Suzhou Mushiny Intelligence Technology Co.

, Ltd

T6-800
产品使用说明书
Product Manual

V1.0

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Suzhou Mushiny Intelligence Technology Co., Ltd

前言
Preface
本手册的目的是确保用户通过本手册能够正确使用产品， 以避免操作中的危险或财产损失；本手册适用
于型号为 T6-800。
This Instruction is intended to ensure that the users' use correct operation, to avoid danger or property loss
incurred. It is applicable to Model T6-800.
名词解释：
Glossary:

序号 专业名词 全称 解释
No. Abbreviation Full name Interpretations
1 AGV Automated Guided Vehicle 自动导引运输车
2 RCS Robot Control System 机器人调度系统
3 WCS Warehouse Control System 仓库控制系统
4 WMS Warehouse Management System 仓库管理系统
5 AP Access Point 无线信号发射器
6 AC Access Controller 无线控制器
7 MCU Microcontroller Unit 微控制单元
8 IMU Inertial Measurement Unit 惯性测量单元
9 BMS Battery Management System 电池管理系统
10 AMS Alarm Management System 告警管理系统

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目录
Table of Contents
第一章 产品概述.........................................................................................................................................................4
Chapter 1 Product overview.........................................................................................................................................4
第二章 开箱及检查...................................................................................................................................................12
Chapter 2 Unpacking and inspection..........................................................................................................................12
第三章 安装...............................................................................................................................................................16
Chapter 3 Installation..................................................................................................................................................16
第四章 调试和试运行..............................................................................................................................................26
Chapter 4 Commissioning and trial operation............................................................................................................26
第五章 故障分析与处理..........................................................................................................................................33
Chapter 5 Fault analysis and troubleshooting............................................................................................................33
第六章 维修保养及售后..........................................................................................................................................36
Chapter 6 Maintenance and after-sales service..........................................................................................................36
第七章 搬运与贮存...................................................................................................................................................49
Chapter 7 Handling and storage.................................................................................................................................49
第八章 声明...............................................................................................................................................................51
Chapter 8 Declaration.................................................................................................................................................51
第九章 EMC 声明.....................................................................................................................................................52
Chapter 9 EMC statement...........................................................................................................................................52
第十章 附录...............................................................................................................................................................60
Chapter 10 Appendix..................................................................................................................................................60

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第一章 产品概述

Chapter 1 Product overview

一.1. 主要用途及适用范围 Main purpose and application scope

本产品隶属于牧星智能仓储机器人，根据 ISO 5053-1-2020 标准，本产品定义为一种单向行驶自动车

辆，牧星智能机器人解决传统仓储作业人工成本高、仓储管理效率低，订单出错率高等难题，是高效率
的智能仓储解决方案的重要组成部分。 由牧星智能仓储机器人、机器人调度系统（RCS）和智能仓储管
理系统（WMS）三大核心模块组成的智能仓储解决方案，以机器换人为核心理念，工人只需在工作台操
作终端进行必要的操作，就可满足包括采购入库、生产入库、生产领料、成品出库等各项仓 储业务需求。

This product, the intelligent warehousing robot of MUSHINY, was defined as one kind of Uni-directional Travel
according to the ISO 5053-1-2020 ， it is designed for solving the difficult problems of high labor cost, low
efficiency of warehousing management and high error rate of orders in conventional warehousing operations,
making it an important part of the efficient intelligent warehousing solution. The intelligent warehousing solution,
composed of three core modules of the intelligent warehousing robot, robot control system (RCS) and
warehousing management system (WMS), is based on the idea ofreplacing human labor with robots. It allows the
workers only to perform necessary operations at the operating terminal of the console, satisfying the warehousing
business requirements, including procurement and warehousing, warehousing, production and receiving, material
requisition and finished product ex-warehousing.

说明：适用范围包括电商分拣中心、3C 制造业、传统制造业、、食品及汽车制造等行业。

Note: Its application covers the e-commerce sorting center, 3C manufacturing industry, conventional
manufacturing industry, food and automobile manufacturing industries.

一.2. 使用前警告 Warning before using

1) 所有操作必须由授权工程师执行。严禁未经授权的操作，可能带来风险

All operations must be performed by authorized engineers. Unauthorized operations are strictly
prohibited, which may bring risks

2) 操作人员必须配备全套安全防护设备，包括但不限于头盔、工作服、手套、护目镜和安全鞋，
以减少能见度限制可能造成危险的风险

The operator must be equipped with a full set of safety protection equipment, including but not limited to
helmet，overalls, gloves, goggles, and safety shoes，in order reduce the risk where visibility restriction can
create hazards;

3) 操作人员需具备基本的风险识别能力、机械装配及相应工具的使用能力、基本电气知识和相应
仪器的使用能力，还需经过厂家培训并通过考核。

The operators need to have basic risk identification capabilities, the ability to use mechanical assembly and
corresponding tools, basic electrical knowledge and the ability to use corresponding instruments， also need to
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be trained by the manufacturer and passed the assessment。

4) 未经官方授权，严禁对 AGV 内的任何部件进行任何改动，否则会造成不可控风险

Without official authorization, it is strictly forbidden to make any changes to any parts in the AGV, otherwise
it will cause uncontrollable risks

5) AGV 只能在无人区使用，该区域使用前需要安装安全围栏，并符合 EN ISO 3691-4 Annex A.2.4

中的限制区要求，否则会导致风险

The AGV can only be used in no man's area，This area needs to be installed with a safety fence before use,
and meet the requirements of Confined Zone in EN ISO 3691-4 Annex A.2.4，if not，it will lead to risks

一.3. 产品特点 Product features

一.3.1. 运维便捷 成本低 Convenient operation and maintenance and low cost

1) 场地扩容可按需部署，实施难度小、周期短、成本低。

The site can be expanded and deployed on demand, with small implementation difficulty, short period and
low cost.

2) 机器人可实现货物跨楼层流转，有效降低人力成本。

With robots, the goods can be transferred between floors,effectively reducing the cost of manpower.

一.3.2. 调度灵活 效率高 Flexible dispatching and high efficiency

1) 可合理为机器人分配订单任务，同时调度上百台机器人协调作业，互不干扰。

Order tasks can be assigned to robots in a reasonable manner andhundreds of robots are dispatched for
coordination without interfering with each other.

2) 满足包括采购入库、生产入库、生产领料、成品出库等多场景仓储业务需求。

It meets the needs of warehousing business in many scenarios, such as the procurement and warehousing,
production and receiving, material requisition, and finished products ex-warehousing.

一.3.3. 可视化管理 更直观 Visual management and intuitive

1) 系统可对机器人运行状态进行实时监控，并实时反馈机器人所在位置，真正实现智能运维。

The system enables monitoring the running state of the robot in real time, and feeding back the position of
the robot timely , so as to realize intelligent operation and maintenance.

一.3.4. 功能丰富 更周全 Abundant and comprehensive functions

1) 支持多种盘点需求，实现“货到人”的可视化盘点。

It meets various inventory requirements, achieving the visualization of "Goods-to-Person" inventory.

2) 自动计算仓库储位冷热度，实时调整货架摆放位置，出入库效率更高。

It supports automatic calculation of warehouse storage temperature, and real-time adjustment of shelf

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placement, improving the warehousing and ex- warehousing efficiency.

3) 支持灵活的出入库策略，适应不同类型货品多样化出入库频次需求。

It supports flexible warehousing and ex- warehousing strategies, meeting the diversified frequencies needs of
various goods.

一.4. 产品外观 Product appearance

图 1-1 产品外观示意图

Figure 1-1 Product Appearance

本产品的外形如图 1-1 所示；具体参数见附录一。

The shape of this product is as shown in Figure 1-1; the specific parameters are introduced in Appendix I.

一.5. 型号定义 Model definition

产品型号为：T6-800

Product model: T6-800

一.6. 铭牌 Nameplate

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一.7. 制造商信息 Manufacturer information

1) 制作商：江苏牧星系统科技有限公司

Manufacturer：Jiangsu Mushiny Systems Technology Co., Ltd.

2) 地址：中国江苏省苏州工业园区兴浦路 333 号现代工业坊 5 幢 D 单元 1/2 楼,邮编 215126

Address：1F/2F, Part D, No.5 Building, 333#, Xingpu Rd., 215126 Suzhou Industrial Park, Jiangsu, China.

一.8. 使用环境条件 Service environment

3) 使用场地：室内

Site: Indoor.

4) 海拔: 不超过 2000 米

Altitude: less than 2000 meters.

5) 工作温度：-10℃～50℃

Working temperature: -10℃ - 50℃.

6) 存储温度：-20℃～65℃

Storage temperature: -20℃ - 65℃.

7) 充电过程电池温度：-10℃ - 60℃.

Charging temperature: -10℃ - 60℃.

8) 湿度：≤90%，无结露

Humidity: ≤90%, no condensation.

9) 空气：无粉尘、易燃、易爆和腐蚀性气体

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Air: Dust-free, no flammable, explosive and corrosive gases.

10) 美国国家电气制造商协会外壳防护等级：等级 1

NEMA Enclosure Types: Types 1.

11) 静电：为了易于排放静电，地面材料应采用容易放电的物质

Static electricity: In order to discharge static electricity easily, ground materials shall be made of
sub131f191stances easy to discharge.

12) 其它： 在有电磁波、散射光、超声波和静电等易干扰环境中，用户及制造商需在事前共同加以确认

是否影响 AGV 正常运行

Miscellaneous: Users and manufacturers need to work together in advance, to confirm whether the normal
operation of AGV is affected in the environment prone to interference such as the electromagnetic wave,
scattered light, ultrasonic wave and static electricity.

13) AGV 只能在无人区使用，该区域需要在使用前安装安全围栏，并符合 EN ISO 3691-4 Annex A.2.4 中

的限制区要求。安全围栏的出入口安装有互锁开关，当出口口的安全门被打开后，信号将通过有线
的方式传输到专用的工控机，由工控机将信号发送给控制 AGV 的服务器，由服务器通过无线网络通
信将停止信号发送给每一台系统内的 AGV，AGV 收到信号后开始进行保护性刹车

The AGV can only be used in no man's area，This area needs to be installed with a safety fence before use,
and meet the requirements of Confined Zone in EN ISO 3691-4 Annex A.2.4. An interlock switch is installed
at the entrance and exit of the safety fence. When the safety door at the exit is opened, the signal will be
transmitted to a dedicated industrial computer by wire, and the industrial computer will send the signal to the
server controlling the AGV, and the server will communicate through the wireless network. The stop signal is
sent to each AGV in the system, and the AGV starts to perform protective braking after receiving the signal

14) AGV 的保护性刹车过程：主控收到刹车消息后，通过 CAN 通信通知左右轮电机，电机提供反向的

电磁力使 AGV 速度下降到 0，并且保持左右轮电机电磁刹车使电机轴抱死无法转动

Protective braking process of AGV: After the master receives the brake message, it informs the left and right
wheel motors through CAN communication. The motor provides reverse electromagnetic force to reduce the
AGV speed to 0, and maintains the electromagnetic brake of the left and right wheel motors so that the motor
shafts are locked. Dead can't turn

15) AGV 在无人区和其他区域之间进出时，只允许使用人工推行的方式

When AGV enters and exits between no man's area and other areas, Only manual implementation is
allowed

16) AGV 最大载重量为 800kg（1760 磅）

The maximum load capacity of AGV is 800kg(1760 pounds)

17) AGV 最大搬运货架尺寸为 L1500mm×W1500mm×2400mm

The maximum size of AGV carrying rack is L1500mm×W1500mm×2400mm

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18) AGV 不允许运输易燃易爆易碎贵重物品

The AGV is not allowed to transport inflammable, explosive and fragile valuables

19) 软件低限 SOC（State of Charge）为 8%，如果 SOC 低于 8%，AGV 可以上电但不能运行

The software low limited SOC （ State of Charge ） is 8% ， if the SOC is lower than 8% ， the AGV can
power on but can not running

20) 建议 SOC 范围为 50% 至 80%，这将有助于电池保持健康并延长寿命

The suggestion SOC range is 50% to 80%，this will help the battery keep healthy and extend the life

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第二章 开箱及检查

Chapter 2 Unpacking and inspection

二.1. 由甲方开箱物料 Material unpacked by Party A

二.1.1 乙方工作 Party B's work

① 乙方发货前 3 天通知甲方发货计划及发货清单，并注明开箱方式（甲方开箱）。

① Party B shall notify Party A of the shipment schedule and list three days before the delivery, and specify the
unpacking methods(by Party A).

