CN112441482A - Control method, system and device for automatically guiding transport vehicle to use elevator - Google Patents
Control method, system and device for automatically guiding transport vehicle to use elevator Download PDFInfo
- Publication number
- CN112441482A CN112441482A CN201910820838.8A CN201910820838A CN112441482A CN 112441482 A CN112441482 A CN 112441482A CN 201910820838 A CN201910820838 A CN 201910820838A CN 112441482 A CN112441482 A CN 112441482A
- Authority
- CN
- China
- Prior art keywords
- elevator
- control system
- request
- central control
- guided vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Elevator Control (AREA)
Abstract
The application discloses a control method, a system and a device for an automatic guided transport vehicle to use an elevator, wherein the method comprises the steps that the automatic guided transport vehicle sends an elevator using request to a central control system; the central control system receives a request for using the elevator from the automatic guided vehicle and sends the request for using the elevator to the elevator control system; the elevator control system receives an elevator using request from the central control system, analyzes the elevator using request to generate a control command, controls the elevator to run to a target floor, and sends a notification that the elevator has reached the target floor to the central control system; the central control system receives a notification from the elevator control system that the elevator has reached the target floor; and sends an entry/exit elevator notification to the automated guided vehicle. By the mode, automatic control of the AGV trolley on the elevator can be achieved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a control method, a system and a device for an automatic guided vehicle to use an elevator.
Background
An Automatic Guided Vehicle (AGV) is a key device in an intelligent logistics storage system, and can be used as a transfer robot, thereby greatly saving labor cost and improving work efficiency. Most of the AGVs are used for automatically transporting materials between a warehouse and a production line or between the production lines, and the AGVs can relate to automatic communication control of the AGVs and an elevator in a floor-crossing material transporting process; the AGV is typically required to agree on or customize the same communication protocol and control logic with the elevator. At the present stage, the method of each manufacturer is different between the AGV and the elevator, and a unified standard is not formed yet; in order to realize the automatic control of the elevator by the AGV, the elevator needs to be modified or customized. The method has the advantages of long customization and development period, high technical threshold and high cost, and the elevator is used as special equipment, so that the safety risk of the modified equipment is caused.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a control method, a system and a device for using an elevator by an automatic guided transport vehicle, and the automatic control of the elevator by an AGV trolley can be realized.
In order to solve the technical problem, the application adopts a technical scheme that: a control method for automatically guiding a transport vehicle to use an elevator is provided, which comprises the steps that the automatically guided transport vehicle sends a request for using the elevator to a central control system; the central control system receives a request for using the elevator from the automatic guided vehicle and sends the request for using the elevator to the elevator control system; the elevator control system receives an elevator using request from the central control system, analyzes the elevator using request to generate a control command, controls the elevator to run to a target floor, and sends a notification that the elevator has reached the target floor to the central control system; the central control system receives a notification from the elevator control system that the elevator has reached the target floor; and sends an entry/exit elevator notification to the automated guided vehicle.
In order to solve the above technical problem, another technical solution adopted by the present application is: the control system for the elevator of the automatic guided transport vehicle comprises an automatic guided transport vehicle single-machine control system, a central control system and an elevator control system; the automatic guide transport vehicle stand-alone control system is used for sending an elevator using request to the central control system; the central control system is used for receiving the elevator using request from the automatic guided vehicle and sending the elevator using request to the elevator control system; the elevator control system is used for receiving an elevator using request from the central control system, analyzing the elevator using request to generate a control command, controlling the elevator to run to a target floor, and sending a notification that the elevator has reached the target floor to the central control system; the central control system is also used for receiving the notification that the elevator arrives at the target floor from the elevator control system; and sends an entry/exit elevator notification to the automated guided vehicle.
In order to solve the above technical problem, another technical solution adopted by the present application is: provided is a device having a storage function, wherein a program is stored, and the program can realize the control method for using an elevator by an automatic guided vehicle when executed.
The beneficial effect of this application is: be different from prior art's condition, this application can utilize central control system to realize the information interaction of AGV dolly and elevator through introducing central control system, no longer need customize the transformation to AGV dolly and elevator, can practice thrift the cost.
