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In near future, many autonomous robots will be used to perform, to help with housework and to take care of the elderly people. However, their power consumption is very high, so it is significant to supply the power to robots efficiently. The three major power supply methods have been used; "wired style", "internal rechargeable battery" and "change style". Each method has some advantages and disadvantages. We focused on "change style" but it requires the high-level control to change battery correctly. If we could solve this problem, the robot's efficiency will become better. In this study, we will show that the electrical current controller using diode-bridge can flow the electrical current only one direction without depending position and the automatic battery charging system can use only putting the battery on it and charge the battery automatically.

Now, in the field of medical and ergonomics, using a device using a LED and a plurality of two-dimensional PSD camera, we have analyzed the behavior of a person. It is necessary to detect the position of each of the LED, this device, you must synchronize the two-dimensional PSD camera and LED. In this study, we propose a method for detecting the position of the plurality of light sources at the same time without synchronization. After the LED modulated to a plurality of different frequencies and received by the PSD, extracted by the frequency filter. Thus, it is not necessary to synchronize the PSD and the LED, it is possible to detect the position light sources at the same time a plurality for communication without wired or wireless I enabled.

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