A kind of automatic positioning method between robot based on automatic charging and charging pileTechnical field
The invention mainly relates to robot field is and in particular between a kind of robot based on automatic charging and charging pileAutomatic positioning method.
Background technology
Traditional charging modes of robot are manually to be connected robot with charging pile to carry out contact or plug-in type charging,The intellectuality of robot can not be given full play to.How state-of-the-art technology, in research, realizes the robot automatic decision residue of itselfElectricity, is can automatically to go mobile charging pile of finding to carry out automatic charging in electricity less than certain threshold value, this will be one across the epochNew technique.
Content of the invention
The object of the invention is exactly the defect in order to make up prior art, provides a kind of robot based on automatic charging and fillsAutomatic positioning method between electric stake.
The present invention is achieved by the following technical solutions:
A kind of automatic positioning method between robot based on automatic charging and charging pile is it is characterised in that include following walkingRapid:
(1) electric power detection, and the minimum by the electricity of detection and setting are carried out by Power Management Unit to the power supply of robotElectricity contrasts；
(2) then continue to detect if greater than minimum amount of power, if less than minimum amount of power, robot passes through bluetooth connection charging pile；
(3) the travelling control unit control robot ambulation of robot, and scan the bluetooth equipment of periphery, to scan simultaneouslyThe mac address of bluetooth equipment is verified；
(4) if check results do not have charging pile bluetooth, continue to move to find, if check results are charging pile bluetooth, rightThe mac address of this bluetooth module is attached；
(5) read the rssi value of connected bluetooth module, store after rssi value is repeatedly filtered, for the movement of robotLocation handling unit calls；
(6) running fix administrative unit calls rssi value, and the first stage carries out four-way positioning, by controlling robot original place rotationTurn the positive direction obtaining charging pile position；Second stage carries out two to positioning, controls robot to sound out and advances, Bluetooth signalIntensity diminishes, and returns to original position, and the angle between 30-60 ° that turns clockwise simultaneously sounds out advance, until bluetooth againSignal intensity becomes big；Using position as starting point, repeat second stage, obtain positive direction；Phase III is by robotOn two Infrared Projectors and charging pile on two infrared signal receivers complete to be accurately positioned, open charging.
The invention has the advantage that
The algorithm that the present invention provides is so that realize between robot and charging pile being accurately positioned, intelligent automatic charging.
Specific embodiment
A kind of automatic positioning method between robot based on automatic charging and charging pile, comprises the following steps:
(1) electric power detection, and the minimum by the electricity of detection and setting are carried out by Power Management Unit to the power supply of robotElectricity contrasts；
(2) then continue to detect if greater than minimum amount of power, if less than minimum amount of power, robot passes through bluetooth connection charging pile；
(3) the travelling control unit control robot ambulation of robot, and scan the bluetooth equipment of periphery, to scan simultaneouslyThe mac address of bluetooth equipment is verified；
(4) if check results do not have charging pile bluetooth, continue to move to find, if check results are charging pile bluetooth, rightThe mac address of this bluetooth module is attached；
(5) read the rssi value of connected bluetooth module, store after rssi value is repeatedly filtered, for the movement of robotLocation handling unit calls；
(6) running fix administrative unit calls rssi value, and the first stage carries out four-way positioning, by controlling robot original place rotationTurn the positive direction obtaining charging pile position；Second stage carries out two to positioning, controls robot to sound out and advances, Bluetooth signalIntensity diminishes, and returns to original position, and the angle between 30-60 ° that turns clockwise simultaneously sounds out advance, until bluetooth againSignal intensity becomes big；Using position as starting point, repeat second stage, obtain positive direction；Phase III is by robotOn two Infrared Projectors and charging pile on two infrared signal receivers complete to be accurately positioned, open charging.