CN110460132A - Stake system and a kind of upper piling method on a kind of robot automatic charging - Google Patents
Stake system and a kind of upper piling method on a kind of robot automatic charging Download PDFInfo
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- CN110460132A CN110460132A CN201910829330.4A CN201910829330A CN110460132A CN 110460132 A CN110460132 A CN 110460132A CN 201910829330 A CN201910829330 A CN 201910829330A CN 110460132 A CN110460132 A CN 110460132A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- Radar, Positioning & Navigation (AREA)
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Abstract
This application discloses stake system on a kind of robot automatic charging and a kind of upper piling methods, and wherein system includes: central processing unit and UWB mould group；UWB mould group includes: that UWB label, positioning unit and N number of base station UWB, N >=4, and N number of base station UWB are distributed in N number of endpoint of solid, and solid is made of N number of base station UWB；UWB label is installed in robot, and is connect with every UWB base station communication, for receiving the UWB signal of the base station UWB transmission；Positioning unit, the UWB signal for being received according to UWB label position robot, obtain the location information of robot；Central processing unit, for according to the location information of robot and the location information of charging pile, the distance between calculating robot and charging pile, and when distance is less than distance threshold, it controls robot and triggers laser navigation module, so that robot carries out upper stake according to laser navigation module, the upper stake mode for solving robot is easy to appear robot and loses boat phenomenon and the time-consuming long technical problem of upper stake.
Description
Technical field
This application involves stake system and one kind on robot charging technique field more particularly to a kind of robot automatic charging
Upper piling method.
Background technique
With the development of science and technology, various robots emerge in succession, for example, clean robot, bank service robot,
Hospital care robot etc..Current robot is charged by the way of self-service charging, for example, clean robot is indoors
When carrying out cleaning, self electric quantity is detected, when self electric quantity reaches the lower limit value of charging, independently returns to charging pile
(hereinafter referred to as upper stake) charges.
Stake mode takes stake in laser navigation in existing robot, i.e., during robot is moved to charging pile, hair
Laser ranging signal is penetrated, the distance between detection and charging pile open laser feature identification when distance reaches set distance,
Upper stake charging after recognition and verification.Although this kind of upper stake mode can be realized the upper stake of robot, but be easy to appear robot mistake
Navigate phenomenon and upper stake is time-consuming long.
Summary of the invention
In view of this, being solved this application provides stake system on a kind of robot automatic charging and a kind of upper piling method
The upper stake mode of robot is easy to appear robot and loses boat phenomenon and the time-consuming long technical problem of upper stake.
The application first aspect provides stake system on a kind of robot automatic charging, comprising: central processing unit and UWB mould
Group；
The UWB mould group includes: UWB label, positioning unit and N number of base station UWB, N >=4, and N number of UWB base
It stands and is distributed in N number of endpoint of solid, the solid is made of N number of base station UWB；
The UWB label is installed in robot, and is connect with each UWB base station communication, for receiving the UWB
The UWB signal that base station is sent；
The positioning unit, the UWB signal for being received according to the UWB label determine the robot
Position, obtains the location information of the robot；
The central processing unit, for calculating institute according to the location information of the robot and the location information of charging pile
The distance between robot and the charging pile are stated, and when the distance is less than distance threshold, controls the robot triggering
Laser navigation module, so that the robot carries out upper stake according to the laser navigation module.
Optionally,
The UWB mould group further include: clock unit；
The clock unit is all connected with N number of base station UWB, for providing synchronised clock letter for N number of base station UWB
Number；
The main control unit of the UWB mould group, for controlling the base station UWB and sending institute according to the synchronizing clock signals
State UWB signal.
Optionally,
The clock unit includes: to have source crystal oscillator, amplifier and clock buffer；
The input terminal for having source crystal oscillator is connect with the main control unit, and output end is connect with the amplifier；
The input terminal of the clock buffer is connect with the output end of the amplifier, output end and N number of base station UWB
Connection.
Optionally,
The main control unit is specifically used for, and according to the synchronizing clock signals, N number of UWB is controlled in synchronization
Base station sends the UWB signal.
