CN109693568A - A kind of collection docks the AGV automatic charging system and method for successfully physical quantity feedback - Google Patents
A kind of collection docks the AGV automatic charging system and method for successfully physical quantity feedback Download PDFInfo
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- CN109693568A CN109693568A CN201910076256.3A CN201910076256A CN109693568A CN 109693568 A CN109693568 A CN 109693568A CN 201910076256 A CN201910076256 A CN 201910076256A CN 109693568 A CN109693568 A CN 109693568A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003032 molecular docking Methods 0.000 claims abstract description 38
- 238000002955 isolation Methods 0.000 claims abstract description 22
- 230000001681 protective effect Effects 0.000 claims abstract description 17
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 25
- 229910052802 copper Inorganic materials 0.000 claims description 25
- 239000010949 copper Substances 0.000 claims description 25
- 239000000523 sample Substances 0.000 claims description 24
- 239000002184 metal Substances 0.000 claims description 19
- 229910052751 metal Inorganic materials 0.000 claims description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
- 239000002390 adhesive tape Substances 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 8
- 238000009413 insulation Methods 0.000 claims description 8
- 229910052742 iron Inorganic materials 0.000 claims description 5
- 239000013598 vector Substances 0.000 claims description 4
- 238000013461 design Methods 0.000 description 7
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000011810 insulating material Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010891 electric arc Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 238000002679 ablation Methods 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention discloses and provides a kind of AGV automatic charging system and method for collecting and docking successfully physical quantity feedback.Adaptively the error with pose can be positioned by AGV, complete the fitting conducting between brush well；The task of AGV automatic charging is completed reliable and securely；Protective door ensures the safe and reliable and service life of brush, improves lifetime of system.Technical solution used by charging system is: charging system includes charging pile and AGV vehicle, AGV vehicle lateral inner is provided with charging docking facilities, the docking facilities that charge include electric cylinders, electric cylinders fixing seat, the attachment base being connected with the output shaft of electric cylinders and the brush module being arranged in front of attachment base, the direction of output shaft is perpendicular to side, perforation compatible with charging docking facilities is provided on the side of AGV vehicle, brush module includes brush and brush isolation mounting plate, the rear of brush isolation mounting plate is connect with attachment base hinge, the charging brush head module matched with brush module is provided on charging pile.The present invention can be used for AGV vehicle field.
Description
Technical field
The present invention relates to AGV automatic charging systems and method that a kind of collection docks successfully physical quantity feedback.
Background technique
Advocating and implement with industry 4.0, the automation of manufacturing industry and logistic industry, intelligence degree are continuously improved,
AGV (automated guided vehicle, automatic Guided Vehicle) is obtained because of its intelligence, flexible material transfer function
Development at full speed, the application of AGV has been not limited to traditional unmanned storage environment at present, is applied to be extended to
The transportation environment that working environment is severe, labour is simple but intensity is big.One of steady and sustained operation of AGV depends on power
The reliable supplement of the energy is particularly important with output, the charging and Charge Management that AGV is accurate, in due course is stablized, and this requirement is just
AGV is needed to have reliable and secure automatic charging function.The patent application document of 108116257 A of application number CN discloses one kind
AGV automatic charge device and its systems approach, the system include charging module, movement mechanism, charging detecting model, alarm modules
And central control module, the central control module control the movement mechanism for handling and issuing charging instruction
Charging brush head charges with AGV trolley, which has a set of charging exception handling, and the charging detecting model is responsible for
Detection charging exception information is simultaneously sounded an alarm to central control module, and central control module control charging module disconnection is charged back
Road, the movement mechanism disconnect the contact of electrode, disclose a kind of safer automatic recharging method.
Existing AGV automatic charging scheme does not have to dock successfully feedback between brush, is largely all based on a kind of AGV
The opened loop control that accurate positioning is priori conditions is debugged, cannot ensure correctly fitting conducting between brush, has and generates electric arc and short
The risk on road；The prior art is not with or without pose adjustment when open AGV stops before charging pile；Brush successfully dock from
It is poor to adapt to, and existing AGV automatic charging brush is fixed on the component of only one activity dimension, when car body pose is not right
When, it is possible to create between brush on Line Contacts, electric arc can be generated after charge circuit conducting, ablation brush and bigger
Harm；Brush does not protect, and the moving brush of the patent disclosure of 108116257 A of application number CN is exposed on charging pile, to setting
There is certain safety problem in standby and people；The buried charging pile of one kind of the patent disclosure of 108116266 A of application number CN
Brush, exposed brush is unfavorable to people and electrode itself.
