US Patent 10345819 Recharging robot system

The present disclosure relates to a recharging robot system. The recharging robot system may include a signal emission device including at least one signal emission channel. The at least one signal emission channel each comprises an opening. A distance between two central axes of any two adjacent signal emission channels is gradually increased along a direction facing away the signal emitters. As such, an overlapping area of signal ranges of the at least two signal emitters may be reduced, and the robot may accurately determine which signal range that the robot is within, so as to accurately align with the recharging dock.