KR20130106969A - Charging device of autonomously travelling mobile robot and charging system thereof - Google Patents

Abstract

PURPOSE: A charging device of autonomous mobile robots and a charging system using the same are provided to smoothly perform the access between terminals with the charging device by efficiently compensating the position error even in case of heavy mobile robots. CONSTITUTION: A charging device (100) of autonomous mobile robots comprises a frame (110), a moving block (120), an elastic member, and an inserting block (130). The moving block is connected to be moved in a linear movement guide. The elastic member provides the restoring force to the initial position when the moving block moves along the linear movement guide. The inserting block is a part inserted into a space of the mobile robots, is connected to the moving block, and is equipped with a power terminal in the position corresponding to a charging terminal.

Description

Charging device of autonomously traveling mobile robot and charging system

The present invention relates to a charging device of an autonomous driving mobile robot (hereinafter referred to as 'mobile robot' for convenience), and more particularly, to a charging device that is easy to connect with a mobile robot and has high safety.

Recently, various types of mobile robots have been used for the delivery of medical specimens, small cargoes, or the like for indoor cleaning. The mobile robot moves by itself to a target point in a state where a driving device, various sensors, a control computer, a driving power source, and the like are mounted.

Batteries are mainly used for driving the mobile robot, but in the prior art, a preferred method of directly replacing the battery has been inconvenient, such as always having to prepare a spare battery and manual replacement by a person.

For this reason, in recent years, an automatic charging method in which a charging device is installed at a predetermined position and the mobile robot moves to the charging device by itself and connects to the charging device has been widely used.

For example, Korean Patent No. 0820743 (August 10, 2008) discloses a charging device 10 in which the mobile robot 30 automatically approaches and charges as shown in FIG.

The charging device 10 includes a terminal block 12 provided in the case 11, a charging terminal part 20 protruding in a plurality of rows outside the terminal block 12, a control circuit 16, a charging circuit 17, and a charging device. Cables 14 and 17 for connecting the circuit 17 to an external power source and the terminal block 12, respectively.

In addition, the mobile robot 30 is fixed to the terminal block 32, the terminal block 32 provided on the outside of the main body 31, the first and second installed at a height corresponding to the charging terminal portion 20 of the charging device 10 The contact terminals 33a and 33b, the rechargeable battery 35 connected to the first and second contact terminals 33a and 33b through the cable 34, the wheel 36 and the like. The rechargeable battery 10 and the mobile robot 30 are provided with antennas 13 and 37 for communication with each other.

However, the conventional mobile robot charging device has some problems as follows.

First, since the terminals of the charging device and the terminals of the mobile robot are exposed to the outside, if the charging device is installed in a place where people are frequently accessed or there are many conductive objects, or if the mobile robot moves in such a place, the risk of safety accidents such as electric shock, And there is a high risk of causing serious damage to the surrounding electronic equipment.

Small robots, such as cleaning mobile robots, are less likely to cause great damage due to their low power consumption, but medium and large mobile robots that carry objects need to be thoroughly prepared for these risks.

Second, even if some errors occur in the position control of the mobile robot, it should be able to be connected smoothly with the charging device. In the case of medium and large mobile robots, the accuracy of the position control is relatively low.

In consideration of this point, the registered patent prepares for the positional error of the mobile robot by installing a very large number of terminals in the charging device, but due to this, the volume of the charging device becomes excessively large and safety accidents due to a large number of terminals exposed to the outside. There is also a problem that increases the risk.

On the other hand, there is a method to guide the mobile robot to the correct position by installing a mechanical guide in the charging device. This method can be applied to a small mobile robot without difficulty, but in the case of a heavy and heavy mobile robot, the mechanical guide is used. Therefore, in the process of forcibly changing the path of the mobile robot, there is a risk that the driving system or the control system of the mobile robot is damaged, which is not preferable.

Third, the connection between the mobile robot and the terminal of the charging device should be maintained firmly during charging. Small mobile robots may be fixed by using a simple mechanism, but this is not easy in the case of medium and large mobile robots.

In the medium and large mobile robot, even though a separate driving mechanism or charging is being used, there is a case in which it maintains its position by using its own driving device. As a result, power consumption is reduced and charging efficiency is lowered. Therefore, it is urgent to provide a method for firmly maintaining the coupling between the mobile robot and the terminal of the charging device during charging.