Drawings
Fig. 1 is a schematic configuration diagram of a control system for an automated guided vehicle using an elevator in an embodiment of the present application;
fig. 2 is a schematic configuration diagram of an elevator control system according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a control method for an automated guided vehicle using an elevator in an embodiment of the present application;
fig. 4 is a schematic flow chart of a control method for an automated guided vehicle using an elevator in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a computer device according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a device having a storage function according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solution and effect of the present application clearer and clearer, the present application is further described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system for an automated guided vehicle using an elevator according to an embodiment of the present disclosure. In this embodiment, the control system for the automated guided vehicle using the elevator includes a central control system 10, an AGV cart 20, and an elevator 30.
The central control system 10 is responsible for the task management and information interaction of the whole system and can participate in controlling the AGV cars and elevators. The central Control System 10 may be a Warehouse Control System (WCS) or the like. The central control system 10 can receive and store the state information of the AGV cars and the elevators so as to uniformly manage and allocate the AGV cars and the elevators.
The AGV cart 20 includes an AGV stand-alone control system for controlling the activities of the AGV cart 20, such as obstacle detection, path navigation, etc. The AGV single-machine control system can also perform information interaction with the central control system 10 through a wireless network, and can send the position information, the task state information and the like of the AGV trolley 20 to the central control system 10; the central control system 10 can issue the travel route and tasks of the AGV 20 to the AGV stand-alone control system.
The elevator 30 comprises an elevator control system, which is a bridge for information interaction and control between the elevator 30 and the central control system 10. The elevator control system can establish a communication connection with the central control system 10 in a wired/wireless manner for information interaction. The elevator control system can feed back the task and equipment state information of the elevator to the central control system 10, and can also receive the instruction sent by the central control system 10, and the like.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an elevator control system according to an embodiment of the present application. The elevator control system comprises a first control module 31 and a second control module 32, the second control module 32 is used for specifically controlling the operation of the elevator, and the first control module 31 is used for information interaction between the second control module 32 and the central control system 10. The first control module comprises a control unit, a communication unit and a communication interface, wherein the communication unit is used for being in communication connection with the central control system, and the communication interface is used for being in communication connection with the second control module; the control unit is used for converting tasks/notifications in the form of digital signals into control instructions in the form of ASCII characters and/or for converting instructions/notifications in the form of ASCII characters into information in the form of digital signals. The first control module 31 may be a PLC (programmable Logic controller) control module, which includes a PLC control unit 311, a PLC communication unit 312, and a PLC communication interface 313, and may be communicatively connected to the central control system 10 by the PLC communication unit 312, and may be communicatively connected to the second control module 32 by the PLC communication interface 313. The PLC communication interface 313 may be an RS485 communication interface, and the second control module 32 may be an RS485 control card.
Specifically, the PLC control unit 311 establishes a communication connection with the central control system 10 through the network via the PLC communication unit 312, the central control system 10 transmits the task/notification in the form of a digital signal to the PLC control unit 311, the PLC control unit 311 converts the digital signal into an ASCII (American Standard Code for Information Interchange) character command that can be recognized by the second control module 32, and then transmits the ASCII character command to the second control module 32 via the PLC communication interface 313, the second control module 32 performs the task (controls the operation of the elevator) according to the received ASCII character command, after the task is completed, the second control module 32 feeds back the task status to the PLC control unit 311 via the PLC communication interface 313, after the PLC control unit 311 receives the elevator-completed-task Information, the task is completed, and the Information of the new task is converted into a digital signal, and feeds back to the central control system 10.
Through the mode, the communication with the central control system can be realized only by adding one control module in the existing elevator control system, and then the communication with the AGV trolley through the central control system is realized.
Under this control system, when using the elevator, usable central control system realizes the communication of AGV dolly and elevator, realizes the control of AGV dolly to the elevator. Specifically, the AGV trolley can send a request for using the elevator to a central control system, the central control system sends the request for using the elevator to a corresponding elevator control system, the elevator control system controls the elevator to run according to an instruction, then the running state is fed back to the central control system, and then the central control system informs the AGV trolley to enter/leave the elevator.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating a control method for an automated guided vehicle using an elevator according to an embodiment of the present application. In this embodiment, the control method for an automated guided vehicle using an elevator includes the steps of:
s410: the automated guided vehicle sends a request to use the elevator to the central control system.
