KR20070012119A - Automatic returning system to charging station for moving robot and method thereof - Google Patents

Abstract

A method and a system for automatically guiding a moving robot to a charging mount are provided to quickly guide the moving robot to the charging mount by using an RF signal and a supersonic signal with different reception delays. A charging mount(100) includes a supersonic signal receiver(150), a wireless transceiver(160), and a controller(170). The supersonic signal receiver receives a supersonic signal, which is outputted from a moving robot. The wireless transceiver wirelessly transmits and receives a wireless signal to/from the moving robot. The controller receives the supersonic signal and an RF(Radio Frequency) signal, which are received from the wireless transceiver, calculates distance information toward the moving robot by using a reception delay time of the supersonic signal, and transmits tracking information having the calculated distance information to the moving robot via the wireless transceiver.

Description

Automatic returning system to charging station for moving robot and method

1 is a schematic diagram schematically showing an automatic charging station return system of a mobile robot according to an embodiment of the present invention.

FIG. 2 is a block diagram schematically illustrating the charging station according to FIG. 1.

3 is a block diagram schematically illustrating a cleaning robot as an example of the mobile robot according to FIG. 1.

4 is a diagram schematically illustrating a transmission and reception timing of a wireless signal and an ultrasonic wave between a cleaning robot, which is an example of a charging stand and a mobile robot, according to an exemplary embodiment of the present invention.

FIG. 5 is a flowchart schematically illustrating a charging stand return process of a cleaning robot, which is a representative example of a mobile robot according to an exemplary embodiment of the present invention.

The present invention relates to a mobile robot, and more particularly, to an automatic recharging table of a mobile robot, which enables the mobile robot to return to the charging station accurately and quickly by using RF signals and ultrasonic waves, which are one of wireless communication methods.

Robots have been developed for industrial use and as part of factory automation, or have been used to collect or collect information on behalf of humans in extreme environments that humans cannot tolerate. This field of robotics has been developed in recent years as it is used in the cutting-edge space development industry, and until recently, human-friendly home robots have been developed. A representative example of such a human-friendly home robot is a cleaning robot.

A cleaning robot, a mobile robot, is a device that inhales dust or foreign substances while driving itself in a certain cleaning area such as a house or an office. In addition to the construction of a general vacuum cleaner that sucks in dust or foreign matter, such a cleaning robot includes a driving device including a left and right wheel motor for driving the cleaning robot, and a plurality of driving devices for driving without colliding with various obstacles in the cleaning area. It consists of a sensor and a microprocessor that controls the whole device.

On the other hand, since a mobile robot such as a cleaning robot travels in a certain area, it can determine the remaining battery level by itself and automatically return to a charging station installed at a predetermined position in the corresponding area to charge the battery of insufficient battery power. It has an automatic charging function to resume work.

The conventional method for automatically returning the charging stand of the mobile robot includes a method of attaching an artificial mark to the charging stand and determining the position of the charging stand by restoring the marking attached to the charging stand while moving the robot along the wall. In this method, a signal generating means for emitting a predetermined signal to the charging station is provided to emit a predetermined signal, and the mobile robot detects a signal emitted from the charging station and returns to the corresponding charging station.

However, since these methods are based on the random driving of the mobile robot, the time to return to the charging station varies depending on the location of the mobile robot. The random driving method of recovering the charging stand has a problem in that when the time for detecting an artificial mark or a signal attached to the charging stand becomes long, the power stored in the battery is all reduced and the driving is stopped.

The present invention was devised to solve such a problem, and an object thereof is to determine an accurate separation distance between a charging stand and a mobile robot, and to provide an automatic charging stand return system and a method for automatically returning a charging robot to a mobile robot. It is.

Furthermore, by using the RF communication method resistant to obstacles and interference and the ultrasonic wave for accurate distance measurement at the same time, it is to provide a more resilient zone for the charging stand of the mobile robot.

As described above, the charging base automatic return system of the mobile robot according to the preferred embodiment of the present invention rotates 360 degrees at a predetermined angle in place when the mobile robot detects that the battery needs to be charged by detecting the remaining amount of the battery while driving the moving zone. It emits RF signals and ultrasonic signals.

