CN210149167U - Automatic AGV charging system integrating physical quantity feedback of butt joint success - Google Patents

Abstract

The utility model discloses and provides an automatic charging system of AGV of collection butt joint success physical quantity feedback. The errors of AGV positioning and pose can be self-adapted, and the attachment conduction between the electric brushes can be well completed; the automatic charging task of the AGV is reliably and safely completed; the safety, reliability and service life of the electric brush are ensured by the protective door, and the service life of the system is prolonged. The utility model adopts the technical proposal that: the utility model discloses a fill electric pile and AGV car, AGV car side inside is provided with the interfacing apparatus that charges, the interfacing apparatus that charges includes the electric jar, the electric jar fixing base, the connecting seat that is connected with the output shaft of electric jar and the brush module of setting in connecting seat the place ahead, the direction perpendicular to side of output shaft, be provided with on the side of AGV car with the perforation of the interfacing apparatus looks adaptation that charges, the brush module includes brush and brush isolation mounting panel, the rear and the connecting seat hinged joint of mounting panel are kept apart to the brush, it is provided with the brush head module that charges with brush module matched with on the electric pile to fill. The utility model discloses can be used to AGV car field.

Description

Automatic AGV charging system integrating physical quantity feedback of butt joint success

Technical Field

The utility model relates to an automatic charging system of AGV of collection butt joint success physical quantity feedback.

Background

With the advocation and implementation of industry 4.0, the automation and intelligence degree of the manufacturing industry and the logistics industry is continuously improved, the AGVs (automatic guided vehicles) are rapidly developed due to the intelligent and flexible material transmission function, the application of the AGVs is not limited to the traditional unmanned storage environment at present, and the application of the AGVs is expanded to some transportation environments with severe working environment, simple labor and high intensity. One of the stable and continuous running of the AGVs depends on reliable supplement and stable output of power energy, and accurate and timely charging and charging management of the AGVs are very important, and the AGVs need to have a reliable and safe automatic charging function. Application number CN 108116257A's patent application discloses an automatic charging device of AGV and system method thereof, this system is including charging module, motion, charge detection module, alarm module and central control module, central control module be used for handling and issue the instruction of charging, control motion charge brush head and AGV dolly charge, this system has one set of unusual processing mechanism that charges, charge detection module be responsible for detecting charge abnormal information and send out the police dispatch newspaper to central control module, central control module control charge module disconnection charge return circuit, motion disconnection electrode's contact, a safer automatic charging method has been published.

The conventional AGV automatic charging scheme has no feedback of successful butt joint between electric brushes, most of the conventional AGV automatic charging schemes are based on open-loop control with AGV debugging and positioning accuracy as a prior condition, correct joint conduction between the electric brushes cannot be ensured, and the risk of electric arcs and short circuits is generated; the prior art does not or does not disclose the pose adjustment of the AGV when stopping before charging the pile; the current AGV automatic charging electric brushes are fixed on a component with only one moving dimension, when the pose of a vehicle body is not aligned, only line contact between the electric brushes can be generated, electric arcs can be generated after a charging loop is conducted, the electric brushes are ablated, and the damage is greater; the electric brush is not protected, and the movable electric brush disclosed in the patent with the application number of CN 108116257A is exposed on the charging pile, so that certain safety problems exist for equipment and people; the patent application No. CN 108116266 a discloses an underground charging pile brush, which is exposed to the disadvantage of the people and the electrode itself.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide an automatic charging system of AGV of collection butt joint success physical quantity feedback. The errors of AGV positioning and pose can be self-adapted, and the attachment conduction between the electric brushes can be well completed; the automatic charging task of the AGV is reliably and safely completed; the safety, reliability and service life of the electric brush are ensured by the protective door, and the service life of the system is prolonged.

The utility model adopts the technical proposal that: the utility model discloses a fill electric pile and AGV car, the inside interfacing apparatus that charges that is provided with in side of AGV car, the interfacing apparatus that charges include electric jar, electric jar fixing base, with the connecting seat that the output shaft of electric jar is connected is in with the setting the brush module in connecting seat the place ahead, the direction perpendicular to of output shaft the side, the AGV car be provided with on the side with the perforation of the interfacing apparatus looks adaptation that charges, the brush module includes brush and brush isolation mounting panel, the brush keep apart the rear of mounting panel with connecting seat hinged joint, fill electric pile on be provided with brush module matched with brush head module that charges.