Summary of the invention
The technical problem to be solved in the present invention is to provide the AGV automatic charging systems that a kind of collection docks successfully physical quantity feedback
With method.Adaptively the error with pose can be positioned by AGV, complete the fitting conducting between brush well；It is reliable and securely complete
At the task of AGV automatic charging；Protective door ensures the safe and reliable and service life of brush, improves lifetime of system.
The technical scheme adopted by the invention is that: the present invention includes a kind of AGV that collection docks successfully physical quantity feedback automatic
Charging system, the charging system include charging pile and AGV vehicle, and the lateral inner of the AGV vehicle is provided with charging docking facilities,
The charging docking facilities include that electric cylinders, electric cylinders fixing seat, the attachment base being connected with the output shaft of the electric cylinders and setting exist
Brush module in front of the attachment base, the direction of the output shaft is perpendicular to the side, on the side of the AGV vehicle
It is provided with perforation compatible with the charging docking facilities, the brush module includes brush and brush isolation mounting plate, institute
The rear for stating brush isolation mounting plate is connect with the attachment base hinge, is provided on the charging pile and the brush module phase
The charging brush head module of cooperation.
In the above scheme, charging docking facilities are realized by electric cylinders stretches out perforation, in order to dock with charging pile, and makes
Brush isolation mounting plate and attachment base are connected with hinged mode, i.e., reachable when brush is docked to charging brush head module, electricity
Brush can be isolated mounting plate with brush and be swung, so that contact can also well be docked by adapting to certain tilting of car body；Also same
When avoid brush from both rigidly answering back to caused by charging brush head module impaired phenomenon in the case where docking location inaccuracy
Occur.
Further, it is hingedly provided with protective door in the perforation, fixed vertical bar is provided on the attachment base, it is described solid
The upper end for determining vertical bar is provided with push rod, and the front end of the push rod is more than and is located at the front upper of the brush, the push rod with
The protective door matches.The two sides of the front of the electric cylinders fixing seat are fixedly installed the limit matched with the protective door
Position block, the front end of the limited block is provided with suction iron.
In the above scheme, push rod is moved with attachment base, and the front end of push rod guarantees that brush is stretched for ejecting protective door
When out, protective door is not interfered in brush.With iron is inhaled on limited block, guarantee protective door in this way can be good at closing after shutting
It closes.
Further, the anteriomedial of the electric cylinders fixing seat is provided with electric cylinders backhaul limit assembly, the electric cylinders backhaul
Limit assembly includes the limited post being laterally arranged and the limit spring that is set on the limited post, the limited post and the electricity
Brush isolation mounting plate matches.
In the above scheme, electric cylinders backhaul limit assembly cooperates limit spring flexible docking brush isolation peace by limited post
Loading board guarantees the safety of brush isolation mounting plate retraction.
Further, the charging brush head module includes the charging end copper brush of cooperation corresponding with the brush, for pacifying
It fills the insulated mounting plate of the charging end copper brush, be arranged in insulating mounting postlaminar part probe circuit feed-through assembly, probe returns
Road feed-through assembly includes metal plate, proae mounting plate and guiding axis, and the metal plate is fixed at the insulated mounting plate
Rear side is provided with the axis hole matched with one end of the guiding axis, the other end of the guiding axis in the proae mounting plate
It is connected with the metal plate, the guiding axis outer cover is equipped with compressed spring, is provided with two spies in the proae mounting plate
Needle, two probes are connected in the charging signals circuit of the charging pile, when two probes with the metal
When plate contacts, the charging signals circuit conducting of the charging pile.