The charging station receives the RF signal and the ultrasonic signal transmitted from the mobile robot. In general, since the mobile robot has a limited moving area, the time delay until the RF signal is emitted from the mobile robot to reach the charging station is almost negligible. Therefore, the mobile station can receive the RF signal simultaneously with the RF signal emission.

In addition, the charging station receives ultrasonic waves emitted simultaneously with the RF signal from the mobile robot. Ultrasound has a delay time according to a distance unlike an RF signal having a negligible delay time.

After receiving the RF signal, the charging station calculates the distance information to the corresponding mobile robot by using the delay time when the ultrasound is received, and transmits the tracking information including the calculated distance information to the mobile robot through the RF signal.

The mobile robot receives the tracking information transmitted from the charging station for each rotation angle, extracts the distance information from the tracking information, and switches the driving direction in the direction in which the distance information of the shortest distance among the corresponding distance information is calculated.

Therefore, by measuring the exact distance between the charging station and the mobile robot, and accordingly driving to return to the charging station, there is an advantage that can be effectively returned to the charging station in a faster time.

According to a characteristic aspect of the present invention, the charging station according to the present invention is a mobile robot through the RF signal tracking information including the presence or absence of wireless signals and ultrasonic signals received from the mobile robot and the reception delay time information and distance information of the ultrasonic signals. Provided by.

Accordingly, the mobile robot compares the delay time of the ultrasonic wave reflected and received in the mobile zone with the reception delay time of the ultrasonic signal provided from the charging station, and determines whether the charging station is located in the area where the mobile robot is currently traveling. If the charging station is not present in the area, run the escape algorithm to leave the area.

Therefore, it is possible to provide a more powerful return system than when the mobile robot travels outside the region where the charging station is located.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily understand and reproduce the present invention.

The mobile robot of the present invention will be described in detail on the assumption of a cleaning robot which is an example of the mobile robot.

1 is a schematic diagram schematically showing an automatic charging station return system of a mobile robot according to an embodiment of the present invention. As shown, the automatic charging station return system of the mobile robot according to the present invention receives the tracking information request signal including the ultrasonic signal and the wireless signal output from the mobile robot 200 to receive the distance information with the mobile robot 200 The charging stage 100 calculates and wirelessly transmits a tracking signal including the calculated distance information, and transmits the tracking information request signal to the charging station 100 by rotating at a predetermined angle every predetermined period, and wirelessly from the charging station 100. Receiving the distance information transmitted to the calculated distance information of the received shortest distance information is configured to include a mobile robot 200 to return to the charging station 100 accordingly.

Charging station 100 charges a battery for supplying the power required to drive the mobile robot (200). If the mobile robot 200 detects the remaining capacity of the battery while performing the mission and determines that charging is necessary, the mobile robot 200 returns to the charging station 100 by the charging station return algorithm. When the mobile robot 200 is docked by the charging table return algorithm, the charging table 100 supplies power to the mobile robot 200, and the supplied power charges the battery. When charging ends, the mobile robot 200 resumes the mission that was being performed by leaving the charging station 100.

Description of the charging station 100 will be described in more detail with reference to FIG. FIG. 2 is a block diagram schematically illustrating the charging station according to FIG. 1. As shown, the charging station 100 according to an embodiment of the present invention is installed at a predetermined position of the area for performing the task of, for example, the mobile robot 200, and moves in addition to the basic configuration of the general charging station 100 An ultrasonic receiver 150 for receiving an ultrasonic signal output from the robot 200, a wireless transceiver 160 for transmitting and receiving a wireless signal with the mobile robot 200, and the ultrasonic signal and the wireless transceiver 160 received from Receives an ultrasonic signal and a wireless signal, calculates the distance information with the mobile robot 200 using the reception delay time of the ultrasonic signal, and transmits the tracking information including the calculated distance information to the mobile robot 200 It is configured to include a control unit 170.

