CN110460132B - Automatic charging pile feeding system of robot and pile feeding method - Google Patents
Automatic charging pile feeding system of robot and pile feeding method Download PDFInfo
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- CN110460132B CN110460132B CN201910829330.4A CN201910829330A CN110460132B CN 110460132 B CN110460132 B CN 110460132B CN 201910829330 A CN201910829330 A CN 201910829330A CN 110460132 B CN110460132 B CN 110460132B
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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
Abstract
The application discloses automatic charging pile feeding system and pile feeding method for robot, wherein the system comprises: a central processing unit and a UWB module; the UWB module includes: the positioning device comprises a UWB tag, a positioning unit and N UWB base stations, wherein N is more than or equal to 4, the N UWB base stations are distributed in N end points of a geometric body, and the geometric body is formed by the N UWB base stations; the UWB tag is arranged on the robot, is in communication connection with each UWB base station and is used for receiving UWB signals sent by the UWB base stations; the positioning unit is used for positioning the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot; and the central processing unit is used for calculating the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, controlling the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, enabling the robot to load piles according to the laser navigation module, and solving the technical problems that the robot is easy to lose navigation and the pile loading is time-consuming and long in time in a pile loading mode of the robot.
Description
Technical Field
The application relates to the technical field of robot charging, in particular to an automatic charging pile feeding system and a pile feeding method for a robot.
Background
With the development of science and technology, various robots are successively appeared, such as cleaning robots, banking robots, hospital care robots, and the like. The current robot adopts the mode of charging by oneself to charge, for example, cleaning machines people detects self electric quantity when indoor cleaning work, when self electric quantity reaches the lower limit value of charging, independently gets back to and fills electric pile (hereinafter simply referred to as last stake) and charges.
The existing robot pile feeding mode adopts laser navigation pile feeding, namely, the robot emits laser ranging signals to the moving process of a charging pile, the distance between the robot and the charging pile is detected, when the distance reaches a set distance, laser characteristic recognition is started, and the charging pile is fed after recognition and confirmation. Although the pile feeding mode can realize the pile feeding of the robot, the robot is easy to lose voyage and the pile feeding takes a long time.
Disclosure of Invention
In view of this, the application provides an automatic charging pile feeding system and a pile feeding method for a robot, and solves the technical problems that the robot is prone to being out of navigation in a pile feeding mode of the robot, and pile feeding takes a long time.
This application first aspect provides an automatic system of piling that charges of robot, includes: a central processing unit and a UWB module;
the UWB module includes: the UWB positioning system comprises a UWB tag, a positioning unit and N UWB base stations, wherein N is more than or equal to 4, the N UWB base stations are distributed in N end points of a geometric body, and the geometric body is formed by the N UWB base stations;
the UWB tag is arranged on the robot, is in communication connection with each UWB base station and is used for receiving UWB signals sent by the UWB base stations;
the positioning unit is used for positioning the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot;
the central processing unit is used for calculating the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controlling the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot carries out pile loading according to the laser navigation module.
Alternatively,
the UWB module further includes: a clock unit;
the clock unit is connected with N UWB base stations and is used for providing synchronous clock signals for the N UWB base stations;
and the main control unit of the UWB module is used for controlling the UWB base station to send the UWB signals according to the synchronous clock signals.
Alternatively,
the clock unit includes: an active crystal oscillator, an amplifier and a clock buffer;
the input end of the active crystal oscillator is connected with the main control unit, and the output end of the active crystal oscillator is connected with the amplifier;
the input end of the clock buffer is connected with the output end of the amplifier, and the output end of the clock buffer is connected with the N UWB base stations.
Alternatively,
the master control unit is specifically configured to control the N UWB base stations to transmit the UWB signals at the same time according to the synchronous clock signal.
Alternatively,
the master control unit is specifically configured to control the N UWB base stations to sequentially transmit the UWB signals according to the synchronous clock signal.
Alternatively,
the main control unit is specifically configured to control the N UWB base stations to sequentially transmit the UWB signals at equal time intervals according to the synchronous clock signal.
Alternatively,
the positioning unit is specifically configured to position the robot according to the UWB signal received by the UWB tag based on a TDOA algorithm, so as to obtain the position information of the robot.
Alternatively,
n UWB basic station with the master control unit passes through SPI bus connection.