The present invention is to solve this problem, the purpose of which is to reduce the risk of safety accidents due to the exposure of the terminal of the mobile robot or charging device.

In addition, an object of the present invention is to make the connection between the terminal and the charging device smoothly by compensating for the positional error even in the case of heavy and heavy mobile robot.

In addition, an object of the present invention is to be charged in a state that the terminal of the charging device and the mobile robot more firmly coupled.

In order to achieve the above object, the present invention provides a charging device for supplying charging power to a mobile unit having a space part opened to one side and a charging terminal installed on an inner wall of the space part, the frame including a linear motion guide; A moving block movably coupled to the linear motion guide; Elastic means for providing a restoring force to the original position when the moving block moves along the linear motion guide; It provides a charging device for a mobile robot including an insertion block coupled to the moving block as a portion inserted into the space portion of the mobile robot and having a power terminal at a position corresponding to the charging terminal.

In the charging device according to the present invention, the moving block includes a first block movably coupled to the linear motion guide and a second block coupled to the first block by a rotational axis, wherein the insertion block is the first block. It may be characterized in that it is coupled to two blocks.

In addition, in the charging device according to the present invention, the insertion block may be connected to the moving block by a connecting rod installed in a direction orthogonal to the guide, and the connecting rod may be characterized in that an elastic means is coupled.

In addition, the filling apparatus according to the invention a plurality of upper rollers protruding to the upper surface; A plurality of lower rollers protruding to the lower surface; It includes a plurality of side rollers protruding from the side, at least one of the plurality of upper rollers, a plurality of lower rollers and a plurality of side rollers may be characterized in that the elastic means is coupled to the rotating shaft or the support.

In another aspect, the present invention provides a mobile robot including a charging terminal, a battery, first sensing means for determining whether charging is in progress, and a first control unit controlling charging of the battery using a signal from the first sensing means. ; A charging unit including a power supply terminal corresponding to the charging terminal, second sensing means for determining whether charging is in progress, and a second control unit controlling power supply through the power terminal using a signal of the second sensing means; And a first sensing means for detecting whether the charging device has reached the charging position and the second sensing means for detecting whether the mobile robot has reached the charging position. Provide a charging system.

In the charging system according to the present invention, the first sensing means includes a first light receiving portion and a first light emitting portion, and the second sensing means includes a second light receiving portion facing the first light emitting portion, and the first light receiving portion facing the first light receiving portion. And a second light emitting part, wherein the first control part controls the power supplied to the charging terminal to be supplied to the battery when a light receiving signal is generated in the first light receiving part, and the second control part receives the light from the second light receiving part. When the signal is generated it may be characterized in that the control to supply power through the power terminal.

According to the present invention, by installing the charging terminal of the mobile robot inside the mobile robot and by placing the power terminal of the charging device on the lower surface of the insertion block it can greatly reduce the risk of safety accidents due to terminal exposure. In addition, since the charging is performed only when the mobile robot and the charging device are correctly combined, the safety of the charging device can be greatly increased.

In addition, since the insertion block of the charging device can not only slide in the x-axis or y-axis direction, but also rotate in the z-axis direction, it can be smoothly connected by compensating for the positional error of the mobile robot. Become.

In addition, the insertion block inserted into the inside of the mobile robot is firmly coupled to the mobile robot, it is possible to maintain a firm contact between the terminals during charging.

1 is a view showing a charging device for a conventional mobile robot
2 is a view showing an example of use of the charging device according to an embodiment of the present invention;
3 is a perspective view of a charging device according to an embodiment of the present invention;
4 is a bottom perspective view of a charging device according to an embodiment of the present invention.
5 and 6 are views showing the connection process when the roller groove is formed in the mobile robot
7 is a plan view showing a connection state of the mobile robot and the charging device
8 and 9 are views sequentially showing the connection process of the mobile robot and the charging device
10 and 11 are block diagrams showing various types of charging circuits of the charging device and the mobile robot according to the embodiment of the present invention, respectively.
12 and 13 are views showing various modifications of the charging device and the mobile robot according to the embodiment of the present invention, respectively.

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

Figure 2 shows the mobile robot 200 approaches the charging device 100 for charging, Figures 3 and 4 shows a perspective view and a bottom perspective view of the charging device 100, respectively.