S420: the central control system receives a request to use an elevator from the automated guided vehicle and sends the request to use the elevator to the elevator control system.
The elevator using request can comprise position information of the AGV dolly, and the AGV dolly can send the elevator using request to the central control system in a wireless communication mode. The central control system can send a request for using the elevator to the elevator corresponding to the position of the AGV according to the position information of the AGV; and the elevator using request can be sent to the corresponding elevator according to the position information of the AGV car and the task state information of the elevator.
S430: the elevator control system receives an elevator using request from the central control system, analyzes the elevator using request to generate a control command, controls the elevator to run to a target floor, and sends a notification that the elevator has reached the target floor to the central control system.
Wherein the request for using the elevator is sent to the central control system by the automatic guided transporting vehicle. The elevator request may be sent by means of wireless communication and may include an instruction to require the elevator to travel to a certain floor.
S440: the central control system receives notification from the elevator control system that the elevator has reached the target floor and sends an entry/exit elevator notification to the automated guided vehicle.
Wherein, the target floor can be the floor where the AGV is currently located or the floor to which the AGV will go.
In the embodiment, the central control system is introduced, so that the information interaction between the AGV trolley and the elevator can be realized by using the central control system, the AGV trolley and the elevator do not need to be customized and transformed, and the cost can be saved.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating a control method for an automated guided vehicle using an elevator according to an embodiment of the present application. In this embodiment, the control method for an automated guided vehicle using an elevator includes the steps of:
and the central control system is in communication connection with the AGV trolley and the elevator control system respectively. The AGV trolley can be in wireless connection with the central control system, and the elevator control system can be in wireless connection with the central control system or in wired connection with the central control system.
And the central control system sends the task information and the path information to the AGV, and the AGV carries the goods according to the task information and the path information. When the AGV trolley needs to use the elevator, the AGV trolley runs to reach the elevator door; the elevator use request is sent to the central control system, and the position information of the AGV trolley can be sent at the same time, so that the central control system knows which elevator the central control system will use. Wherein the request for use of an elevator may be a request for opening an elevator door.
And after receiving the elevator door opening request, the central control system sends the elevator door opening request to the elevator control system.
In one embodiment, the request to open the elevator doors includes information about the location of the AGV car, including which elevator door is in front of, which floor is on, etc. The central control system can directly send the elevator door opening request to the elevator corresponding to the position of the AGV according to the position information of the AGV.
In one embodiment, the central control system may first detect the task status of the target elevator, which is the elevator corresponding to the location of the AGV. If the target elevator has faults or is in a running state, how long the current task needs to be completed, and the like. Different command information can be generated according to the state of the target elevator. If the target elevator is in an available state, directly sending an elevator door opening request to an elevator control system of the target elevator; if the target elevator is in a running state at present, the current task can be completed quickly, an elevator door opening request can be sent to an elevator control system of the target elevator, and meanwhile, a waiting notice is sent to the AGV trolley to inform the AGV trolley that the elevator needs to wait for the completion of the previous task; if the target elevator fails or the current task needs to be completed for a long time, the central control system can inquire the available elevator information, perform path planning on the AGV again according to the available elevator information, send new path information to the AGV, enable the AGV to run to the front of an available elevator door according to the new path information, and send a request for opening the elevator door again. Available elevators can be inquired according to the position information of the AGV trolley and the sequence from near to far, and the available elevator which is closest to the AGV trolley and has the least detour is strived to be found.
In one embodiment, if the target elevator is in a running state, the task content of the target elevator can be acquired, whether the AGV car can be accommodated in the elevator car for use is detected, whether the target elevator can be used with other AGV cars at the same time is judged, and if yes, the steps are carried out. If not, the AGV is notified that the cart is waiting or the path can be re-planned.
