Abstract: Aiming at the problems of low efficiency and small guidance range of autonomous charging docking technology for mobile robots, the algorithm of autonomous charging docking was improved by combining visual and infrared signals. Firstly, the quick response (QR) code was searched by the camera to locate the charging pile, and the relative pose between the robot and the charging pile was obtained. Then, the angle was compensated by receiving the infrared signal to solve the problem that the robot can't connect accurately when losing QR code information. Finally, 50 charging pile docking experiments were carried out at random positions of the mobile robot base in the charging area to verify the effectiveness of the algorithm. The results show that the algorithm realizes the functions of autonomous charging docking speed, wide guidance range, and high stability indoor mobile robot, and the success rate is 98%, which canmeet the requirements of the autonomous charging function of mobile robots.