In the above scheme, when insulated mounting plate just causes probe to dock with metal plate after being pressurized, charging signals circuit is led
Logical, undocking state again after not being pressurized causes charging signals circuit to be not turned on, and probe circuit feed-through assembly returns for charging signals
" on-off switch " on road；In addition, the charging docking facilities of AGV vehicle will squeeze absolutely when stretching out the charging end copper brush of docking charging pile
Edge mounting plate, so, charging docking facilities itself are the driving of " on-off switch " switching as driving charging signals circuit
Device, to realize the effect of overall automatic charging；The automatic charging is docked by physics to be realized, when docking not in place, charging letter
Number circuit can not be closed, and then AGV vehicle can not also charge, and embody charging security.
Further, the charging end copper brush has there are two and is separately mounted to the two sides up and down of the insulated mounting plate,
There are two the brush tools and is separately mounted to the two sides up and down of the brush isolation mounting plate, the middle part of the charging end copper brush
It is provided with convex insulation adhesive tape, the convex insulation adhesive tape is isolated in the middle part of mounting plate with the brush to be matched.
In the above scheme, insulated mounting plate, brush isolation mounting plate and convex insulation adhesive tape are insulating materials, design
Insulating materials improves safety for preventing charging end copper brush or brush to be shorted.
Further, it further includes scheduling system that a kind of collection, which docks the AGV automatic charging system of successfully physical quantity feedback,
With the navigation colour band matched with the AGV vehicle, it is described navigation colour band include positioned at the charging pile charging brush head module just
The horizontal segment colour band in front is provided with the traversing point RFID of switching on the horizontal segment colour band and is located at the traversing point RFID of switching
The deceleration point RFID of right or/and left, the horizontal segment colour band are vertically installed with vertical at the traversing point RFID of switching
Section colour band, is provided with halt RFID on the vertical section colour band, when the AGV vehicle stops at the halt RFID,
The charging docking facilities of the AGV vehicle are matched with the charging brush head module on the charging pile.
In the above scheme, scheduling system enables AGV vehicle transport to or stop for giving an order, and the wheel of AGV vehicle uses Mike
Na Mu wheel can carry out sidesway, and navigation colour band then cooperates AGV vehicle to run and as path.Navigation colour band and several RFID point are set
Meter guarantees AGV vehicle operational excellence and can assist realizing that the perfection with charging pile is docked in charging.When the AGV vehicle needs
When charging, the scheduling system controls the AGV vehicle and moves at the deceleration point RFID and slow down, until the AGV vehicle is fallen
Stopping and the AGV vehicle start traversing in the vertical section colour band at the traversing point RFID of switching, until the AGV vehicle
It falls at the halt RFID and stops, the AGV vehicle is just by the charging on docking facilities and the charging pile of charging at this time
Brush head module alignment prepares charging.
Further, pose camera, a positive left side of the halt RFID are provided on the front-rear direction of the AGV vehicle
Side and front-right are provided with pose mark point, and two pose cameras are matched with pose mark point described in two o'clock.
In the above scheme, two pose cameras swing and finely tune orientation with for AGV vehicle together, for final charging docking
Position precision is provided.The AGV pose adjustment of double camera feedback, ensure that AGV brush head contacts plane connects with charging pile brush head
Touching plane is as parallel as possible, to there is enough contacts area to provide good fit conducting when docking.
The invention also includes the AGV automatic recharging method that a kind of collection docks successfully physical quantity feedback, this method includes as follows
Step:
S1, AGV vehicle detect deceleration point RFID, reduce speed now and two pose camera image vectors is called to judge the parking stall AGV
Appearance is adjusted in deceleration to correct pose, until AGV vehicle is come at the traversing point RFID of switching；
S2, AGV vehicle are changed to lateral transverse motion at the traversing point RFID of switching, and move slowly to halt RFID band-type brake and stop
Vehicle；
S3, AGV vehicle stretch out brush module, and the charging end copper brush and compression on the charging brush head module of brush fitting charging pile cause
Metal plate is contacted with probe, so that charging signals circuit is connected, charging pile supplies power to charging end copper brush.
In the above scheme, the wheel of AGV vehicle can carry out sidesway using Mecanum wheel, this charging method is in AGV vehicle
Adjust in movement after pose eventually by sidesway reach it is perfect dock charging pile so that AGV vehicle no matter belong to before charging it is assorted
Pose eliminates the error of adaptive AGV positioning and pose, completes the fitting conducting between brush well.
