KR20080073626A - Auto recharging system for mobile robot and method thereof - Google Patents

Abstract

An auto recharging system for a mobile robot and a charging method thereof are provided to continuously perform a mission for the mobile robot during charging by forming a power supply module. An auto recharging system for a mobile robot comprises a docking station(2) for power supply and charge, a docking part assembly(1) of the mobile robot. The docking station, performing 2 axis degree of freedom translation toward x axis and y axis via an x axis ball bush bearing(21), a y axis ball bush bearing(22), and a compression spring(20), consists of an arm assembly(26) having 2 axis degree of freedom via an automatic aligning ball bearing(25) and a tension spring(19) around x axis and y axis. The docking part assembly includes an inclined separation part(3) for inducing insertion of the arm assembly into its hall in docking. The docking station also has a power supply module(23) for continuously supplying power of the mobile robot during automatic charging.

Description

Auto Recharging System for Mobile Robot and Charging Method thereof

The present invention relates to a docking system and a charging method for the automatic charging of the mobile robot, and more particularly, when the mobile robot approaches the docking station for automatic charging, the error correction according to the entry angle of the approach path and charging the battery The present invention relates to an automatic charging system for a mobile robot and a charging method thereof for supplying separate power so that the mobile robot can continuously operate.

The etymology of the robot is said to be derived from Slavic ROBOTA (slave machine). Most of these robots were industrial robots, such as articulated arms and robots (manipulators) and conveying robots, for the purpose of automating and unmanning production operations in factories. In the case of a robot of a type fixedly installed at a specific place, such as a female robot, or a robot having a limited behavior radius or operation pattern, power can always be supplied from a commercial AC power supply through a power cable.

In other words, since industrial robot research began in 1955, the first industrial robot 'Unimate' has been put to practical use at the General Motors (GM) automobile factory in the United States in 1961, and the world's economic activity has shifted from quantitative expansion to qualitative improvement since the 1980s. As industrial products are diversified, industrial robots have developed rapidly. In the late 20th century, the proliferation of computers and the Internet revolutionized family life. Recently, technologies such as IT, BT and NT have been combined with robot technology accumulated based on the development of existing industrial robots. Robot) field. An intelligent robot is a high-tech robot that combines mobility and artificial intelligence.In contrast to industrial robots used for simple and repetitive tasks to increase productivity in industrial sites, intelligent robots have the ability to adapt to changing environments and provide humans with the ability to adapt to changing environments. It is a robot that coexists with and provides direct and indirect services to promote welfare. These intelligent robots have been adopted as one of the top 10 next generation growth engines and are expected to be important technologies of the future.

Recently, with the use of intelligent service robots in the post office and the market for cleaning robots, the field of intelligent robots has already become a part of daily life. Intelligent service robots that provide more specific and practical services to humans often have mobility in the form of mobile robot platforms due to the nature of the driving environment. This is because most of the living and working environments in which humans are active have a form that is close to flat land, and in recent years, there have been many buildings equipped with elevators in addition to stairs. In addition, since mobile robots are relatively simple in structure and can be developed and controlled at low cost, mobile robots occupy many service robot markets in recent years.

In order for such a mobile robot to continuously perform various tasks, a technology capable of keeping the robot's energy constant is essential. Currently, most mobile robots have a built-in battery, which guarantees only one to two hours of driving time, which limits their ability to continue their missions. Therefore, the user needs to charge the robot's battery, drive it again, and give an assignment. As this requires additional user assistance, it is emerging as one of the factors that hinder robots from developing into an independent and automated system. In order to overcome this problem, recently, a robot has been researching an automatic charging system to charge a battery by itself and continue a task that was being performed. Automatic charging is an essential part of some robots. For example, security robots or service robots in public places must be able to maintain energy to carry out their tasks at all times.

