CN115633070A - Intelligent connection method for industrial elevator and warehousing equipment - Google Patents
Intelligent connection method for industrial elevator and warehousing equipment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/25—Integrating or interfacing systems involving database management systems
- G06F16/252—Integrating or interfacing systems involving database management systems between a Database Management System and a front-end application
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
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- G—PHYSICS
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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Abstract
The invention relates to the technical field of power grid intelligent warehousing, in particular to an intelligent connection method of an industrial elevator and warehousing equipment, which comprises the following steps: s1: the writing thread writes the state of the Do on the traffic callback into a database for being called by an external program, and the change of the Do state is received by a callback function OutPutIoIfor; s2: the reading thread reads the state of Di in the database to change the state of whether corresponding segment is forbidden or not in traffic; s3: and switching the positioning interface. The intelligent connection method for the industrial elevator and the warehousing equipment adopts the communication protocol which can be used mutually, so that the two control systems become a whole. The elevator control system and the storage flow control system can be easily recognized by the two systems through mutually recognized communication protocols, so that the two systems can know what state the other is in at any time, and the other can clearly know the state at any time by one action.
Description
Technical Field
The invention relates to the technical field of intelligent power grid warehousing, in particular to an intelligent connection method for an industrial elevator and warehousing equipment.
Background
In the field of power grid intelligent storage, storage with industrial elevator connection is a problem needing important attention and solution for building intelligent storage. In the intelligent warehousing construction process, the unmanned warehousing logistics equipment can realize the higher-level three-dimensional control warehousing effect only through the elevator equipment, and the high-level three-dimensional warehousing effect is realized by depending on the elevator equipment just like the current warehousing logistics equipment such as a warehousing automatic forklift, an automatic trolley and a production line.
Through an intelligent connection method of an industrial elevator and warehousing equipment, the elevator and the automatic warehousing equipment which are totally irrelevant before are connected, so that a corresponding command and information receiving and sending mechanism is established between the two systems, and the two systems become a linked whole.
Disclosure of Invention
The invention aims to provide an intelligent connection method of an industrial elevator and warehousing equipment, which aims to solve the problem that the two systems establish a corresponding instruction and information receiving and sending mechanism by connecting the elevator and the automatic warehousing equipment which are totally irrelevant before through the intelligent connection method of the industrial elevator and the warehousing equipment, so that the two systems become a linked whole.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent connection method for an industrial elevator and warehousing equipment comprises the following steps:
s1: the writing thread writes the Do state on the traffic callback into a database for being called by an external program, and the change of the Do state is received by a callback function OutPutIoIfor;
s2: the reading thread reads the state of Di in the database to change the state of forbidding or not of the corresponding segment in traffic;
s3: and switching the positioning interface.
Preferably, the S1 includes:
s11: when agv enters cluster1-1, the specific Do state DOOR _ OPEN corresponding to the cluster needs to be called back;
s12: when agv enters cluster-2, the state DOOR _ CLOSE of the Do of the cluster needs to be called back;
s13: when agv drives to a position of 90% of the inner line of the cluster-2, the specific state ELEVATOR _ GO _ OPEN _ DOOR of the Do of the z-segment is called back, and the corresponding relation of the time needs to be recorded for switching and positioning after the subsequent agv arrives at the floor;
s14: when agv goes out of the cluster homology callback, a specific state is called;
s15: and writing the Do state into a program outside the database for use.
Preferably, the S2 includes:
s21: the state of Di is mainly changed from the outside, and each time the door is opened or closed, the Di of the corresponding passing segment and all the z-segments reaching the floor needs to be set as forbidden or application;
s22: if the traffic is normal Di, the corresponding segment state in the table traffic can be directly shown as segment-1;
s23: if a z-segment is found, this indicates that the elevator has reached the designated floor.
Preferably, the S3 includes:
s31: agv _ agent _ base interface ResetPos;
s32: after the switching is successful, reporting the agv _ agnet _ manager interface InitPosCallBack in a callback mode.
Preferably, the S23 includes:
1. switching agv positioning do _ change _ layer first, and waiting for callback information of successful positioning switching;
and 2. Setting change layer status, wherein after the positioning switching is successful, the agvbase layer recalls the information, and then the state of the segment corresponding to the traffic is changed.
Compared with the prior art, the invention has the beneficial effects that: the intelligent connection method for the industrial elevator and the warehousing equipment adopts the communication protocol which can be used mutually, so that the two control systems become a whole. The elevator control system and the storage material flow control system can be used for enabling the two systems to know what state the opposite side is in at any time through communication protocols which can be mutually identified, the opposite side can clearly know the state at any time by one action, the two control systems are simultaneously placed in the same communication platform, the real-time running conditions of the two systems are received in time, and on the basis, the two systems can achieve the purpose as long as corresponding actions are made according to the current actual conditions;
and a modbus TCP communication protocol is adopted to formulate an interactive flow, so that the elevator and the intelligent warehousing equipment control system become a whole.