The basic configuration of the charging station 100 is a docking detecting means 110 for detecting whether the mobile robot 200 is docked, the power supply terminal 120 for charging the battery of the docked mobile robot 200, for example, Display indicating the state of charge of the power supply unit 130 and the mobile robot 200 to convert the commercial DC power supplied to the building to the commercial DC power used for the battery of the mobile robot 200 to supply to the power terminal 120. The means 140 is included. Since the basic configuration of such a charging stand 100 is a well known technique, its detailed description is omitted.

The ultrasonic receiver 150 may be, for example, a receiver corresponding to a transmitter that oscillates ultrasonic waves, and receives ultrasonic waves oscillated from the mobile robot 200. Ultrasound is a sound wave with a frequency of about 20,000 Hz or more that cannot be felt by human ears. Ultrasonic waves have essentially the same properties as sound waves in the audible range, but due to their high frequency and thus short wavelength, they generate quite strong vibrations, for example, which are characteristic of directionality.

The sonar (SONAR: sound navigation and ranging), which measures the depth, as well as the depth using the time that the ultrasonic wave is reflected by the object and returns, is the same. Ultrasonic probes and ultrasonic diagnostics, which measure the difference in absorption and propagation velocity among materials, also use ultrasonic characteristics.

The wireless transceiver 160 may be configured as a kind of communication module or modem, for example, an RF communication module, receives a radio signal transmitted from the mobile robot 200, and calculates the movement calculated by the controller 170. The tracking information including the distance information between the robot 200 and the charging table 100 is transmitted to the mobile robot 200.

Since the ultrasonic receiver 150 and the wireless transceiver 160 are well known techniques, detailed descriptions thereof will be omitted.

The controller 170 may include, for example, a microprocessor 270 in charge of a calculation, a memory 260 in which an operation result and an operation program for driving the charging station 100 are stored, and a microprocessor 270 for driving. Circuits such as a pulse generator for providing a clock pulse may be composed of a microcontroller implemented on a single chip, and the mobile robot uses ultrasonic waves and RF signals received by the ultrasonic receiver 150 and the wireless transceiver 160. Calculates the separation distance with the 200, and transmits the tracking information including the calculated distance information to the mobile robot 200 through the wireless transceiver 160.

The controller 170 calculates distance information with the mobile robot 200 using the reception delay time of the ultrasonic wave received with a predetermined delay time according to the RF signal having a nearly negligible delay time and the distance. The mobile robot 200 simultaneously radiates an RF signal and an ultrasonic signal. In this case, the RF signal received with almost negligible delay time is used as a reference for the ultrasonic oscillation time point.

The controller 170 calculates a distance between the mobile robots 200 by measuring a delay time from the reception of the RF signal until the ultrasound is received by the ultrasound receiver 150. This distance calculation is calculated in the same manner as in equation (1). Where D is distance information, T is the delay time (msec) of the ultrasonic wave, and V is the sound velocity of the ultrasonic wave.

For example, when the sound velocity of the ultrasonic wave is 340 m / s and the ultrasonic wave is received with a delay time of 5 msec after the RF signal is received, the controller 170 calculates the distance information of 1.7 m and the wireless transceiver 160 Through the mobile robot 200 is transmitted through.

The mobile robot 200 performs its mission while moving itself in a predetermined area according to the loaded program. A typical commercialized example may be a cleaning robot 200. The cleaning robot 200 is a mobile robot 200 that sucks dust or foreign substances while freely traveling a predetermined area.

The mobile robot 200 according to the present invention will be described in detail with reference to FIG. 3, and the mobile robot 200 according to the present invention will be described on the assumption that the mobile robot 200 is an example of the cleaning robot 200.

3 is a block diagram schematically illustrating a cleaning robot as an example of the mobile robot according to FIG. 1. As shown, the cleaning robot 200 according to the preferred embodiment of the present invention, in addition to its basic configuration, the ultrasonic transceiver 280 and the ultrasonic transceiver 280 for emitting an ultrasonic signal to the charging station 100 at a predetermined cycle. The wireless signal is emitted to the charging station 100 at the same time by the ultrasonic wave emitted by the wireless communication module 290, receiving the tracking information including the distance information output from the charging station 100, the cleaning robot 200 traveling The driving unit 230, the driving program of the cleaning robot 200 is stored, the memory 260 to store the tracking information transmitted from the charging station 100, and the microcontroller for controlling the overall device of the cleaning robot 200 It is configured to include a processor 270.