This is because if the system of the guard robot or service robot is shut down due to a short battery, or if the robot fails to perform the task, it may cause a loss in the guard task or fail to perform the service, thereby causing a great loss. As robot technology progresses in the future, more and more robots performing more important and continuous tasks will increase, which will make the automatic charging technology become an essential element of the robot.

In other words, the spread of household cleaning robots has recently increased, and medium and large mobile robots that provide services in public places such as offices and government offices have also been continuously appearing. The automatic charging system of such a mobile robot can guarantee the stable and continuous service of the robot.

Such autonomous robotic devices include on-board power units (typically batteries) that are recharged in a base station or docking station. Robots (e.g., radio signals, dead reckoning, ultrasound beams,

The method of use and the type of charging station for docking or searching with an external beam, etc., vary considerably depending on the efficiency and the application. It is common to embed wires under the ground on which the robot operates, but there are certain limitations to their application, because

It is expensive to install the guide wire at the bottom of the ding or under the road surface. If the guide wire is installed on the surface, the guide wire may be damaged by the robot itself or by another vehicle. The wire also needs to be moved when the base station is relocated. Therefore, it is more desirable for the base station to emit a beam or beacon to attract the robotic device. However, these devices still present a number of operational limitations.

That is, in the case of a mobile robot of autonomous and free-running type, since the radius of action is limited by the power cable, power supply by commercial AC power supply is impossible. As a natural consequence, autonomous driving by a rechargeable battery is introduced into the mobile robot. According to battery operation, a mobile robot can travel freely in a human living space or various work spaces without being aware of physical constraints such as a location of a power outlet or a power cable length.

However, the battery-powered robot has a difficulty in following the charging operation of the battery. Although mobile robots are used as automatic devices, filling operations are a barrier to full automation. In addition, battery replacement or power connector connection for charging is cumbersome for the user.

Thus, a so-called "charge station" has been introduced as a method of reliably or fully automating battery charging for mobile robots. The charging station literally means a dedicated space for charging the battery of the mobile robot.

When the robot detects that the battery's remaining capacity has fallen during the self-propelled and autonomous work, the robot stops the work and approaches the charging station on its own (ie, automatically). In the charging station, a predetermined electrical connection is established between the robot and the power supply, and a power supply to the battery is received. When the battery is fully charged or recovered to a predetermined capacity, the electrical connection with the power supply is released, and the work which was interrupted from the charging station is resumed.

For example, by installing a plurality of charging stations in the work space, the mobile robot can receive power from the nearest charging station. In other words, the mobile robot can move over between charging stations so that the radius of action is substantially extended. In addition, one charging station can be shared among a plurality of robots, thereby saving the number of charging stations. In addition, by transferring a part of the charging function to the charging station, the requirements, weight, cost, and the like of the robot body can be reduced.

In addition, an example of such an automatic charging system for a mobile robot is as follows Documents 1 to 4, Korean Patent Publication No. 2007-0012121 (published Jan. 25, 2007), 2007-0007977 (published Jan. 16, 2007), 2006-0134368 (2006.12) .28 publication), 2006-0134367 (published on December 28, 2006), 2006-0127904 (published on December 13, 2006) and the like.

For example, the publication 2006-0127904 discloses the structure of the base station and the robotic device in a docked or engaged position, as shown in FIG. 8.

That is, the base station shown in FIG. 10 consists of a substantially horizontal base plate and a reinforcement wall that is almost vertical, and the base plate is generally parallel to the ground surface on which the base station is placed, but is inclined slightly upward toward the reinforcement wall. .

Electrical charging contacts are located on the top of the base plate, which contacts the corresponding contacts on the bottom of the robotic device 40. The contact on the contact or robot is fixed or soft and the contact is sized and positioned to reliably and repeatedly contact the corresponding contact on the robot. That is, the contact portion is enlarged on the base plate in a domed shape to ensure contact with the robot contact portion.