Further, brush module process is stretched out in AGV vehicle, whether is detecting charging signals circuit always inside charging pile
Conducting, if conducting, the stopping of AGV vehicle continues to stretch out brush module, and charging pile will be connected information and upload scheduling system, scheduling system
System issues the instruction for opening the charging of charging pile.
In the above scheme, the circuit of charging pile charging is used for the circuit that charging pile is directly powered, with charging signals circuit
It is distinguished, the design for detecting design and two circuits that whether charging signals circuit is connected always is pacified to guarantee to charge
Entirely.
Further, in step s3, when charging signals circuit does not turn on always, then the brush mould on AGV vehicle is retracted
Block calls two pose mark points on two pose cameras and ground to cooperate so that pose mark point is adjusted to correct position
Appearance, then it re-execute the steps S3.
In the above scheme, pose is adjusted again, guarantees that final docking is safe and reliable, charging safety.
Detailed description of the invention
Fig. 1 is the cooperation schematic diagram of AGV vehicle and charging pile of the invention；
Fig. 2 is the structural schematic diagram of charging docking facilities；
Fig. 3 is the cooperation schematic diagram of pin and pin hole；
Fig. 4 is the structural schematic diagram of charging brush head module；
Fig. 5 is the structural schematic diagram of another angle of charging brush head module.
Specific embodiment
As shown in Figures 1 to 5, a specific embodiment of the invention is: the present invention include it is a kind of collection dock successfully physical quantity
The AGV automatic charging system of feedback, the charging system include charging pile 1 and AGV vehicle 2, and the lateral inner of the AGV vehicle 2 is set
Charging docking facilities 3 are equipped with, the charging docking facilities 3 include electric cylinders 31, electric cylinders fixing seat 32, the output with the electric cylinders 31
Attachment base 33 that axis is connected and the brush module 4 that 33 front of attachment base is set, the direction of the output shaft perpendicular to
The side is provided with perforation compatible with the charging docking facilities 3, the brush on the side of the AGV vehicle 2
Module 4 includes brush 41 and mounting plate 42 is isolated in brush, and the rear of the brush isolation mounting plate 42 and the attachment base 33 are cut with scissors
Chain link is provided with the charging brush head module 5 matched with the brush module 4 on the charging pile 1.In the present solution, filling
Electric docking facilities 3 are realized by electric cylinders 31 stretches out perforation, in order to dock with charging pile 1, and connects electricity using hinged mode
Brush isolation mounting plate 42 and attachment base 33, i.e., reachable when brush 41 is docked to charging brush head module 5, brush 41 can be with
Brush isolation mounting plate 42 is swung, so that contact can also well be docked by adapting to certain tilting of car body；Also electricity is avoided simultaneously
Brush 41 is rigidly answered back to the impaired phenomenon of the two caused by charging brush head module 5 in the case where docking location inaccuracy and is occurred.
Further, the rear horizontal of brush isolation mounting plate 42 is provided with articulated slab 43, on the articulated slab 43
It vertically is fixedly installed pin 44, the pin hole matched with the pin 44 is provided on the attachment base 33.The pin 44
Including waist type top 45 and the cylindricality lower part being arranged in the middle part of 45 lower end of waist type top, the pin hole is ladder slot, institute
The bottom for stating ladder slot is set as cylindrical groove compatible with the cylindricality lower part, the top of the ladder slot be set as with
The square groove 46 that waist type top 45 matches, the width dimensions of the square groove 46 are greater than the width on waist type top 45
Size but the length dimension for being less than waist type top 45.With ground, pin 44 and pin hole cooperation can guarantee that brush 41 can be with
Amplitude of fluctuation with brush isolation mounting plate 42 reaches ± 20 °.