Optionally,
The main control unit is specifically used for, and according to the synchronizing clock signals, controls N number of base station UWB and successively sends
The UWB signal.
Optionally,
The main control unit is specifically used for, according to the synchronizing clock signals, between the times such as the N number of base station UWB of control
The UWB signal is successively sent every ground.
Optionally,
The positioning unit is specifically used for, and is based on TDOA algorithm, the UWB signal received according to the UWB label
The robot is positioned, the location information of the robot is obtained.
Optionally,
N number of base station UWB is connected with the main control unit by spi bus.
The application second aspect provides a kind of upper piling method, fills automatically applied to robot described in above-mentioned first aspect
The operation of stake system or work on electricity, comprising:
N number of base station UWB sends the UWB label installed in UWB signal to robot, N >=4, and N number of UWB base
It stands and is distributed in N number of endpoint of solid, the solid is made of N number of base station UWB；
Positioning unit positions the robot according to the UWB signal that the UWB label receives, and obtains institute
State the location information of robot；
Central processing unit according to the location information of the robot and the location information of charging pile, calculate the robot and
The distance between described charging pile, and when the distance is less than distance threshold, control the robot triggering laser navigation mould
Block, so that the robot carries out upper stake according to the laser navigation module.
As can be seen from the above technical solutions, the application has the following advantages:
What upper stake mode in the prior art was realized using laser navigation, inventor sends out after studying the prior art
Existing, laser is easy to flood laser signal when carrying out remote ranging so that robot is in mistake boat state, in appearance stake not at
Function, and there are vision dead zones for laser navigation, the time-consuming for searching for charging pile is more long, causes stake time-consuming long, robot in the application
Stake system on automatic charging, installs UWB label in robot, which receives N number of endpoint in solid in space
The UWB signal that N number of base station UWB of distribution is sent, while positioning unit is positioned according to position of the UWB signal to robot,
Central processing unit according to the location information of robot and the location information of charging pile, between calculating robot and charging pile away from
From, and when distance is less than distance threshold, control robot triggers laser navigation module, so that robot is in laser navigation module
Guidance under realize upper stake, entirely during upper stake, first by UWB mould group and central processing unit, control robot motion is extremely
At the preset distance of charging pile, laser navigation module is then just triggered, avoids the occurrence of and carries out remote ranging using laser navigation
When on the unsuccessful and time-consuming long phenomenon of stake, thus the upper stake mode for solving robot be easy to appear robot lose boat phenomenon and
The time-consuming long technical problem of upper stake.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the embodiment of stake system on robot automatic charging in the embodiment of the present application；
Fig. 2 is a kind of spatial position schematic diagram of stake system on robot automatic charging in the embodiment of the present application；
Fig. 3 is the structural schematic diagram of clock unit in the embodiment of the present application；
Fig. 4 is a kind of flow diagram of the embodiment of upper piling method in the embodiment of the present application；
Wherein, appended drawing reference is as follows:
1, central processing unit；2, UWB label；3, positioning unit；4, the base station UWB；5, clock unit；51, there is source crystal oscillator；
52, amplifier；53, clock buffer；6, main control unit.
Specific embodiment
The embodiment of the present application provides stake system and a kind of upper piling method on a kind of robot automatic charging, solves machine
The upper stake mode of people is easy to appear robot and loses boat phenomenon and the time-consuming long technical problem of upper stake.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
In order to understand, stake system on one of the application robot automatic charging is described in detail below, is asked
Refering to fig. 1, Fig. 1 is a kind of structural schematic diagram of the embodiment one of stake system on robot automatic charging in the embodiment of the present application.
Stake system includes: central processing unit 1 and UWB mould group on robot automatic charging in the present embodiment；UWB mould group packet
Include: UWB label 2, positioning unit 3 and N number of base station UWB 4, N >=4, and N number of base station UWB 4 are distributed in N number of endpoint of solid, several
What body is made of N number of base station UWB 4；UWB label 2 is installed in robot, and is communicated to connect with the base station every UWB 4, for connecing
Receive the UWB signal that the base station UWB 4 is sent；Positioning unit 3, the UWB signal for being received according to UWB label 2 carry out robot
Positioning, obtains the location information of robot；Central processing unit 1, for according to the location information of robot and the position of charging pile
Information, the distance between calculating robot and charging pile, and when distance is less than distance threshold, control robot triggering laser is led
Model plane block, so that robot carries out upper stake according to laser navigation module.