[Document 1] Republic of Korea Patent Publication No. 2007-0012121 (published Jan. 25, 2007)

[Document 2] Korean Unexamined Patent Publication No. 2007-0007977 (published Jan. 16, 2007)

[Document 3] Korean Unexamined Patent Publication No. 2006-0134368 (published Dec. 28, 2006)

[Document 4] Korean Unexamined Patent Publication No. 2006-0134367 (published Dec. 28, 2006)

[Document 5] Korean Unexamined Patent Publication No. 2006-0127904 (published Dec. 13, 2006)

However, in the technology disclosed in the above-mentioned publications, most of the currently available commercial charging systems for mobile robots do not show practical efficiency because the range of compensating the access error of the robot when docked is very small, and the battery of the robot when the battery is charged after docking. Since the charging of the battery is started after the operating system is shut down, in order for the robot to continue its mission after the battery is fully charged, the user needs to turn on and drive the robot located in the docking station and give the task again.

An object of the present invention is to solve the problems described above, to compensate for the error of various entry angles into the docking station, and to ensure the power of the continuous mobile robot by providing a separate power supply even when charging the battery It is to provide an automatic charging system and a charging method for a mobile robot that can be performed.

In order to achieve the above object, the automatic charging system for a mobile robot according to the present invention is an automatic charging system for a mobile robot including a docking station and a docking unit assembly of a mobile robot for power supply and charging, and the docking station is an x-axis ball bush. Two-axis free translation in the x- and y-axis directions through bearings, y-axis ball bush bearings, and compression springs, and two-axis degrees of freedom around the x- and y-axes through self-aligning ball bearings and tension springs. And an arm assembly.

In addition, in the automatic charging system for a mobile robot according to the present invention, the docking unit assembly is characterized in that it comprises an inclined partition to guide the arm assembly to be inserted into the hole of the docking unit assembly when docked.

In addition, in the automatic charging system for a mobile robot according to the present invention, the docking station is fixed to the insertion slot assembly to prevent the docking failure due to external interference between the charging or the reaction of the force entered by the robot after the docking completion. And a key groove into which a solenoid operated by a snap switch to be inserted and a key of the docking unit assembly are inserted.

In the automatic charging system for a mobile robot according to the present invention, the docking station is characterized in that it further comprises a power supply module for the continuous power supply of the mobile robot between automatic charging of the mobile robot.

In addition, in the automatic charging system for a mobile robot according to the present invention, the inclined partition is characterized by consisting of acetal (Athetal) resin having a friction coefficient value of 0.25 ~ 0.45.

In the automatic charging system for a mobile robot according to the present invention, the insert assembly is a columnar shape protruding from the docking station, characterized in that the insert assembly is inserted into the hole.

In the automatic charging system for a mobile robot according to the present invention, the docking station and the mobile robot are docked by an infrared signal.

In the automatic charging system for a mobile robot according to the present invention, the transmission and reception of the infrared signal is performed by the first and second infrared transmitters provided in the docking station and the infrared transmission / reception sensor provided in front of the mobile robot. The inclined partition is characterized in that it is provided at the rear of the mobile robot.

In the automatic charging system for a mobile robot according to the present invention, the mobile robot moves forward and receives and transmits and receives the docking station, and after 180 ° rotation during charging, moves backward and docks with the docking station.

In addition, in order to achieve the above object, the automatic charging method for a mobile robot according to the present invention is an automatic charging method for a mobile robot consisting of a docking station and a docking unit assembly for power supply and charging, and is it necessary to charge the mobile robot? Determining the charging step of determining, if it is determined that the charging is necessary in the determining step of tracking the position of the docking station, the position determination step of determining whether the distance and direction of the mobile robot and the docking station is a constant distance and direction And when it is determined in the position determining step that the positional relationship between the mobile robot and the docking station is a predetermined position, rotating the position of the mobile robot by 180 ° to dock the docking station and the docking unit assembly. .

As described above, the docking failure rate during docking for charging can be reduced through the automatic charging system for mobile robots according to the present invention, and the task standby state can be maintained between charges. In other words, the effect is that the mission can be carried out continuously.