In the scheme, the charging butt joint device is extended out of the through hole through the electric cylinder so as to be in butt joint with the charging pile, the electric brush isolation mounting plate and the connecting seat are connected in a hinged mode, and therefore when the electric brush is in butt joint with the charging brush head module, the electric brush can swing along with the electric brush isolation mounting plate, and therefore the electric brush can adapt to certain vehicle body inclination and can be in good butt joint contact; and simultaneously, the phenomenon that the electric brush is damaged due to the fact that the electric brush is rigidly abutted against the charging brush head module under the condition that the abutting position is inaccurate is avoided.

Further, the perforation is hinged with a protective door, the connecting seat is provided with a fixed vertical rod, the upper end of the fixed vertical rod is provided with a push rod, the front end of the push rod exceeds and is located on the upper portion of the front of the electric brush, and the push rod is matched with the protective door. The both sides of the front portion of electricity jar fixing base all fixedly be provided with guard gate matched with stopper, the front end of stopper is provided with the magnet.

In the above scheme, the push rod moves along with the connecting seat, and the front end of the push rod is used for ejecting the protective door, so that when the electric brush stretches out, the protective door is not interfered by the electric brush. The limiting block is provided with the magnet, so that the protective door can be well closed after being closed.

Further, be provided with the spacing subassembly of electric jar return stroke in the middle of the front portion of electric jar fixing base, the spacing subassembly of electric jar return stroke is established including the spacing post and the cover of horizontal setting spacing spring on the spacing post, spacing post with the mounting panel cooperatees is kept apart to the brush.

In the above scheme, the electric cylinder return stroke limiting assembly is flexibly butted with the electric brush isolation mounting plate through the limiting column matched with the limiting spring, so that the retraction safety of the electric brush isolation mounting plate is ensured.

Further, the brush head module that charges include with the corresponding complex of brush charge end copper brush, be used for the installation charge end copper brush's insulating mounting panel, setting are in insulating mounting panel rear portion probe circuit conduction assembly, probe circuit conduction assembly include metal sheet, probe mounting panel and guiding axle, the metal sheet is fixed to be set up the rear side of insulating mounting panel, be provided with on the probe mounting panel with the one end matched with shaft hole of guiding axle, the other end of guiding axle with the metal sheet is connected, the outside cover of guiding axle is equipped with compression spring, be provided with two probes on the probe mounting panel, two the probe all is connected to in the signal circuit that charges of electric pile, work as two the probe all with when the metal sheet contact, the signal circuit that charges of electric pile switches on.

In the scheme, when the insulation mounting plate is pressed to cause the butt joint of the probe and the metal plate, the charging signal loop is conducted, the butt joint state is disconnected after the insulation mounting plate is not pressed to cause the non-conduction of the charging signal loop, and the probe loop conducting assembly is an 'on-off switch' of the charging signal loop; in addition, when the charging butt joint device of the AGV car extends out of the copper brush at the charging end of the butt joint charging pile, the insulating mounting plate is extruded, so that the charging butt joint device is a driver for driving the switching of an on-off switch of a charging signal loop, and the overall automatic charging effect is realized; this automatic charging is realized by physics butt joint, and when the butt joint is not in place, the unable closure of signal circuit that charges, then the AGV car also can't charge, has embodied the security of charging.

Furthermore, the end copper brush that charges has two and installs respectively the upper and lower both sides of insulating mounting panel, the brush has two and installs respectively the upper and lower both sides of mounting panel are kept apart to the brush, the middle part of the end copper brush that charges is provided with protruding type insulating rubber strip, protruding type insulating rubber strip with the middle part that the mounting panel was kept apart to the brush cooperatees.

In the above scheme, insulating mounting panel, brush keep apart mounting panel and protruding type insulating rubber strip and are insulating material, and design insulating material is used for preventing charging end copper brush or brush short circuit, improves the security.

Further, an automatic charging system of AGV that gathers butt joint success physical quantity feedback still include dispatch system and with AGV car matched with navigation typewriter ribbon, navigation typewriter ribbon is including being located fill the horizontal segment typewriter ribbon of the positive place ahead of electric pile's the brush head module that charges, be provided with on the horizontal segment typewriter ribbon and switch sideslip point RFID and be located switch the right-hand or/and the deceleration point RFID of left side of sideslip point RFID, the horizontal segment typewriter ribbon is in switch sideslip point RFID department and be provided with the vertical section typewriter ribbon perpendicularly, be provided with stop point RFID on the vertical section typewriter ribbon, work as the AGV stops during stop point RFID department, the butt joint device that charges of AGV with fill the electric pile on the brush head module and cooperate.