② 乙方建议甲方卸货或搬运所需的设备，如叉车、行车等。

② Party B shall recommend the equipment necessary for unloading or handling for Party A, such as the forklift
and travelling crane.

③ 发货清单一式三份，一份贴于外包装箱，两份由甲方签收后甲乙双方各留一份。

③ The shipping list is in triplicate, with one copy attached to the outer packing box, and two held by each party
after Party A's signature.

二.1.2 甲方工作 Party A's work

① 甲方安排指定部门人员进行物料签收

① Party A shall assign personnel of designated departments to receive materials concerned.

② 物料包装检查。物料送达后，甲方检查物料的包装是否完好、有无损坏；物料是 否被撞击、挤压而导
致的破碎、变形等；金属材料的外部是否有锈蚀、裂纹、 瓢曲、切斜等外观质量问题；是否因雨、雪等
外部因素出现受潮、霉变、虫 蛀、老化及被污染。若发生以上情况，甲方需 24 小时内联系乙方发货人
确认处理方式。若自签收之日起两日内无反馈，乙方视为甲方认可物料情况并完成签收。

② Material packaging inspection: After the material arrival, Party A shall check whether the package of the
material is intact , whether the material is broken or deformed due to impact or extrusion, whether appearance
quality problems occur in metal materials, including the rust, cracks, buckling and shear drag , and
whetherdampness, mildew, worm-eaten, aging and contamination appears due to the external factors such as rain
and snow. In case of the above conditions, Party A shall contact Party B's consigner within 24 hours to confirm the
treatment methods.If no method is fed back within two days from the date of receipt, Party B considers that Party
A approves and receives the materials.

③ 物料清单核对。核对物料清单与实际物料清单。若有物料清单不符情况，甲方需 24 小时内联系乙方
发货人确认。若自签收之日起两日内无反馈，乙方视为甲方 认可物料清单并完成签收。

③ Checking bill of materials: Party A shall check the actual list in comparison with the bill of materials. In case of
nonconformity, Party A shall contact the consigner of Party B within 24 hours for confirmation. In case of no
feedback within two days from the date of receipt, Party B considers that Party A approves and receives the bill of
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materials.

④ 开箱验收。甲方开箱后，若发现物料有不合格、不符、破损、缺件、缺陷等现 象，甲方需 24 小时内

联系乙方发货人确认。若自签收之日起两日内无反馈，乙 方视为甲方认可物料质量并完成签收。

④ Unpacking and acceptance: Party A shall contact Party B's consigner for confirmation within 24 hours in case
of materials with disqualification, nonconformity, damage, missing parts, defects and other phenomena after
unpacking. If there is no feedback within two days from the date of receipt, Party B considers that Party approves
the quality and receives materials.

二.1.3 物料搬运及存储 Material handling and storage

① 甲方完成物料搬运工作。

① Party A shall handle the materials.

② 甲方负责物料暂存时的防雨、防潮、防火、防盗等安保工作。

② Party A shall be responsible for therainproof, moisture-proof, fire-proof and prevention of thievery and other
security work during the temporary storage of materials.

二.1.4 说明 Description

① 甲方做好开箱记录工作（含时间、地点、开箱人员等）。

① Party A shall make relevantunpacking records (including time, place, unpacking personnel, etc.).

② 若有其他情况，甲乙双方协商处理。

② In case of other circumstances, both parties shall solvethe issues through negotiation.

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MUSHINY Robot (Jiangsu) Co., Ltd. Product Instruction

二.2. 由甲方代收，甲乙双方共同开箱物料 Materials received by Party A and unpacked

jointly by both parties

二.2.1 乙方工作 Party B's work

① 乙方发货前 3 天通知甲方发货计划及发货清单，并注明开箱方式（共同开箱）。

① Party B shall notify Party A of the shipment schedule and list three days before the delivery, and specify the
unpacking methods (by both parties).

② 乙方建议甲方卸货或搬运所需的设备，如叉车、行车等。

② Party B shall recommend the equipment necessary for unloading or handling for Party A, such as the forklift
and travelling crane.

③ 发货清单一式三份，一份贴于外包装箱，两份由甲方签收后甲乙双方各留一份。

③ The shipping list is in triplicate, with one copy attached to the outer packing box and the two held by each party
after Party A's signature.

二.2.2 甲方工作 Party A's work

① 甲方安排指定部门人员进行物料共同签收。

① Party A shall assign personnel of designated departments for joint receipt of materials.

② 物料包装检查。物料送达后，甲方检查物料的包装是否完好、有无损坏；物料是 否被撞击、挤压导致
破碎、变形等；金属材料的外部是否有锈蚀、裂纹、瓢 曲、切斜等外观质量问题；是否因雨、雪等外部
因素出现受潮、霉变、虫蛀、 老化及被污染。若发生以上情况，甲方需 24 小时内联系乙方发货人确认
处理方 式。若自签收之日起两日内无反馈，乙方视为甲方认可物料情况并完成签收。

② Material packaging inspection: After the material arrival, Party A shall check whether the package of the
material is intact, whether the material is broken or deformed due to impact or extrusion, whether appearance
quality problems occur in metal materials, including the rust, cracks, buckling and shear drag and whether
dampness, mildew, worm-eaten, aging and contamination appears due to the external factors such as rain and
snow. In case of the above conditions, Party A shall contact Party B's consignor within 24 hours to confirm the
treatment methods. If no method is fed back within two days from the date of receipt, Party B considers that Party
A approves and receives the materials.

③ 物料清单核对。核对物料清单与实际物料清单。若有物料清单不符情况，甲方需 24 小时内联系乙方
发货人确认。若自签收之日起两日内无反馈，乙方视为甲方 认可物料清单并完成签收。

③ Checking bill of materials: Party A shall check the actual list in comparison with the bill of materials. In case of
nonconformity, Party A shall contact the consigner of Party B within 24 hours for confirmation. In case of no
feedback within two days from the date of receipt, Party B considers that Party A approves and receives the bill of
materials.

④ 开箱验收。甲乙双方共同进行开箱验收，若发现物料有不合格、不符、破损、缺 件、缺陷等现象，乙

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MUSHINY Robot (Jiangsu) Co., Ltd. Product Instruction

方 24 小时内提供处理方案（维修或更换），使其满足技术 协议要求。

④ Unpacking and acceptance: Party B shall provide treatment plan ( (maintenance or replacement ) within 24
hours in case of material disqualification, nonconformity, damage, missing parts, defects and other phenomena
found during the joint acceptance by both parties, so as to meet the requirements the technical agreement.

二.2.3 物料搬运及存储 Material handling and storage

① 甲方完成物料搬运工作。

① Party A shall handle the materials.

② 甲方负责物料暂存时的防雨、防潮、防火、防盗等安保工作。

② Party A shall be responsible for therainproof, moisture-proof, fire-proof and prevention of thievery and other
security work during the temporary storage of materials.

二.2.4 说明 Description

① 甲乙双方共同完成开箱记录工作（含时间、地点、开箱人员等）。

① Both parties shall jointly make the unpacking records(including time, place, unpacking personnel, etc.).

② 若有其他情况，甲乙双方协商处理。

② In case of other circumstances, both parties shall solve the issues through negotiation.

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MUSHINY Robot (Jiangsu) Co., Ltd. Product Instruction

第三章 安装

Chapter 3 Installation
三.1. 安装场地要求 Requirements for installation site

三.1.1 起伏程度 Fluctuation

当 AGV 运行的路面起伏程度在最大允许值以下时，AGV 应能实现可控的额定速度行驶，起伏程度定位

为在基准范围内的最高高度与最低高度之差。起伏程度在 1m² 范围内 最大允许值应小于 3mm（含
3mm）。

If the fluctuation of road where AGV works, defined as the difference between the maximum height and the
minimum height in the reference range is lower than the maximum allowable value, AGV shall be operated at
acontrollable rated speed. The maximum allowable fluctuation within 1 m² shall be less than 3 mm (inclusive).

三.1.2 路面坡度 Road gradient

路面坡度（H/L）定义为在 100mm 以上的长度范围内，路面水平高度差与路线长度的最大比值。当

AGV 运行的路面坡度在最大允许值以下时，AGV 应能实现可控的额定速度行驶。路面坡度的最大允许值
需小于 0.03（含 0.03），对 AGV 需精确定位的停车点， 必须小于 0.01（含 0.01）。

The road gradient (H/L) is defined as the maximum ratio of the horizontal height difference of the pavement to the
length of the road within 100 mm. If the gradient of AGV is lower than the maximum allowable value, AGV shall
be operated at a controllable rated speed. The maximum allowable value of road gradientshall be lower than 0.03
(inclusive), and that of the parking point, requiring for accurate positioning ofAGV, shall be less than 0.01
(inclusive).

三.1.3 台阶高 Step height

台阶高度的定义为在 100mm 以内的长度范围内，路面水平高度差的最大值。当 AGV 运行的路面台阶高

度在最大允许值以下时，AGV 应能实现可控的额定速度行驶，但 AGV 停车位置不允许出现台阶。台阶
高度的最大允许值需小于 3mm（含 3mm）。

The step height is defined as the maximum horizontal height difference within 100 mm. If the step height for AGV
is lower than the maximum allowable value, AGV shall be operated at a controllable rated speed, and no step is
allowed at the parking point. The maximum allowable value of step height shall be lower than 3 mm (inclusive).

三.1.4 沟宽幅度 Trench width

沟宽幅度定义为当 AGV 运行的路面沟宽幅度在最大允许值以下时，AGV 应能实现可控 的额定速度行驶，

但 AGV 停车位置不允许出现沟槽。路面沟宽幅度的最大允许值需小 于 5mm（含 5mm），当沟宽幅度
大于最大允许值时，按台阶高度进行要求。

The trench width is defined as that AGV shall be operated ata controllable rated speed if the trench width is below
the maximum allowable value, and no trench is allowed at the parking point of AGV. The maximum allowable
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trench width shall be less than 5 mm (inclusive). The requirements are the same as that for the step if the trench
width is greater than the maximum allowable value.

三.1.5 地面摩擦系数 Ground friction coefficient

牧星 AGV 使用聚氨酯材料车轮，地面滑动磨擦系数应不小于 0.5。基于刹车安全距离及 搬运定位精度的

需要，地面摩擦系数大小对此极为重要，无论是地面污浊、水渍或清洁剂都可能对 AGV 行驶造成影响。

The polyurethane wheels, with the sliding friction coefficientno less than 0.5, are used for MUSHINY AGV.
Considering the requirement of brake safety distance and handling accuracy, the ground friction coefficient plays a
very important role, for the dirty ground, watery or detergent may affect AGV driving.

三.1.6 地面承重 Ground bearing

① 地面单位面积的负荷需高于 AGV 水平投影面积内单位面积的负荷，需保持地面完好并不得承受破坏

性损伤，AGV 行走对地面产生的压力应能有效的传导给水泥承重层，复合地面较为适宜。地面抗压数据
应考虑车轮的小面积压强所引起的负荷。

① The load per unit area of the ground shall be higher than that of the AGV horizontal projection area, and the
ground shall be kept intact and free from destructive damage. The pressure applied by the travelling AGV on the
ground shall be effectively transmitted to the cement bearing layer, and the composite ground is preferable. In
addition, the load from the small area pressure of the wheel shall be considered into the g round compression data.

② 地面不得存在隐藏空洞，无论其尺寸大小都可能对 AGV 使用造成严重后果。施工方需对 AGV 行走

的全部区域的面层进行探伤，同时不合格的地面必须返工以至达标。

② There shall be no hidden voids on the ground, which may cause serious consequences for the operation of AGV
regardless of its size. The construction party shall inspect the surface of all traveling areas, and the unqualified
ground shall be reworked for compliance.