The mobile robot 200 according to the embodiment of the present invention includes a space portion 210 into which the insertion block 130 of the charging device 100 is inserted, and the space portion 210 is a rear surface of the mobile robot 200. The opening is provided with a charging terminal 220 on the bottom surface. The charging terminal 220 is preferably installed to receive upward force by the spring (see 230 of FIG. 5).

In addition, although not shown in the drawing, the rear end of the space portion 210 may be provided with an opening and closing device. The opening and closing device may be a manual door hinged to the inner wall of the space portion 210 and installed with an elastic means for restoring the position, and the mobile robot 200 automatically detects the approach or contact of the charging device 100. It may be an automatic door that opens and closes. As a means for sensing the charging device 100, a known contact sensor or a non-contact sensor may be used, or a wireless communication means (eg, RFID, Bluetooth, infrared communication, etc.) may be used.

As shown in FIGS. 3 and 4, the charging device 100 according to the embodiment of the present invention includes a frame 110 and a moving block 120 and a moving block 120 that are movably coupled to the frame 110. It is coupled to include an insertion block 130 protruding to one side of the frame 110. Although the moving block 120 is coupled to the upper surface of the frame 110 in the drawing, the coupling position is not limited thereto.

The guide support portion 112 protrudes from the frame 110, and the linear support guides 140 in the y-axis direction are supported by the guide support portion 112.

The moving block 120 is movably coupled to the linear motion guide 140, and springs 150 providing position restoring force are wound on the linear motion guide 140 on both sides of the moving block 120. The moving block 120 is installed to be positioned at the center of the linear motion guide 140 and returns to its original position by the restoring force of the spring 150 even if its position is changed by external force. Instead of winding the spring 150 in the linear motion guide 140, the moving block 120 and the frame 110 may be connected to the spring to provide a restoring force.

Although the guide is illustrated in the shape of a rod in the figure, the shape of the guide is not limited thereto. In addition, the linear motion guide 140 and the moving block 120 may be configured to enable linear motion of the moving block 120 by forming protrusions and grooves engaged with each other in the y-axis direction.

The moving block 120 rotates the first block 121, the second block 122 positioned above the first block 122, and the first block 121 and the second block 122. It may include a rotating shaft 125 in the z-axis direction to connect. In this case, it is preferable that elastic means such as a spring is installed on the rotating shaft 125 to return to the original position when the second block 122 is rotated.

The linear motion guide 140 in the y-axis direction is coupled to the lower first block 121, and the insertion block 130 must be coupled to the second block 122. On the contrary, the linear motion guide 140 in the y-axis direction may be coupled to the second block 122 and coupled to the insertion block 130 in the first block 121.

Therefore, the moving block 120 may not only be capable of sliding in the y-axis direction according to the approaching direction of the mobile robot, but also may be rotated about the rotating shaft 125.

The insertion block 130 is inserted into the space 210 of the mobile robot 200 and has a power terminal 138 corresponding to the charging terminal 220 of the mobile robot 200. In the embodiment of the present invention, the power supply terminal 138 is installed on the lower surface of the insertion block 130 in order to prevent risks such as electric shock accidents and to prevent damage due to foreign substances.

Insertion block 130 is coupled to one side of the moving block 120 by the connecting rod 160 in the x-axis direction, the connecting rod 160 to compensate for the position error in the x-axis direction of the mobile robot 200 and to obtain a buffering effect ) Is preferably stretchable in the x-axis direction.

For example, one end may be fixed to the moving block 120 and the other end may be fixed to the insertion block 130, and a connecting rod 160 having a spring installed between the one end and the other end may be used. Alternatively, at least one end of the connecting rod 160 may be coupled to the moving block 120 or the insertion block 130 so as to slide in the x-axis direction, and a spring may be installed between the moving block 120 and the insertion block 130. The spring 170 may be wound around the connecting rod 160.

The insertion block 130 is provided with a plurality of rollers 136 and 137 having a rotation axis in the y-axis direction, and the plurality of rollers 136 and 137 allow the insertion block 130 to move smoothly in the space 210 of the mobile robot. It guides and maintains the contact force with respect to the mobile robot 200.

In the embodiment of the present invention, a pair of rollers 136 are spaced apart from the top edge of the insertion block 130, one roller 137 is installed at the leading edge of the bottom surface, A pair of rollers are spaced apart and one roller is provided near the rear end of the lower surface. However, the position or number of the rollers is only an example, so it is not limited thereto.