In the scheme, the dispatching system is used for issuing instructions to enable the AGV to move to or stop, wheels of the AGV can move laterally by adopting Mecanum wheels, and the navigation color band is matched with the AGV to move and serves as a path. The design of navigation typewriter ribbon and several RFID points guarantees that the AGV car operates well and can assist the perfect butt joint of realization and the electric pile of filling when charging. When the AGV needs to charge, dispatch system control the AGV moves to speed reduction point RFID department and speed reduction, until the AGV falls switch sideslip point RFID department and stop and the AGV begins vertical section typewriter ribbon sideslip, until the AGV falls stop point RFID department, this moment the AGV just in time with the interfacing apparatus that charges with fill the preparation of charging of the brush head module alignment on the electric pile.

Further, all be provided with the position appearance camera on the front and back direction of AGV car, stop point RFID just the left and just right-hand position appearance mark point that all is provided with, two the position appearance camera cooperatees with two points the position appearance mark point.

In the scheme, the two pose cameras are used for swinging the AGV and finely adjusting the direction simultaneously, so that the position precision is provided for final charging butt joint. The AGV position and posture adjustment of double-camera feedback guarantees that the contact plane of the brush head of the AGV brush is parallel to the contact plane of the brush head of the charging pile as far as possible, so that enough contact area is provided for good fitting and conduction during butt joint.

Drawings

FIG. 1 is a schematic diagram of an AGV and a charging pile according to the present invention;

fig. 2 is a schematic structural diagram of a charging docking device;

FIG. 3 is a schematic illustration of the engagement of a pin with a pin hole;

fig. 4 is a schematic structural view of the charging brush head module;

fig. 5 is a structural schematic diagram of another angle of the charging brush head module.

Detailed Description

As shown in fig. 1 to 5, the present invention specifically comprises: the utility model discloses an automatic charging system of AGV of collection butt joint success physical quantity feedback, charging system is including filling electric pile 1 and AGV car 2, AGV car 2's the inside interfacing apparatus 3 that charges that is provided with in side, charge interfacing apparatus 3 include electric jar 31, electric jar fixing base 32, with connecting seat 33 and the setting that the output shaft of electric jar 31 is connected are in brush module 4 in connecting seat 33 the place ahead, the direction perpendicular to of output shaft the side, AGV car 2 be provided with on the side with the perforation of 3 looks adaptations of butt joint apparatus that charge, brush module 4 includes brush 41 and brush isolation mounting panel 42, the brush keep apart mounting panel 42 the rear with fill electric pile 33 hinged joint, be provided with on 1 with brush module 4 matched with brush module 5 that charges. In the scheme, the charging butt joint device 3 is extended out and perforated through the electric cylinder 31 so as to be in butt joint with the charging pile 1, and the electric brush isolation mounting plate 42 and the connecting seat 33 are connected in a hinged mode, so that when the electric brush 41 is in butt joint with the charging brush head module 5, the electric brush 41 can swing along with the electric brush isolation mounting plate 42, and therefore the electric brush can adapt to certain vehicle body inclination and can be in good butt joint contact; and simultaneously, the phenomenon that the brush 41 is rigidly abutted against the charging brush head module 5 under the condition of inaccurate abutting position so as to damage the two is avoided.

Further, a hinge plate 43 is horizontally arranged at the rear part of the brush isolation mounting plate 42, a pin 44 is vertically and fixedly arranged on the hinge plate 43, and a pin hole matched with the pin 44 is arranged on the connecting seat 33. The pin 44 comprises a waist-shaped upper portion 45 and a cylindrical lower portion arranged in the middle of the lower end of the waist-shaped upper portion 45, the pin hole is a stepped slotted hole, the bottom of the stepped slotted hole is a cylindrical groove matched with the cylindrical lower portion, the upper portion of the stepped slotted hole is a square groove 46 matched with the waist-shaped upper portion 45, and the width dimension of the square groove 46 is larger than the width dimension of the waist-shaped upper portion 45 but smaller than the length dimension of the waist-shaped upper portion 45. With the pin 44 engaged with the pin hole, the brush 41 can be guaranteed to swing to + -20 degrees along with the brush isolation mounting plate 42.