Further, it is hingedly provided with protective door 6 in the perforation, fixed vertical bar 34 is provided on the attachment base 33,
The upper end of the fixed vertical bar 34 is provided with push rod 35, and the front end of the push rod 35 is more than and is located on the front of the brush 41
Portion, the push rod 35 are matched with the protective door 6.The two sides of the front of the electric cylinders fixing seat 32 are fixedly installed and institute
The limited block 36 that protective door 6 matches is stated, the front end of the limited block 36, which is provided with, inhales iron 37.In the present solution, push rod 35 with
Attachment base 33 moves together, and the front end of push rod 35 is for ejecting protective door 6, and when guaranteeing that brush 41 stretches out, protective door 6 is not in brush
41 interference.With iron 37 is inhaled on limited block 36, guarantee protective door 6 in this way can be good at being closed after shutting.
Further, the anteriomedial of the electric cylinders fixing seat 32 is provided with electric cylinders backhaul limit assembly, and the electric cylinders are returned
Journey limit assembly includes the limited post 38 being laterally arranged and the limit spring 39 that is set on the limited post 38, the limited post
38, which are isolated mounting plate 42 with the brush, matches.In the present solution, electric cylinders backhaul limit assembly passes through the cooperation limit of limited post 38
Mounting plate 42 is isolated in position 39 flexible docking brush of spring, guarantees the safety that brush isolation mounting plate 42 bounces back.
Further, the charging brush head module 5 includes the charging end copper brush 51 of cooperation corresponding with the brush 41, uses
In installing the insulated mounting plate 52 of the charging end copper brush 51, be arranged in the 52 rear portion probe circuit conducting group of insulated mounting plate
Part 6, probe circuit feed-through assembly 6 include metal plate 61, proae mounting plate 62 and guiding axis 63, and the metal plate 61 is fixedly installed
It is provided on the rear side of the insulated mounting plate 52, the proae mounting plate 62 and matches with one end of the guiding axis 63
Axis hole, the other end of the guiding axis 63 are connected with the metal plate 61, and 63 outer cover of guiding axis is equipped with compressed spring
64, two probes 65 are provided in the proae mounting plate 62, and two probes 65 are connected to the charging of the charging pile 1
In signal circuit, when two probes 65 are contacted with the metal plate 61, the charging signals circuit of the charging pile 1 is led
It is logical.When in the present solution, just causing probe 65 to dock with metal plate 61 after the compression of insulated mounting plate 52, charging signals circuit is led
Logical, undocking state again after not being pressurized causes charging signals circuit to be not turned on, and probe circuit feed-through assembly 6 returns for charging signals
" on-off switch " on road；In addition, the charging docking facilities 3 of AGV vehicle 2 will when stretching out the charging end copper brush 51 of docking charging pile 1
Extruding insulation mounting plate 52, so, charging docking facilities 3 are " on-off switch " as driving charging signals circuit in itself
The driver of switching, to realize the effect of overall automatic charging；The automatic charging is docked by physics to be realized, not in place when docking
When, charging signals circuit can not be closed, and then AGV vehicle 2 can not also charge, and embody charging security.
Further, the charging end copper brush 51 tool there are two and be separately mounted to up and down the two of the insulated mounting plate 52
Side, there are two the tools of brush 41 and is separately mounted to the two sides up and down of the brush isolation mounting plate 42, the charging end copper
The middle part of brush 51 is provided with convex insulation adhesive tape 53, and the middle part of mounting plate 42 is isolated with the brush for the convex insulation adhesive tape 53
It matches.It is insulating materials in the adhesive tape 53 in the present solution, insulated mounting plate 52, brush isolation mounting plate 42 and convex insulate,
Design insulating materials improves safety for preventing charging end copper brush 51 or brush 41 to be shorted.