In a second aspect, the present application provides a pile feeding method, which is applied to the operation of the robot automatic charging pile feeding system in the first aspect, and includes:
the method comprises the following steps that N UWB base stations send UWB signals to UWB tags installed on a robot, wherein N is larger than or equal to 4, the N UWB base stations are distributed in N end points of a geometric body, and the geometric body is composed of the N UWB base stations;
the positioning unit positions the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot;
and the central processing unit calculates the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controls the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot carries out pile loading according to the laser navigation module.
According to the technical scheme, the method has the following advantages:
the pile feeding mode in the prior art is realized by laser navigation, and the inventor finds that laser easily submerges a laser signal when long-distance measurement is carried out by laser after researching the prior art, so that a robot is in an out-of-navigation state, pile feeding is unsuccessful, visual blind areas exist in laser navigation, and long time is consumed for searching a charging pile, so that the pile feeding time is long, the robot automatic charging and pile feeding system in the application has the advantages that a UWB tag is installed on the robot, the UWB tag receives UWB signals sent by N base stations distributed at N end points of a geometric body in space, meanwhile, a positioning unit positions the position of the robot according to the UWB signals, a central processing unit calculates the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controls the robot to trigger a laser navigation module when the distance is smaller than a distance threshold value, make the robot realize under laser navigation module's guide and go up the stake, whole pile feeding in-process at first passes through UWB module and central processing unit, control robot motion to fill the preset distance department of electric pile, then just trigger laser navigation module, the phenomenon of not successful and consuming time of a specified duration of pile feeding when avoiding appearing utilizing laser navigation to carry out remote range finding, thereby the technical problem of robot off-voyage phenomenon and the consuming time of a specified duration of pile feeding appears easily in the pile feeding mode of having solved the robot.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a system for automatically charging and piling by a robot in an embodiment of the present application;
FIG. 2 is a schematic spatial position diagram of an automatic robot charging and pile feeding system according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a clock unit according to an embodiment of the present application;
FIG. 4 is a schematic flow chart diagram illustrating an embodiment of a method of piling according to an embodiment of the present application;
wherein the reference numbers are as follows:
1. a central processing unit; 2. a UWB tag; 3. a positioning unit; 4. a UWB base station; 5. a clock unit; 51. an active crystal oscillator; 52. an amplifier; 53. a clock buffer; 6. and a main control unit.
Detailed Description
The embodiment of the application provides an automatic charging pile feeding system and a pile feeding method for a robot, and solves the technical problems that the robot is easy to lose navigation and the pile feeding is time-consuming and long in pile feeding mode of the robot.
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For understanding, the following detailed description of the automatic robot charging and pile feeding system in the present application refers to fig. 1, and fig. 1 is a schematic structural diagram of an embodiment of the automatic robot charging and pile feeding system in the present application.
The automatic pile system of charging of robot in this embodiment includes: a central processing unit 1 and a UWB module; the UWB module includes: the UWB communication device comprises a UWB tag 2, a positioning unit 3 and N UWB base stations 4, wherein N is more than or equal to 4, the N UWB base stations 4 are distributed in N end points of a geometric body, and the geometric body is formed by the N UWB base stations 4; the UWB tag 2 is arranged on the robot, is in communication connection with each UWB base station 4 and is used for receiving UWB signals sent by the UWB base stations 4; the positioning unit 3 is used for positioning the robot according to the UWB signals received by the UWB tag 2 to obtain the position information of the robot; and the central processing unit 1 is used for calculating the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controlling the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot can load the charging pile according to the laser navigation module.
It should be noted that N UWB base stations 4 are distributed in N end points of a geometric body, the geometric body is formed by the N UWB base stations, that is, each UWB base station is seen as a point in space, the N UWB base stations 4 correspond to the N points, the N points form a geometric body in space, a UWB corresponding point corresponds to an end point of the geometric body, as shown in fig. 2, the 4 UWB base stations are distributed in four end points of a triangular pyramid in space, a three-dimensional coordinate system can be created in the space where the triangular pyramid corresponds to, the UWB tag 2 and the UWB base stations 4 are both distributed in the three-dimensional coordinate system, and the positioning unit 3 can also perform based on the three-dimensional coordinate system when calculating the position information of the robot.
The central processing unit 1 is connected with a main control module of the robot, when the distance between the robot and the charging pile is greater than a preset distance threshold value, the laser navigation module is controlled to be in a closed state, and when the distance between the robot and the charging pile is less than the preset distance threshold value, the robot is controlled to trigger the laser navigation module, so that the laser navigation module is in an open state.
What the mode of going up among the prior art adopted is that laser navigation realizes, and the inventor discovers after studying prior art that laser submerges laser signal easily when carrying out remote range finding for the robot is in the state of losing voyage, appears and goes up a unsuccessful, and laser navigation has the vision blind area, searches for the consuming time of filling electric pile for a long time, leads to the piling to consume time for a long time.