Looking at the basic configuration of the cleaning robot 200 includes a dust detection sensor for detecting dust or foreign matter in the cleaning area, the suction means 210 for sucking the dust or foreign matter detected by the dust detection sensor, and the suction means ( Dust storage means 220 for storing the dust and foreign matter collected by the 210, the driving unit 230 for driving the cleaning robot 200, the driving power of the suction means 210 and the driving unit 230 The battery 240 for supplying, the battery detection circuit 250 for detecting the remaining amount of the battery 240 every predetermined period and outputs a battery charge request signal when the value is less than the predetermined value, and the overall apparatus of the cleaning robot 200 It is configured to include a microprocessor for controlling.

In the basic configuration of the cleaning robot 200, the suction means 210, the dust storage means 220, the battery 240 and the battery detection circuit 250 may be a well-known configuration, the detailed description thereof will be omitted.

The memory 260 is configured of, for example, a nonvolatile memory device such as an EEPROM or a flash memory, and stores an operating program for driving the cleaning robot 200. In addition, according to a characteristic aspect of the present invention stores the tracking information including the distance information transmitted from the wireless transceiver 160 of the charging station 100. The operating program and the tracking information stored in the memory 260 are controlled by the microprocessor 150.

The ultrasonic transceiver 280 implements an ultrasonic transmitter and an ultrasonic receiver that generate ultrasonic waves and transmit the ultrasonic waves to the ultrasonic receiver 150 of the charging station 100.

The ultrasonic transmitter generates and transmits ultrasonic waves according to the control signal of the microprocessor 270, and the ultrasonic receiver receives the reflected wave from which the ultrasonic waves transmitted by the ultrasonic transmitter are reflected.

The wireless communication module 290 may be configured as a kind of communication modem such as an RF communication module, for example, outputs an RF signal to the charging station 100, and receives tracking information including distance information from the charging station 100. do.

The driving unit 230 drives the cleaning robot 200 by driving the left and right wheel motors 231 and 232 according to a control signal output from the microprocessor 150. The left and right wheel motors 231 and 232 of the driving unit 230 are connected to the left and right wheels for driving the cleaning robot 200. Therefore, the cleaning robot 200 travels forward, backward, left, and right according to the rotation speeds and directions of the left and right wheel motors 231 and 232.

The microprocessor 150 outputs a control signal to the driving control unit 271 for controlling the operation of the driving unit 230 and the driving control unit 271 to rotate at a predetermined angle every predetermined period, and according to the rotation, ultrasonic and wireless signals. Outputs a control signal to the wireless communication module 290 and the ultrasonic transceiver 280 to emit a signal, and receives the tracking information including the distance information calculated from the charging station 100 to calculate the shortest distance information among the received distance information. And an automatic return processing unit 272 for outputting a control signal to the travel control unit 271 so that the cleaning robot 200 travels in the rotation direction.

The driving control unit 271 controls the driving unit 230 for driving the cleaning robot 200 according to a control command output from the operation program of the cleaning robot 200.

The automatic return processor 272 outputs a control signal to the driving controller 271 so as to rotate 360 degrees at an angle set in place according to the battery charge request output from the battery detection circuit 250 and at the same time rotates the ultrasonic transmitter / receiver. The control signal is output so that the ultrasonic wave and the RF signal from the wireless communication module 290 and the wireless communication module 290 are simultaneously emitted to the charging station 100.

The RF signal and the ultrasonic signal may preferably have different bands according to the angle at which the cleaning robot 200 rotates. This is to easily distinguish the tracking information including the distance information calculated according to the ultrasonic wave and the RF signal emitted by the rotation angle of the cleaning robot 200.

In addition, the tracking information including the distance information calculated by the charging station 100 is received and stored in the memory 260, and the shortest distance of the distance information calculated by the control unit 170 of the charging station 100 for each rotation angle The distance information is extracted, and the control signal is output to the driving controller 271 so that the cleaning robot 200 travels in the corresponding direction by accessing the angle information corresponding thereto.