Further, it further includes scheduling system that a kind of collection, which docks the AGV automatic charging system of successfully physical quantity feedback,
With the navigation colour band 7 matched with the AGV vehicle 2, the navigation colour band 7 includes the charging brush head mould positioned at the charging pile 1
The horizontal segment colour band 71 in the front of block 5 is provided with RFID on the horizontal segment colour band 71 and switches traversing point 72 and be located at described
RFID switches the RFID deceleration point 73 of traversing 72 right of point or/and left, and the horizontal segment colour band 71 switches horizontal in the RFID
It moves at point 72 and is vertically installed with vertical section colour band 74, halt RFID75 is provided on the vertical section colour band 74, as the AGV
Charging when vehicle 2 is stopped at the halt RFID75, on the charging docking facilities 3 of the AGV vehicle 2 and the charging pile 1
Brush head module 5 matches.In the present solution, scheduling system enables AGV vehicle 2 transport to or stop and brush module 4 for giving an order
Stretching retraction, the wheel of AGV vehicle 2 can carry out sidesway using Mecanum wheel, and navigation colour band 7 then cooperates the operation of AGV vehicle 2 simultaneously
As path.The design of navigation colour band 7 and several RFID point guarantees 2 operational excellence of AGV vehicle and can assist realizing in charging
It is docked with the perfection of charging pile 1.When the AGV vehicle 2 needs to charge, the scheduling system controls the AGV vehicle 2 and moves to institute
It states at RFID deceleration point 73 and slows down, stop at traversing point 72 and described until the AGV vehicle 2 falls in the RFID and switches
The beginning of AGV vehicle 2 is traversing in the vertical section colour band 74, stops until the AGV vehicle 2 is fallen at the halt RFID75, this
Charging docking facilities 3 are just directed at preparation charging with the charging brush head module 5 on the charging pile 1 by Shi Suoshu AGV vehicle 2.
Further, pose camera 21, the halt RFID75 are provided on the front-rear direction of the AGV vehicle 2
Front-left and front-right be provided with pose mark point 76, two pose cameras 21 and pose mark point described in two o'clock
76 match.In the present solution, two pose cameras 21 are neat with orientation is swung and finely tuned for AGV vehicle 2, for final charging pair
Offer position precision is provided.The AGV pose adjustment of double camera feedback, ensure that AGV brush head contacts plane and charging pile brush head
Contact plane is as parallel as possible, to there is enough contacts area to provide good fit conducting when docking.
The invention also includes the AGV automatic recharging method that a kind of collection docks successfully physical quantity feedback, this method includes as follows
Step:
S1, AGV vehicle 2 detects RFID deceleration point 73, reduces speed now and two 21 image vectors of pose camera is called to judge AGV
2 pose of vehicle is adjusted in deceleration to correct pose, until AGV vehicle 2 is come RFID and switched at traversing point 72；
S2, AGV vehicle 2 switches in RFID is changed to lateral transverse motion at traversing point 72, and moves slowly to halt RFID75 and embrace
Lock parking；
S3, AGV vehicle 2 stretches out brush module 4, and brush 41 is bonded the charging end copper brush 51 on the charging brush head module 5 of charging pile 1 simultaneously
Compression causes metal plate 61 to contact with probe 65, so that charging signals circuit is connected, charging pile 1 supplies power to charging end copper brush 51.
In the above scheme, the wheel of AGV vehicle 2 can carry out sidesway using Mecanum wheel, this charging method is in AGV vehicle
2 adjust in movement after pose eventually by sidesway reach it is perfect dock charging pile 1 so that no matter AGV vehicle 2 belongs to before charging
Any pose eliminates the error of adaptive AGV positioning and pose, completes the fitting conducting between brush well.
Further, 4 process of brush module is stretched out in AGV vehicle 2, is detecting charging signals circuit always inside charging pile 1
Whether be connected, if conducting, the stopping of AGV vehicle 2 continues to stretch out brush module 4, and charging pile 1 will be connected information and upload scheduling system
System, scheduling system issue the instruction for opening the charging of charging pile 1.In the present solution, the circuit that charging pile 1 charges is used for charging pile
1 circuit directly powered, is distinguished with charging signals circuit, detecting always design that whether charging signals circuit is connected and
The design of two circuits is safe in order to guarantee to charge.
Further, in step s3, when charging signals circuit does not turn on always, then the brush mould on AGV vehicle 2 is retracted
Block 4, call two pose mark points 76 on two pose cameras 21 and ground to cooperate so that pose mark point 76 adjust to
Correct pose, then it re-execute the steps S3.In the present solution, adjusting pose again, the final docking of guarantee is safe and reliable, and charging is pacified
Entirely.
