CN106338997A - Automatic positioning method between self-charging robot and charging pile - Google Patents
Automatic positioning method between self-charging robot and charging pile Download PDFInfo
- Publication number
- CN106338997A CN106338997A CN201610935438.8A CN201610935438A CN106338997A CN 106338997 A CN106338997 A CN 106338997A CN 201610935438 A CN201610935438 A CN 201610935438A CN 106338997 A CN106338997 A CN 106338997A
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- robot
- bluetooth
- charging pile
- charging
- rssi value
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic positioning method between self-charging robot and charging pile, and the method comprises the following steps. A power management unit detects the power amount of a robot and compares what it detects with a set minimum power amount. If the detected power amount is smaller than the minimum power amount, the robot is to be connected with the charging pile through Bluetooth. The walking control unit of the robot controls the walk of the robot, scans the Bluetooth device around at the same time, and verifies the Mac address of the Bluetooth device. If the verification result is the Bluetooth of the charging pile, then the robot is connected with the Mac address of the Bluetooth module. After that, the rssi value of the connected Bluetooth module is read out, and then the rssi value undergoes multiple times of filtering before it is saved. A moving and positioning management unit calls the rssi value with a three-step positioning method to have the robot charged. According to the algorithm of the invention, precise positioning can be achieved between a robot and a charging pile for automatically intelligent charging.
Description
Technical field
The invention mainly relates to robot field is and in particular between a kind of robot based on automatic charging and charging pile
Automatic 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 itself
Electricity, 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 epoch
New 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 fills
Automatic 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 walking
Rapid:
(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 robot
Electricity 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 simultaneously
The 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, right
The 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 robot
Location 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 rotation
Turn the positive direction obtaining charging pile position；Second stage carries out two to positioning, controls robot to sound out and advances, Bluetooth signal
Intensity diminishes, and returns to original position, and the angle between 30-60 ° that turns clockwise simultaneously sounds out advance, until bluetooth again
Signal intensity becomes big；Using position as starting point, repeat second stage, obtain positive direction；Phase III is by robot
On 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 robot
Electricity 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 simultaneously
The 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, right
The 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 robot
Location 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 rotation
Turn the positive direction obtaining charging pile position；Second stage carries out two to positioning, controls robot to sound out and advances, Bluetooth signal
Intensity diminishes, and returns to original position, and the angle between 30-60 ° that turns clockwise simultaneously sounds out advance, until bluetooth again
Signal intensity becomes big；Using position as starting point, repeat second stage, obtain positive direction；Phase III is by robot
On two Infrared Projectors and charging pile on two infrared signal receivers complete to be accurately positioned, open charging.
Claims (1)
1. the automatic positioning method between a kind of robot based on automatic charging and charging pile is it is characterised in that include following walking
Rapid:
(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 robot
Electricity 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 simultaneously
The 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, right
The 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 robot
Location 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 rotation
Turn the positive direction obtaining charging pile position；Second stage carries out two to positioning, controls robot to sound out and advances, Bluetooth signal