The automatic pile feeding system that charges of robot in this embodiment, install the UWB label on the robot, this UWB label receives the UWB signal that N number of extreme point that is the geometry distributes in the space UWB signal that the base station sent of UWB, positioning unit fixes a position to the robot according to the UWB signal simultaneously, central processing unit is according to the positional information of robot and the positional information who fills electric pile, calculate the distance between robot and the electric pile of filling, and when the distance is less than the distance threshold value, control robot triggers the laser navigation module, make the robot realize the pile feeding under the guide of laser navigation module unsuccessfully, whole pile feeding in-process, at first through UWB module and central processing unit, control robot moves to the preset distance department of filling electric pile, just then trigger the laser navigation module, pile feeding and the phenomenon of consuming time of a specified duration when avoiding utilizing laser navigation to carry out long-distance range finding appear, thereby the pile feeding mode of robot has been solved and robot has been lost a flight technology of a specified duration easily appeared And (5) problems are solved.
The above is a first embodiment of a robot automatic charging pile feeding system provided in the present application, and the following is a second embodiment of a robot automatic charging pile feeding system provided in the present application, please refer to fig. 1 to 3.
The automatic pile system of charging of robot in this embodiment includes: a central processing unit 1 and a UWB module; the UWB module includes: the UWB communication device comprises a UWB tag 2, a positioning unit 3 and N UWB base stations 4, wherein N is more than or equal to 4, the N UWB base stations 4 are distributed in N end points of a geometric body, and the geometric body is formed by the N UWB base stations 4; the UWB tag 2 is arranged on the robot, is in communication connection with each UWB base station 4 and is used for receiving UWB signals sent by the UWB base stations 4; the positioning unit 3 is used for positioning the robot according to the UWB signals received by the UWB tag 2 to obtain the position information of the robot; and the central processing unit 1 is used for calculating the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controlling the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot can load the charging pile according to the laser navigation module.
It is understood that the positioning unit 3 may be installed on the robot, or may be installed on the charging pile or one of the UWB base stations 4, and those skilled in the art may set the positioning unit according to specific needs, which is not limited herein. In the present embodiment, in order to reduce the time for the UWB tag 2 to transmit the UWB signal, the positioning unit 3 is mounted on the robot.
In order to facilitate control of the timing when the N UWB base stations 4 transmit the UWB signals, the UWB module in this embodiment further includes: a clock unit 5; the clock unit 5 is connected with the N UWB base stations 4, and is configured to provide a synchronous clock signal for the N UWB base stations 4; and the main control unit 6 of the UWB module is used for controlling the UWB base station 4 to send UWB signals according to the synchronous clock signals.
To be convenient to understand, in this embodiment, the value of N is specifically illustrated as 4, that is, there are 4 UWB base stations 4, which are: base station A, base station B, base station C, and base station D.
The clock unit 5 provides synchronous clock signals of 4 base stations, i.e. the clock frequencies of 4 UWB base stations 4 are the same under the control of the synchronous clock signals, i.e. the counting time difference Δ T of time in each UWB base station 4 is the same, assuming that the main control unit 6 controls the base station a at TATransmitting UWB signals at time, base station B being at TBTransmitting UWB signals at times, base stationsC is at TCTransmitting UWB signals at time, base station B being at TDUWB signals are transmitted at time instants.
Specifically, as shown in fig. 3, the clock unit 5 includes: an active crystal 51, an amplifier 52, and a clock buffer 53; the input end of the active crystal oscillator 51 is connected with the main control unit 6 to realize the frequency controllability of the active crystal oscillator 51, and the output end is connected with the amplifier 52; the input end of the clock buffer 53 is connected to the output end of the amplifier 52, and the output end is connected to the N UWB base stations 4, in this embodiment, according to the above example, the output end of the clock buffer 53 is connected to the base station a, the base station B, the base station C, and the base station D, so as to achieve clock signal synchronization of the 4 base stations.
Further, in the present embodiment, a DAC chip is connected between the main control unit 6 and the active crystal oscillator 51.
Further, the main control unit 6 is specifically configured to control the N UWB base stations 4 to transmit UWB signals at the same time according to the synchronous clock signal. See the above example, i.e. TATime, TBTime, TCThe moments being the same, TA＝TB＝TC＝TD。
Further, the main control unit 6 is specifically configured to control the N UWB base stations 4 to sequentially transmit the UWB signals according to the synchronous clock signal. See the above example, i.e. TATime, TBTime, TCTime, TDThe time instants are not the same time instant.
