CN105035893A - Communication system and communication method for AGV (automatic guided vehicle) and elevator - Google Patents
Communication system and communication method for AGV (automatic guided vehicle) and elevator Download PDFInfo
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- CN105035893A CN105035893A CN201510375333.7A CN201510375333A CN105035893A CN 105035893 A CN105035893 A CN 105035893A CN 201510375333 A CN201510375333 A CN 201510375333A CN 105035893 A CN105035893 A CN 105035893A
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- elevator
- agv
- communication control
- control capsule
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3453—Procedure or protocol for the data transmission or communication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/46—Adaptations of switches or switchgear
- B66B1/50—Adaptations of switches or switchgear with operating or control mechanisms mounted in the car or cage or in the lift well or hoistway
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention relates to a communication system and a communication method for an AGV (automatic guided vehicle) and an elevator. The communication system comprises the AGV, first information triggers, photoelectric sensors and the elevator, wherein the photoelectric sensors are arranged outside elevator doors on various floors and are used for detecting the open state and the close state of the elevator doors; the elevator comprises elevator call boxes, cages and elevator control boxes arranged in the cages, which are arranged on the various floors; a wireless transmitting and receiving module is arranged on the AGV; the communication system further comprises a plurality of multifunctional communication control boxes; the multifunctional communication control boxes are arranged in the elevator call boxes on the various floors and the elevator control boxes and are electrically connected with the elevator call boxes and the elevator control boxes; the plurality of multifunctional communication control boxes wirelessly communicate, and the multifunctional communication control boxes and the AGV wirelessly communicate; the photoelectric sensors are electrically connected with the multifunctional communication control boxes; the first information triggers are arranged on the outer side of the elevator. According to the communication system and the communication method, the AGV realizes automatic elevator boarding and leaving; the communication system and the communication method have the characteristics of safety, reliability and generality.
Description
Technical field
The present invention relates to AGV application, the communication system of especially a kind of AGV and elevator and the means of communication thereof
Background technology
Along with the development of automation of industry, the application of AGV inside factory is more and more extensive.By motor plant to Electronics Factory, then to bathroom factory etc., the industry of application also gets more and more, and span is also increasing.AGV has become an organic part for Factory Logistics delivery system.In the past, AGV carried material, was all only limited to and operated at this floor, because AGV also can not elevator up and down, carried out the material allocation across floor, also must obtain manual intervention, just can complete.In order to allow delivery system realize higher degree of automation, and realizing higher efficiency, being necessary to realize AGV upper and lower elevator automatically, and the automatic elevator up and down of AGV will be realized, just must realize AGV with the communication between elevator device.But realize direct communication, difficulty is very large, and reason has following:
(1) due to elevator device complexity very, calling case is mainly divided into, car, and main frame.Each large parts, by 485 buses or CAN communication, the state of logic all goes process by main frame.So, need to carry out secondary development to this system, the signal of AGV is changed, then follow the main-machine communication of elevator with CAN interface.Above-mentioned secondary development is feasible in theory, but the control system of elevator is the system of standard, is not the strong secondary development carrying out this System on Chip/SoC level of each elevator producer.
(2) elevator is special equipment, and security requirement height very, changes the control circuit of its inside, all needs through strict safety assessment, and needs checking for a long time.In addition, each elevator producer system used is not identical, and the elevator of almost each different manufacturers so will be caused to need to carry out above-mentioned secondary development, and time cost is high.
Therefore, the system and device that a set of AGV that is general, practical simple docks with elevator communication is necessary to develop.
Summary of the invention
First object of the present invention is to provide the communication system of a kind of simple and easy, general AGV and elevator.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
The communication system of a kind of AGV and elevator, comprise AGV, first information binary pair, opto-electronic pickup and elevator, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, described AGV is provided with radio receiving transmitting module, also comprise several multifunctional communication control capsulees, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is electrically connected with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
Compared with prior art, communication system of the present invention does not need AGV directly to communicate with elevator, the control part transforming elevator is not needed yet, only need to add as intermediate equipment and carry out with AGV the multifunctional communication control capsule that communicates, utilize the relay array in multifunctional communication control capsule, realize the control to each button of elevator, thus the action that imitation people presses the button, make AGV realize automatically elevator up and down.