Further, the perforation is provided with a protective door in a hinged mode, the connecting seat 33 is provided with a fixed vertical rod 34, the upper end of the fixed vertical rod 34 is provided with a push rod 35, the front end of the push rod 35 exceeds and is located on the upper portion of the front of the electric brush 41, and the push rod 35 is matched with the protective door. The both sides of the front portion of electricity jar fixing base 32 all fixedly be provided with guard gate matched with stopper 36, the front end of stopper 36 is provided with and inhales indisputable 37. In this scheme, push rod 35 moves along with connecting seat 33, and the front end of push rod 35 is used for ejecting the guard gate, when guaranteeing that brush 41 stretches out, the guard gate is not in brush 41 interference. The limiting block 36 is provided with a magnet 37, so that the protective door can be well closed after being closed.

Further, the middle of the front portion of the electric cylinder fixing seat 32 is provided with an electric cylinder return limiting assembly, the electric cylinder return limiting assembly comprises a transversely arranged limiting column 38 and a limiting spring 39 sleeved on the limiting column 38, and the limiting column 38 is matched with the electric brush isolation mounting plate 42. In this scheme, the spacing subassembly of electric cylinder return stroke is through spacing post 38 cooperation spacing spring 39 flexible butt joint brush isolation mounting panel 42, guarantees the safety that brush isolation mounting panel 42 retracted.

Further, the charging brush head module 5 includes a charging end copper brush 51 correspondingly engaged with the brush 41, an insulating mounting plate 52 for mounting the charging end copper brush 51, and a probe loop conducting assembly 6 disposed at the rear of the insulating mounting plate 52, the probe loop conducting assembly 6 includes a metal plate 61, a probe mounting plate 62 and a guide shaft 63, the metal plate 61 is fixedly disposed at the rear side of the insulating mounting plate 52, the probe mounting plate 62 is provided with a shaft hole engaged with one end of the guide shaft 63, the other end of the guide shaft 63 is connected with the metal plate 61, the guide shaft 63 is externally sleeved with a compression spring 64, the probe mounting plate 62 is provided with two probes 65, the two probes 65 are both connected to the charging signal loop of the charging pile 1, when the two probes 65 are both contacted with the metal plate 61, and the charging signal loop of the charging pile 1 is conducted. In this embodiment, when the insulation mounting plate 52 is pressed to cause the probe 65 to be in butt joint with the metal plate 61, the charging signal circuit is turned on, and when the insulation mounting plate is not pressed, the insulation mounting plate is turned off in a butt joint state to cause the charging signal circuit to be turned off, and the probe circuit turn-on assembly 6 is an "on-off switch" of the charging signal circuit; in addition, when the charging docking device 3 of the AGV 2 extends out of the charging end copper brush 51 of the docking charging pile 1, the insulating mounting plate 52 is squeezed, so that the charging docking device 3 is a driver for driving the switching of an on-off switch of a charging signal loop, and the overall automatic charging effect is realized; this automatic charging is realized by physics butt joint, and when the butt joint is not in place, the unable closure of signal circuit that charges, then AGV car 2 also can't charge, has embodied the security of charging.

Further, the charging end copper brush 51 has two and is respectively installed on the upper and lower sides of the insulation mounting plate 52, the brush 41 has two and is respectively installed on the upper and lower sides of the brush isolation mounting plate 42, a convex insulation rubber strip 53 is arranged in the middle of the charging end copper brush 51, and the convex insulation rubber strip 53 is matched with the middle of the brush isolation mounting plate 42. In this scheme, mounting panel 42 and protruding type insulating rubber 53 are insulating material is kept apart to insulating mounting panel 52, brush, and design insulating material is used for preventing charging end copper brush 51 or brush 41 short circuit, improves the security.