三.1.7 地面电气特性 Electrical characteristics of g round

为避免 AGV 车体累积静电（静电敏感环境下使用），对于 AGV 行驶路面的地表导电 阻抗应保持在

10^6 到 10^9（参照德国 DIN51953 标准）。

In order to avoid the accumulation of static electricity in AGV body (under electrostatic sensitive environment),
the surface conductive impedance of travelling road shall be 10 ^ 6 to 10 ^ 9 (refer toDIN51953 standards).

三.2. 无线环境要求 Wireless environment requirements

三.2.1 无线覆盖实施说明 Implementation instructions for w ireless coverage

① 仓库及车间面积较大，单个 AP 无法覆盖全部位置，必须布点多个 AP，保证 AGV 可 在 AP 间进行

无缝切换。

① Since the warehouse and workshop areas are large, and cannot be fully covered by single AP, it is necessary to
arrange multiple AP points, to ensure seamless switching of AGV between APs.

② AGV 的天线具有方向性（安装在 AGV 车头），AGV 在不同方向上接收同一个 AP 信号效果不同。

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② The antenna of AGV is directional (installed in the front of AGV), with different effects when receiving signals
from the same AP in different directions.

③ AGV 在离地 30cm~50cm 移动，导致 AP 布点高度有所要求。

③ AGV travels from 30 cm to 50 cm above ground, resulting in the requirements for AP arrangement height.

④ AGV 在作业中负重金属货架，致使信号衰减，需要评估折算。

④ AGV carries heavy metal shelves in operation, causingsignal attenuation and requiring evaluation and
conversion.

三.2.2 无线 AP 点位布局要求 Layout requirements for wireless AP point

① AP 布局数量足够为仓库及车间 AGV 提供信号。

① TheAPs arranged shall besufficient to coverAGVs in warehouses and workshops.

② 工作在 2.4G 信道下相邻 AP 信道号需要错开(1，6，11，1，6，11)，工作在 5G 信道 下 (149, 153,

157, 161, 165)使信道带宽无重叠干扰。

② The adjacent AP channel numbers working in 2.4G channel need to be staggered (1, 6, 11, 1, 6 and 11), and
those working in 5G channel (149, 153, 157, 161, and 165) shall be free fromsuperimposed interference of
channel bandwidth .

③ AP（覆盖范围 15 米，安装高度 3 米）安装位置方向建议 AP 安装时倾斜 7~9 度。

③ AP (covering range: 15 meters; installation height: 3 meters) shall be installed with an inclination of 7-9
degrees.

④ 由于无线信号穿墙衰减大，AP 布局要充分考虑墙壁等物理隔离。

④ Due to the high attenuation of wireless signal through the wall, physical isolation such as wall shall be fully
considered into the AP layout.

⑤ 相邻 AP 信号重叠范围大小确定，此为 AP 布局的关键所在，由 STA 的漫游切换策 略、AP 与 STA

的匹配阈值、STA 移动的最大速度和 AC+AP 支持的切换时间 4 者 共同决定，具体以实测为准。

⑤ The determination of overlapping range of adjacent AP signals is the key of AP layout, depending on the
roaming switching strategy of STA, the matching threshold between AP and STA, the maximum speed of STAand
the switching time supported by AC+AP, and it is subject tothe actual measurement.

⑥ 注意：AP 的覆盖方向，全向型和定向型的区别将决定其翻盖范围和安装方式。

⑥ Note: The coverage range and installation mode depend on the coverage direction of AP and the difference
between omnidirectional type and directional type.

三.2.3 网络信号强度要求 Requirements for network signal intensity

甲方需保证 AGV 运行环境的无线网络信号强度达到如下标准：

Party A shall ensure that the wireless network signal intensity of the AGV's operating environment meets the

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following standards:

① AGV 活动区域信号强度大于-65dB。

① The signal intensity of AGV active area is greater than - 65dB.

② 测试环境要求：关闭小车自动漫游功能，连接到特定 AP，此 AP 与 AGV 距离 20m.

② Requirements for test environment: Disable the trolley automatic-roaming function and connect to a specific
AP, which is 20 m away from AGV.

③ 测试标准：信号强度大于等于-70dB，ping 1500 包大小延时小于 300ms，上行下行速 率大于等于

4Mbit。

③ Test criteria: The signal strength shall be greater than - 70 dB, the delay of ping 1500 packet shall be less than
300 ms, and the upload and download rate shall be greater than or equal to 4 Mbit.

④ AGV 在 AP 间漫游时，每次漫游 ping 包丢包数小于 2 个。

④ When AGV roams between AP, the Ping packets lost in each roaming shall beless than 2.

⑤ 为保证稳定的无线网络环境，推荐采用双 AC 备份部署方式。

⑤ In order to ensure a stable wireless network environment, the dual- AC backup deployment mode is
recommended.

三.3. 安装场地划线贴码要求 Marking and pasting requirements for installation site

现场量取尺寸信息，绘制现场 CAD 图纸，其中包括立柱、消防栓、配电箱等影响货架 布局及

AGV 运行范围的障碍物，图纸与实际尺寸精度要求±10mm。根据现场图纸，对货架进行合理布局，及对
AGV 路线进行合理规划。

The dimension is measured on site and field CAD drawings are drawn, covering the obstacles affecting shelf
layout and AGV operation range, such as pillars, fire hydrants, distribution boxes, etc. Drawings and actual
dimension accuracy is required to be ±10 mm. Based on the site drawings, reasonable layout of shelves and
planning of AGV routes are carried out.

三.3.1 地码 Ground code

① 根据需求，在工作区域内合理确定起始点坐标。

① Determine reasonable coordinates of the starting point shall be in the working area as required.

② 使用经纬仪确认基线，根据地图使用墨斗布线、布点。墨线线宽不超过 1mm。

② Mark the baseline with a theodolite and lay out and dot through the ink marker according to the drawing, with
the ink line width not exceeding 1 mm.

③ 地 码 采 用 FASSON 艾 利 PET 不 干 胶 标 签 纸 打 印 ， 打 印 机 为 斑 马 打 印 机 Z-
DesignerGK888t(EPL)，地码模板采用符合牧星 DM 码标准样式模板。

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③ The ground code is printed with FASSON Eli PET sticky label paper, and the printer is theZ-Designer GK888t
(EPL); the code template is the standard template of DM code of MUSHINY.

④ 贴码处地面有墨斗绘制的十字形标记，地码上也有印刷十字形标记，粘贴时，需 保证十字形标记相互
重合，精度要求±1mm。

④ The cross-shaped marks are drawn with the ink marker on the ground of pasting place, and also printed on the
ground code. In the process of pasting, ensure that cross-shaped marks coincide with each other, with the accuracy
of +1 mm.

⑤ 贴码时需将贴码处用纯棉布擦拭、去污。若有脏污，可使用酒精擦拭（擦拭时需 保持十字形墨线定位
功能），擦拭后待干燥完毕再贴码。

⑤ Wipe out and remove dirt with pure cotton cloth when pasting. In case of smudginess, wipe with alcohol
(keeping the positioning function of cross-shaped ink line in the process). Then, paste the code after drying.

⑥ 贴码时需将码上的气泡去除，保证码平整、位置准确、无气泡。

⑥ When pasting the code, remove the bubbles on the code, to ensure that the code is flat, accurate and free of
bubbles.

⑦ 贴码完成后，覆盖保护膜（不干胶透明 PET 纸 70x100mm(圆角)）。贴膜前先用 棉布将地码表面擦拭、

去污，贴膜时需将膜上的气泡去除，保证膜平整、位置准 确、无气泡，贴膜后用纯棉布用力缓慢擦拭膜
表面，使膜充分、有效覆盖。

⑦ After pasting the code, cover it with the protective film (70 × 100 mm (circular bead) of the self-adhesive
transparent PET paper). Before the operation, wipe and clean the code surface with cotton cloth, and remove the
air bubbles on the film, to ensure that the film is flat, accurate and bubble-free. After that, wipe the film surface
slowly with pure cotton cloth, so that the film can be fully and effectively covered.

⑧ 地码需保持干净、清楚无污痕。若无法辨识需重新粘贴。

⑧ Keep the ground codes clean, clear and stainless, and re-paste those that cannot be identified.

⑨ 部分情况下地码会因为地面潮湿而产生黑色污痕，此种情况下可在原来地码上再次覆盖 粘贴新的地码，
并覆盖保护膜即可，操作过程同上。

⑨ In some cases, the black stain will appear on the code due to the wet ground. At this time, the original code can
be covered with the new code, and the protective film shall be covered. The operation process is the same as the
above.

三.3.2 货架码 Shelf c ode

① 根据用户需求确定各类货架数量，并在 RCS 系统添加货架编号。

① Determine the number of shelves according to user's needs, and input the shelf number into the RCS system.

② 根据实际需求打印货码，打印机为斑马打印机 Z-Designer GK888t(EPL)，采用牧星标准样式模板。

② Print the shelf code according to the actual demand with the Z-Designer GK888t (EPL) printer, for which the

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standard template of MUSHINY is adopted.

③ 货码采用欣码热敏不干胶标签纸 R8060(80mm*60mm 800 张/卷)。

③ The Sinmark thermosensitive sticky label paper R8060 (80mm*60 mm; 800 sheets/roll) is used for the shelf
code.

④ 货码处印刷有十字形标记，货码上也有印刷十字形标记，粘贴时，需保证十字形标 记相互重合，精度
要求±1mm。

④ The cross-shaped marks are drawn with the ink marker on the pasting place, and also printed on the shelf code.
In the process of pasting, ensure that the cross-shaped marks coincide with each other, with the accuracy of ± 1
mm.

⑤ 贴码时需将贴码处用纯棉布擦拭、去污。若有脏污，可使用酒精擦拭（擦拭时需保 持十字形标记定位
功能），擦拭后待干燥完毕再贴码。

⑤ Wipe out and remove dirt with pure cotton cloth when pasting. In case of smudginess, wipe with alcohol
(keeping the positioning function of cross-shaped ink line in the process). Then, paste the code after drying.

⑥ 货码粘贴完毕后，用纯棉布用力缓慢擦拭，去除气泡，使货码充分、有效覆盖。

⑥ After pasting the shelf code, wipe it slowly with pure cotton cloth, to remove bubbles, so that thecode isfully
and effectively pasted.

⑦ 多层货架具有方向性，打印货码用 A、B、C、D 数字标注方向，与仓位码对应。

⑦ Considering the directionality of the multi-layer shelf, mark the direction of shelf codes to be printed with
figures of 1 or 3 , to corresponding to the warehouse position code.

⑧ 货码表面保持干净、整洁，不能用胶带等反光材料覆盖表面，以避免货码无法识别。

⑧ Keep the surface of the shelf code clean and tidy; do not cover the surface with the tape and other reflective
materials, to avoid the code being unrecognizable.

三.3.3 仓位码（仓储项目货架专用）Warehouse position code (special for storage shelf)

① 仓位码采用 7*5 不干胶 PET 材料，打印机为斑马打印机 Z-Designer GK888t(EPL)， 采用牧星标准样

式模板。

① The warehouse position code is made of 7*5 self-adhesive PET material; the printer is Z-Designer GK888t
(EPL) Zebra printer and the standard template of MUSHINY is used.

② 仓位码高度尺寸与货架侧边高度一致。若目前出现货架侧边高度与仓位码高度尺寸 不一致的情况，则
仓位码在高度方向上居中粘贴，保证条形码及仓位码完整可视。

② The height of the warehouse position code shall be consistent with that of the side of the shelf. In case of
inconsistency, the warehouse position code shall be pasted in the middle of the height direction, to ensure that the
barcode and the warehouse position code are fully visible.

③ 货架侧边贴码处有区域范围或中心线示意，仓位码在区域范围内粘贴或根据中心线 对称粘贴，且保持

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水平状态。

③ Mark the area coverage or center lineof the code on the side of the shelf, and paste the warehouse position code
within the area or symmetrically according to the center line, and keep it horizontal.