The key point of the invention is that an interactive flow is formulated through a modbus TCP communication protocol, so that a corresponding command, information receiving and sending mechanism is established between the intelligent warehousing equipment and the elevator system.
The key point to be protected is to customize an interactive flow according to a set communication protocol, calculate the coordinates of the intelligent storage equipment and realize the intelligent connection between the industrial elevator and the storage equipment.
Drawings
FIG. 1 is a schematic view of an interaction flow of the present invention;
FIG. 2 is a flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: the intelligent connection method of the industrial elevator and the warehousing equipment comprises the following steps:
it can be seen from fig. 1 that the process of applying for traffic and controlling external signals is mainly achieved by controlling Di or Do:
s1: the writing thread writes the Do state on the traffic callback into a database for being called by an external program, and the change of the Do state is received by a callback function OutPutIoIfor;
1. formulating an industrial elevator communication protocol
The read data transmission data format is as follows:
transaction identification protocol identification length unit identification function code start register address register number data length data
00 00 00 00 00 06 01 03 00 00 00 01
The format of the PLC feedback data is as follows:
00 00 00 00 00 05 01 03 02 00 01
the write data transmission data format is as follows:
transaction identification protocol identification length unit identification function code start register address register number data length data
00 10 00 00 00 09 01 10 00 00 00 01 02 00 01
The format of the PLC feedback data is as follows:
00 10 00 00 00 06 01 10 00 00 00 01
s11: when agv enters cluster1-1, the specific Do state DOOR _ OPEN corresponding to the cluster needs to be called back;
s12: when agv enters cluster-2, the state DOOR _ CLOSE of the Do of the cluster needs to be called back;
s13: when the agv travels to 90% of the position of the cluster-2 internal line, the specific state ELEVATOR _ GO _ OPEN _ DOOR of the Do of the z-segment is called back, and the corresponding relation of the time needs to be recorded for switching and positioning after the subsequent agv reaches the floor;
s14: when agv goes out of the cluster homology callback, a specific state is called;
s15: and writing the Do state into a program outside the database for use.
S2: the reading thread reads the state of Di in the database to change the state of whether corresponding segment is forbidden or not in traffic;
2. establishing a connection process
1) The intelligent storage equipment runs to an elevator entrance, sends an upstairs/downstairs signal and sends a signal for requesting to enter the elevator to the elevator;
2) The elevator receives the upstairs/downstairs signal, whether intelligent storage equipment exists in the elevator is judged, and the elevator runs to a specified floor when the intelligent storage equipment does not exist;
3) When the elevator reaches a designated floor and the door is opened in place, sending a signal to the intelligent storage equipment, and sending a door opening in-place signal by the elevator;
4) Sending a door closing signal, outputting an in-place signal to the elevator when the intelligent storage equipment reaches an in-elevator stopping point, and informing the elevator to close the door;
5) The elevator detects that the intelligent storage equipment is in place, and the elevator is closed; after the elevator is closed in place, the intelligent storage equipment is automatically conveyed to a specified floor;
6) The elevator sends the intelligent storage equipment to a specified floor and then opens the door, and when the door is completely opened, the elevator informs the intelligent storage equipment to release, and sends a floor signal and a floor door opening in-place signal;
7) Sending a door closing signal, allowing the intelligent storage equipment to pass after receiving the floor signal and the door opening in-place signal, and informing the elevator to close the door after the intelligent storage equipment completely exits the elevator;
the method comprises the steps of entering a door opening area to request door opening- > entering a stopping area { if a door is opened- > passing- > requesting to close the door in the door closing area } { if the door is not opened- > stopping in the stopping area to continuously inquire a door opening state- > passing- > requesting to close the door in the door closing area }
For example, the register address for reading the state of the switch gate is 100, and the register address for controlling the switch gate is 200
Door opening request 0x00 10 00 00 00 00 00 00 09 01 10 00 c8 00 01 02 00 (1 door opening 2 door closing)
Inquiring the door state: 0x00 00 00 00 00 00 00 00 06 00 03 00 64 00 01.
S21: the state of Di is mainly changed from the outside, and each time the door is opened or closed, the Di of the corresponding passing segment and all the z-segments reaching the floor needs to be set as forbidden or application;
s22: if the traffic is normal Di, the corresponding segment state in the table traffic can be directly shown as segment-1;
s23: if z-segment is found, this indicates that the elevator has reached the designated floor.
