| 摘要 |
A localization system and method of a mobile robot using a charging station are provided to senses position of the mobile robot in a room automatically without manual installation of recognition marks by scanning marks for recognizing the front of the robot and the ceiling from the charging station. In a localization system of a mobile robot(1) using a charging station(2), the mobile robot comprises a drive unit(11), a charging unit(12), a communication unit(13), a sensor unit(14), a camera unit(15), a power unit(16), and a control unit. The drive unit drives the mobile robot. The charging unit charges a battery by contacting with charging terminals(27) of the charging station. The communication unit communicates with a remote controller and the charging station mutually. The sensor unit senses obstacles and prevents the robot from falling. The camera unit has a first camera(151) having a fish-eye lens recognizing marks in the front of the robot, a second camera(152) recognizing marks on the ceiling, and a vision board(153) regulating the first and second cameras. The power unit feeds power to each unit. The control unit controls functions of the mobile robot with a control program. The mobile robot calculates the position thereof by filming marks in the front and on the ceiling. The charging station includes a charging unit(21), a front mark scanning unit(22), a ceiling mark scanning unit(23), a communication unit(24), a power unit(25), and a charging station control unit(26). The charging unit has the charging terminals to feed power to the battery of the mobile robot. The front mark scanning unit scans infrared rays to the front with a plurality of LEDs so that the robot recognizes the charging station. The ceiling mark scanning unit scans laser beams to the ceiling with a plurality of laser diodes so that the robot recognizes position thereof in a room. The communication unit receives commands from the mobile robot. The power unit supplies power to each unit. The charging station control unit controls functions of the charging station with a control program. The charging station charges the battery and scans marks to the front and the ceiling.
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