In addition, according to the automatic charging system for a mobile robot and the charging method according to the present invention, the mobile robot to correct the error to access the docking station from a variety of angles, and supplies a separate power to the mobile robot at the same time the battery charging Thus, the effect that the mobile robot can continue to operate while charging is obtained.

The above and other objects and novel features of the present invention will become more apparent from the description of the specification and the accompanying drawings.

First, the basic configuration and operation of the present invention will be described with reference to FIGS. 1 and 2.

1 is a block diagram showing a relationship between a mobile robot and a docking station according to the present invention, Figure 2 is a flow chart illustrating the operation of the automatic charging system for a mobile robot according to the present invention.

The automatic charging system for a mobile robot according to the present invention includes an insertion assembly (Peg ASSY ') and the insertion opening of the docking station 2 having four degrees of freedom (4DOF) that can be rotated and translated in the x- and y-axis directions, respectively. The inclined compartment (Chamfer) for inducing the assembly to the charging module of the mobile robot 100 and a docking unit assembly (1) for automatic charging and individual power supply when the docking is completed.

When the docking is completed, the battery is charged from the power supply module (SMPS) through the charging module, the insertion hole (Peg) assembly and the docking unit assembly (1), and at the same time the external robot for continuous performance of the mobile robot 100 between charging Supply power is maintained.

The docking system developed in the present invention uses the infrared transmission and reception sensor 101 as a mobile robot 100 access method to the docking station (2).

The mobile robot 100 according to the present invention transmits infrared signals of two different frequencies output from the first infrared transmitter 201 and the second infrared transmitter 202 of the docking station 2 to the front of the robot. The infrared transmission and reception sensor 101 is mounted to sense the proximity to the docking station 2.

Here, the first and second infrared transmitters 201 and 202 are divided into left and right sides of the docking station 2 to send signals to different areas, and overlapping areas capable of receiving two signals simultaneously. Will exist.

This area causes the mobile robot 100 to be based on the position of the docking station 2. In other words, if the mobile robot 100 is out of the area capable of recognizing two signals and detects only the right infrared signal, it rotates in the counterclockwise direction and clockwise if only the left infrared signal is detected. At the same time, it returns to the area to be detected.

By repeating this method, the center of the docking station 2 is gradually approached. In addition, when the robot is located at a distance shorter than the dockable distance from the docking station 2, the robot attempts to access the docking station again by repeating autonomous driving for reversing and detecting the infrared sensor. That is, the distance and the direction between the mobile robot 100 and the docking station 2 are a constant distance and direction, and attempt to access an area in which the two signals described above are simultaneously detected.

The reception of each infrared signal is processed through the microcontroller (MCU) 102, and the processed value is transmitted to the SBC in the robot through CAN communication. This series of steps is accomplished through the control board, which has been developed to perform automatic charge control functions in addition to the functions listed above.

As described above, the mobile robot 100 executes an operation for its original operation (S10), and the microcontroller 102 determines the state of charge of the mobile robot 100 (S20). If it is determined in step S20 that charging is necessary, the position of the docking station 2 is tracked through the transmission / reception sensor 101 (S30).

The homing mechanism to the docking station according to the present invention allows the mobile robot 100 to set a distance, i.e., between the mobile robot 100 and the docking station 2, in order to effect docking. When the distance and the position of (S40) is reached, the mobile robot 100 stops (S50), and then rotates about 180 ° (S60) to dock the docking unit assembly (1) mounted on the rear of the robot is docked. Facing the station (2). This is because the docking module assembly 1, which is a docking module, is located at the rear of the mobile robot 100.

The front part of most mobile robots 100 are equipped with sensors for detecting an obstacle so that the docking module does not cause interference of the sensor signal. In addition, most service mobile robots are equipped with an LCD window for control, and if a docking module is mounted at the front, it is difficult to use the LCD window when charging.