Specifically, the main control unit 6 is specifically configured to control the N UWB base stations 4 to sequentially transmit the UWB signals at equal time intervals according to the synchronous clock signal. Referring to the above example, for 4 base stations not transmitting UWB signals at the same time, for example, the order of transmitting signals is that base station A first, base station B, then base station C, and finally base station D, the equal time interval means the time interval (T) between base station B transmitting UWB signals and base station A transmitting UWB signalsB-TA) Time interval (T) between base station C transmitting UWB signals and base station B transmitting UWB signalsC-TB) Time interval (T) between base station D transmitting UWB signals and base station C transmitting UWB signalsD-TC) The three are equal to each other,for example, base station a transmits UWB signals at 1s, base station B transmits UWB signals at 6s, which for base station C should transmit UWB signals at 11s, and for base station D at 16 s.
It can be understood that TATime, TBTime, TCTime, TDWhen the time is not the same, the UWB signals may be transmitted at equal time intervals, or may be transmitted at different time intervals, and those skilled in the art may obtain the technical solutions at different time intervals according to the description of the equal time intervals, which is not described herein again.
Further, the positioning unit 3 is specifically configured to, based on a TDOA algorithm, position the robot according to the UWB signal received by the UWB tag 2, so as to obtain the position information of the robot.
The UWB tag 2 in this embodiment receives UWB signals sent by the base station a, the base station B, the base station C, and the base station D at different times, where the times are: t isGA、TGB、TGC、TGDThe transmission time of the UWB signal from the base station A to the UWB tag 2 is TAGThe transmission time of the UWB signal from the base station B to the UWB tag 2 is TBGThe transmission time of the UWB signal from the base station C to the UWB tag 2 is TCGThe transmission time of the UWB signal from the base station D to the UWB tag 2 is TDGThe following formula is available:
TAG＝TGA-TA；
TBG＝TGB-TB；
TGC＝TCG-TC；
TGD＝TDG-TD；
according to the TDOA algorithm, the transmission time difference of UWB signals transmitted from two different base stations to the UWB tag 2 can be obtained, the product of the transmission time difference of the UWB signals and the electromagnetic wave speed obtains the distance difference between the UWB tag 2 and any two base stations, the hyperbolic trace of the tag relative to a certain two base station units can be obtained, furthermore, the multiple groups of hyperbolic traces of the tag unit relative to the two base station units in each base station are intersected, and the coordinate information of the UWB tag 2, namely the coordinate information of the robot, can be obtained through calculation by adopting trilateration.
Further, the N UWB base stations 4 and the main control unit 6 are connected by an SPI bus.
What the mode of going up among the prior art adopted is that laser navigation realizes, and the inventor discovers after studying prior art that laser submerges laser signal easily when carrying out remote range finding for the robot is in the state of losing voyage, appears and goes up a unsuccessful, and laser navigation has the vision blind area, searches for the consuming time of filling electric pile for a long time, leads to the piling to consume time for a long time.
The automatic pile feeding system that charges of robot in this embodiment, install the UWB label on the robot, this UWB label receives the UWB signal that N number of extreme point that is the geometry distributes in the space UWB signal that the base station sent of UWB, positioning unit fixes a position to the robot according to the UWB signal simultaneously, central processing unit is according to the positional information of robot and the positional information who fills electric pile, calculate the distance between robot and the electric pile of filling, and when the distance is less than the distance threshold value, control robot triggers the laser navigation module, make the robot realize the pile feeding under the guide of laser navigation module unsuccessfully, whole pile feeding in-process, at first through UWB module and central processing unit, control robot moves to the preset distance department of filling electric pile, just then trigger the laser navigation module, pile feeding and the phenomenon of consuming time of a specified duration when avoiding utilizing laser navigation to carry out long-distance range finding appear, thereby the pile feeding mode of robot has been solved and robot has been lost a flight technology of a specified duration easily appeared And (5) problems are solved.
The above is an embodiment two of the automatic charging and pile-mounting system for a robot according to the present application, and the following is an embodiment of a pile-mounting method according to the present application.
Referring to fig. 4, a flow chart of an embodiment of a method in the embodiment of the present application is schematically illustrated, where the method is applied to the operation or working of the automatic charging pile feeding system of the robot in the first embodiment and the second embodiment, and includes:
And step 402, the positioning unit positions the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot.
And step 403, the central processing unit calculates the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controls the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot carries out pile loading according to the laser navigation module.
