Hi Andy,

Not sure of frequencies etc as I don't have a scope to check. The docking mechanism seems fairly basic to my untrained eye. There are 2 IR windows in the dock itself which appear to radiate out in a narrow fan pattern with a gap in between. The robot has a window in its rear which is presumably the IR receiver and judging by the way it docks, it would appear to be bouncing between the beams as it reverses. The robot starts autodocking by performing a sort of circular dance to attempt to see one of the beams. It then starts to reverse towards the dock. If it passes the 2nd beam (By overshooting the first), it then changes it's reverse angle slightly to point back at the dock. This procedure repeats in an ever more rapid "Bounce" like a marble in a funnel, until it finally reaches the dock. There is a switch on the bottom of the robot which is operated as the robot mounts the base which presumably indicates to the robot to stop reversing/seeking and allows the robot to charge. Presumption, being the key of this comment, I would assume the IR transmitters in the base operate at some kind of modulation which differ between the left and right hand to allow the robot to differentiate and know whether it is to the LHS or RHS of the dock.

 Hope the info is of help. Let me know if you require any further info.

Regards, Nat.