Wherein the central control system sends the request for using the elevator in the form of a digital signal. Specifically, the existing general communication protocol can be used for encoding transmission, and a special agreement on the communication protocol is not needed.
After receiving the elevator using request, the PLC control module of the elevator control system converts the information in the form of digital signals into ASCII character commands which can be recognized by the second control module, and sends the ASCII character commands to the second control module, and the second control module specifically controls the elevator to run according to the ASCII character commands. When the elevator runs to the floor where the AGV trolley is located, the second control module sends information that the elevator runs to the target floor and is opened to the PLC control module, and the PLC control module feeds back the information that the elevator runs to the target floor and is opened to the central control system after converting the information into digital signals. The information form conversion is carried out by utilizing the PLC control module, the control logic of the original elevator does not need to be changed, and the control panel of the elevator does not need to be reformed.
And after receiving the information that the elevator runs to the target floor and the door is opened, the central control system generates an accessible elevator notification, sends the accessible elevator notification to the AGV, and notifies the AGV to enter the elevator.
Before the AGV car enters the elevator, the photoelectric sensing device of the AGV car can be used for detecting and confirming whether the elevator door is opened or not, and if the elevator door is detected to be opened, the AGV car enters the elevator car; if the closing of the elevator door is detected, the door may be overtime, the elevator door is automatically closed again, and the AGV sends the request for opening the elevator door again to apply for opening the elevator door again.
In one embodiment, when a plurality of trolleys share the elevator, if an AGV trolley exists in the elevator and the target floor of the AGV trolley is not the floor, the AGV trolley is informed to wait without leaving the elevator when the elevator door is opened; if the target floor of the AGV car is exactly the floor, informing the AGV car in the elevator to leave the elevator firstly, informing the car outside the elevator to wait, and entering the elevator after the AGV car in the elevator leaves the elevator. It is also desirable to provide AGV carts with information about the path to and from the elevator.
After the AGV has fully entered the elevator car, it sends a request to the central control system for the destination floor.
The central control system receives the request to the destination floor and sends the request to the elevator control system.
And after receiving the request for going to the target floor, the PLC control module of the elevator control system converts the information in the form of digital signals into an ASCII character command and sends the ASCII character command to the second control module, and the second control module controls the elevator to run to the target floor according to the ASCII character command.
In one embodiment, the information to the destination floor may be sent along with the request to use the elevator, so that the elevator control system may automatically initiate a trip to the destination floor upon detecting that the AGV car has fully entered the elevator.
And after the elevator runs to the target floor, the elevator door is opened, and the information that the elevator runs to the target floor and is opened is fed back to the central control system by the elevator control system.
And after receiving the information that the elevator runs to the target floor, the central control system generates an elevator leaving notification and sends the elevator leaving notification to the AGV trolley, and the AGV trolley leaves the elevator after detecting that the elevator door is opened.
After the AGV leaves the elevator, an elevator door closing request can be sent to the central control system, the central control system sends the elevator door closing request to the elevator control system to control the elevator to close the elevator door, and the elevator control system feeds the elevator door closing information back to the central control system. In other embodiments, the elevator may also automatically close the elevator doors after detecting that the AGV car has left the elevator.
In one embodiment, after the AGV sends the request for opening the elevator door, the response time may be set, and if the notification that the elevator door is opened is not received within the response time, the request for opening the elevator door may be sent again. When the number of applications reaches a preset value, information that the elevator can not be normally used can be sent to the central control system, and the central control system is requested to carry out path planning again.
In one embodiment, if the elevator reaches the target floor and no AGV car has been detected to enter/exit, the elevator control system may send an elevator fault message to the central control system, or an alarm message to notify the relevant technician to participate in removing the fault.