④ 贴码时需将贴码处用纯棉布擦拭、去污。若有脏污，可使用酒精擦拭（擦拭时需保 持标记定位功能），
擦拭后待干燥完毕再贴码。

④ Wipe out and remove dirt with pure cotton cloth when pasting. In case of smudginess, wipe with alcohol
(keeping the positioning function of cross-shaped ink line in the process). Then, paste the code after drying.

⑤ 仓位码保持干净、清楚无污痕。若无法辨识需重新粘贴。

⑤ Keep the warehouse position codes clean, clear and stainless, and re-paste those that cannot be identified.

三.4. 充电桩安装说明 Installation instructions for charging piles

三.4.1 使用条件 Service conditions

① 海拔不超过 2000m。

① The altitude shall not be higher than 2,000 m.

② 环境温度不低于 -20℃，不高于 50℃。

② The ambient temperature shall not be lower than -20℃nor higher than 50 ℃.

③ 空气最大相对湿度不超过 90%，空气流通较好。

③ The maximum relative humidity of air shall not exceed 90%, with good ventilation.

④ 运行地点无导电及爆炸尘埃，无腐蚀金属和破坏绝缘的气体或蒸汽，无强电磁干扰。

④ The operating place shall be free of conductive and explosive dust, gas or steam that corrodes metals and
damage the insulation, and free of strong electromagnetic interference.

⑤ 安装基座无剧烈振动和冲击，垂直倾斜度不超过 1°。

⑤ The installation base is free from violent vibration and impact , with the vertical inclination no more than1°.

⑥ 地面要求：同 AGV 要求。

⑥Surface requirements: Same as AGV requirements.

三.4.2 电气要求 Electrical requirements

① 单个充电桩供电回路功率不低于 2000W（电压为 220V 民用交流电）。

① The power supply circuit of single charging pile shall not be lowerthan 2,000 W (voltage: AC 220 V for civil
use).

② 使用 16A 三孔插座。

② The 16A three-hole plug is used.

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③ 三孔插座安装高度离地 30cm。

③ The three-hole plug is installed 30 cm above the ground.

④ 充电桩接线红线对红螺柱，黑线对黑螺柱。避免正负接反，引起短路或设备损坏。

④ The red line of charging pile is led to the red stud, and the black line to the black stud, to a void short circuit or
equipment damage caused by reversed connection.

三.4.3 安装要求 Installation requirements

① 使用 M8 地脚螺栓与地面固定，数量 4 组。

① Fix with 4 groups of M8 anchor bolts on the ground.

② 充电桩背面开门处需保证 30cm 以上空间。

② Reserve a space greater than 30 cm at the back of the door of the charging pile.

③ 安装时充电头与地面地码中心处于同一直线。

③ Ensure that the charging head is in the same line with the ground code center during the installation.

④ 充电桩中心对准前方二维码，充电桩正面距离前方二维码 650mm。

④ The center of the charging pile is aligned with the front QR code, and the front of the charging pile is 650 away
from the front QR code.

三.4.4 安全要求 Safety requirements

① 标准方案：单个充电桩 5m2 范围内配备干粉灭火器/沙箱。

① Standard plan: Provide dry powder fire extinguisher/sandbox within 5 m 2 of single charging pile.

② 推荐方案（安全房）：

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② Recommended plan (safety room):

Roof and side plate (thickened,

fireproof and explosion-proof)
Smoke alarm at the top of the room
Suspension spherical dry powder fire
extinguisher (with thermal sensor)
Charging pile
Single- door (opened from right and
with handle)
Digging a hole under a single door
for AGV accessing
Door handle

图 3-1 安全房基本结构组成
Figure 3-1 Basic Structure of Safety Room
③ 材质：防火岩棉板，厚度为 10cm，耐火等级 3h。

③ Material: Fire prevention board, thickness: 10 cm; fire-resistant grade: 3 hours.

④ 灭火器：吊挂式干粉灭火器（带烟雾和热量感应），灭火等级 A/B/C 类火灾及 E 类 初级火灾。

④ Fire extinguisher: Hanging dry powder extinguisher (with smoke and heat induction); fire grade: Class A/B/C
fires and Class E primary fire.

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第四章 调试和试运行

Chapter 4 Commissioning and trial operation

四.1. AGV 外观介绍及操作说明 Introduction of AGV peripheral interface and operational
instructions

AGV 外观包含：
前后 LED 灯带；Front&Back LED strip
前后急停按钮；Front&Back emergency stop button
电源开关；Power button
激光雷达；Lidar
前后安全触边；Safety bumper
调试接口；Update port
3 个维护按钮；3 Maintains button
屏幕；Screen
左右轮电机；Left&Right motor
充电口；Charge port
雷达参数配置 USB 口; USB port for Lidar configuration

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四.1.1 指示灯功能说明 Functional description of indicators

① AGV 在前、后各有一条指示灯带，其中后面的灯带被分割成两个指示灯，这两个指示灯的显示状态时
刻保持一致。指示灯被配置成三种颜色，分别是蓝、红、黄；且指示灯的闪烁频率被定义为快闪（ 1 秒闪
烁 6 次）、中等频率闪烁（1 秒闪烁 3 次），慢闪（1 秒闪烁 1 次）；

① AGV has an indicator belt in front and rear. The lamp belt at the back is divided into two parts , The two parts
display the same state all the time .Each indicator has been configured to three colors: Blue, red, and yellow. The
flashing frequency of the indicators is defined as flashing rapidly(flash 6 times per second), flashing at an

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intermediate speed (flash 3 times per second), and flashing slowly (flash 1 time per second);

② AGV 在不同工况下的灯带显示方式：

② The display mode of the indicators under different working conditions:

序
前灯显示 后灯显示 提示的状态
号
Headlight display Backlight display Status
No.
蓝色慢闪 蓝色慢闪 正常上线，空闲状态
1
flashing blue slowly flashing blue slowly Online ,no-task state
蓝色常亮 蓝色常亮 正常上线，任务状态
2
Blue Blue Online ,working state
蓝色慢闪 红色慢闪 离线状态
3
flashing blue slowly flashing red slowly Offline
红色闪烁(距离越近，闪得越快)
蓝色常亮 雷达触发
4 flashing red (the closer the distance,the
Blue Radar activated
higher flashing frequency )
红色快闪 蓝色慢闪 安全触变触发
5
flashing red rapidly flashing blue slowly Safety rim activated
红色快闪 红色快闪 电机离线故障
6
flashing red rapidly flashing red rapidly Off-line fault of motor
蓝色慢闪 红色快闪 地面地址码丢失
7
flashing blue slowly flashing red rapidly Ground address code lost
蓝色慢闪 红色慢闪 WiFi 掉线
8
flashing blue slowly flashing red slowly WiFi disconnected
红色中等频率闪烁
蓝色慢闪 丢失货架码
9 flashing red at an intermediate
flashing blue slowly Shelf code lost
speed
下限位开关失效
蓝色慢闪 红色跳闪
10 Failure of lower limit
flashing blue slowly flashing red in a bounce mode
switch
红色、蓝色交替闪烁 急停开关被按下
红色、蓝色交替闪烁
11 flashing red and blue Emergency stop switch
flashing red and blue alternatively
alternatively pressed
即将左转或正在左转
从右至左，黄色流水灯 蓝色常亮
12 About to turn left or
From right to left, yellow waterfall light Blue
turning left
即将右转或正在右转
从左至右，黄色流水灯 蓝色常亮
13 About to turn right or
From left to right, yellow waterfall light Blue
turning right
从中间往两侧，黄色流水灯 即将掉头或正在掉头
蓝色常亮
14 From the middle to the sides, yellow About to turn around or
Blue
waterfall light turning around
从中间往两侧，黄色流水灯
熄灭 正在充电
15 From the middle to the sides, yellow
Out Charging
waterfall light
16 蓝色常亮 蓝色熄灭一次后快速恢复 直行并读到地面二维码

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Blue extinguish once and Get the QR code in

Blue
recover rapidly Straight Running

四.1.2 急停按钮 Emergency stop button

AGV 分别包含前、后急停按钮。AGV 正常工作时，当拍下急停按钮时，AGV 无条件停止，此时，前后

灯红、蓝色交替闪烁，不再接收来自 RCS 的命令。急停按钮拔起时，AGV 恢复执行任务，指示灯将恢复
原状。

AGV includes the front and rear emergency stop buttons respectively. During the normal operation, when the
emergency stop button is pressed, the AGV will be stopped unconditionally. At this time, the head and back lights
flash alternately in red and blue, and nocommand is received from RCS. When the emergency stop button is
pulled up, the AGV resumes its task and the indicator will be returned to its original state.

四.1.3 电源开关 Power switch

电源开关(I/O)为自恢复式开关。关机状态下，按下开关表示上电；开机状态下，长按 5 秒以上则会关闭
电池电源。

Press Power switch (I/O) for power-on; press again and bounce the switchfor power-off. After that, AGV keeps
working for 7 to 8 seconds and maintains the connection with the platform. At this time, the current abnormality
of AGV can be uploaded to RCS and alarm server.

四.1.4 避障装置 Obstacle avoidance device

在 AGV 系列中，为增强 AGV 的安全性能，添加前置激光雷达。激光避障的检测距离是 3m，检测范围

分为远中近三区域，在远中区域，AGV 自发采取减速措施应对，近区采取停车处理。

In the AGV series, in order to enhance the safety performance of AGV, a new front laser obstacle avoidance is
equipped, with the detection distance of 2 m, and the detection range divided into three areas: Far, median and
near areas. In the far and median areas, deceleration measures are taken by AGV spontaneously for treatment, and
the parking measures are adopted in near area.

四.1.5 安全触边 Safety rim

当 AGV 和障碍物不可避免的发生碰撞时，碰撞条是 AGV 安全的最后一道防线，对 AGV 起最后的保护

作用。AGV 小车的前后设置碰撞条。

When AGV collides with obstacles inevitably, the collision rim is the last protection measurefor AGV, playing a
final protective role for AGV. The front and rear of the AGV are equipped with collision rims.

四.1.6 升降维护按钮 Elevator maintenance button

升降维护按钮是位于 AGV 左后侧的上、下两个按钮。用于在检修 AGV 时，手动顶升和下降托盘。按下

上面的维护按钮 AGV 执行托盘顶升，按下面的执行托盘下降。已经处于顶升位置的，按下顶升维护按钮
无效；已经处于下降位置，按下下降维护按钮无效。

The elevator maintenance button is the upper and lower buttons located on the left rear side of the AGV. It is used

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to manually lift and lower the pallet when checking and repairing the AGV. Press the upper maintenance button
AGV to execute the pallet lifting, and press the lower to execute the pallet descending. If it is already in the
jacking position, pressing the jacking maintenance button is invalid; already in the lowering position, pressing the
lowering maintenance button is invalid.

四.1.7 蜂鸣器 Beep

AGV 主控内包含蜂鸣器，开机启动过程中，会响两声。正常工作状态不响。当小车出于故障状态，如丢
码、直行过程中挡雷达、触边触发、电机故障等等，蜂鸣器会响。

The AGV main control contains a buzzer, which will beep twice during the startup process. It does not sound
under normal working conditions. When the trolley is in a fault state, such as missing codes, blocking radar in the
process of going straight, touch edge triggering, motor failure, etc., the buzzer will sound.

四.2. AGV 作业注意事项 Notes for AGV operation

① 在启动 AGV 之前，首先清除相应操作场地上的障碍物，保持 AGV 工作通道畅通无阻；其次检查相

应的地码、货码、仓位码是否清晰且没有破损，保持 AGV 可以获取正确的位置信息；进而确定 AGV 机
械部件及各个其他部件是否正常完好，无误后准备开启 AGV。

① Before starting AGV, firstly, remove the obstacles on the operating site and keep the AGV service aisle
unobstructed. Secondly, check whether the ground code, shelf code and warehouse position code are clear and un
damaged, and ensure that correct location information can be received by AGV. Then, determine whether the
mechanical parts and other parts of AGV are intact, and prepare to activateAGV after confirming noerror.