It should be noted that N number of base station UWB 4 is distributed in N number of endpoint of solid, solid is made of N number of base station UWB,
Will each base station UWB regard a point as in space, the corresponding N number of point in N number of base station UWB 4, this N number of point constitutes one in space
A solid, the corresponding endpoint for putting corresponding solid of a UWB, as shown in Fig. 2, 4 base stations UWB are in three in space
Four endpoints of pyramid are distributed, and create three-dimensional system of coordinate, UWB label 2 and UWB base in the space where can corresponding in triangular pyramid
Stand and 4 be distributed in the three-dimensional system of coordinate, positioning unit 3 in the location information of calculating robot, equally can based on this three
Coordinate system is tieed up to carry out.
Central processing unit 1 is connect with the main control module of robot, is greater than at a distance from robot is between charging pile default
When distance threshold, control laser navigation module be in close state, when the distance between robot and charging pile be less than preset away from
When from threshold value, control robot triggers laser navigation module, so that laser navigation module is in the open state.
What upper stake mode in the prior art was realized using laser navigation, inventor sends out after studying the prior art
Existing, laser is easy to flood laser signal when carrying out remote ranging so that robot is in mistake boat state, in appearance stake not at
Function, and there are vision dead zones for laser navigation, the time-consuming for searching for charging pile is more long, causes stake time-consuming long.
Stake system on robot automatic charging in the present embodiment, installs UWB label in robot, which connects
The UWB signal that the N number of base station UWB being distributed in space in N number of endpoint of solid is sent is received, while positioning unit is according to UWB
Signal positions the position of robot, central processing unit according to the location information of robot and the location information of charging pile,
The distance between calculating robot and charging pile, and when distance is less than distance threshold, control robot triggers laser navigation mould
Block so that robot realizes stake under the guidance of laser navigation module, entirely during upper stake, first by UWB mould group and
Central processing unit controls at robot motion to the preset distance of charging pile, then just triggers laser navigation module, avoid the occurrence of
The unsuccessful and time-consuming long phenomenon of stake is gone up when carrying out remote ranging using laser navigation, to solve the upper stake side of robot
Formula is easy to appear robot and loses boat phenomenon and the time-consuming long technical problem of upper stake.
The above are the embodiments one of stake system on a kind of robot automatic charging provided by the embodiments of the present application, and the following are this
The embodiment two for applying for stake system on a kind of robot automatic charging of embodiment offer, please refers to Fig.1 to Fig.3.
Stake system includes: central processing unit 1 and UWB mould group on robot automatic charging in the present embodiment；UWB mould group packet
Include: UWB label 2, positioning unit 3 and N number of base station UWB 4, N >=4, and N number of base station UWB 4 are distributed in N number of endpoint of solid, several
What body is made of N number of base station UWB 4；UWB label 2 is installed in robot, and is communicated to connect with the base station every UWB 4, for connecing
Receive the UWB signal that the base station UWB 4 is sent；Positioning unit 3, the UWB signal for being received according to UWB label 2 carry out robot
Positioning, obtains the location information of robot；Central processing unit 1, for according to the location information of robot and the position of charging pile
Information, the distance between calculating robot and charging pile, and when distance is less than distance threshold, control robot triggering laser is led
Model plane block, so that robot carries out upper stake according to laser navigation module.
It is understood that positioning unit 3 may be mounted in robot, also may be mounted at charging pile or some
On the base station UWB 4, those skilled in the art can be configured according to specific needs, be not specifically limited herein.In the present embodiment
In order to reduce the time that UWB label 2 transmits UWB signal, positioning unit 3 is mounted in robot.