In this embodiment, the elevator control system does not communicate directly with the AGV carts, but rather is relayed through the central control system. Through the mode, identification devices do not need to be additionally arranged on the AGV trolley and the elevator, a communication protocol and control logic which are specially agreed between the AGV trolley and the elevator are also not needed, and the communication between the AGV trolley and the elevator is simply, conveniently and low in cost. And the central control system can acquire the state task information of all AGV trolleys and elevators and can reasonably allocate the AGV trolleys and the elevators.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure. In this embodiment, the computer device 60 includes a processor 610, a memory 620 and a communication circuit 630, the processor 610 is coupled to the memory 620 and the communication circuit 630, the memory 620 is used for storing programs, and the processor 610 is used for executing the programs and implementing the control method for using the elevator by the automated guided vehicle according to any one of the above embodiments by using the communication circuit 630. For a specific execution process, please refer to the description of the above embodiments, which is not described herein again.
The processor may also be referred to as a CPU (Central Processing Unit). The processor may be an integrated circuit chip having signal processing capabilities. The processor may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The computer equipment can be a computer, a server cluster and the like, is used as a central control system and is used for executing a program to control and allocate the AGV and the elevator, identification devices do not need to be added in the AGV and the elevator, the central control system can acquire state task information of all the AGV and the elevator, and the AGV and the elevator can be allocated reasonably.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an apparatus having a storage function according to an embodiment of the present invention, in which the apparatus 80 having the storage function stores a program 810, and when the program 810 is executed, the method for controlling an elevator used by an automated guided vehicle according to any of the embodiments described above can be implemented.
The program 810 may be stored in the above-mentioned apparatus 80 with storage function in the form of a software product, and includes several instructions to make a device or a processor execute all or part of the steps of the methods according to the embodiments of the present application.
The storage-capable device 80 is a medium in computer memory for storing some discrete physical quantity. The aforementioned device 80 with storage function includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
According to the scheme, the control method and the control device for the elevator used by the automatic guided transport vehicle can be used for controlling the AGV for carrying the PCB to automatically control the elevator.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A method of controlling an automated guided vehicle using an elevator, comprising:
the automatic guided vehicle sends a request for using the elevator to a central control system;
the central control system receives the elevator use request from the automated guided vehicle and sends the elevator use request to an elevator control system;
the elevator control system receives the elevator using request from the central control system, analyzes the elevator using request to generate a control command, controls an elevator to run to a target floor, and sends a notification that the elevator reaches the target floor to the central control system;
the central control system receiving a notification from the elevator control system that an elevator has reached a target floor; and sends an entry/exit elevator notification to the automated guided vehicle.
2. The automated guided vehicle elevator use control method of claim 1, wherein the central control system receiving an elevator use request from the automated guided vehicle comprises:
the central control system receives an open elevator door request from the automated guided vehicle and/or a go to target floor request, the open elevator door request including location information of the automated guided vehicle.
3. The automated guided vehicle elevator use control method of claim 1, wherein the use elevator request includes position information of the automated guided vehicle, and the sending the use elevator request to an elevator control system comprises:
the central control system detects whether a target elevator is in an available state, wherein the target elevator is an elevator corresponding to the position of the automatic guided vehicle;
if the target elevator is in the available state, sending the elevator using request to an elevator control system of the target elevator;
and if the target elevator is in a non-available state, inquiring available elevators, combining the position information of the automatic guided transport vehicle and the available elevator information to perform path planning on the automatic guided transport vehicle again, and sending new path information to the automatic guided transport vehicle.
4. The method of claim 1, wherein the central control system sends the request to use the elevator to the elevator control system as a digital signal.
5. The control method for an automated guided vehicle using an elevator according to claim 4,
the elevator control system converting the request for use of the elevator in the form of digital signals into control commands in the form of ASCII characters; and/or
The elevator control system converts the notification in ASCII character form that the elevator has reached the target floor into information in the form of a digital signal.
6. The method of claim 1, wherein the central control system transmits the request for using the elevator to the elevator control system in a wired/wireless manner.
7. A control system for an automatic guided transport vehicle using an elevator is characterized by comprising an automatic guided transport vehicle single-machine control system, a central control system and an elevator control system;
the automatic guided transport vehicle stand-alone control system is used for sending a request for using an elevator to the central control system;
the central control system is used for receiving the elevator using request from the automatic guided vehicle and sending the elevator using request to an elevator control system;
the elevator control system is used for receiving the elevator using request from the central control system, analyzing the elevator using request to generate a control command, controlling an elevator to run to a target floor, and sending a notification that the elevator reaches the target floor to the central control system;
the central control system is further for receiving a notification from the elevator control system that an elevator has reached a target floor; and sends an entry/exit elevator notification to the automated guided vehicle.