② 开启 AGV，确保 AGV 指示灯显示正常，开始正常作业。

② Startthe AGV and ensure that the AGV indicator is displayed properly and the normal operation is ready.

③ AGV 在启动后，在系统的调遣下驶往目标工位，卸载物料，完成一次作业。AGV 等待下次调遣开始工

作。

③ After the start-up, AGV is driven to the target station under the command of the system, unloading the material
and completing an operation. Then, A GV waits for the command of next operation.

④ 注意：AGV 在正常直线行驶时，工作人员与 AGV 的距离应大于 2m，否则 AGV 激光传感器探测到

干扰后，AGV 会开始减速停止； 当 AGV 在产品线及其他部门运行时，发生异常状况时，请拍下急停按
钮，系统就会紧急停止，然后根据具体情况，对用第五章报警处理，解决问题。

④ Note: When AGV is travelling in a straight line normally, the distance between personnel and AGV shall be
more than 2 m. Otherwise, AGV will start to decelerate and stop after AGV laser sensor detects the interference;
when AGV is running in the product line and other departments, the emergency stop button shall be pressed in
case of abnormal conditions, to shut down the system. Then, the problem shall be solved according to the specific
situation and instructions in Chapter V.

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⑤ 说明：AGV 操作人员必需是接受过培训的人员。

⑤ Description: AGV operators shall be trained.

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第五章 故障分析与处理

Chapter 5 Fault analysis and troubleshooting

五.1. 告警概述 Warning overview

告警类型按严重级别分为 1 级、2 级、3 级告警。

The alarms are classified by severity into Levels 1, 2 and 3.

① 1 级告警，不影响正常运行或偶发可自行恢复，只上报给告警服务器；

① Level 1 alarm: Not affecting normal operation or occasional and self-recovery, only sentto the alarm server.

② 2 级告警，需人工介入排查，一般无法自行恢复，AGV 停车并且上报告警服务器，将告警信息显示在
数码管上，执行状态显示停车原因，红灯闪烁，RCS 继续下发任务。

② Level 2 alarm: It requires manual intervention, and the self- recovery is impossible; AGV will be stopped and
the message will be sent to the alarm server, to display information on the nixie tube; the execution status and the
reason of parking will be displayed. Meanwhile, the red light flashes, and RCS continues to send tasks.

③ 3 级告警，主控立即调用停车的告警，须人工恢复否则无法执行任务，同时 AGV 会进行相应的处理，

目前 LED 数码管显示、停车处 理、停止举升处理，红灯快速闪烁，RCS 不再下发任务。告警产生以后，
AGV 支持自动恢复处理以及人工介入处理。

③ Level 3 alarm: The main console will immediately call the parking alarm, which shall be manually restored.
Otherwise, the task cannot be performed. At the same time, relevant measures will be taken by AGV, including
displaying through LED nixie tube, shutdown, and stopping lifting; the red light will flash quickly, and RCS will
no longer issue tasks. After the alarm is generated, AGV supports automatic recovery and manual intervention.

④ 自动恢复：针对 2 级告警产生之后，AGV 一般会做停车处理，并且红色指示灯亮，如果此告警后续自

动消除，AGV 运行也会立即恢复，继续执行当前未完成的任务，红色指示灯灭。 此情况满足前提是
AGV 停止时，一定要在地码上，否则需要人工介入推到地码上。

④ Automatic recovery: AGV will be usually shut down in case of Level 2 alarm, and the red indicator comes on.
If the alarm is automatically eliminated, the AGV will resume immediately, continuing to perform the current
unfinished tasks, and the red indicator goesout, provided that AGV is stoppedon the ground code. If not, AGV
needs to be pushed to the code manually.

⑤ 人工介入：3 级错误产生后，AGV 会执行紧急停车，红色指示灯亮。如果错误没有消除，则需要人工

干预。首先是取急停开关，在急停前检查错误灯指示，直到错误消除，然后用专用工具将 AGV 推到地面
代码并松开急停开关，AGV 轮重新-locked 并向 RCS 发送登录请求。登录成功后，操作人员离开安全围
栏，RCS 与安全围栏进行通信并确认运行区域内没有操作人员，RCS 将发送命令使 AGV 继续执行任务。。

⑤ Manual intervention: After the level 3 error is generated, the AGV will perform an emergency stop and the red
indicator light will be on. If the error has not been eliminated, manual intervention is required. The first is to take
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the emergency stop switch, check the error light indication before the emergency stop, until the error is eliminated,
then push the AGV to the ground code using a special tool and release the emergency stop switch, the AGV wheel
is re-locked and a login request is sent to the RCS. After the login is successful, the operator leave the safety
fence，the RCS communicate with the safety fence and confirm the running area is no operator ，the RCS will
send command to make the AGV continues to perform the task

五.2. AGV 故障模式和处理 AGV Fault mode and troubleshooting

序号 故障名称 故障原因 故障处理

No. Fault name Causes Troubleshooting
① 检查前面是否有障碍物物体
① Check for obstacles in front.
雷达触发 雷达触发 ② 查看雷达是否灰尘过多；
1
Radar activated Radar activated ② Check whether there is too much dust in radar.
③ 尝试断电重启
③ Try to power off and restart.
① 拍急停，排除故障后恢复
碰撞触边条 安全触边触发
2 ① Press the emergency stop button and restore it after
Collision rim Safety rim activated
troubleshooting.
① 检查电机通讯线连接；
电机离线 电机离线故障 ① Check the connection of motor's communication lines.
3
Motor off-line Off-line fault of motor ② 尝试断电重启
② Try to power off and restart.
① 检查地址码是否脏污；
① Check whether the address code is dirty.
地面地址码丢失
丢码 ② 检查车下有无异物；
4 Loss of g round
Code lost ② Check for foreign bodies under the vehicle.
address c ode
③ 检查摄像头模组有无异常
③ Check whether the camera module is abnormal.
① 查看网络设备电源
① Check the power supply of network equipment.
WiFi 掉线
WiFi 掉线 ② 查看上位机服务是否正常
5 WiFi
WiFi disconnected ② Check whether the upper computer service is normal.
disconnected
③ 断电重启
③ Power off and restart.
① 查看货架码是否受损
① Check whether the shelf code is damaged.
② 查看 AGV 摄像头模组有无异常
丢失货架码 丢失货架码
6 ② Check whether the camera module of AGV is
Shelf code lost Shelf code lost
abnormal.
③ 断电重启
③ Power off and restart.
下限位开关失效 下限位开关失效
① 检查下限位开关是否完好
7 Failure of lower Failure of lower limit
①Check whether the lower limit switch is intact.
limit switch switch

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第六章 维修保养及售后
Chapter 6 Maintenance and after-sales service

六.1. 检修间隔及检修项目 Maintenance interval and items

① AGV 能否正常满意地使用，取决于仔细的维护，忽视维护时，可能会危及人身安全和损坏财物。所以
在使用时，应经常作常规检查，及时排除异常现象，不要使用有故障的车，以保证安全和延长 AGV 的
使用寿命。

① The satisfactory operation of AGV depends on careful maintenance, and neglecting maintenance may endanger
personal safety and damage property. Therefore, routine inspection shall be carried out, abnormal phenomena
shall be eliminated in time, and faulty vehicles shall not be used, to ensure the safety and prolong the service life
of AGV.

② 本车的保养一般分为四级，即常规保养、一级保养、二级保养和年度保养。

② The maintenance of the vehicle is generally classified into four levels: The routine maintenance, Level I
maintenance, Level II maintenance and annual maintenance.

③ 常规保养：每周保养。

③ Routine maintenance: Weekly maintenance.

④ 一级保养：每月保养。

④ Level I maintenance: Monthly maintenance.

⑤ 二级保养：每季度保养。

⑤ Level II maintenance: Quarterly maintenance.

⑥ 年度保养：每年度保养。

⑥ Annual maintenance: Annual maintenance.

⑦ 说明：保养、常备件及辅材的更换，需要甲方进行操作。

⑦ Description: Maintenance, replacement of spare parts and accessories, needed to be completed by Party A.

六.1.1 常规保养 Routine maintenance

① 保持整车表面清洁无污损，镜头罩光亮无明显划痕。

① Keep the surface of the vehicle clean and be free of stain, and the lens case bright and be free of obvious
scratches.

② AGV 灯光显示正常。

② AGV light display is normal.

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③ 急停按钮、开关机按钮功能正常。

③ The functions of emergency stop button and startup & shutdown button are normal.

④ AGV 表面及内部无进水。

④ There is no water on the surface and inside of AGV.

⑤ 激光工作正常。

⑤ The laser is normal.

⑥ 声音警示系统工作正常。

⑥ The sound warning system works normally.

⑦ 注意：节假日期间关闭电源；运行正常时，严禁修改程序参数。

⑦ Note: Shut off the power during holidays; during the normal operation, it is forbidden to modify program
parameters.

六.1.2 一级保养 Level I maintenance

① 举升装置工作正常，无举升不到位等情况。

① The lifting device works normally and is free of lifting deficiency.

② 驱动正常，无行驶偏移情况。

② The driving is normal and free of driving deviation.

③ 镜头组件工作正常，无视频丢失情况。

③ The lens components work normally without video loss.

④ AGV 各部位紧固件正常，接线端口、连接线等无松动情况。

④ The fasteners of all parts of AGV are normal, and the connection ports and connecting wires are tight.

⑤ 电器件电池、电器接插件、开关、急停等工作正常，无不正常升温及火花等情况。

⑤ Batteries, electrical connectors, switches, emergency shutdown button and other electrical appliances work
normally, without abnormal temperature rise and sparks.

⑥ 充电桩保养。

⑥ Maintenance of charging pile.

六.1.3 二级保养（机械保养保养）Level II maintenance (mechanical maintenance)

① 检查整车各紧固件是否紧固。

① Check whether the fasteners of the complete vehicle are fastened firmly.

② 检查各车轮是否转动灵活，清除车轮轴承处的缠绕物；检查轮子磨损情况，如有必要更换。

② Check whether the wheels are flexible in rotation and remove the windings at the wheel bearings; check the
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wear of the wheels and replace them if necessary.

③ 检查充电桩充电接头是否接触良好，有无碰撞变形情况。

③ Check whether the charging connection of charging pile is in good contact and whether collision deformation
occurs.

六.1.4 二级保养（电动举升的保养）Level II maintenance (maintenance of electric lift)

① 检查举升机构是否正常举升、下降，检查举升上下限是否正常。

① Check whether the lifting mechanism is lifted or lowered normally and whether the upper and lower lifting
limits are normal.

② 检查运动杆件是否有断裂

② Check whether the moving bar is broken.

③ 检查手动上下限位杆是否能灵敏的移动。

③ Check whether the manual upper and lower limit bar can be moved flexibly.

④ 检查大小齿轮之间的黄油是否足够。

④ Check whether the grease between the bull wheel and pinion is sufficient.

⑤ 检查零位检测传感器是否牢固可靠。

⑤ Check whether the zero detection sensor is firm and reliable.

六.1.5 二级保养（电器保养保养）Level II maintenance (maintenance of electric appliance)

① 电池接线端子检查，确认是否螺柱有松动、老化。

① Check battery terminals and whether the studs are loose and ageing.

② 检查电池连接线是否有老化，破皮现象。

② Check whether the battery connecting line is free of aging and broken skin.

③ 对电池外壳进行除尘。

③ Remove the dust on the battery shell.

④ 人工接入，对电池进行手动充电，保养一次。

④ Connect, charge and carry out maintenance of batteries once manually.

⑤ 检查电池是否鼓包问题。

⑤ Check whether the battery is bulging.

⑥ 整车电器接插件检查是否可靠。

⑥ Check the reliability of the electrical connectors of the complete vehicle.

⑦ 开关、急停、安全激光绝缘检查是否正常。
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⑦ Check whether the switch, emergency stop button, safety laser Insulation are normal.

⑧ 整车线束检查是否正常。

⑧ Check whether the complete vehicle wiring harness is normal.