Further, described multifunctional communication control capsule comprises photoelectrical coupler, radio receiving transmitting module, MCU and relay array; Described opto-electronic pickup sends elevator door start signal to photoelectrical coupler in the elevator calling case of corresponding floor, described radio receiving transmitting module is used for carrying out wireless telecommunications with AGV, the signal control relay opening and closing that MCU sends according to photoelectrical coupler and radio receiving transmitting module.
Further, can not judge by accident because of the stop of obstacle in order to ensure AGV and enter elevator, between first information binary pair and elevator, be provided with the second information trigger.
Preferably, described first information binary pair and the second information trigger are rfid card or emission sensor or magnetic stripe road sign.
Further, the mouth of the relay array in the multifunctional communication control capsule in described elevator calling case is electrically connected with the ascending for elevator button of described elevator calling case, elevator descending button one_to_one corresponding, and the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.
Second object of the present invention is to provide a kind of means of communication utilizing the communication system of this AGV and elevator, and its tool step is as follows:
A: first need the floor manually inputting present AGV place and the floor needing AGV to arrive, after input, start AGV, after AGV triggers first information binary pair close to current floor elevator, send request the instruction of elevator to the multifunctional communication control capsule in elevator calling case;
B: the destination instruction that the multifunctional communication control capsule in calling case sends according to AGV, the relay that closed AGV current floor button is corresponding, activates the ascending for elevator button on elevator calling case or elevator descending button;
C: elevator arrives AGV place floor, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by opto-electronic pickup, and elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case; Multifunctional communication control capsule in control box closes the relay be electrically connected with door-opened elevator button according to elevator door opening signal, activate door-opened elevator button; Multifunctional communication control capsule in calling case sends the instruction entering elevator to AGV;
D:AGV receives the instruction entering elevator, starts and enters elevator, after AGV detects its wall T1 time in car, sends and enters elevator instruction;
E: after what the multifunctional communication control capsule in control box received that AGV sends enter elevator instruction, the relay corresponding with door-opened elevator button resets, the closed relay corresponding with destination button and close the relay corresponding with elevator door close button;
F: elevator arrives destination, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by this floor elevator opto-electronic pickup outdoors, elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case, multifunctional communication control capsule in control box closes the relay corresponding with door-opened elevator button according to elevator door opening signal, and sends the instruction of rolling elevator away to AGV;
After g:AGV receives the instruction of rolling away from, start and roll elevator away from, after AGV travels the T2 time, sending the instruction that AGV sails out of elevator, multifunctional communication control capsule in control box receives after AGV sails out of the instruction of elevator, and the relay corresponding with door-opened elevator button resets.
Further, after AGV detects its wall 3-8S in car, send and enter elevator instruction.
Further, time enough can be had to roll elevator away from order to ensure AGV, running time when AGV rolls elevator away from is valid running time, and this running time T2 is 10-20S.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of multifunctional communication control capsule of the present invention;
Fig. 2 is the connection block diagram of calling case of the present invention, opto-electronic pickup and multifunctional communication control capsule;
Fig. 3 is the connection block diagram of control box of the present invention and multifunctional communication control capsule;
Fig. 4 is AGV control flow chart of the present invention;
Fig. 5 is the control flow chart of multifunctional communication control capsule of the present invention.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings and the specific embodiments.
See Fig. 1 to 5, the communication system of AGV of the present invention and elevator, comprise AGV, first information binary pair, opto-electronic pickup, elevator and several multifunctional communication control capsulees, described AGV is provided with radio receiving transmitting module, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is connected by wire with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
Above-mentioned radio is all the carrier frequencies using 433MHZ, makes to obtain more reliable and more stable communication state between each parts; And the ascending for elevator button of the mouth of relay array in multifunctional communication control capsule in elevator calling case and described elevator calling case, elevator descending button one_to_one corresponding are electrically connected, the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.Relay array is that 4 road normally opened relays combine, and when elevator floor is more than 2 layers, needs increase by or more to be arranged on multifunctional communication control capsule in control box, thus guarantees that each floor button all has relay corresponding with it.