The upper end of the roller 136 is installed on the top surface of the insertion block 130, the lower end of the roller 137 is installed on the bottom of the insertion block 130 protrudes. In addition, the front end portion of the rollers 136 and 137 installed at the front end edge of the insertion block 130 slightly protrudes. Therefore, the main body of the insertion block 130 is prevented from directly colliding with the inner wall of the space portion 210.

On the other hand, when an elastic means such as a spring (not shown in the drawing) that provides a restoring force in the z-axis direction is installed on a rotation shaft of each roller 136 and 137 or a support body supporting the rollers 136 and 137, the space of the mobile robot 200 is provided. The position error in the z-axis direction between the unit 210 and the insertion block 130 may be compensated for. In addition, regardless of the horizontal displacement of the mobile robot 200 can obtain a strong coupling force between the insertion block 130 and the inner wall of the space 210.

Therefore, once the insertion block 130 enters the interior of the space 210 of the mobile robot, each roller 136, 137 rotates while pressing the inner wall of the space 210 by the restoring force of the spring to be compressed. Bonding force is obtained. However, the restoring force of the spring mounted on each of the rollers 136 and 137 should be appropriately selected so as not to interfere with the movement of the mobile robot 200.

At both ends of the insertion block 130, side rollers 132 having a rotation axis in the z-axis direction are installed. Specifically, the roller installation grooves 131 are formed on both side surfaces of the insertion block 130, and the roller support 134 is rotatably installed in the roller installation groove 131.

In order to compensate for a position error in the y-axis direction and to allow the insertion block 130 to smoothly enter the space 210, it is preferable to couple elastic means such as a spring to the side roller 132.

In the embodiment of the present invention by engaging the rotary shaft to the rear end of the roller support 134 so that the front end of the roller support 134 can be rotated, between the insertion block 130 and the roller support 134 or the restoring force on the rotating shaft By installing an elastic means such as a spring (not shown in the figure) to provide a side roller 132 was forced to the outside of the side of the insertion block 130. In this case, the insertion block 130 should be provided with a stopper 134 for limiting the rotation angle of the roller support 134.

Thus, the insertion block 130 is equipped with a plurality of rollers 132, 136, 137 protruding to the top, bottom and side, even if the contact force of the rollers (132, 136, 137) by the elastic means is increased, the mobile robot 200 due to the characteristics of the freely rotating rollers If the horizontal displacement occurs in the insertion block 130 is likely to be separated from the correct charging position.

In order to prevent this, as shown in FIG. 5, it is preferable to form a roller groove 240 into which at least some of the rollers 132, 136, and 137 can be inserted into the inner wall of the space 110 of the mobile robot 200. When the insertion block 130 enters the inside of the space 210 and reaches the correct filling position, as shown in FIG. 6, the respective coupling force will be very high as the rollers 132, 136, and 137 are inserted into the roller grooves 240. However, it is not necessary to form the roller grooves 240 corresponding to all the rollers in the space 210, and the position and the number of the roller grooves 240 may be appropriately selected.

On the other hand, even if there is a slight error in the entry direction of the mobile robot 200 in order for the insertion block 130 to smoothly enter the space portion 210 of the mobile robot, the width of the y-axis direction is narrower toward the tip of the insertion block 130 It is desirable to form inclined surfaces.

The same effect can be obtained even when the inlet of the space portion 210 of the mobile robot is widened toward the outside. That is, as shown in the plan view of FIG. 7, when the expansion portion 212 formed of the inclined surface or the curved surface is formed at the inlet of the inner wall facing the y-axis direction in the space 210, the inlet of the space 210 becomes wider. Block 130 may be easier to enter. The expansion portion may be formed at the inlet of the inner wall facing the z-axis direction in the space 210.

Hereinafter, a process of connecting the mobile robot 200 to the charging device 100 will be described with reference to FIGS. 8 and 9.

When the mobile robot 200 moves forward of the charging device 100, the insertion block 130 of the charging device 100 enters into the space 210 of the mobile robot 200. If there is, for example, a manual door at the rear end of the space 210, the insertion block 130 enters while pushing the door.

When the insertion block 130 continues to enter the interior of the space 210, the rollers 136 and 137 mounted on the insertion block 130 rotate while exerting a constant contact force by the elastic means on the inner wall of the space 210. Do it.

