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I sometimes have the same problem with my Roomba 530 (named Ethel). Make sure the signal transmittor on the docking station and the signal receiver on the top of the Roomba are clean. You can use a cloth or paper towel with a SMALL amount of window cleaner to run around both of these signal devices. I also like to clean the metal contacts on the station and the corresponding contacts on the bottom of the Roomba at the same time. This won't make a difference for the docking but it just assures that the vacuum will charge efficiently. If this doesn't work, you might need to have the unit cleaned professionally unless you feel comfortable about taking the unit apart and cleaning it yourself. I did this and Ethel has worked fine ever since! If this helps, please come back and rate my suggestion!
you can try cleaning the battery and charging contacts with some rubbing alcohol or contact cleaner, but its also possible the battery has reached the end of its service life.
Sometimes this can occur when one of the wheel motor sensors has dirt in it. I have had some success blowing compressed air into my main wheel units. You can disassemble them for cleaning, but it is quite involved.
Try spraying a compressed air can (computer cleaner) under the brush compartment (under the yellow housing). There are sensors and other wires underneath.
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