The mobile robot 100 according to the present invention rotates about 180 ° and then moves backward while controlling the attitude of the robot by using a distance value to the docking station obtained from both infrared distance measuring sensors located at the rear of the docking station 2. Docked to (S70). Even when attempting docking with accurate calculation in this manner, an error may occur between the robot and the docking station (2). In order to compensate for this, the docking unit is designed in consideration of the docking mechanism.

That is, in the design and manufacture of the docking part of the present invention, the basic principle of Remote Center Compliance (RCC) was used as a method for compensating the distance and angle error generated when the robot approaches the docking station 2. The RCC was developed in the US "Charles Stark Draper" laboratory to insert components in the assembly process in 1976. The protruding part of the columnar shape into the docking part is called the "insertion part", and the part into which the insertion part enters when docking is called a "hole", and the inclined part that serves as a guide for the insertion part to enter the hole of the docking part. Referred to as "slope compartment".

The cylindrical insert has a spring constant of K x to the left and right, and linear movement is possible, and also has a spring constant in the rotational direction of K θ . The left and right and rotational movements occur on the same plane and the insertion part has a radius r and a length of Lg .

3 shows a friction cone of the RCC, Φ represents the angle of the friction cone and is a value determined by the friction coefficient η. If the insert approaches the friction cone in the direction, the insert will not enter the hole due to friction. First, the inclination partition must be designed to compensate for the left and right distance error and the angular error of the insert. In this structure, as the angle increases, the angle error allowable value of the insert becomes larger, but the left and right distance error allowable values become smaller.

On the other hand, as the angle of the inclined partition is smaller, the angle error allowable value of the insert becomes smaller and the left and right distance error allowable value becomes larger. The material of the inclined section designed in the present invention is acetal (Athetal) resin, the acetal resin has a coefficient of friction (η) of 0.25 ~ 0.45 (0.35). Using this value, the friction cone can be obtained to obtain approximately ± 21.5 ° .In consideration of the correlation between the left and right distance error and the angle error, the inclined partition of the docking part can tolerate the left and right distance error ± 55.06mm and the angle error ± 18.5 °. It is designed to be.

In addition, in the docking module according to the present invention, when the insertion portion of the docking station enters the hole of the docking module and successfully docks, the docking module presses a snap switch, which is a micro switch connected to the ground terminal inside the hole, to determine whether the docking device is a microcontroller ( 102 becomes aware. In addition, even after a successful docking, the docking may fail due to external interference or reaction of the force entered by the robot.

In order to prevent this problem, in the present invention, the docking fixing unit is provided, and when the docking is successful, the microcontroller 102 drives the solenoids (Solenoid) located at both sides, and the two fixing units fix the docking so that the holes do not escape. Done. The solenoid also helps to charge and contact the external power terminals.

When the docking is completed in this way, charging is started (S80). If it is determined that the charging is completed, the mobile robot 100 is separated from the locking station 2, and proceeds to step S10 to perform a normal operation.

Next, specific structures of the docking unit assembly 1 and the docking station 2 shown in FIG. 1 will be described with reference to FIGS. 4 to 7.

In addition, in description of this invention, the same code | symbol is attached | subjected to the same part and the repeated description is abbreviate | omitted.

4 is a front perspective view of an automatic charging system for a mobile robot which is the subject of the present invention, FIG. 5 is a rear perspective view of an automatic charging system for a mobile robot, and FIG. 6 is an enlarged perspective view of a docking system module which is the core of the present invention. 7 is a cross-sectional view of the docking system module.

The automatic charging system for a mobile robot according to the present invention is classified into a docking station module and a docking unit assembly of a mobile robot for power supply and charging.

As shown in FIGS. 4 to 7, the docking unit assembly 1 may include the inclined compartment 3 at the front, a hole 4 connected to the inclined compartment 3, and a charging power connection terminal 6 at the docking side ground. ), The external power supply connection terminal (7) of the docking part grounding part, the docking part grounding part (8), the docking part grounding part assembly (9), the DC-DC converter 10 for converting the power, and confirming the contact of the docking part. It consists of a snap switch 11, a key groove 12 for fixing the insertion hole 13, and a solenoid for operating it.