The insertion block 130 reaches the charging position while the at least one roller 136, 137 is inserted into the roller groove (see 240 in FIG. 7), and the power terminal 138 of the insertion block 130 is the charging terminal of the mobile robot. The state comes into contact with 220.

In this state, the battery of the mobile robot 200 is charged by the power supplied from the charging device 100.

Meanwhile, in the present invention, even if the charging terminal 220 and the power terminal 138 are connected for safer charging, if the coupling state is not correct, the charging power is not supplied. This will be described below with reference to FIG. 10.

The light receiving unit 208 and the light emitting unit 209 are installed on the inner wall (for example, the ceiling) of the space part 210 of the mobile robot, and the light receiving unit 108 and the light emitting unit are also formed on the upper surface of the insertion block 130 of the charging device. 109). The light receiving unit 208 and the light emitting unit 209 of the mobile robot and the light emitting unit 109 and the light receiving unit 108 of the charging device may face each other when the insertion block 130 of the charging device is inserted to the right position. Is installed on. Each of the light emitters 109 and 209 may be always in an ON state or may be controlled to be ON only when an approach or a contact of the charging device 100 or the mobile robot 200 is detected.

The charging device 100 includes a control block 102, a power conversion unit 106 for converting AC power into a DC power source for charging, and an output of the power conversion unit 106 under the control of the control unit 102. It includes a power supply 104 to selectively supply to the power supply terminal 138 of.

The mobile robot 200 provides a charging circuit 204 for selectively supplying power supplied through the charging terminal 220 to the battery 206 under the control of the controller 202, the battery 206, and the controller 202. Include.

The control unit 102 of the charging device 100 controls the power supply unit 104 to supply power to the power terminal 138 when a light reception signal is generated at the light receiving unit 109. The controller 202 of the mobile robot 100 controls the power supplied to the charging terminal 220 to be supplied to the battery 206 through the charging circuit 104 when a light receiving signal is generated from the light receiving unit 209.

Although the drawing shows that the mobile robot 200 includes the charging circuit 204, the circuit required for the charging control is installed only in the charging device 100 and the charging terminal 220 and the battery (in the mobile robot 200). It is also possible to configure only the on / off switching control for the power line connecting the 206. In addition, it is a matter of course that the normal charging control such as constant current control, constant voltage control, over-voltage control in the controller 102, 202, the charging circuit 204 or the power supply circuit 104 of the charging device and the mobile robot can be performed.

According to the present invention, the insertion block 130 of the charging device 100 enters the space portion 210 of the mobile robot, so that both the light receiving part 109 of the charging device 100 and the light receiving part 209 of the mobile robot 100 are provided. Charging proceeds only when a light reception signal is generated. Even when the power terminal 138 is in contact with the charging terminal 220, the charging power is not supplied when the power terminal 138 is out of position.

On the other hand, the position of the light receiving unit 109 and the light emitting unit 108 in the insertion block 130 is not limited to the upper surface may be formed on the bottom or side, in this case, the light receiving unit 209 and the light emission of the mobile robot 200 The unit 208 may be installed at a position corresponding to the sensor of the insertion block.

In addition, the light receiving unit 209 and the light emitting unit 208 for charging control are installed on the side of the main body of the mobile robot 200, and the light emitting unit 108 and the light receiving unit 109 corresponding to one side of the frame of the charging device 100. You can also install

In addition, other types of non-contact sensors can be used, because it is not only possible to check whether or not the correct charging position has been reached. For example, as shown in FIG. 11, whether the controllers 102 and 202 are charged by using the detection results of the contact sensors 107 and 207 respectively installed on the inner wall of the space 210 and the front end surfaces of the insertion block 130. You might be able to control it.

Meanwhile, the case where the charging device 100 corrects the position in response to the positional error of the mobile robot 200 has been described. However, some or all of the position correction functions may be implemented in the mobile robot 200.

For example, as shown in FIG. 12, the rotation block in the y-axis direction is provided on the inner wall of the space portion 210 of the mobile robot 200 without installing the roller 240 in the insertion block 130 of the charging device 100. It is also possible to install a plurality of rollers having a 240, the elastic means may be coupled to the rotating shaft or the support of each roller 240 for position correction in the z-axis direction.

