SELF-CHARGE DOCKING SYSTEM AND OBSTACLE AVOIDANCE OF A ROBOT USING ANISOTROPIC ULTRASONIC SENSORS

A connection device and method used to avoid obstacles and perform automatic charging by a movable robot using anisotropic ultrasonic wave sensors is provided to supply a scheme and an algorithm of calculating a distance between a charging device and the robot while the robot is driving. A trigger signal transmitter(24) generates a trigger signal having a specific code with a predetermined period of time. A trigger signal receiver(13) receives the trigger signal generated from the trigger signal transmitter. A first micro-processor(11) generates an operational signal to selectively operate anisotropic ultrasonic wave sensors(14,15,25,26,27) by analyzing the trigger signal. Voltage amplifiers(12,23) raise a voltage or generated a driving signal in order to drive the anisotropic ultrasonic sensors. A reception gain amplifier(22) amplifies signals from the anisotropic ultrasonic wave sensors to convert the signal into a signal for a second micro-processor(21). The second micro-processor calculates a distance between a movable robot and a charging device by using the signal from the reception gain amplifier. A motor driving circuit(29) and a motor(28) are used to move the movable robot.