In addition, the automatic return processing unit 272 may compare the distance information transmitted from the charging station 100 and output a control signal to the driving controller 271 so that the cleaning robot 200 proceeds in a direction in which the corresponding distance information is close. The automatic return processing unit 272 stores the shortest distance information extracted from the tracking information transmitted from the charging station 100 whenever the ultrasonic signal and the RF signal are transmitted to the memory 260, and compares the shortest distance information extracted from the tracking information received sequentially. As a result of the comparison, a control signal is output to the driving control unit 271 so that the cleaning robot 200 travels in the direction in which the shortest distance information becomes small.

In addition, the automatic return processing unit 272 periodically transmits ultrasonic waves and RF signals at predetermined time intervals when the battery charge request signal is received, or the cleaning robot 200 changes the traveling direction due to obstacles while driving. Every time the direction is changed, the ultrasonic wave and the RF signal are transmitted and the tracking information is received from the charging station 100, thereby determining the optimum direction up to the charging station 100 and having the advantage of returning.

According to a characteristic aspect of the present invention, the tracking information transmitted from the charging stand 100 according to the present invention to the cleaning robot 200 may be received from the cleaning robot 200, and may be received or not received. The automatic return processing unit 272 includes the time information, and thus the delay time until the ultrasonic wave emitted by the ultrasonic transceiver unit 280 is reflected and returned from the cleaning zone, and the reception delay transmitted from the charging station 100. The time information is compared to determine whether the vehicle is driving in the direction in which the charging station 100 is located.

In addition, when the ultrasonic signal is not received by checking whether the ultrasonic signal is received from the tracking information transmitted from the charging stand 100, that is, when the ultrasonic signal is not transmitted to the charging stand 100, the cleaning robot 200 is isolated. It is determined that it is located in the area, and controlled by the driving control unit 271 to escape the area.

The above-described driving process of the automatic return processing unit 272 will be described in more detail with reference to FIGS. 4 and 5. Figure 4 is a schematic diagram showing the timing of the transmission and reception of the wireless signal and ultrasonic waves between the cleaning robot which is an example of the charging station and the mobile robot according to an embodiment of the present invention, Figure 5 is a mobile robot according to an embodiment of the present invention It is a flow chart schematically showing the process of returning the charging stand of the cleaning robot as a representative example. As shown, the method for returning the charging table of the mobile robot according to the present invention, for example, the driving command of the cleaning robot 200, for example, the input button provided in the cleaning robot 200 or the input button of the remote control provided at the time of purchase Press (S101), the cleaning robot 200 receives a driving command to leave the charging station 100.

The microprocessor 150 outputs a control signal to the suction control unit 210 for detecting and inhaling dust and foreign matter in the driving control unit 271 and the cleaning area so as to be cleaned (S103).

The voltage sensing circuit 180 of the cleaning robot 200 measures the voltage of the battery 240 at predetermined intervals in order to determine the automatic charging time by detecting the remaining voltage of the battery 240. The voltage detecting circuit 180 outputs a charge request signal to the automatic return processor 272 of the microprocessor 150 when the detected voltage is less than the reference voltage value by comparing the detected voltage with a reference voltage value stored in the memory 260. (S105).

The automatic return processor 272 outputs a control signal to the ultrasonic transmitter / receiver 280 and the wireless communication module 290 to transmit a tracking information request signal including the ultrasound and RF signals. At this time, the driving control unit 271 controls the driving unit 230 to rotate the cleaning robot 200 by a predetermined interval in accordance with the control signal (S107).

Ultrasonic and RF signals transmitted from the cleaning robot 200 are transmitted to the ultrasonic receiver 150 and the wireless transceiver 160 of the charging table 100. The control unit 170 of the charging station 100 calculates the distance of the cleaning robot 200 by counting a time from the time when the RF signal is received until the ultrasound is received, that is, the reception delay time.

In addition, the control unit 170 of the charging station 100 is a wireless transmitting and receiving unit 160 to the tracking information including the calculated distance information, the presence or absence of the reception of the ultrasonic signal and the ultrasonic signal and the reception delay time of the ultrasonic signal to the cleaning robot 200 ), And the wireless communication module 290 of the cleaning robot 200 receives it and outputs it to the automatic return processing unit 272 (S109). At this time, when the ultrasonic signal is not received, the control unit 170 of the charging station 100 transmits only the reception of the RF signal to the cleaning robot 200.

