio waves to guide the robot cleaner, The robot cleaner Guided to the charging station according to the radio wave transmitted from the charging station, And controlling the relative position with respect to the charging stand by detecting the cliff recognition member disposed on the charging stand through the cliff detecting unit. The method according to claim 11, The cliff detection unit is a control method of the robot cleaner device for detecting the radio wave reflected from the cliff recognition member. The method according to claim 11, The cliff detection unit is a control method of the robot cleaner device for detecting the contact or separation with the cliff recognition member. The method according to any one of claims 11 to 13, When the robot cleaner does not detect the cliff recognition member in the charging station, And controlling the robot cleaner to correct the relative position of the charging station by performing at least one of linear movement or rotation. The method according to claim 14, The robot cleaner is a control method of the robot cleaner device to rotate in place or rotate in a predetermined radius. The method according to any one of claims 11 to 13, When the robot cleaner does not have the correct position with the charging stand, And controlling the robot cleaner to correct the relative position of the charging station by performing at least one of linear movement or rotation.

Images