Abstract
Indoor positioning and automatic charging technology of the robot is an important indicator to test intelligent control of robot. The surrounding condition is collected by acousto-optic sensor and photoelectric sensor, and the closed-loop control of DC motor is realized based on Fuzzy PID. The system integrates multiple photoelectric sensors and uses high-performance processor, S3C6410 ARM11, as the core instead of PC, reducing the power consumption and cost, so as to complete the acquisition of ranging information. And the environment image is obtained for image processing. The infrared docking method is adopted in the docking process, that is, three infrared transmitting tubes in the charging dock emit different positions, and the position relative to the charging dock is judged according to the number of received signals. In the experiment, the positioning error of industrial robot is about 1%, which can meet the requirements of indoor positioning. The docking success rate of automatic charging is more than 98%, and the time spent is less than 65 seconds, which satisfies with the requirements of automatic charging.
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