First information binary pair is arranged on outside elevator, and concrete position is the place of distance 2.5 meters, elevator, certainly can adjust because of concrete environment.In addition, can not because of the stop of obstacle in order to ensure AGV, and erroneous judgement has entered elevator, the second information trigger can be provided with between first information binary pair and elevator, distance between second information trigger and elevator is 0.5 meter and is advisable, and the environment that certainly can configure setting too as first information binary pair adjusts.
As the preferred scheme of one, first information binary pair and the second information trigger can be rfid card or opposite type sensor or magnetic stripe road sign.
Owing to having the relay permutation often opened in multifunctional communication control capsule, relay permutation is electrically connected with each button of elevator again, by the closed and disconnected of control relay permutation, imitates people and operates elevator, thus realize the function controlling elevator; In addition, multifunctional communication control capsule carries out communication by radio and AGV, by the instruction that receives from AGV control relay array again after conversion, thus indirectly makes AGV and elevator carry out communication, realizes AGV upper and lower elevator automatically.
See Fig. 4 and Fig. 5, present invention also offers the means of communication of the communication system utilizing above-mentioned AGV and elevator, the method comprises the steps:
A: first need the floor manually inputting present AGV place and the floor needing AGV to arrive, after input, start AGV, when AGV is close to current floor elevator, and after triggering first information binary pair, can send request the instruction of elevator to the multifunctional communication control capsule in elevator calling case, the instruction of the request elevator that AGV sends can send once every 2 seconds;
B: the destination instruction sent according to AGV when the multifunctional communication control capsule in calling case, the relay that closed AGV current floor button is corresponding, activates the ascending for elevator button on elevator calling case or elevator descending button.
C: elevator arrives AGV place floor, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by opto-electronic pickup, and elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case; Multifunctional communication control capsule in control box closes the relay be electrically connected with door-opened elevator button according to elevator door opening signal, activate door-opened elevator button; Multifunctional communication control capsule in calling case sends the instruction entering elevator to AGV.
After d:AGV receives the instruction entering elevator, start and start to enter elevator, the wall 5-10 second in car detected as AGV after, sending the instruction having entered elevator.During AGV enters elevator, if AGV does not send the instruction having entered elevator, the door-opened elevator button on control box can by sustained activation, and elevator door can not be closed.
When being provided with the second information trigger between first information binary pair and elevator, AGV just can stop after needing to trigger the second information trigger simultaneously and the wall 5-10 second in car being detected, and send the instruction having entered elevator, such setting is to prevent AGV when not arriving elevator, blocked by obstacle and be detected as in arrival elevator, effectively guaranteeing normal operation.
E: after the multifunctional communication control capsule in control box receives the instruction that AGV sends, the relay corresponding with door-opened elevator button resets, the closed relay corresponding with destination button and the closed relay corresponding with elevator door close button, elevator door closedown;
At elevator run duration, AGV can carry out inquiry elevator every 2 seconds and whether arrive destination.
F: elevator arrives destination, this floor elevator opto-electronic pickup outdoors detects that elevator door is opened, and multifunctional communication control capsule elevator door opening signal is sent in calling case, elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case, the relay that multifunctional communication control capsule in control box is corresponding with door-opened elevator button according to signal closes, and the instruction of sailing out of elevator is sent to AGV.
After g:AGV receives the instruction of rolling away from, start and roll elevator away from, when after traveling 10-20 second, sending the instruction that AGV has sailed out of elevator, multifunctional communication control capsule in control box receives after AGV sails out of the instruction of elevator, and the relay corresponding with door-opened elevator button resets.During AGV rolls elevator away from, if AGV does not send the instruction of having sailed out of elevator, the door-opened elevator button on control box can by sustained activation, and elevator door can not be closed.