The automatic return processor 272 extracts distance information from the tracking information calculated and transmitted by the charging station 100 according to the tracking information request signal transmitted while rotating at a predetermined angle, and the shortest distance information is extracted from the extracted distance information. The control robot 271 outputs a control signal to the traveling control unit 271 so that the cleaning robot 200 proceeds in the direction of the angle (S111).

On the other hand, the automatic return processing unit 272 of the cleaning robot 200 receives the reflected wave returned by the ultrasonic wave transmitted by the ultrasonic transmitting and receiving unit 280 in the area where the cleaning robot 200 is located to delay the reception of the reflected wave. The time information is stored in the memory 260.

The automatic return processing unit 272 checks whether the ultrasonic wave is received from the tracking information transmitted by the RF signal from the charging station 100 and compares the ultrasonic wave delay time with the reflected delay time of the reflected wave, thereby moving the cleaning robot 200 in the direction of movement. Check whether this is correct (S113).

As a result of comparison, when the ultrasonic reception delay time of the charging station 100 is shorter than the reception delay time of the reflected wave (CASE 1), it is determined that the charging station 100 is in the visible distance of the cleaning robot 200 and maintains the corresponding direction. .

When the ultrasonic reception delay time of the charging station 100 is longer than the reception delay time of the reflected wave (CASE 2), since the ultrasonic wave transmitted from the cleaning robot 200 is reflected in the zone and transmitted to the charging station 100, the automatic return is performed. The processor 272 determines that the charging stand 100 is in the visible range, but the moving direction of the cleaning robot 200 is in a different direction, and the control unit transmits a control signal to the direction according to the shortest distance information received at the location. 271).

When the ultrasonic wave is not received from the tracking information received from the charging station 100, that is, when the RF signal is received but the ultrasonic wave is not received (CASE 3), the automatic return processing unit 272 is the cleaning robot 200, for example, The charging stand 100 is located in the living room, but the cleaning robot 200 determines that the charging stand 100 is located in another area other than the area in which the charging stand 100 is located, and outputs a control signal to the driving driver to leave the area.

The automatic return processing unit 272 of the cleaning robot 200 repeats the above-described process until the docking position with the charging station 100 is reached, and when the docking position is reached, the charging station 100 according to the docking algorithm of the charging station 100 ( Docking with 100 to charge the battery 240 (S115) (S117).

According to this aspect, when the battery 240 of the cleaning robot 200 needs to be charged, the cleaning robot 200 is driven in the direction expected to be the shortest distance to the charging stand 100, and the above-described process is performed even during the return of the charging stand 100. By repeating, the more accurate and effective charging station return has the advantage that it is possible.

As described above, the automatic charging station return system and method of the mobile robot according to the present invention calculates the distance between the charging station and the mobile robot by using an ultrasonic signal having a different reception delay time according to the RF signal and the distance with little reception delay, By allowing the mobile robot to travel in the direction in which the shortest distance is calculated among the calculated distance information, it is possible to effectively return to the charging station at a faster time.

In addition, by repeating the above-described process during charging station return, there is an advantage that can provide a more accurate and powerful charging station return system.

The present invention has been described above with reference to preferred embodiments, but is not limited thereto, and is interpreted by the appended claims, which are intended to cover many modifications that will be apparent to those skilled in the art without departing from the scope of the present invention. Should be done.