In addition, as shown in FIG. 13, instead of installing the moving block 120 of the charging device 100 to be slid in the y-axis direction, the terminal module 260 having the space portion 210 in the mobile robot 200. May be installed to be slidable to the guide 270 in the y-axis direction. In addition, the terminal module 260 may be installed to rotate based on the rotation axis in the z-axis direction inside the mobile robot 200.

In addition, the connection structure of the insertion block 130 and the moving block 120 is not limited to the above-described embodiment, the filling apparatus 100 by enabling the elastic translation, elastic rotational movement in the horizontal direction in various ways. It can be configured to overcome the position error of the mobile robot 200 for.

As described above, the present invention is not limited to the above-described embodiments, and may be modified or modified in more various forms, and the modified or modified embodiments may include the technical spirit of the present invention included in the claims to be described below. Belonging to the range will be taken for granted.

100: charging device 108: light emitting unit
109: light receiver 110: frame
112: guide support 120: moving block
121: first block 122: second block
125: rotation axis 130: insertion block
131: roller mounting groove 132: side roller
134: roller support 135: stopper
136, 137: roller 138: power supply terminal
140: linear motion guide 150: spring
160: connecting rod 170: spring
200: mobile robot 208: light emitting unit
209: light receiver 210: space
212: expansion unit 220: charging terminal
240: roller groove 260: terminal module

Claims (8)

In the charging device for supplying the charging power to the space portion opened to one side, and the mobile robot is installed on the inner wall of the space portion,
A frame having a linear motion guide;
A moving block movably coupled to the linear motion guide;
Elastic means for providing a restoring force to the original position when the moving block moves along the linear motion guide;
An insertion block coupled to the moving block as a portion inserted into the space part of the mobile robot and having a power terminal at a position corresponding to the charging terminal;
Charging device of the mobile robot including a The method of claim 1,
The moving block includes a first block movably coupled to the linear motion guide and a second block coupled to the first block by a rotation axis.
The insertion block is a charging device for a mobile robot, characterized in that coupled to the second block. 3. The method according to claim 1 or 2,
The insertion block is connected to the moving block by a connecting rod installed in a direction perpendicular to the linear motion guide, the connecting rod is a charging device for a mobile robot, characterized in that the elastic means is coupled to According to claim 1 or 2, wherein the insertion block,
A plurality of upper rollers protruding to an upper surface;
A plurality of lower rollers protruding to the lower surface;
A plurality of side rollers protruding to the side;
Includes, at least one of the plurality of upper rollers, a plurality of lower rollers and a plurality of side rollers is a charging device for a mobile robot, characterized in that the elastic means is coupled to the rotating shaft or the support A mobile robot having a space part opened to one side, a charging terminal provided on an inner wall of the space part, and a plurality of roller grooves formed on an inner wall of the space part;
A frame having a linear motion guide,
A moving block movably coupled to the linear motion guide,
Elastic means for providing a restoring force to the original position when the moving block moves along the linear motion guide;
A plurality of rollers which are coupled to the moving block and inserted into the space part of the mobile robot, each having a power terminal at a position corresponding to the charging terminal and inserted into the plurality of roller grooves when reaching a correct position; ,
Filling apparatus having an insertion block having an elastic means coupled to the rotating shaft or the support of the plurality of rollers to provide a restoring force
Mobile robot charging system including a A mobile robot including a charging terminal, a battery, a first sensing means, and a first control unit controlling charging of the battery by using a signal from the first sensing means;
A charging device including a power supply terminal corresponding to the charging terminal, a second sensing means, and a second control part controlling a power supply through the power supply terminal using a signal of the second sensing means;
The first sensing means detects whether the charging device has reached the charging position, and the second sensing means detects whether the mobile robot has reached the charging position. system The method according to claim 6,
The first sensing means includes a first light receiving unit and a first light emitting unit,
The second sensing means includes a second light receiving unit facing the first light emitting unit, and a second light emitting unit facing the first light receiving unit,
The first control unit controls the power supplied to the charging terminal to be supplied to the battery when the light receiving signal is generated in the first light receiving unit, and the second control unit controls the power terminal when the light receiving signal is generated in the second light receiving unit. Charging system of the mobile robot, characterized in that to control the power supplied through 8. The method according to claim 6 or 7,
The mobile robot has a space that is opened to one side and has a charging terminal and the first sensing means on the inner wall,
The charging device includes an insertion block having the power terminal and the second sensing means as a part to be inserted into the space portion.

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