六.1.6 年度保养 Annual maintenance

① 电动举升保：各转轴处、轴与铜套转动是否灵活，确认卡簧或顶丝良好未松动。

① Protection of electric lift: Check whether the rotation of each rotating shaft, shaft and copper bush is flexible,
and confirm that the jump ring or jackscrew is in good condition and not loose.

② 常备件的更换： 驱动轮、万向轮根据行驶里程数和磨损程度判断，如有需要进行更换，详见 6.2 节。

② Replacement of spare parts: Judge the d rive wheels and universal wheels according to mileage and wear
degree. If necessary, see Section 6.2 for details.

③ 充电桩的维护测量线路接地是否正常，充电器散热器除尘，内部线路连接是否正常，地脚螺栓紧固。

③ Check whether maintenance of charging pile and its line grounding are normal, whether the charger radiator,
dust removal, the internal line connection are normal, and the anchor bolts are tightened.

六.2. 常备件及辅材更换 Replacement of spare parts and auxiliaries

六.2.1 电动举升的更换 Replacement of electric lift

电动举升的更换周期一般为 30 万次，如有需要更换，方法如下：

The replacement cycle of electric lift is generally 300,000 times, and the replacement method is as follows:

① 拆卸托盘和外壳（拆除前后壳时注意先断开前后灯带的接头）。

① Dismantle the tray and shell.

上壳
Upper shell
托盘
Tray

后壳
Back shell

前壳
Front shell

图 6-1 拆除 AGV 托盘和外壳示意图

Figure 6-1 Dismantling AGV Tray and Shell

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② 拆除上视摄像头防护罩、回转支撑、长杆转轴 2。

③ Dismantle bull wheels, batteries, battery brackets, radar mountings and metal plates for electronic
control boxes.
摄像头防护罩

回转支撑

图 6-2

Figure 6-2

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拆除摄像头组件和旋转组件（注意先断开零位传感器，放置时勿磕碰该传感器和旁边的限位感应片）。

Dismantle the connector of the camera module

旋转组件
长杆转轴 2

摄像头组件

图 6-3

Figure 6-3

④ 拆除主控组件、前端分线器组件。

④ Dismantle the camera module, the rotary motor and its reducer.

主控组件

前端分线器组件

图 6-4

Figure 6-4

⑤ 将连杆组件从顶升电机组件的输出轴上拆出后，更换顶升电机组件，并依次安装上之前拆下的
连杆组件、前端分线器组件、主控组件 、旋转组件、托盘等。

⑥ Replace the electric lift and install the camera module, electric rotating machinery, reducer, bull wheel,

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and tray dismantled .

顶升电机组件

连杆组件

图 6-5

Figure 6-5

六.2.2 万向轮的更换 Replacement of universal wheel

万向轮每年进行检修，如果损坏后，更换方法如下：

The universal wheel shall be repaired every year. If it is damaged, the replacement method is as follows:

① 用移动式龙门架将 AGV 吊装到专用工装上，并从底部用六角扳手拆卸万向轮，换上新的万向轮。

① Hoist AGV to the special tooling with the movable gantry, and dismantle the universal wheel throughthe
hexagonal wrench from the bottom and replace with a new one.

② 检查万向轮是否安装到位。

③ Check if casters mounted accordingly.

④ 更换完成后将 AGV 从专用工装上吊至地面。

② After the replacement, lift AGV from the special tooling to the ground.

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固定螺栓
Fixed bolt

万向轮
Universal wheel

图 6-6 万向轮示意图

Figure 6-6 Universal Wheel

六.2.3 电池的更换 Battery replacement

电池的寿命受使用习惯和环境的影响较大，按二级保养处理，在必要的时候再进行更换，以免造成不必
要的成本支出，更换方法如下：

The service life of batteries is greatly affected by the usage habits and environment, and they shall be treated
according to Level II maintenance and replaced when necessary, to avoid unnecessary cost and expenditure. The
replacement methods are as follows:

① 拆除托盘和外壳，如图 6-7 所示

① Dismantle tray and shell as shown in Figure 6-7.

② 拔掉电池上的线束，拧下电池上的固定螺钉，推出并拆除电池，安装固定新电池，并重新连接线束。

② Pull up the wiring harness on the battery, unscrew the fixed screw, push out and remove the battery, install and
fix the new battery, and reconnect the wiring harness.

③ 安装外壳和托盘。

③ Install theshell and tray.

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电池
Battery

固定螺栓
Fixed bolt

图 6-7 AGV 电池位置标识

Figure 6-7 Identification of AGV Battery Position

六.2.4 驱动轮更换 Replacement of driving wheel

驱动轮的更换周期：两年或根据里程数，可以损坏后再更换（如果轻载更换周期可适当延长）。方法如
下：

Replacement cycle of drive wheel: Two years or depending onmileage; it can be replaced after damage (the cycle
can be extended appropriately under light load). The methods are as follows:

① 用内六角扳手旋开托盘固定螺钉，并拆除托盘，如图 6-8 所示。

① Unscrew thefixing screw of tray with the inner hexagonal wrench and dismantle the tray, as shown in
Figure 6-8.

② 用内六角扳手旋开上壳固定螺钉，并拆卸上壳，如图 6-9 所示，

② Unscrew the fastening screw of the upper shell with the inner hexagonal wrench, and dismantle the upper shell,
thenthe front and rear shells, as shown in Figure 6-9.

③ 拆除驱动轮挡泥板，即可拆除驱动轮，查看螺丝松动的情况、车胎晃动和磨损情况，待检查后，
如有需要，安装新的驱动轮，如图 6-10 所示。注意：更换驱动轮需将车用龙门架吊离地面。

③ Dismantle the mudguard of the driving wheel, to remove the driving wheel; then, check the screw loosening,
tire waggling and wear.After that, if necessary, install a new drive wheel, as shown in Figure 6-10.Note: In the
process of replacing the driving wheel, the vehicle shall belifted off the ground through the gantry.

④ 更换驱动轮完毕后将车放至地面，将拆卸零部件按照倒序装回，即可

④ After the replacement , lower the vehicle on the ground and assemble the dismantled parts in reverse order.

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托盘
Tray

图 6-8 拆卸托盘示意图

Figure 6-8 Dismantling Tray

上壳
Upper shell

图 6-9 拆除上壳壳示意图

Figure 6-9 Dismantling Upper Shells

驱动轮挡泥板
Mudguard of
Driving wheel 驱动轮
Driving wheel

图 6-10 AGV 驱动轮示意图

Figure 6-10 AGV Driving Wheel

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六.2.5 电动旋转更换 Replacement of electric rotating machinery

电动旋转的更换周期：旋转运动 30 万次后，如有需要进行更换。 电动旋转的更换方法：

Replacement cycle: After 300,000 rotations, the machinery shall be replaced if necessary. The methods are as
follows:

① 拆卸举升托盘和外壳

① Dismantle the lifting table and shell 托盘

Tray

上壳
后壳 Upper shell
Back shell

前壳
Front shell

图 6-11

Figure 6-11

拆除上视摄像头防护罩、回转支撑、长杆转轴 2。

Dismantle bull wheels, batteries, battery brackets, radar mountings and metal plates for electronic control boxes.

摄像头防护罩
回转支撑

图 6-12

Figure 6-12

拆下旋转组件（注意先断开零位传感器，放置时勿磕碰该传感器和旁边的限位感应片）。

Dismantle the
旋转组件
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长杆转轴 2

旋转电机

图 6-13

Figure 6-13

④ 安装上新的旋转电机，并按倒序安装上之前拆卸的零部件

④ Install new electric rotating machinery l, and assemble parts dismantledin reverse order.

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六.3. 售后 After- sale service

为确保客户系统的稳定、安全、高效运行，甲方的售后服务依托甲方母公司的全国服务网络，提供包括
陪伴生产支持、售后技术支持、备品在库、设备点检维、质量保证等内容。售后服务具体内容根据签约
内容而定。

In order to ensure the stable, safe and efficient operation of the customer system, Party A's after-sales service
relies on the national service network of itsparent company, providing such contents as the accompanying
production support, after-sales technical support, spare parts in stock, equipment inspection and maintenance,
quality assurance, etc. The specific content of after-sales service depends on the contents of the contract.

六.3.1 设备安装前，乙方公司提供 Before the installation of the equipment, Party B will provide:

① 主要部件清单、型号、质保期及品牌。

① List, model, warranty period and brand of main parts.

② 主要备件清单、型号、品牌、报价、使用寿命、安全备件数量、提供周期（若乙方提供）。

② List of main spare parts, model, brand, quotation, service life, quantity of safety spare parts and supply cycle
(provided by Party B).

质保期内：备件存放场地：甲方项目现场或乙方仓库。

During the warranty period: Spare parts storage site: Party A's project site or Party B's warehouse.

六.3.2 安全保障 Safety assurance

若在甲方项目现场，甲方负责备件的存放安全，并做好防潮、防尘、防 水、防腐等安保工作。

If the spare parts are stored on the Party A's project site, Party A shall be responsible for their storage safety, and
take relevantdamp- proof, dust proof, waterproof and anticorrosion measures.

六.3.3 备件消耗 Consumption of spare parts

① 任何备件的消耗使用，甲方须做好记录工作。 质保期外：

① Party A shall record the consumptionof any spare parts. Out of the warranty period:

② 原则上客户购买备件进行备库。同时，乙方公司准备相应备品备件在乙方或乙方合作供应商处，但优
先供应保修期内客户及签订维保合同客户。

② In principle, customers purchase spare parts for warehousing. At the same time, thecompany of Party B shall
prepare spare parts forParty B or its cooperating suppliers, but gives priority to customers during the warranty
period and those signing maintenance contracts.

六.4. 废旧电池处理 Disposal of used batteries

如果 AGV 的电池因使用年限老化，可以更换新的。 废弃电池含有有害物质，不能随意丢弃，如有需要

请与厂家确认
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If the battery of the AGV is worn out due to years of use, it can be replaced with a new one. The discarded battery
contains harmful substances and cannot be discarded at will，please check with the manufacturer if needed

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第七章 搬运与贮存

Chapter 7 Handling and storage

七.1. 搬运注意事项 Handling Precautions

① AGV 采用托盘式木箱包装，运输过程中不允许翻转、倒置、进水，起吊装车时不允许碰撞，拆箱时不
要损坏车辆外表面。

① AGV is packed in tray-type wooden boxes. Turning-over, inverting and flooding are not allowed during the
transportation, and collision is unacceptable in the process oflifting and loading, and the external surfaces of
vehicles shall not be damaged in the unpacking process.

② 充电桩采用木箱包装，运输过程中不允许翻转、倒置、进水，起吊装车时不允许碰撞， 拆箱时不要损
坏充电桩外表面。

② The charging piles are packed in wooden boxes. Turning- over, inverting and flooding are not allowed during
the transportation, and collision is unacceptable in the process of lifting and loading, and the external surfaces of
the piles shall not be damaged in the unpacking process.

③ 运输、拆装过程中必须要用到全部的吊装位置，同时确保起重装置具有足够的承载量。

③ In the process of transportation and disassembly, all lifting positions shall be used, and the lifting device shall
be of enough load capacity.

七.2. 搬运方法 Handling method

① 该车采用托盘式木箱包装，运输过程中不允许翻转、倒置，起吊装车时不允许碰撞，拆箱时不要损坏
车辆外表面。

① The vehicle is packed in tray-type wooden boxes. Turning- over, inverting and flooding are not allowed during
the transportation, and collision is unacceptable in the process oflifting and loading, and the external surfaces of
vehicle shall not be damaged in the unpacking process.

② 提升 AGV 的过程中必须要用到全部的吊装位置。同时确保起重装置具有足够的承载量。

② In the process of hoist AGV, all lifting positions shall be used, and the lifting device shall be of enough load
capacity.

七.3. 贮存注意事项 Storage Precautions

如果 AGV 停止使用超过 2 个月，应将 AGV 停放在通风良好、无霜、清洁、干燥的房间，并采取下列

措施。

If AGV has not used for more than 2 months, it shall be parked in a ventilated, frost-free, clean and dry room, and

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the following measures shall be taken:

① 彻底清洁车子内外，做好防尘工作。

① Clean the inside and outside of the vehicle thoroughly and take relevant dust prevention measures.