What the mode of going up among the prior art adopted is that laser navigation realizes, and the inventor discovers after studying prior art that laser submerges laser signal easily when carrying out remote range finding for the robot is in the state of losing voyage, appears and goes up a unsuccessful, and laser navigation has the vision blind area, searches for the consuming time of filling electric pile for a long time, leads to the piling to consume time for a long time.
In the embodiment, a UWB tag is arranged on the robot, the UWB tag receives UWB signals sent by N UWB base stations distributed at N end points of a geometric body in space, meanwhile, the positioning unit positions the position of the robot according to the UWB signal, the central processing unit calculates the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and when the distance is less than the distance threshold, the robot is controlled to trigger the laser navigation module, so that the robot can realize pile feeding under the guidance of the laser navigation module, firstly, the UWB module and the central processing unit control the robot to move to a preset distance of the charging pile, then the laser navigation module is triggered to avoid the phenomena of unsuccessful pile installation and long time consumption when the laser navigation is used for long-distance measurement, thereby the technical problem that the robot is easy to lose voyage and the pile feeding is time-consuming and long in time in the pile feeding mode of the robot is solved.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the power grid network, the device and the unit to be installed described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another grid network to be installed, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (5)
1. The utility model provides an automatic pile system of going up that charges of robot which characterized in that includes: a central processing unit and a UWB module;
the UWB module includes: the UWB positioning system comprises a UWB tag, a positioning unit and N UWB base stations, wherein N is more than or equal to 4, the N UWB base stations are distributed in N end points of a geometric body, and the geometric body is formed by the N UWB base stations;
the UWB tag is arranged on the robot, is in communication connection with each UWB base station and is used for receiving UWB signals sent by the UWB base stations;
the positioning unit is arranged on the robot and used for positioning the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot;
the central processing unit is used for calculating the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controlling the robot to trigger the laser navigation module when the distance is smaller than a distance threshold value, so that the robot carries out pile loading according to the laser navigation module;
the UWB module further includes:
a clock unit;
the clock unit is connected with N UWB base stations and is used for providing synchronous clock signals for the N UWB base stations;
the master control unit of the UWB module is used for controlling the UWB base station to send the UWB signals according to the synchronous clock signals;
the master control unit is specifically configured to control the N UWB base stations to sequentially transmit the UWB signals at equal time intervals according to the synchronous clock signal;
the positioning unit is specifically configured to position the robot according to the UWB signal received by the UWB tag based on a TDOA algorithm, so as to obtain the position information of the robot.
2. The robotic automatic charging pile feeding system of claim 1, wherein said clock unit comprises: an active crystal oscillator, an amplifier and a clock buffer;
the input end of the active crystal oscillator is connected with the main control unit, and the output end of the active crystal oscillator is connected with the amplifier;
the input end of the clock buffer is connected with the output end of the amplifier, and the output end of the clock buffer is connected with the N UWB base stations.
3. The robotic automatic charging and pile-feeding system according to claim 1, wherein said master control unit is specifically configured to control N of said UWB base stations to transmit said UWB signals at the same time according to said synchronized clock signal.
4. The robotic automatic charging and pile feeding system of claim 1, wherein N said UWB base stations and said master control unit are connected by an SPI bus.
5. A pile feeding method applied to the robot automatic charging pile feeding system of any one of the claims 1 to 4, and characterized by comprising the following steps: the method comprises the following steps that N UWB base stations send UWB signals to UWB tags installed on a robot, wherein N is larger than or equal to 4, the N UWB base stations are distributed in N end points of a geometric body, and the geometric body is composed of the N UWB base stations;
the positioning unit is arranged on the robot and used for positioning the robot according to the UWB signals received by the UWB tag to obtain the position information of the robot;
the central processing unit calculates the distance between the robot and the charging pile according to the position information of the robot and the position information of the charging pile, and controls the robot to trigger a laser navigation module when the distance is smaller than a distance threshold value, so that the robot carries out pile loading according to the laser navigation module;
a clock unit;
the clock unit is connected with N UWB base stations and is used for providing synchronous clock signals for the N UWB base stations;
the master control unit of the UWB module is used for controlling the UWB base station to send the UWB signals according to the synchronous clock signals;
the master control unit is specifically configured to control the N UWB base stations to sequentially transmit the UWB signals at equal time intervals according to the synchronous clock signal;
the positioning unit is specifically configured to position the robot according to the UWB signal received by the UWB tag based on a TDOA algorithm, so as to obtain the position information of the robot.
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