8. The automated guided vehicle elevator use control system of claim 7, comprising a first control module and a second control module, the second control module for controlling operation of the elevator specifically, the first control module for information interaction between the second control module and the central control system.
9. The automated guided vehicle elevator use control system of claim 8, the first control module comprising a control unit, a communication unit for communicative connection with the central control system, and a communication interface for communicative connection with the second control module; the control unit is used for converting tasks/notifications in the form of digital signals into control instructions in the form of ASCII characters and/or for converting instructions/notifications in the form of ASCII characters into information in the form of digital signals.
10. An apparatus having a storage function, characterized in that the apparatus stores a program which is capable of implementing the control method of an automated guided vehicle using an elevator according to any one of claims 1 to 6 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910820838.8A CN112441482A (en) | 2019-08-30 | 2019-08-30 | Control method, system and device for automatically guiding transport vehicle to use elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910820838.8A CN112441482A (en) | 2019-08-30 | 2019-08-30 | Control method, system and device for automatically guiding transport vehicle to use elevator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112441482A true CN112441482A (en) | 2021-03-05 |
Family
ID=74734117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910820838.8A Pending CN112441482A (en) | 2019-08-30 | 2019-08-30 | Control method, system and device for automatically guiding transport vehicle to use elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112441482A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060610A (en) * | 2021-03-26 | 2021-07-02 | 京东数科海益信息科技有限公司 | Elevator central control equipment and elevator control method |
| CN114153205A (en) * | 2021-11-22 | 2022-03-08 | 广东利元亨智能装备股份有限公司 | Elevator boarding control method and operation control device of AGV car |
| CN114671309A (en) * | 2022-04-14 | 2022-06-28 | 广东铃木电梯有限公司 | Elevator robot control system and method |
| CN115215167A (en) * | 2022-07-19 | 2022-10-21 | 宁波市微石科技有限公司 | Elevator control system of AGV dolly |
| CN115215168A (en) * | 2022-07-19 | 2022-10-21 | 宁波市微石科技有限公司 | Elevator calling method of mobile trolley |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013216408A (en) * | 2012-04-05 | 2013-10-24 | Mitsubishi Electric Building Techno Service Co Ltd | Conveyance elevator system for a plurality of robots, elevator control device, robot of elevator utilization type, and method of controlling elevator conveying a plurality of robots |
| CN106348110A (en) * | 2016-09-21 | 2017-01-25 | 上海三菱电梯有限公司 | Elevator control device for group controllers |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
| CN107934705A (en) * | 2017-12-06 | 2018-04-20 | 广州广日电梯工业有限公司 | A kind of elevator and its operation method suitable for automated workshop |
| CN107979410A (en) * | 2016-10-21 | 2018-05-01 | 菜鸟智能物流控股有限公司 | Method for automatically entering and leaving riding equipment and related device |
| CN109250593A (en) * | 2018-11-05 | 2019-01-22 | 上海木木聚枞机器人科技有限公司 | A kind of dispatching method and system of multirobot and more elevators |
| CN109665388A (en) * | 2018-12-19 | 2019-04-23 | 北京联合大学 | A kind of method and system of the riding elevator of robot |
| CN109789997A (en) * | 2016-10-04 | 2019-05-21 | 三菱电机株式会社 | Elevator control gear and autonomous member control apparatus |
| CN110054044A (en) * | 2019-05-07 | 2019-07-26 | 快意电梯股份有限公司 | AGV floor truck takes the interconnection system and method for elevator automatically |
-
2019
- 2019-08-30 CN CN201910820838.8A patent/CN112441482A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013216408A (en) * | 2012-04-05 | 2013-10-24 | Mitsubishi Electric Building Techno Service Co Ltd | Conveyance elevator system for a plurality of robots, elevator control device, robot of elevator utilization type, and method of controlling elevator conveying a plurality of robots |