② 完全升降举升台面若干次，检查是否正常；之后将升降台面降到最低。

② Fully hoist and lower the platform for several times, check whether it is normal; then, place the platformto the
lowest.

③ 将车子用方木撑起，使车子的驱动轮脱离地面。

③ Supportthe vehicle with square wood, so that its driving wheelis off the ground.

④ 在所有裸露的机械零件表面上涂一层薄油或油脂。

④ Apply a thin layer of oil or grease on the surface of all exposed mechanical parts.

⑤ 电池充满电，每 2 或 3 个月再充电一次。

⑤ Fully charge the battery and recharge it every 2 or 3 months.

⑥ 用合适的触点喷剂喷洒所有的电器触点。

⑥ Spray all electrical contacts with appropriate contact sprays.

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第八章 声明

Chapter 8 Declaration

八.1. 载货类型申明 Carrying cargo declaration

禁止使用 AGV 运输易燃易爆危险品，包括但不限于以下几种：

It is forbidden to transport flammable and explosive dangerous goods with AGV, including but not limited to the
following types:

① 易燃、助燃、可燃的有毒压缩气体和液化气体：氢气、甲烷、乙烷、丁烷、天然气、乙烯、丙烯、
乙炔（溶于介质）、一氧化碳、液化石油气、氧气、煤气（气）等；

① Flammable, combustion-supporting, combustible toxic compressed gas and liquefied gas: hydrogen, methane,
ethane, butane, natural gas, ethylene, propylene, acetylene (dissolved in the medium), carbon monoxide, liquefied
petroleum gas, oxygen, gas (gas )Wait;

② 易燃液体：汽油、煤油、柴油、苯、乙醇（酒精）、丙酮、乙醚、油漆、稀释剂、松香油及含有易燃
溶剂的产品；

② Flammable liquid: gasoline, kerosene, diesel, benzene, ethanol (alcohol), acetone, ether, paint, thinner, rosin oil
and products containing flammable solvents;

③ 易燃固体：红磷、闪光粉、固体酒精、赛璐珞等；

③ Flammable solids: red phosphorus, flash powder, solid alcohol, celluloid, etc.;

④ 自燃物品：黄磷、白磷、硝化纤维（含薄膜）、油纸及其制品；

④Self-igniting articles: yellow phosphorus, white phosphorus, nitrocellulose (including film), oil paper and its
products;

⑤ 在水中起火或高温物品：金属钾、钠、锂、电石（碳化钙）、镁铝粉等；

⑤ Inflammation of water: metal potassium, sodium, lithium, calcium carbide (calcium carbide), magnesium
aluminum powder, etc.;

⑥ 氧化性物质和有机过氧化物：高锰酸钾、氯酸钾、过氧化钠、过氧化钾、过氧化铅、过乙酸、过氧化
氢等。

⑥ Oxidizing substances and organic peroxides: potassium permanganate, potassium chlorate, sodium peroxide,
potassium peroxide, lead peroxide, peracetic acid, hydrogen peroxide, and the like.

八.2. 清洁申明 Clean up declaration

① 清洁 AGV 外壳只能使用干燥的亚麻布或天鹅绒布

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① Cleaning the AGV casing can only be done with dry linen or velvet cloth

② AGV 外壳禁止使用任何液体类清洁剂进行清洁和擦拭，包括但不限于水性清洁剂和酒精清洁剂。

② The AGV housing is prohibited from cleaning and wiping with any liquid type cleaner, including but not
limited to water-based cleaners and alcohol cleaners.

③ AGV 内部只能用高压气枪清洗

③ The inside of the AGV can only be cleaned with a high pressure air gun

④ 禁止在 AGV 内使用任何液体清洁剂进行清洁和擦拭，包括但不限于水性清洁剂和酒精清洁剂。

④ It is forbidden to use any liquid type cleaner for cleaning and wiping within AGV, including but not limited to
water-based cleaners and alcohol cleaners.

第九章 EMC 声明

Chapter 9 EMC statement

九.1. 声明 Statement

① 本设备产生、使用并且可以辐射无线电频率的能量。本设备可能会对其它的设备以及无线电通讯造成
无线电干扰。为了防止这种干扰，此系统符合搬运机器人的辐射界限。但是，我们不保证对于特殊装置
不会造成干扰。在本设备安装及操作过程中，应遵守本设备随机文件中给出的预防措施及其它有关电磁
兼容性（EMC）的信息。

① The radio frequency may be generated, used and radiated by the equipment,causing radio interference to other
equipment and radio communication. In order to prevent such interference, the system is designed to meet the
radiation limit of the handling robot. However, it isnot guaranteed that there will be no interference with special
devices. During the installation and operation of the equipment, preventive measures and other information about
electromagnetic compatibility (EMC), specifiedin the mandatory documents of the equipment, shall be followed.

② 如果发现此设备造成干扰（经测试设备测试确定），用户（或者合格的维修人员）应当使用下列一种
或几种方法来尝试解决问题：

② If the interference caused by the equipment is found (measured withthe test equipment), the user (or qualified
maintenance personnel) shall try to solve the problem through one or more of the following methods:

把受干扰的设备重新定向或定位；

Rearrange or relocate the interfered equipment;

增加本设备与受干扰设备之间的距离；

Increase the distance between the equipment and the interfered;

咨询购买处的代表或服务代表，可以获得更多建议。
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Consult the representative of the purchasing office or the service representative for more advices.

③ 使用非本设备制造商制定的附件、换能器、电缆及其它部件可导致射频发射的增加，或引起本设备抗
扰性性能减弱。

③ The operation of accessories, transducers, cables and other components, not developed by the equipment
manufacturer, may lead to an increase in radio frequency emission or a decrease in the anti-interference
performance of the equipment.

④ 制造商对于使用不在建议之列的连线或者由于对此设备进行未经授权的改变或修改而造成的干扰不负
责任。如果用户进行了未经授权的改变或修改，我们可能会取消其操作设备的资格。

④ The manufacturer is irresponsible for the interference caused by the wiringnot recommended or by
unauthorized changes or modifications to the equipment. If users make unauthorized changes or modifications, we
may disqualify them from operating the equipment.

⑤ 兼容附件必须应用于符合手册中建议的操作条件。除调试与预热，使用前后其它设备必须重置，以确
保准确的计量测量。

⑤ Compatible accessories shall be used under theoperating conditions recommended in the Instruction. Except for
commissioning and pre-heating, other equipment shall be reset before and after the operation, to ensure accurate
measurement.

⑥ 以上所述为此设备典型电磁兼容性。

⑥ The typical EMCs of the equipment are mentioned above.

九.2. 兼容性表 Compatibility

九.2.1 设备适用于电磁环境：Applicable electromagnetic environment for the equipment

① 电磁发射（表 1）；

① Electromagnetic emission (Table 1).

② 维持设备临床应用的电磁抗扰性（表 2 和表 3）；

② Maintain the electromagnetic immunity of equipment in clinical application (Tables 2 and 3).

③ 便携式和移动射频通信设备与本机器的最小推荐距离（表 4）。

③ The minimum recommended distance between portable and mobile radio frequency communication equipment
and this equipment(Table 4).

④ 配合所提供的电缆，此系统符合上述 EMC 标准。如果需要不同长度的电缆，请联系有资格的售后代表。

④ The system, with the cable provided, meets the above EMC standards. If the cables with different lengths are
needed, contact the qualified after-sales representatives.

九.2.2 指南与制造商声明—电磁发射 Guidelines and manufacturer's statement - electromagnetic emission

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该设备的客户或使用者应确保在以下所述的电磁环境中使用本设备。

The customer or user shall ensure that the equipment is used in the electromagnetic environment described below.

表 1 电磁发射

Table 1 Electromagnetic Emission

符 合
Compliance 备注
项 目 电磁环境
测试标准 等级要求 Remark
Item Electromagnetic environment
Testing Level s
standard requirement
该设备系统仅对其内部功能使用射频能
量,因此，其射频发射很低，不大可能对
附近的电子设备造成任何干扰。
Since the radio frequency (RF) energy is
only used for the internal functions of the
equipment system,its RFemission is very
low, unlikely to cause any interference to
射频发射 1 组，A 类
nearby electronic equipment.
Radio-frequency GB4824 Group 1, C
emission 该设备系统适合用于所有非家用的设
lass A
施，以及所有非直接连接至公用低压电
网（用于向家用供电）的设施。
The equipment system is suitable for all
non-household facilities, as well as those
not directly connected to the public low-
voltage power grid (supplying power to
households).
该设备供电系统采用非家用且不直接连
接到住宅低压供电网，不会对住宅用电
产生干扰。
谐波失真
GB/T 17625-1 不适用 The power supply system of the equipment
Harmonic
IEC 61000-3-2 Not applicable is the non-household system not directly
distortion
connected to the residential low-voltage
power network, thus not interfering with
the residential electricity consumption.
该设备供电系统采用非家用且不直接连
接到住宅低压供电网，不会对住宅用电
电压波动和闪烁 GB/T 17625-2 产生干扰。
Voltage IEC 61000-3-3 不适用 The power supply system of the equipment
fluctuation and IEC 61000-3- Not applicable is the non-household system not directly
flicker 11 connected to the residential low-voltage
power network, thus not interfering with
the residential electricity consumption.

九.2.3 指 南 与 制 造 商 声 明 — 电 磁 抗 扰 性 Guidelines and manufacturer's statement - electromagnetic

immunity

① 按照规定的测试方法，在实验室模拟的抗扰度型式实验中，机器基本性能正常，未出现不期望的运动，
未出现通信中断和误报警。

① The immunity type test, according to the prescribed test method, is simulated in the laboratory, indicating that
the basic performance of the equipment is normal, andno unexpected movement, communication interruption and

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false alarm appear.

② 该的客户或使用者应确保在以下所述的电磁环境中使用本设备。

② The customer or user shall ensure that the equipment is used in the electromagnetic environment described
below.

表 2 电磁抗扰性

Table 2 Electromagnetic Immunity

试验水平
Test level
项 目 符合水平 备注
Item 测试标准 等级要求 Compliance Remarks
Testing Level
standard requirement
空气放电 空气放电 地板应是木质、混凝土或瓷砖。
Air discharge Air discharge 如果地板上覆盖有合成材料，相
静电放电 ±8KV ±8KV 对湿度应至少 30%。
抗扰度 GB/T 17626-2 The floor shall be made of wood,
ESD IEC 61000-4-2 接触放电 接触放电 concrete or ceramic tile. If itis
immunity Contact discharge Contact discharge covered with synthetic materials,
the relative humidity shall be at
±6KV ±6KV
least 30%.
电快速瞬 电源线±2KV 电源线±2KV
变脉冲群 Power line ±2KV Power line ±2KV 网电源质量应是典型的商用电源
抗扰度 环境质量。
GB/T 17626-4 信号线±1KV
Immunity The quality of network power
of electrical IEC 61000-4-4 Signal line ±1KV shall be the typical environmental
信号线±1KV
fast (小于 3 米不适用) quality of commercial power
Signal line ±1KV
transient ( not applicable if less supply.
burst than 3 meters )
共模±2KV 共模±2KV 网电源质量应是典型的商用电源
浪涌防护 Common mode Common mode 环境质量。
抗扰度 ±2KV ±2KV
GB/T 17626-5 The quality of network power
Surge
IEC 61000-4-5 差模±1KV 差模±1KV shall be the typical environmental
protection
Differential mode Differential mode quality of commercial power
immunity
±1KV ±1KV supply.

