Develop a self-diagnosis function auto-recharging device for mobile robot

Autonomous mobile robot is very flexibility to move in anywhere. But it is limited on power supply. The power of the mobile robot may provide a few hours of peak usage before the recharging behavior is necessary. So auto recharging function is an important issue in the autonomous mobile robot. It is also an important task that how to detect an exact power value in the security robot. In the paper, we use four current sensors to measure the power variety and we use redundant management method to detect and diagnosis current sensor status. First we use computer simulation and implement in the personal computer using Advantech multifunction I/O card. Next, we use detection and diagnosis algorithm in the power system of the mobile robot, and get some adequate experimental results for some variety conditions. Finally, we make some experimental scenario on the auto-recharging function using the WFSR-I mobile robot.