| CN106348110A (en) * | 2016-09-21 | 2017-01-25 | 上海三菱电梯有限公司 | Elevator control device for group controllers |
| CN109789997A (en) * | 2016-10-04 | 2019-05-21 | 三菱电机株式会社 | Elevator control gear and autonomous member control apparatus |
| CN107979410A (en) * | 2016-10-21 | 2018-05-01 | 菜鸟智能物流控股有限公司 | Method for automatically entering and leaving riding equipment and related device |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
| CN107934705A (en) * | 2017-12-06 | 2018-04-20 | 广州广日电梯工业有限公司 | A kind of elevator and its operation method suitable for automated workshop |
| CN109250593A (en) * | 2018-11-05 | 2019-01-22 | 上海木木聚枞机器人科技有限公司 | A kind of dispatching method and system of multirobot and more elevators |
| CN109665388A (en) * | 2018-12-19 | 2019-04-23 | 北京联合大学 | A kind of method and system of the riding elevator of robot |
| CN110054044A (en) * | 2019-05-07 | 2019-07-26 | 快意电梯股份有限公司 | AGV floor truck takes the interconnection system and method for elevator automatically |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113060610A (en) * | 2021-03-26 | 2021-07-02 | 京东数科海益信息科技有限公司 | Elevator central control equipment and elevator control method |
| CN114153205A (en) * | 2021-11-22 | 2022-03-08 | 广东利元亨智能装备股份有限公司 | Elevator boarding control method and operation control device of AGV car |
| CN114671309A (en) * | 2022-04-14 | 2022-06-28 | 广东铃木电梯有限公司 | Elevator robot control system and method |
| CN115215167A (en) * | 2022-07-19 | 2022-10-21 | 宁波市微石科技有限公司 | Elevator control system of AGV dolly |
| CN115215168A (en) * | 2022-07-19 | 2022-10-21 | 宁波市微石科技有限公司 | Elevator calling method of mobile trolley |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112441482A (en) | Control method, system and device for automatically guiding transport vehicle to use elevator | |
| US10466692B2 (en) | Automated guided vehicle system | |
| CN107168316B (en) | Multi-AGV dispatching system based on single-direction and two-direction mixed paths | |
| US9866321B2 (en) | Data transmission system for automated material handling system | |
| CN107963527B (en) | Communication system for simultaneously using elevators by multiple AGVs and control method for using elevators by AGVs | |
| CN111367272A (en) | Automatic guided vehicle control system and automatic guided vehicle control method | |
| CN106950951A (en) | A kind of AGV control systems and method | |
| JP2003201076A (en) | Method for modernizing elevator facility and computer program product | |
| CN113568417B (en) | Switching method and device of robot navigation map and computer readable medium | |
| WO2023125076A1 (en) | Scheduling method, apparatus, system, control device, and readable storage medium | |
| US20230071269A1 (en) | Programmable logic controller operation system and method for each movement position of logistics robot | |
| CN109564419A (en) | Technical ability interface for industrial application | |
| US11656625B2 (en) | System for evacuating one or more mobile robots | |
| CN114153205A (en) | Elevator boarding control method and operation control device of AGV car | |
| CN109799812A (en) | AGV onboard system and control method, more vehicles scheduling system and control method | |
| CN110780651B (en) | AGV dispatching system and method | |
| JP6998405B2 (en) | Conveyor system method for operating the conveyor system and the flow device used in the conveyor system. | |
| WO2023282254A1 (en) | Plant management system | |
| KR20210085982A (en) | Automatic guided vehicle for logistics automation | |
| CN206494612U (en) | Elevator intelligent logistics delivery system | |
| CN217102565U (en) | AGV dolly elevator control system based on simulation is punched card | |
| CN112363741A (en) | AGV trolley system updating method, device, equipment and storage medium | |
| KR20200069923A (en) | Automated guided vehicle path management system and method thereof | |
| CN214778857U (en) | Scheduling system for automatic guided vehicle and product production line | |
| US11441923B2 (en) | Method for distributing navigation map data to a plurality of work machines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210305 |
|
| RJ01 | Rejection of invention patent application after publication |