Opportunity for the ease of sending UWB signal to N number of base station UWB 4 controls, and the UWB mould group in the present embodiment is also
It include: clock unit 5；The clock unit 5 is all connected with N number of base station UWB 4, for providing synchronised clock letter for N number of base station UWB 4
Number；The main control unit 6 of UWB mould group, for controlling the base station UWB 4 and sending UWB signal according to synchronizing clock signals.
It in order to understand, is specifically illustrated in the present embodiment with N value for 4, that is, has 4 base stations UWB 4, respectively
Are as follows: base station A, base station B, base station C and base station D.
Clock unit 5 provides the synchronizing clock signals of 4 base stations, i.e., 4 base stations UWB under the control of synchronizing clock signals
4 clock frequency is identical, i.e., the gate time difference △ T of time is consistent in each base station UWB 4, it is assumed that 6 control base station A of main control unit
In TAMoment emits UWB signal, and base station B is in TBMoment emits UWB signal, and base station C is in TCMoment emits UWB signal, and base station B exists
TDMoment emits UWB signal.
Specifically, as shown in figure 3, clock unit 5, which includes:, source crystal oscillator 51, amplifier 52 and clock buffer 53；It is active
The input terminal of crystal oscillator 51 is connect with main control unit 6, with realize have source crystal oscillator 51 frequency it is controllable, output end and amplifier 52 connect
It connects；The input terminal of clock buffer 53 is connect with the output end of amplifier 52, and output end is connect with N number of base station UWB 4, in this reality
It applies according to citing above in example, output end and base station A, base station B, base station C and the base station D of clock buffer 53 are all connected with, real
The clock signal synchronization of existing 4 base stations.
Further, in this embodiment main control unit 6 and having and being connected with DAC chip between source crystal oscillator 51.
Further, main control unit 6 is specifically used for controlling N number of base station UWB in synchronization according to synchronizing clock signals
4 send UWB signal.Referring to citing above, i.e. TAMoment, TBMoment, TCMoment is synchronization, TA=TB=TC=TD。
Further, main control unit 6 is specifically used for, and according to synchronizing clock signals, controls N number of base station UWB 4 and successively sends
UWB signal.Referring to citing above, i.e. TAMoment, TBMoment, TCMoment, TDMoment is not the same moment.
Specifically, main control unit 6 is specifically used for, according to synchronizing clock signals, with controlling N number of 4 constant duration of the base station UWB
Successively send UWB signal.It is not that synchronization sends UWB signal, such as sends letter for 4 base stations referring to citing above
Number sequence be that then base station B followed by base station C is finally base station D, the meaning of constant duration is that is, base to base station A first
The B that stands emits the time interval (T between UWB signal and base station A transmitting UWB signalB-TA), base station C transmitting UWB signal and base station B
Emit the time interval (T between UWB signalC-TB), base station D transmitting UWB signal and base station C transmitting UWB signal between time
It is spaced (TD-TC), three is equal, such as base station A emits UWB signal in 1s, and base station B emits UWB signal in 6s, that
It should emit UWB signal in 11s for the C of base station, emit UWB signal in 16s for the D of base station.
It is understood that TAMoment, TBMoment, TCMoment, TDWhen moment is not synchronization, it can be between waiting the times
Every transmission UWB signal, be also possible to the transmission of different time intervals, those skilled in the art are according to above-mentioned constant duration
The technical solution of available different time intervals is described, details are not described herein.
Further, positioning unit 3 is specifically used for, and is based on TDOA algorithm, the UWB signal pair received according to UWB label 2
Robot is positioned, and the location information of robot is obtained.