Intensity diminishes, and returns to original position, and the angle between 30-60 ° that turns clockwise simultaneously sounds out advance, until bluetooth again
Signal intensity becomes big；Using position as starting point, repeat second stage, obtain positive direction；Phase III is by robot
On two Infrared Projectors and charging pile on two infrared signal receivers complete to be accurately positioned, open charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935438.8A CN106338997A (en) | 2016-11-01 | 2016-11-01 | Automatic positioning method between self-charging robot and charging pile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935438.8A CN106338997A (en) | 2016-11-01 | 2016-11-01 | Automatic positioning method between self-charging robot and charging pile |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106338997A true CN106338997A (en) | 2017-01-18 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610935438.8A Pending CN106338997A (en) | 2016-11-01 | 2016-11-01 | Automatic positioning method between self-charging robot and charging pile |
Country Status (1)
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106912003A (en) * | 2017-02-22 | 2017-06-30 | 上海斐讯数据通信技术有限公司 | A kind of short distance hunting system and object method for searching |
| CN107943048A (en) * | 2017-12-11 | 2018-04-20 | 上海思依暄机器人科技股份有限公司 | A kind of charge control method, device and domestic robot |
| CN108176555A (en) * | 2018-02-09 | 2018-06-19 | 南京工业职业技术学院 | A kind of Intelligent tree brushing whitewashes device |
| CN108599289A (en) * | 2018-03-26 | 2018-09-28 | 安克创新科技股份有限公司 | The charging system and method for electronic equipment |
| WO2019104664A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Recharging method for floor sweeping robot, and floor sweeping robot |
| CN110405747A (en) * | 2018-04-26 | 2019-11-05 | 深圳市神州云海智能科技有限公司 | A kind of robot path switching method and robot |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN113472034A (en) * | 2021-06-22 | 2021-10-01 | 苏州大学 | Automatic charging control method for mobile robot |
| CN114312438A (en) * | 2021-11-29 | 2022-04-12 | 度普(苏州)新能源科技有限公司 | Charging pile management method, charging pile control device, storage medium and processor |
| WO2023109447A1 (en) * | 2021-12-17 | 2023-06-22 | 中兴通讯股份有限公司 | Nfc wireless charging method and system, and electronic device and readable storage medium |
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| CN106026288A (en) * | 2016-07-18 | 2016-10-12 | 旗瀚科技有限公司 | Robot automatic charging system and charging method thereof |
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| KR20120120647A (en) * | 2011-04-25 | 2012-11-02 | (주) 퓨처로봇 | System and Method for Self-Charge of Inteligent Robot |
| CN103645733A (en) * | 2013-12-02 | 2014-03-19 | 江苏建威电子科技有限公司 | A robot automatically finding a charging station and a system and method for automatically finding a charging station thereof |
| CN105809944A (en) * | 2014-12-30 | 2016-07-27 | Tcl集团股份有限公司 | Robot, charging device, charging alignment method and charging system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106912003A (en) * | 2017-02-22 | 2017-06-30 | 上海斐讯数据通信技术有限公司 | A kind of short distance hunting system and object method for searching |
| WO2019104664A1 (en) * | 2017-11-30 | 2019-06-06 | 深圳市沃特沃德股份有限公司 | Recharging method for floor sweeping robot, and floor sweeping robot |
| CN107943048A (en) * | 2017-12-11 | 2018-04-20 | 上海思依暄机器人科技股份有限公司 | A kind of charge control method, device and domestic robot |
| CN108176555A (en) * | 2018-02-09 | 2018-06-19 | 南京工业职业技术学院 | A kind of Intelligent tree brushing whitewashes device |
| CN108599289A (en) * | 2018-03-26 | 2018-09-28 | 安克创新科技股份有限公司 | The charging system and method for electronic equipment |
| CN108599289B (en) * | 2018-03-26 | 2022-02-15 | 安克创新科技股份有限公司 | Charging system and method for electronic equipment |
| CN110405747A (en) * | 2018-04-26 | 2019-11-05 | 深圳市神州云海智能科技有限公司 | A kind of robot path switching method and robot |
| CN111694360A (en) * | 2020-06-22 | 2020-09-22 | 珠海格力电器股份有限公司 | Method and device for determining position of sweeping robot and sweeping robot |
| CN113472034A (en) * | 2021-06-22 | 2021-10-01 | 苏州大学 | Automatic charging control method for mobile robot |
| CN114312438A (en) * | 2021-11-29 | 2022-04-12 | 度普(苏州)新能源科技有限公司 | Charging pile management method, charging pile control device, storage medium and processor |
| WO2023109447A1 (en) * | 2021-12-17 | 2023-06-22 | 中兴通讯股份有限公司 | Nfc wireless charging method and system, and electronic device and readable storage medium |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170118 |