As the preferred scheme of one, time enough can be had to roll elevator away from order to ensure AGV, running time when AGV rolls elevator away from is valid running time, if namely there is stuck situation in AGV when rolling elevator away from, rolling timing away from and will stop at this time in AGV, AGV does not send the instruction of having sailed out of elevator; When AGV recovers to travel, roll timing away from and continue timing, until arrive Preset Time.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change above-mentioned embodiment and revise.Therefore, the present invention is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present invention modifications and changes more of the present invention.In addition, although employ some specific terms in this specification sheets, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (8)
1. the communication system of an AGV and elevator, comprise AGV, first information binary pair, opto-electronic pickup and elevator, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, described AGV is provided with radio receiving transmitting module, it is characterized in that: also comprise several multifunctional communication control capsulees, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is electrically connected with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
2. the communication system of a kind of AGV according to claim 1 and elevator, is characterized in that: described multifunctional communication control capsule comprises photoelectrical coupler, radio receiving transmitting module, MCU and relay array; Described opto-electronic pickup sends elevator door start signal to photoelectrical coupler in the elevator calling case of corresponding floor, described radio receiving transmitting module is used for carrying out wireless telecommunications with AGV, the signal control relay opening and closing that MCU sends according to photoelectrical coupler and radio receiving transmitting module.
3. the communication system of a kind of AGV according to claim 1 and elevator, is characterized in that: be provided with the second information trigger between described first information binary pair and elevator.
4. the communication system of a kind of AGV according to claim 3 and elevator, is characterized in that: described first information binary pair and the second information trigger are rfid card or emission sensor or magnetic stripe road sign.
5. the communication system of a kind of AGV according to claim 2 and elevator, it is characterized in that: the mouth of the relay array in the multifunctional communication control capsule in described elevator calling case is electrically connected with the ascending for elevator button of described elevator calling case, elevator descending button one_to_one corresponding, the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.
6. means of communication for the communication system of AGV according to claim 1 and elevator, its step comprises:
A: input current floor instruction to AGV and go to destination instruction, after AGV triggers first information binary pair close to current floor elevator, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case;
B: the destination instruction that the multifunctional communication control capsule in calling case sends according to AGV, the relay that closed AGV current floor button is corresponding, activates the ascending for elevator button on elevator calling case or elevator descending button;
C: elevator arrives AGV place floor, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by opto-electronic pickup, and elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case; Multifunctional communication control capsule in control box closes the relay be electrically connected with door-opened elevator button according to elevator door opening signal, activate door-opened elevator button; Multifunctional communication control capsule in calling case sends the instruction entering elevator to AGV;
D:AGV receives the instruction entering elevator, starts and enters elevator, after AGV detects its wall T1 time in car, sends and enters elevator instruction;
E: after what the multifunctional communication control capsule in control box received that AGV sends enter elevator instruction, the relay corresponding with door-opened elevator button resets, the closed relay corresponding with destination button and close the relay corresponding with elevator door close button;
F: elevator arrives destination, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by this floor elevator opto-electronic pickup outdoors, elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case, multifunctional communication control capsule in control box closes the relay corresponding with door-opened elevator button according to elevator door opening signal, and sends the instruction of rolling elevator away to AGV;
After g:AGV receives the instruction of rolling away from, start and roll elevator away from, after AGV travels the T2 time, sending the instruction that AGV sails out of elevator, multifunctional communication control capsule in control box receives after AGV sails out of the instruction of elevator, and the relay corresponding with door-opened elevator button resets.
7. the means of communication of the communication system of AGV according to claim 7 and elevator, is characterized in that: in steps d, and described T1 is 3-8S.
8. the means of communication of the communication system of AGV according to claim 7 and elevator, is characterized in that: in step g, and running time T2 when AGV rolls elevator away from is valid running time, and T2 is 10-20S.
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| CN107285150A (en) * | 2017-07-28 | 2017-10-24 | 苏州博众机器人有限公司 | A kind of external elevator key device and its control method |
| CN107337037A (en) * | 2017-07-25 | 2017-11-10 | 江南嘉捷电梯股份有限公司 | A kind of device of remote control elevator |
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