UWB label 2 in the present embodiment receives base station A, base station B, base station C, base station D in different moments respectively and issues
UWB signal, moment are respectively as follows: TGA、TGB、TGC、TGD, UWB signal from the transmission time of base station A to UWB label 2 be TAG, UWB letter
Number from the transmission time of base station B to UWB label 2 be TBG, UWB signal from the transmission time of base station C to UWB label 2 be TCG, UWB
Signal from the transmission time of base station D to UWB label 2 be TDG, following formula can be obtained:
TAG=TGA-TA；
TBG=TGB-TB；
TGC=TCG-TC；
TGD=TDG-TD；
According to TDOA algorithm, it can show that UWB signal is transferred to the transmission time difference of UWB label 2 from two different base stations,
The transmission time difference of UWB signal and the product of velocity of electromagnetic wave obtain the range difference of UWB label 2 Yu any two base station, can obtain
Hyperbolic locus to label with respect to two base station units of Mr. Yu, further, by tag unit relative in each base station two
The multiple groups hyperbolic locus of a base station unit intersects, and the coordinate information of UWB label 2 is calculated using trilateration, also
It is the coordinate information of robot.
Further, N number of base station UWB 4 is connected with main control unit 6 by spi bus.
What upper stake mode in the prior art was realized using laser navigation, inventor sends out after studying the prior art
Existing, laser is easy to flood laser signal when carrying out remote ranging so that robot is in mistake boat state, in appearance stake not at
Function, and there are vision dead zones for laser navigation, the time-consuming for searching for charging pile is more long, causes stake time-consuming long.
Stake system on robot automatic charging in the present embodiment, installs UWB label in robot, which connects
The UWB signal that the N number of base station UWB being distributed in space in N number of endpoint of solid is sent is received, while positioning unit is according to UWB
Signal positions the position of robot, central processing unit according to the location information of robot and the location information of charging pile,
The distance between calculating robot and charging pile, and when distance is less than distance threshold, control robot triggers laser navigation mould
Block so that robot realizes stake under the guidance of laser navigation module, entirely during upper stake, first by UWB mould group and
Central processing unit controls at robot motion to the preset distance of charging pile, then just triggers laser navigation module, avoid the occurrence of
The unsuccessful and time-consuming long phenomenon of stake is gone up when carrying out remote ranging using laser navigation, to solve the upper stake side of robot
Formula is easy to appear robot and loses boat phenomenon and the time-consuming long technical problem of upper stake.
The above are the embodiments two of stake system on a kind of robot automatic charging provided by the embodiments of the present application, and the following are this
Apply for a kind of embodiment for upper piling method that embodiment provides.
Upper piling method in the present embodiment is applied to stake system on two robot automatic charging of above-described embodiment one and embodiment
System operation or work, referring to Fig. 4, a kind of flow diagram of the embodiment of method in the embodiment of the present application, comprising:
Step 401, N number of base station UWB send the UWB label installed in UWB signal to robot, N >=4, and N number of UWB base
It stands and is distributed in N number of endpoint of solid, solid is made of N number of base station UWB.
Step 402, positioning unit position robot according to the UWB signal that UWB label receives, and obtain robot
Location information.
Step 403, central processing unit according to the location information of robot and the location information of charging pile, calculating robot and
The distance between charging pile, and when distance is less than distance threshold, control robot triggers laser navigation module, so that robot
Upper stake is carried out according to laser navigation module.
What upper stake mode in the prior art was realized using laser navigation, inventor sends out after studying the prior art
Existing, laser is easy to flood laser signal when carrying out remote ranging so that robot is in mistake boat state, in appearance stake not at
Function, and there are vision dead zones for laser navigation, the time-consuming for searching for charging pile is more long, causes stake time-consuming long.
In the present embodiment, UWB label is installed in robot, which receives N number of end in solid in space
The UWB signal that N number of base station UWB of point distribution is sent, while positioning unit is determined according to position of the UWB signal to robot
Position, central processing unit is according to the location information of robot and the location information of charging pile, between calculating robot and charging pile
Distance, and when distance is less than distance threshold, control robot triggers laser navigation module, so that robot is in laser navigation mould
Upper stake is realized under the guidance of block, entirely during upper stake, first by UWB mould group and central processing unit, controls robot motion
To the preset distance of charging pile, laser navigation module is then just triggered, avoids the occurrence of and is surveyed at a distance using laser navigation
Away from when the upper unsuccessful and time-consuming long phenomenon of stake, so that the upper stake mode for solving robot, which is easy to appear robot, loses phenomenon of navigating
And the time-consuming long technical problem of upper stake.
