智能物流小车的传感器.pdf

智能物流小车的传感器 Chapter 5 Sensors 5.1 循迹传感器/Tracking Sensor 从上图可以看出寻迹传感器板包括了16 个霍尔传感器,本款AGV 小车只使用了15 个霍 尔传感器(Q1~Q14,Q16),其中Q15 没有使用，每一个霍尔传感器对应的状态调节 已经用红色方框标注出来，首先把寻迹传感器板安装在AGV 小车上,调节寻迹传 感器板离地面高度范围是1cm~2cm,并且把寻迹传感器板远离磁条, 然后给AGV 小车正常上电，正常情况下寻迹传感器板上对应的指示灯全部熄灭，使用磁条接 近霍尔传感器，可以看到传感器对应的指示灯依次点亮。 As shown in figure of P15, 16 Hall sensors are installed in the tracking sensor board (second version) while only 15 Hall sensor (Q1~Q14, Q16) are installed in current AGV, Q15 are not used. Status of each Hall sensor is marked with red mark in the figure. First, install tracking sensor board in AGV; adjust height from tracking sensor to ground to 1cm~2cm, meantime take tracking sensor away from the magnetic stripe. Then turn on power of AGV, normally, indicators on the sensor board are o . If magnetic track goes near Hall sensor, corresponding indicators will be turned on in sequence. 注意 / Note ： 当寻迹传感器板远离磁条时,板上的的指示灯，出现长亮,长灭或闪烁，可以采用下面 3 个方式进行处理： When tracking sensor board goes away from the magnetic tape, indicating light will long lit, long off or blink, follow below 3 ways to handle 1) 调节传感器板离地面的高度，距离在规定的范围之内。 Adjust height of sensor board to the ground in predetermined distance 2) 调节对应的霍尔传感器的电位器,以Q1 传感器为例，可以优先调节电位器RV1,直 至LED1 的状态正常,调节方式是,正面对着寻迹传感器板,使用小一字螺旋刀逆时钟 调节,LED 会点亮,顺时针调节,LED 会熄灭。 Adjust corresponding potentiometer to Hall sensor. For example, adjust RV1 until LED1 is in normal state. Use a small flathead screw driver to adjust anti-clockwise, LED will light up; Adjust clockwise, LED will go out. 3) 如果调节电位器RV2 还不能使LED1 熄灭或点亮，请采用下面详细的调试方法： If LED1 does not go out or light up by adjusting potentiometer RV2, please use following way to adjust a) 把霍尔传感器板远离磁条,给AG 正常上电，先测量测试点P1,正常输出 2.5V(2.45V~2.55V)左右电压，表示霍尔传感器没有损坏,如果输出低于2.0V, 或高于3V,表示霍尔传感器已经损坏.请更换霍尔传感器,确认霍尔传感器没有 损坏后进