When the monitoring system of battery detects that battery allowance only remains the 20% of saturation energy, system is dispatched under AGV vehicle 2
Charging instruction is sent out, AGV vehicle is automatically moved near charge point, when AGV vehicle 2 detects RFID deceleration point 73 near charge point
When, it reduces speed now, and two 21 image vectors of pose camera is called to judge 2 pose of AGV vehicle, side whole to the correct position of deceleration modified tone
Appearance, AGV vehicle 2 decelerate to RFID and switch traversing point 72, and AGV vehicle 2 stops simultaneously switching to lateral pattern, start at a slow speed traversing to filling
Electric, detection halt RFID75 information and band-type brake stopping, AGV vehicle 2 stretch out brush module 4, and brush 41 is bonded filling for charging pile 1
Charging end copper brush 51 and compression on brush head module 5 cause metal plate 61 to contact with probe 65, so that charging signals circuit is led
Logical, charging pile 1 supplies power to charging end copper brush 51.Charging process battery capacity is monitored, reaches what host computer issued to battery capacity
When electricity, charging circuit is disconnected, AGV vehicle 2 retracts charging brush, withdraws from charge point, executes the transport that scheduling system issues
Task retracts 2 automatic charging brush of AGV vehicle, then dispatches if charging signals circuit is never connected in the above process
System controls AGV vehicle 2 and adjusts the parking stall AGV appearance by front camera and rear camera mark point, and after having adjusted, AGV vehicle 2 stretches out charging brush head, patch
The charging end copper brush 51 of charging pile 1 is closed, compression probe 65 contacts metal plate 61, and does the conducting judgement in charging signals circuit, such as
This circulation 3 times interrupts all operations of AGV vehicle, alarm charging is abnormal, and uploads tune if probe circuit is still not turned on
Degree system exception charges wait manually check.
The present invention can be used for AGV vehicle field.
Claims (10)
1. a kind of collection dock the AGV automatic charging system that successful physical quantity is fed back, it is characterised in that: it include charging pile (1) and
AGV vehicle (2), the lateral inner of the AGV vehicle (2) are provided with charging docking facilities (3), and the charging docking facilities (3) include
Electric cylinders (31), electric cylinders fixing seat (32), the attachment base (33) being connected with the output shaft of the electric cylinders (31) and setting are described
Brush module (4) in front of attachment base (33), the direction of the output shaft perpendicular to the side, the AGV vehicle (2) it is described
The compatible perforation with the charging docking facilities (3) is provided on side, the brush module (4) includes brush (41) and electricity
The rear of brush isolation mounting plate (42), brush isolation mounting plate (42) is connect with the attachment base (33) hinge, described to fill
The charging brush head module (5) matched with the brush module (4) is provided on electric stake (1).
2. a kind of collection according to claim 1 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In: it is hingedly provided in the perforation protective door (6), is provided with fixed vertical bar (34), the fixation on the attachment base (33)
The upper end of vertical bar (34) is provided with push rod (35), and the front end of the push rod (35) is more than and is located on the front of the brush (41)
Portion, the push rod (35) match with the protective door (6), and the two sides of the front of the electric cylinders fixing seat (32) are fixedly installed
There is the limited block (36) matched with the protective door (6), the front end of the limited block (36), which is provided with, inhales iron (37).
3. a kind of collection according to claim 1 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In: the anteriomedial of the electric cylinders fixing seat (32) is provided with electric cylinders backhaul limit assembly, the electric cylinders backhaul limit assembly packet
The limit spring (39) for including the limited post (38) being laterally arranged and being set on the limited post (38), the limited post (38) with
Brush isolation mounting plate (42) matches.
4. a kind of collection according to claim 1 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In: the charging brush head module (5) includes the charging end copper brush (51) of cooperation corresponding with the brush (41), for installing
It states the insulated mounting plate (52) of charging end copper brush (51), be arranged in the insulated mounting plate (52) rear portion probe circuit feed-through assembly
(6), probe circuit feed-through assembly (6) includes metal plate (61), proae mounting plate (62) and guiding axis (63), the metal plate
(61) it is fixed at the rear side of the insulated mounting plate (52), is provided with and the guiding axis on the proae mounting plate (62)
(63) other end of the axis hole that one end matches, the guiding axis (63) is connected with the metal plate (61), the guiding
Axis (63) outer cover is equipped with compressed spring (64), two probes (65) is provided on the proae mounting plate (62), described in two
Probe (65) is connected in the charging signals circuit of the charging pile (1), when two probes (65) with the metal
When plate (61) contacts, the charging signals circuit conducting of the charging pile (1).