Further, an automatic charging system of AGV that collection was answered successfully physical quantity feedback still includes dispatch system and with AGV car 2 matched with navigation typewriter ribbon 7, navigation typewriter ribbon 7 is including being located fill the horizontal segment typewriter ribbon 71 in the positive place ahead of electric pile 1's charging brush head module 5, be provided with RFID on the horizontal segment typewriter ribbon 71 and switch the sideslip point 72 and be located the right-hand or/and the RFID deceleration point 73 in left side of RFID switching sideslip point 72, horizontal segment typewriter ribbon 71 is in RFID switches sideslip point 72 department and is provided with vertical section typewriter ribbon 74 perpendicularly, be provided with stop point RFID75 on the vertical section typewriter ribbon 74, work as AGV car 2 stops when stop point RFID75 locates, AGV car 2's the butt joint device 3 that charges with fill the cooperation of electric pile 1 on the charging brush head module 5. In the scheme, the dispatching system is used for giving an instruction to enable the AGV car 2 to be conveyed to or stopped and the electric brush module 4 to stretch and retract, wheels of the AGV car 2 can be laterally moved by adopting Mecanum wheels, and the navigation color band 7 is matched with the AGV car 2 to run and serves as a path. The design of navigation typewriter ribbon 7 and several RFID points guarantees that AGV car 2 moves well and can assist the perfect butt joint of realization and the electric pile 1 of filling when charging. When the AGV vehicle 2 needs to be charged, the dispatching system controls the AGV vehicle 2 to move to the RFID deceleration point 73 and decelerate until the AGV vehicle 2 falls on the RFID switching traverse point 72 to stop and the AGV vehicle 2 starts to traverse the vertical section of the ribbon 74 until the AGV vehicle 2 falls on the stop point RFID75 to stop, at which time the AGV vehicle 2 just aligns the charging docking device 3 with the charging brush head module 5 on the charging pile 1 to prepare for charging.

Further, all be provided with position appearance camera 21 in the front and back direction of AGV car 2, stop point RFID75 is just left and just right-hand all is provided with position appearance mark point 76, two position appearance camera 21 cooperatees with two points position appearance mark point 76. In the scheme, the two pose cameras 21 are used for swinging the AGV car 2 and finely adjusting the direction, so that the position precision is provided for final charging butt joint. The AGV position and posture adjustment of double-camera feedback guarantees that the contact plane of the brush head of the AGV brush is parallel to the contact plane of the brush head of the charging pile as far as possible, so that enough contact area is provided for good fitting and conduction during butt joint.

When a monitoring system of the battery detects that the remaining amount of the battery is only 20% of the saturation energy, a dispatching system issues a charging instruction to an AGV (automatic guided vehicle) 2, the AGV automatically moves to a position near a charging point, when the AGV 2 detects an RFID deceleration point 73 near the charging point, deceleration is started, two pose cameras 21 image vectors are called to judge the pose of the AGV 2, the two pose cameras are called to change the pose to a correct pose in a decelerating mode, the AGV 2 decelerates to an RFID switching transverse moving point 72, the AGV 2 stops and switches to a transverse moving mode, the transverse moving is started slowly to the charging point, the RFID75 information of the stopping point is detected and the contracting brake stops, the AGV 2 stretches out of an electric brush module 4, an electric brush 41 is attached to a charging end copper brush 51 on a charging brush head module 5 of a charging pile 1 and is compressed to enable a metal plate 61 to be in contact with a probe 65, a charging signal loop is conducted. Monitoring the battery power in the charging process, when the battery power reaches the power issued by an upper computer, disconnecting the charging power supply loop, retracting the charging brush by the AGV car 2, withdrawing a charging point, executing a transportation task issued by a dispatching system, if the charging signal loop is not conducted all the time, retracting the automatic charging brush by the AGV car 2, then controlling the AGV car 2 by the dispatching system to adjust the pose of the AGV car according to the front and rear camera mark points, after the adjustment is finished, the AGV car 2 stretches out the charging brush head, the charging end copper brush 51 of the charging pile 1 is attached, the compression probe 65 contacts the metal plate 61, conducting judgment of the charging signal loop is made, repeating the operation for 3 times, if the probe loop is not conducted, interrupting all operations of the AGV car, alarming the abnormal charging, and uploading abnormal charging of the dispatching system to be checked manually.

The utility model discloses can be used to AGV car field.

Claims (9)

1. The utility model provides an automatic charging system of AGV of collection butt joint success physical quantity feedback which characterized in that: the device comprises a charging pile (1) and an AGV (2), wherein a charging butt joint device (3) is arranged inside the side surface of the AGV (2), the charging butt joint device (3) comprises an electric cylinder (31), an electric cylinder fixing seat (32), a connecting seat (33) connected with an output shaft of the electric cylinder (31) and an electric brush module (4) arranged in front of the connecting seat (33), the direction of the output shaft is vertical to the side surface, the side surface of the AGV car (2) is provided with a through hole matched with the charging butt joint device (3), the brush module (4) comprises a brush (41) and a brush isolation mounting plate (42), the rear part of the brush isolation mounting plate (42) is hinged with the connecting seat (33), the charging pile (1) is provided with a charging brush head module (5) matched with the electric brush module (4).

2. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 1, wherein: the rear portion level of brush isolation mounting panel (42) is provided with articulated plate (43), vertical fixed pin (44) that is provided with on articulated plate (43), be provided with on connecting seat (33) with pin (44) matched with pinhole.

3. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 2, wherein: the pin (44) comprises a waist-shaped upper portion (45) and a cylindrical lower portion arranged in the middle of the lower end of the waist-shaped upper portion (45), the pin hole is a stepped slotted hole, the bottom of the stepped slotted hole is arranged into a cylindrical groove matched with the cylindrical lower portion, the upper portion of the stepped slotted hole is arranged into a square groove (46) matched with the waist-shaped upper portion (45), and the width dimension of the square groove (46) is larger than that of the waist-shaped upper portion (45) but smaller than that of the waist-shaped upper portion (45).

4. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 1, wherein: the perforation upper hinge is provided with the guard gate, be provided with fixed montant (34) on connecting seat (33), the upper end of fixed montant (34) is provided with push rod (35), the front end of push rod (35) surpasss and is located the place ahead upper portion of brush (41), push rod (35) with the guard gate cooperatees, the both sides of the front portion of electricity jar fixing base (32) all fixed be provided with guard gate matched with stopper (36), the front end of stopper (36) is provided with magnet (37).

5. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 1, wherein: be provided with the spacing subassembly of electric jar return stroke in the middle of the front portion of electric jar fixing base (32), the spacing subassembly of electric jar return stroke is established including horizontal spacing post (38) and the cover that sets up spacing spring (39) on spacing post (38), spacing post (38) with mounting panel (42) are kept apart to the brush cooperatees.

6. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 1, wherein: the charging brush head module (5) comprises a charging end copper brush (51) correspondingly matched with the electric brush (41), an insulating mounting plate (52) used for mounting the charging end copper brush (51), and a probe loop conducting assembly (6) arranged at the rear part of the insulating mounting plate (52), wherein the probe loop conducting assembly (6) comprises a metal plate (61), a probe mounting plate (62) and a guide shaft (63), the metal plate (61) is fixedly arranged at the rear side of the insulating mounting plate (52), the probe mounting plate (62) is provided with a shaft hole matched with one end of the guide shaft (63), the other end of the guide shaft (63) is connected with the metal plate (61), a compression spring (64) is sleeved outside the guide shaft (63), the probe mounting plate (62) is provided with two probes (65), and the probes (65) are connected to a charging signal loop of the charging pile (1), when the two probes (65) are both contacted with the metal plate (61), a charging signal loop of the charging pile (1) is conducted.

7. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 6, wherein: charging end copper brush (51) have two and install respectively the upper and lower both sides of insulating mounting panel (52), brush (41) have two and install respectively the upper and lower both sides of mounting panel (42) are kept apart to the brush, the middle part of charging end copper brush (51) is provided with protruding type insulating adhesive tape (53), protruding type insulating adhesive tape (53) with the middle part of mounting panel (42) is kept apart to the brush cooperatees.

8. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 1, wherein: the AGV automatic charging system integrating the butt joint success physical quantity feedback further comprises a dispatching system and a navigation color band (7) matched with the AGV (2), the navigation ribbon (7) comprises a horizontal ribbon (71) which is positioned right in front of the charging brush head module (5) of the charging pile (1), the horizontal section of the ribbon (71) is provided with an RFID switching transverse moving point (72) and RFID deceleration points (73) which are positioned at the right side or/and the left side of the RFID switching transverse moving point (72), the horizontal segment of ribbon (71) is vertically provided with a vertical segment of ribbon (74) at the RFID switching traverse point (72), the vertical section of ribbon (74) is provided with a stopping point RFID (75), when the AGV car (2) stops at the stopping point RFID (75), the charging butt joint device (3) of the AGV car (2) is matched with the charging brush head module (5) on the charging pile (1).

9. The AGV automatic charging system with indirect successful physical quantity feedback according to claim 8, wherein: stop point RFID (75) just the left and just right side all be provided with position appearance mark point (76), all be provided with position appearance camera (21), two in the fore-and-aft direction of AGV car (2) position appearance camera (21) and two points position appearance mark point (76) cooperate.

Images