It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description wait pacify
Electricity grid network is filled, the specific work process of device and unit can refer to corresponding processes in the foregoing method embodiment, herein not
It repeats again.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another electricity grid network to be installed is closed or is desirably integrated into, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or unit
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-
OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic or disk etc. are various can store
The medium of program code.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. stake system on a kind of robot automatic charging characterized by comprising central processing unit and UWB mould group；
The UWB mould group includes: UWB label, positioning unit and N number of base station UWB, N >=4, and N number of base station UWB is in
N number of endpoint of solid is distributed, and the solid is made of N number of base station UWB；
The UWB label is installed in robot, and is connect with each UWB base station communication, for receiving the base station UWB
The UWB signal of transmission；
The positioning unit, the UWB signal for being received according to the UWB label position the robot,
Obtain the location information of the robot；
The central processing unit, for calculating the machine according to the location information of the robot and the location information of charging pile
The distance between device people and the charging pile, and when the distance is less than distance threshold, control the robot triggering laser
Navigation module, so that the robot carries out upper stake according to the laser navigation module.
2. stake system on robot automatic charging according to claim 1, which is characterized in that the UWB mould group further include:
Clock unit；
The clock unit is all connected with N number of base station UWB, for providing synchronizing clock signals for N number of base station UWB；
The main control unit of the UWB mould group, for controlling the base station UWB and sending the UWB according to the synchronizing clock signals
Signal.
3. stake system on robot automatic charging according to claim 2, which is characterized in that the clock unit includes:
There are source crystal oscillator, amplifier and clock buffer；
The input terminal for having source crystal oscillator is connect with the main control unit, and output end is connect with the amplifier；
The input terminal of the clock buffer is connect with the output end of the amplifier, and output end and N number of base station UWB connect
It connects.
4. stake system on robot automatic charging according to claim 2, which is characterized in that the main control unit is specifically used
In controlling N number of base station UWB in synchronization and send the UWB signal according to the synchronizing clock signals.
5. stake system on robot automatic charging according to claim 2, which is characterized in that the main control unit is specifically used
According to the synchronizing clock signals, the N number of base station UWB of control successively sends the UWB signal.
6. stake system on robot automatic charging according to claim 5, which is characterized in that the main control unit is specifically used
In successively sending the UWB signal with controlling the N number of base station UWB constant duration according to the synchronizing clock signals.
7. stake system on robot automatic charging according to claim 1, which is characterized in that the positioning unit is specifically used
In, be based on TDOA algorithm, the robot is positioned according to the UWB signal that the UWB label receives, obtains institute
State the location information of robot.
8. stake system on robot automatic charging according to claim 2, which is characterized in that N number of base station UWB and institute
Main control unit is stated to connect by spi bus.
9. a kind of upper piling method is applied to such as stake system on above-mentioned robot automatic charging described in any item of the claim 1 to 8
System operation or work characterized by comprising
N number of base station UWB sends the UWB label installed in UWB signal to robot, N >=4, and N number of base station UWB is in
N number of endpoint of solid is distributed, and the solid is made of N number of base station UWB；
Positioning unit positions the robot according to the UWB signal that the UWB label receives, and obtains the machine
The location information of device people；
Central processing unit calculates the robot and described according to the location information of the robot and the location information of charging pile
The distance between charging pile, and when the distance is less than distance threshold, the robot triggering laser navigation module is controlled, is made
It obtains the robot and upper stake is carried out according to the laser navigation module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910829330.4A CN110460132B (en) | 2019-09-03 | 2019-09-03 | Automatic charging pile feeding system of robot and pile feeding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910829330.4A CN110460132B (en) | 2019-09-03 | 2019-09-03 | Automatic charging pile feeding system of robot and pile feeding method |
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| Publication Number | Publication Date |
|---|---|
| CN110460132A true CN110460132A (en) | 2019-11-15 |
| CN110460132B CN110460132B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910829330.4A Active CN110460132B (en) | 2019-09-03 | 2019-09-03 | Automatic charging pile feeding system of robot and pile feeding method |
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