The docking station 2 in contact with the docking assembly 1 has an insertion assembly 13 in contact with the docking assembly 1, a charging power connection terminal 14 of the insertion opening ground, and an external supply power connection of the insertion opening ground. Terminal 15, insertion hole side ground portion 16, key groove 18 for fixing the insertion hole during charging, tension spring 19 for correcting the angle and phase error during docking, compression spring 20, x-axis Ball bush bearing (21), y-axis ball bush bearing (22), charging module (24) for battery charging, power supply module (23) for power supply to charging module and mobile robot, self-aligning ball bearing (25) ), through the x-axis ball bush bearing 21, the y-axis ball bush bearing 22, and the compression spring 20 to the arm assembly 26 capable of biaxial free translation in the x- and y-axis directions. It is composed.

The operation of the automatic charging system for a mobile robot of the present invention configured as described above will be described in detail with reference to FIGS. 8 and 9.

FIG. 8 is a view illustrating a docking process of a mobile robot, and FIG. 9 is a view illustrating a docking process of a mobile robot and a docking station.

The docking unit assembly 1 is mounted to the mobile robot so that when the mobile robot attempts to dock to the docking station for charging the battery, the docking unit 13 is connected to the docking unit side through the inclined compartment 3. Guide into the hall where (9) is located.

After the docking is completed, when the snap switch 11 inside the hole 4 is closed, the keys 12 of the docking unit assembly 1 are moved by the upper and lower solenoids 5 to the key grooves of the Peg assembly 13. It is bitten by (18) to prevent the docking failure due to external interference during the charging or reaction of the force entered by the robot.

After the docking is completed by the solenoid 5, the charging of the battery is performed by the charging power connection terminal 6 of the grounding part of the docking part. Power is supplied through the power connection terminal 15.

The docking station 2 including the insertion hole assembly 13, the power supply module (SMPS) 23, and the charging module 24 performs battery charging and external power supply functions of the mobile robot during docking and charging.

The inlet assembly 13 is composed of an inlet side ground assembly 17 for charging and external power supply and an arm assembly 26 having four degrees of freedom (DOF).

The arm assembly 26 can perform two-axis free translation in the x- and y-axis directions through the x-axis ball bush bearing 21, the y-axis ball bush bearing 22, and the compression spring 20, and automatically It has a two-axis degree of freedom around the x- and y-axes through the careful ball bearing 25 and the tension springs.

The grounding assembly 17 charges the battery through the charging power connection terminal 14 of the insertion-side ground portion during charging, and supplies external power to the robot through the external supply power connection terminal 15 of the insertion-side ground portion. .

The charging module 24 manages the remaining amount of battery measurement and charging state between charges, and the power supply module 23 performs a function of supplying power to the battery for charging and supplying external power to the mobile robot.

As mentioned above, although the invention made by this inventor was demonstrated concretely according to the said Example, this invention is not limited to the said Example and can be variously changed in the range which does not deviate from the summary. Explain the concept.

1 is a block diagram showing a relationship between a mobile robot and a docking station according to the present invention,

2 is a flowchart illustrating the operation of the automatic charging system for a mobile robot according to the present invention;

3 is a view showing a friction cone of the RCC for explaining the operation according to the present invention,

4 is a front perspective view of an automatic charging system for a mobile robot of the present invention;

5 is a rear perspective view of an automatic charging system for a mobile robot of the present invention;

6 is an enlarged perspective view of a docking system module of the present invention;

7 is a cross-sectional view of the docking system module of the present invention;

8 is a view showing a docking process of a mobile robot according to the present invention;

9 is a view showing a docking process of a mobile robot and a docking station according to the present invention;

10 illustrates the structure of a base station and robotic device in a conventional docking or mating position.