5. a kind of collection according to claim 5 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In: the charging end copper brush (51) has there are two and is separately mounted to the two sides up and down of the insulated mounting plate (52), the electricity
There are two brush (41) tools and is separately mounted to the two sides up and down of brush isolation mounting plate (42), the charging end copper brush (51)
Middle part be provided with convex insulation adhesive tape (53), convex insulation adhesive tape (53) is isolated in mounting plate (42) with the brush
Portion matches.
6. a kind of collection according to claim 1 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In a kind of: the collection dock AGV automatic charging system that successful physical quantity is fed back further include scheduling system and with the AGV vehicle
(2) the navigation colour band (7) matched, navigation colour band (7) include the charging brush head module (5) positioned at the charging pile (1)
The horizontal segment colour band (71) in front is provided with RFID on the horizontal segment colour band (71) and switches traversing point (72) and be located at described
RFID switches the RFID deceleration point (73) of traversing point (72) right or/and left, and the horizontal segment colour band (71) is in the RFID
Switch and be vertically installed with vertical section colour band (74) at traversing point (72), is provided with halt RFID on the vertical section colour band (74)
(75), when the AGV vehicle (2) stops at the halt RFID(75) at when, the charging docking facilities (3) of the AGV vehicle (2)
It is matched with the charging brush head module (5) on the charging pile (1).
7. a kind of collection according to claim 1 docks the AGV automatic charging system of successfully physical quantity feedback, feature exists
In: the front-left and front-right halt RFID(75) is provided with pose mark point (76), before the AGV vehicle (2)
It is provided in rear direction pose camera (21), pose mark point (76) described in two pose cameras (21) and two o'clock
It matches.
8. the AGV automatic recharging method that a kind of collection docks successfully physical quantity feedback, which comprises the steps of:
S1, AGV vehicle (2) detect RFID deceleration point (73), reduce speed now and call two pose camera (21) image vectors
Judge AGV vehicle (2) pose, adjusted in deceleration to correct pose, is switched at traversing point (72) until AGV vehicle (2) come RFID；
S2, AGV vehicle (2) switch in RFID is changed to lateral transverse motion at traversing point (72), and moves slowly to halt RFID
(75) band-type brake stops；
S3, AGV vehicle (2) stretch out brush module (4), and brush (41) is bonded the charging on the charging brush head module (5) of charging pile (1)
It holds copper brush (51) and compressing causes metal plate (61) to contact with probe (65), so that charging signals circuit is connected, charging pile (1) is supplied
Electricity is to charging end copper brush (51).
9. a kind of collection according to claim 8 docks the AGV automatic recharging method of successfully physical quantity feedback, feature exists
In: brush module (4) process is stretched out in AGV vehicle (2), is detecting whether charging signals circuit is connected always inside charging pile (1),
If conducting, AGV vehicle (2) stopping continues to stretch out brush module (4), and charging pile (1) will be connected information and upload scheduling system, adjusts
Degree system issues the instruction for opening the charging of charging pile (1).
10. a kind of collection according to claim 8 docks the AGV automatic recharging method of successfully physical quantity feedback, feature exists
In: in step s3, when charging signals circuit does not turn on always, then the brush module (4) on AGV vehicle (2) is retracted, call two
A pose camera (21) cooperates with two pose mark points (76) on ground so that pose mark point (76) is adjusted to correct
Pose, then it re-execute the steps S3.
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| CN110539655A (en) * | 2019-09-18 | 2019-12-06 | 洛阳凯宾耐特钢柜有限公司 | Automatic charging device of RGV (vehicle graphics volume) transport vehicle and charging control method thereof |
| CN112498131A (en) * | 2019-09-16 | 2021-03-16 | 北京京东乾石科技有限公司 | Intelligent charging method and device for automatic guided transport vehicle, electronic equipment and medium |
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