电压暂降 GB/T 17626-11 <5%UT,持续 0.5 <5%UT,持续 0.5 网电源质量应是典型的商用电源

与中断抗 IEC 61000-4- 周期 周期 环境质量。如果该设备系统的用
扰度 11 <5% UT, lasting <5% UT, lasting 户在网电源中断期间需要继续工
Voltage sag for 0.5 cycles for 0.5 cycles 作，建议使用不间断电源或电
and 池。
40%UT,持续 5 周 40%UT,持续 5 周
interruption The quality of network power
期 期
immunity shall be the typical environmental
40% UT, lasting 40% UT, lasting quality of commercial power
for 5 cycles for 5 cycles supply. If continuous operation is
70%UT,持续 25 周 70%UT,持续 25 周 required by the users of the
期 期 equipment system during the
70% UT, lasting 70% UT, lasting power interruption, it is
for 25 cycles for 25 cycles recommended to use the
<5%UT,持续 5s <5%UT,持续 5s uninterruptible power supply or
<5% UT, lasting <5% UT, lasting battery.

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for 5 seconds for 5 seconds

注：以上仅为型式测试数据,实际情况可能会有变化。

Note: The above is only type test data, and the actual situation may change.

表 3 电磁抗扰性（续）

Table 3 Electromagnetic Immunity (Continued)

试验水平
Test level
项 目 符合水平 备注
Item 测试标准 等级要求 Compliance Remarks
Testing Level
standard requirement
射频场感应的 便携式和移动射频通信设备与该设备
传导骚扰 150KHz- 150KHz- 系统任何部件(包括电缆)之间应不小
GB/T 80MHz 80MHz
Conducted 17626-6 于根据以下公式计算出来的推荐间隔
disturbance 3V_有效值 3V_有效值 距离。
IEC
induced by 3V_ effective 3V_ effective The recommended distance between
61000-4-6
radio-frequency value value the portable and mobile radio frequency
field communication equipment and any
components of the equipment system
射频电磁场辐
(including cables) shall not be less than
射抗扰度
GB/T the recommended distance calculated
Radiated 17626-3 80MHz-2.5GHz 80MHz-2.5GHz from the following formula.
susceptibility of
IEC 3V/m 3V/m 推荐的间隔距离：
radiofrequency
61000-4-3 Recommended spacing:
electromagnetic
field d = 1.2P0.5 ,80 MHz 至 800 MHz
工频磁场抗扰 GB/T 3A/m 3A/m d = 1.2P 0.5, 80 MHz to 800 MHz
度 17626-8 d = 2.3P0.5 ,800 MHz 至 2.3GHz
Immunity of IEC d = 2.3P0.5, 800 MHz to 2.3GHz
power frequency 61000-4-8 注：以上公式中，P 代表发射器厂商
magnetic field 所确定的最大额定输出功率(单位：
W)，d 代表推荐的间隔距离(单位：
m)。来自固定射频发射器的磁场强
度，由电磁现场调查 a 确定，低于每
个频率范围 b 的符合水平。
Note: In the above formula, P refers to
the maximum rated output power (unit:
W) determined by the transmitter
manufacturer , and D represents the
recommended spacing(unit: m). The
magnetic field intensity of the fixed RF
transmitter is determined through the
electromagnetic field investigation (a),
which is lower than the conformity
level of each frequency range (b).
如果其附近的设备标有以下符号，可
能产生干扰。
If the surrounding equipment is marked
with the following symbols, the
interference may occur.

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③ 来自固定发射器(如：移动电话基站、地面移动电台、业余电台、调幅和调频无线电广播、电视广播台
站等)的磁场强度不能精确地估算。欲对由于固定发射器引起的电磁环境进行评价，应进行电磁现场调查 。
如果所测得的磁场强度超过以上射频符合水平，则应观察该设备系统在各个使用位置的正常工作情况。
如果观察到异常情况，就需要进行额外的测量，例如将设备重新定向或定位。

③ The magnetic field intensity of the fixed transmitters (e.g. mobile phone base stations, land mobile stations,
amateur stations, AM and FM radio broadcast, TV stations, etc.) cannot be accurately estimated. In order to
evaluate the electromagnetic environment caused by them, the electromagnetic field investigation shall be carried
out. If the measured magnetic field intensity exceeds the above-mentioned radio frequency conformity level, the
normal working condition of the equipment system in each position shall be observed. If anomalies are found,
additional measurements are required, such as the reorientation or positioning of the device.

④ 超过频率范围 150kHz 至 80MHz 的，磁场强度应小于 3V/m。

④ If the frequency range of 150 kHz to 80 MHz is exceeded, the magnetic field intensity shall be less than 3 V/m.

⑤ 此指南可能不适用于所有的场合。电磁传播会受到建筑结构、物体以及人的吸收及反射的影像。

⑤ This Guideline may not be applicable to all situations as the electromagnetic propagation can be absorbed and
reflected by buildings, objects and human body.

九.2.4 电磁抗扰性建议距离 Recommended distance for electromagnetic immunity

① 该设备适用于可以产生受控射频干扰的电磁环境。建议该设备使用者，按照通信设备的额定功率，通
过维持便携式和移动射频通信设备与该设备间最小距离的方式防止设备受到电磁干扰。

① The equipment is suitable for the electromagnetic environment which produces controlled radio frequency
interference. It is suggested that the users shall keep the minimum distance between the portable and mobile radio
frequency communication equipment and the equipment according to the rated power of the communication
equipment, to prevent the equipment from electromagnetic interference.

表 4 便携式和移动射频通信设备与本机器的最小推荐距离

Table 4 Recommended Minimum Distance between Portable and Mobile Radio Frequency Communication
Devices and the Equipment

建议最小距离（米）
Recommended minimum distance (m)
发射器的额定功率（W） 150 kHz 至 80 80 MHz 至 800 800 MHz 至 2.5
备注
Rated power of transmitter MHz MHz GHz
Remarks
(W) 150 kHz to 80 80 MHz to 800 800 MHz to 2.5
MHz MHz GHz
d = 1.2P0.5 d = 1.2P0.5 d = 2.3P0.5
0.01 0.12 0.12 0.23

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0.1 0.38 0.38 0.74

1 1.2 1.2 2.3
10 3.8 3.8 7.3
100 12 12 23

② 对于最大额定输出功率在上表中未列出的发射器，可使用相应栏中的公式进行间隔距离值估计，式中
P 表示厂商规定的发射器的最大额定输出功率(单位：W)。

② For the transmitters, with the maximum rated output power not listed in the table above, their distance can be
estimated through the formula in the corresponding column, where P refers to the maximum rated output
power(unit: W) of the transmitter specified by the manufacturer.

③ 此指南可能不适用于所有的场合，因为电磁传播会受到建筑结构、物体以及人的吸收及反射影响。

③ This Guideline may not be applicable to all situations as the electromagnetic propagation can be absorbed and
reflected by buildings, objects and human body.

九.2.5 使用建议 Application suggestions

① 本产品符合搬运机器人中关于设备电磁兼容（EMC）标准之要求。

① The product meets the requirements of EMC standards for handling robots.

② 请不要在此设备附近使用具有射频信号的设备（如手机，无线电收发机或是无线电控制的产品），这
样会导致此设备的运行参数超过此设备发布的标准规格。当靠近本产品时，请将上述这些无线电产品的
电源关闭。

② Do not use devices (such as mobile phones, radio transceivers or radio controlled products) with radio
frequency signals near this equipment, which will cause that the operating parameters of this equipmentexceed the
standard specifications issued . When approaching this product, these radio products shall be powered off.

③ 依据表 4 中的推荐间隔距离，并使频率在 150kHz 到 2.5GHz 之间，可以减少图像上的干扰，但是可能

不能完全消除所有干扰。但是，按照此要求进行安装和操作，可以保持本设备的基本功能，在动态的环
境下连续安全地获得可控的 X 射线的曝光。

③ According to the recommended spacingin Table 4,the frequency is controlled between 150 kHz- 2.5 GHz, and
the interference on the image can be reduced, but the interference cannot be fully eliminated. However, by
installing and operating according to this requirement,the basic functions of the equipment can be ensured and
continuous, safe andcontrollable X-ray exposure is achieved in a dynamic environment.

④ 如果使用其他非指定的附件，变频器或是电缆，可能导致该设备系统的电磁兼容性降低。

④ If other accessories, frequency converters or cables not specified are used, the EMC of the equipment system
may be reduced.

⑤ 负责此设备的人员应该完全遵守以上的设备要求。

⑤ The personnel responsible for the equipment shall fully comply with the above requirements.

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第十章 附录

Chapter 10 Appendix
十.1. 附录一：《产品基本参数表》Appendix 1：《Product basic parameter list》

参数项 属性 备注
Parameter item Specifications Remarks
动力来源 磷酸铁锂电池
Driving force Lithium iron phosphate battery
驱动方式 差速驱动
Drive mode Differential drive
刹车方式 电磁刹车
Braking method Electromagnetic brake
惯导+二维码
导航方式
Inertial guide + two-dimensional
Navigation method
code
自动充电+手动充电
充电方式
Automatic charging + manual
Charging method
charging
通信方式
WiFi 802.11b/g/n
Way of communication
避障防撞方式 激光雷达+安全触边
Obstacle avoidance method Lidar+ safe edge
车身自重
142kg (312 pounds)
Body weight
最大负载能力
800kg (1760 pounds)
Maximum load
最大负载尺寸
L1500mm x W1500mm x H2400mm
Max. Size of load
电池规格 磷酸铁锂 48V 27Ah
Battery specification Lithium iron phosphate 48V 27Ah
电池电压 40.5-54.5V
Battery voltage
空载最高速度
2.2 m/s
No-load maximum speed
重载最高速度
1.8 m/s
Heavy load speed
空载加速度
1.0 m/s2
No-load acceleration
重载加速度
0.28 m/s2
Heavy load acceleration
空载减速度
1.0 m/s2
No-load deceleration
重载减速度
0.224 m/s2
Heavy load deceleration
刹车距离 1.1m （在允许的最小摩擦
Braking distance 系数下，以最大速度
和 1.1 倍负载，急停
按钮被按下或安全触
边被触发，电机减速
至停止）(Under the
minimum allowable
coefficient of friction,
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with max speed and 1.1

times
load，Emergency stop
button been pressed or
the bumper been
pressed motor stop)
行走精度(左右)
Walking accuracy (left and ±10 mm
right)
停车精度(前后)
Parking accuracy (before and ±5 mm
after)
最低避障检测高度
Minimum obstacle avoidance 16 cm
height
激光雷达避障检测距离
Lidar obstacle avoidance 2m
detection distance
空载旋转 90°时间
2 seconds
Turning 90° time
负载旋转 90°时间
2.5 seconds
Turning 90° time
顶升时间
1.8 second
Loading time
下降时间
1.8 second
Unloading time

参数项 属性 备注
Parameter item Specifications Remarks
续航时间 7 小时
Battery life 7 hours
充电时间 1.6 小时
Charging time 1.6 hours
额定电压
48 V
Rated voltage
静态功耗
50 W
Static power
充放电比例
1:8
Charge and discharge ratio
最大持续充电电流
Maximum continuous 27 A
charging current
最大持续放电电流
Maximum sustained 50 A
discharge current
电池循环寿命 2000 次（80%DOD）
Battery Cycle life 2000 times（80%DOD）
防护等级
IP53
Protection level
DM 码 ECC200 14x14，码间距 0.9 ~
适用二维码配置 1.2m
2D code type DM Code ECC200 14x14，distance
between 2 code：0.4-1.5m
适用环境温湿度
Applicable environment -10 ~ 50 ℃，≤90% RH
temperature and humidity

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地面凹凸 ≤5mm
适用地面 地面沟宽 ≤30mm
Suitable for the ground Ground bump ≤5mm
Ground groove width ≤30mm
须远离剧烈震动、高腐蚀性和可燃性
气体环境
适用环境 Keep away from severe vibration, high
Applicable environment
corrosive and flammable gas
atmospheres
适用海拔 2000m 以下
Applicable altitude Less than 2000m

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十.2. 附录二：《主要部件及备件清单信息表》 Appendix 2：《Main parts and spare parts

list information table》

关键零部件 Main parts

序号 名称 单位 备件数量 备注
No. Name Unit Number Remark
1
2
3
4
5
6
7
易损件
Spare parts

序号 名称 技术规格 型号 备注
No. Name Parameter Type Remark
1
2
3
4
5
6
7

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