Claims (11)

In the charging station automatic return system of a mobile robot, A charging table configured to receive a tracking information request signal including an ultrasonic signal and a wireless signal output from the mobile robot, calculate distance information with the mobile robot, and wirelessly transmit a tracking signal including the calculated distance information; It rotates at a set angle every predetermined period and transmits the tracking information request signal to the charging station, receives distance information wirelessly transmitted from the charging station, calculates the shortest distance information from the received distance information, and returns to the charging station accordingly. Mobile robot; Charging station automatic return system of the mobile robot, comprising a. The method of claim 1, wherein the charging station is: An ultrasonic receiver for receiving an ultrasonic signal output from the mobile robot; A wireless transceiver for transmitting and receiving a wireless signal with the mobile robot; Receives an ultrasonic signal and a wireless signal received from the ultrasonic signal and the wireless transceiver, calculates distance information with the mobile robot using the reception delay time of the ultrasonic signal, and tracking information including the calculated distance information Control unit for transmitting to the mobile robot through the wireless transceiver; Charging station automatic return system of the mobile robot, comprising a. The method of claim 1, wherein the mobile robot: An ultrasonic transceiver unit configured to emit an ultrasonic signal to the charging station at a predetermined cycle; A wireless communication module for emitting a radio signal simultaneously with the ultrasonic wave emitted by the ultrasonic transceiver unit and receiving tracking information including distance information output from the wireless transceiver unit of the charging station; A driving unit for driving the mobile robot; A memory storing a driving program of the mobile robot and storing tracking information transmitted from the charging station; Controls the overall device of the mobile robot, A driving control unit controlling driving of the driving unit according to a control signal; Outputting a control signal to the traveling control unit to rotate at a predetermined angle every predetermined period, Outputs a control signal to the wireless communication module and the ultrasonic transceiver to emit ultrasonic waves and wireless signals in accordance with the rotation of the mobile robot, Receiving the tracking information including the distance information calculated from the charging station and including an automatic return processing unit for outputting a control signal to the traveling control unit to run the mobile robot in the rotation direction calculated as the shortest distance information of the received distance information; Microprocessor; Charging station automatic return system of the mobile robot, comprising a. The method of claim 3, wherein the tracking information is: And whether there is a reception of the wireless signal and the ultrasonic signal received from the mobile robot and the reception delay time information of the ultrasonic signal; The automatic return processing unit: Comparing the delay time until the ultrasonic wave emitted by the ultrasonic transceiver unit is reflected in the moving area and returning with the reception delay time information transmitted from the charging station to determine whether the driving unit is in the direction in which the charging station is located; Automatic charging station return system of the mobile robot, characterized in that. The apparatus of claim 4, wherein the automatic return processing unit determines whether the ultrasonic signal is received from the tracking information sent by the automatic return processing unit, and determines that the ultrasonic signal is located in the isolated area when the ultrasonic signal is not received. Automatic charging station return method of a mobile robot, characterized in that for outputting a control signal. The method according to claim 1, wherein Charging table automatic return system of the mobile robot, characterized in that the mobile robot is a cleaning robot. In the method of returning the charging stand of the mobile robot, Rotating at a predetermined angle every predetermined period and emitting ultrasonic and wireless signals to a charging station; Receiving tracking information including distance information calculated by each ultrasonic wave and a wireless signal according to a rotation angle from the charging station; Calculating a shortest distance from the charging station among the received distance information, and outputting a control signal to allow the mobile robot to travel in the direction in which the shortest distance is calculated; Charging stand return method of the mobile robot, characterized in that it comprises a. 8. The method of claim 7, wherein the distance calculation method of the charging station is: Charging table return method of the mobile robot, characterized in that it is calculated through the reception delay time of the ultrasonic wave output from the mobile robot. 8. The method of claim 7, wherein the tracking information is: And whether there is a reception of the wireless signal and the ultrasonic signal received from the mobile robot and the reception delay time information of the ultrasonic signal; The above method is: Comparing the delay time until the ultrasonic wave emitted by the ultrasonic transceiver unit is reflected and the reception delay time information transmitted from the charging station to determine whether the driving unit is traveling in the direction in which the charging station is located; Charging stand return method of the mobile robot, characterized in that it further comprises. The method of claim 9 wherein the method is: Checking the presence or absence of an ultrasonic signal from the tracking information transmitted from the charging station, determining that the ultrasonic signal is located in an isolated area when the ultrasonic signal is not received, and performing an escape algorithm; Charging stand return method of the mobile robot, characterized in that it further comprises. The method according to claim 7 to 10, Charging table return method of the mobile robot, characterized in that the mobile robot is a cleaning robot.

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