1. Switching the positioning do _ change _ layer of the agv first, and waiting for the callback information of successful positioning switching;
and 2.2. Set _changelayer _status, after the positioning switching is successful, the agvbase layer will call back the information, and then the state of the segment corresponding to the traffic is changed.
S3: switching positioning interface
S31: agv _ agent _ base interface ResetPos;
s32: after the switching is successful, reporting the agv _ agnet _ manager interface InitPosCallBack in a callback mode.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof.
Claims (5)
1. An intelligent connection method for an industrial elevator and warehousing equipment is characterized in that: the method comprises the following steps:
s1: the writing thread writes the state of the Do on the traffic callback into a database for being called by an external program, and the change of the Do state is received by a callback function OutPutIoIfor;
s2: the reading thread reads the state of Di in the database to change the state of whether corresponding segment is forbidden or not in traffic;
s3: and switching the positioning interface.
2. The intelligent connection method of the industrial elevator and the warehousing equipment as claimed in claim 1, characterized in that: the S1 comprises:
s11: when the agv enters the cluster1-1, the specific Do state DOOR _ OPEN corresponding to the cluster needs to be called back;
s12: when agv enters cluster-2, the state DOOR _ CLOSE of the Do of the cluster needs to be called back;
s13: when the agv travels to 90% of the position of the cluster-2 internal line, the specific state ELEVATOR _ GO _ OPEN _ DOOR of the Do of the z-segment is called back, and the corresponding relation of the time needs to be recorded for switching and positioning after the subsequent agv reaches the floor;
s14: when agv shows the special state on the cluster peer callback;
s15: and writing the Do state into a program outside the database for use.
3. The intelligent connection method of the industrial elevator and the warehousing equipment as claimed in claim 1, characterized in that: the S2 comprises:
s21: di state is mainly changed from outside, and the corresponding section passing through and Di of all z-sections reaching the floor are required to be configured as forbidden or application every time door opening or closing is carried out;
s22: if the Di is normal, the corresponding segment state can be the segment state as described above;
s23: if z-segment is found, this indicates that the elevator has reached the designated floor.
4. The intelligent connection method for the industrial elevator and the warehousing equipment as claimed in claim 1, characterized in that: the S3 comprises the following steps:
s31: agv _ agent _ base interface ResetPos;
s32: after the switching is successful, reporting the agv _ agnet _ manager interface InitPosCallBack in a callback mode.
5. The intelligent connection method of the industrial elevator and the warehousing equipment as claimed in claim 3, characterized in that: the S23 comprises:
1. switching the positioning do _ change _ layer of the agv first, and waiting for the callback information of successful positioning switching;
and 2. Setting change layer status, wherein after the positioning switching is successful, the agvbase layer recalls the information, and then the state of the segment corresponding to the traffic is changed.
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| CN202211617527.XA CN115633070A (en) | 2022-12-16 | 2022-12-16 | Intelligent connection method for industrial elevator and warehousing equipment |
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| CN202211617527.XA CN115633070A (en) | 2022-12-16 | 2022-12-16 | Intelligent connection method for industrial elevator and warehousing equipment |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774501A (en) * | 2009-10-19 | 2010-07-14 | 秦皇岛开发区前景电子科技有限公司 | Management method and system of household elevator with security protection function |
| 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 |
| CN113093758A (en) * | 2021-04-07 | 2021-07-09 | 河海大学 | Improved AGV path planning algorithm based on grid map model |
| US20220103985A1 (en) * | 2020-09-29 | 2022-03-31 | Verizon Patent And Licensing Inc. | Methods and system for robust service architecture for vehicle-to-everything communications |
| CN114572779A (en) * | 2022-01-18 | 2022-06-03 | 住友富士电梯有限公司 | AGV and elevator joint control method and system |
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- 2022-12-16 CN CN202211617527.XA patent/CN115633070A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101774501A (en) * | 2009-10-19 | 2010-07-14 | 秦皇岛开发区前景电子科技有限公司 | Management method and system of household elevator with security protection function |
| 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 |
| US20220103985A1 (en) * | 2020-09-29 | 2022-03-31 | Verizon Patent And Licensing Inc. | Methods and system for robust service architecture for vehicle-to-everything communications |
| CN113093758A (en) * | 2021-04-07 | 2021-07-09 | 河海大学 | Improved AGV path planning algorithm based on grid map model |
| CN114572779A (en) * | 2022-01-18 | 2022-06-03 | 住友富士电梯有限公司 | AGV and elevator joint control method and system |
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Application publication date: 20230120 |