Improvements to mobile robots and their control system

A are fixed base guide and positioning automatic mobile robot's system, which is at least one of the infrared directivity beam of fixing base, a mobile robot provided with a microprocessor is robot for detecting infrared emitting directivity test system for connected, the active face according to stochastic the movable groove; the microprocessor is provided with a algorithm, the algorithm of saying surface of through the movement of the infrared emitting direction control the loop to the fixing base; The detection system robot's on the framework of centre of rotation, along the heading, or based on the outer light beam detection, and rapidly for fixing with the mark; According to the algorithm, wherein the infrared exposure intensity when robot projecting is higher than the limit value started to returns the charging the fixing base, and battery state load and lower ends of the horizontal direction is returns the charging the holder. The invention further provided with for automatic of mobile robot.