* Description of the symbols for the main parts of the drawings *

1: docking assembly 2: docking station

3: inclined compartment 4: hole

5: Solenoid 6: Charging power connection terminal of docking part grounding part

7: External power supply connection terminal of the docking part grounding part

8: Docking Side Grounding Part 9: Docking Side Grounding Assembly

10: DC-DC Converter 11: Snap Switch

12: key 13: insert assembly

14: Charging power connection terminal of insertion part grounding part

15: External power supply connection terminal of insertion part ground

16: Insertion side ground part 17: Insertion side ground part assembly

18: key groove 19: tension spring

20: compression spring 21: x-axis ball bush bearing

22: y-axis ball bush bearing 23: power supply module

24: charging module 25: self-aligning ball bearing

26: arm assembly

Claims (13)

An automatic charging system for a mobile robot consisting of a docking station and a docking unit assembly of a mobile robot for power supply and charging, The docking station performs two-axis free translation in the x- and y-axis directions through the x-axis ball bush bearing, the y-axis ball bush bearing, and the compression spring, and the x-axis and the y-axis through the self-aligning ball bearing and the tension spring. An automatic charging system for a mobile robot, characterized in that it comprises an arm assembly having a two-axis freedom to the center. The method of claim 1, The docking unit assembly includes an inclined partition that guides the arm assembly to be inserted into the hole of the docking unit assembly when docking. The method of claim 2, The docking station of the docking unit assembly and the solenoid actuated by a snap switch to secure the insertion assembly assembly to prevent the docking failure due to external interference between the charge after the docking or reaction of the force entered by the robot. Automatic charging system for a mobile robot, characterized in that it further comprises a key groove into which the key is inserted. The method according to any one of claims 1 to 3, The docking station further comprises a power supply module for the continuous power supply of the mobile robot between the automatic charging of the mobile robot automatic charging system for a mobile robot. The method of claim 3, The inclined partition portion is an automatic charging system for a mobile robot, characterized in that made of acetal (Athetal) resin having a coefficient of friction value of 0.25 ~ 0.45. The method of claim 5, The insert assembly is a columnar shape protruding from the docking station, the insert assembly is inserted into the hole automatic charging system for a mobile robot. The method of claim 6, Docking of the docking station and the mobile robot is an automatic charging system for a mobile robot, characterized in that executed by the transmission and reception of infrared signals. The method of claim 7, wherein The transmission and reception of the infrared signal is performed by the first and second infrared transmitters provided in the docking station and the infrared transmission / reception sensor provided in front of the mobile robot. The inclined compartment is a mobile robot automatic charging system, characterized in that provided in the rear of the mobile robot. The method of claim 8, The mobile robot proceeds forward and transmits and receives with the docking station, and after charging, rotates 180 °, and moves backward to dock with the docking station. An automatic charging method for a mobile robot consisting of a docking station and a docking unit assembly of a mobile robot for power supply and charging, A charging determination step of determining whether charging of the mobile robot is necessary; Tracking the location of the docking station when it is determined that charging is necessary in the determining step; A position determining step of determining whether a distance and a direction between the mobile robot and the docking station are a constant distance and a direction; If it is determined in the position determination step that the positional relationship between the mobile robot and the docking station is a predetermined position, by rotating the position of the mobile robot 180 °, comprising the step of docking the docking station and the docking unit assembly Automatic charging method for a mobile robot, characterized in that. The method of claim 10, Positioning of the docking station and the mobile robot is automatic charging method for a mobile robot, characterized in that performed by the transmission and reception of infrared signals. The method of claim 11, Transmitting and receiving the infrared signal is performed by the first and second infrared transmitters provided in the docking station and the infrared transmission and reception sensor provided in the mobile robot. The method of claim 12, The first and second infrared transmitters are divided into left and right sides of the docking station to send signals to different areas, respectively. The predetermined position is an automatic charging method for a mobile robot, characterized in that the respective signals are detected at the same time.

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