CN106437234A - Stereo garage, carrying mechanism and carrier control method - Google Patents
Stereo garage, carrying mechanism and carrier control method Download PDFInfo
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- CN106437234A CN106437234A CN201510487224.4A CN201510487224A CN106437234A CN 106437234 A CN106437234 A CN 106437234A CN 201510487224 A CN201510487224 A CN 201510487224A CN 106437234 A CN106437234 A CN 106437234A
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- carrier
- carrying mechanism
- control module
- cable
- control
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Abstract
The invention provides a stereo garage, a carrying mechanism and a carrier control method. The carrying mechanism comprises a carrier and a carrying trolley. The carrier comprises a first control module and a first communication module which is coupled to the first control module. The first control module is used for independently controlling operation of the carrier. The carrying trolley is in correlation with the carrier and comprises a second control module and a second communication module which is coupled to the first control module and is in communication connection with the first communication module in power line carrier mode. The second control module is used for independently controlling operation of the carrying trolley. Through the stereo garage, the carrying mechanism and the carrier control method, the reliability and stability of communication of the carrying mechanism can be promoted.
Description
Technical field
It relates to multi-storied garage technical field and in particular to a kind of multi-storied garage, carrying mechanism with
And carrier control method.
Background technology
With the quick popularization of the vehicles such as automobile, garage industry has also obtained vigorous growth.Wherein,
Mechanical intelligent multi-storied garage, due to the factor such as land use rate is high and Transport Vehicle is efficient and convenient, obtains
Increasing concern.In existing multi-storied garage, the good operation of carrying mechanism is most important.
The equipment being widely used in carrying mechanism mainly include carrier (Transport Apparatus) with
And conveying trolley (Conveying Trolley).
Carrier is the total of the device for transporting access vehicle between vehicle in and out port and parking stall
Claim.Transport access vehicle and mainly include following two processes between vehicle in and out port to parking stall：One
It is that vehicle is transported to conveying trolley load platform by carrier from the load of elevator platform of vehicle in and out port；
Two is that carrier is by vehicle from conveying trolley after conveying trolley moves to the parking spot in garage
Load platform is transported to parking stall.
Conveying trolley is to be allowed to reach that predetermined parking space puts removes for transporting vehicle on the track of tunnel
Shipping unit, including in sport car, travelling platform, piler etc..Conveying trolley transports on the track of tunnel
Vehicle be allowed to reach predetermined parking space put contain carrier is transported to together with vehicle described predetermined
Parking spot.Because vehicle is always situated on carrier, conveying trolley runs to described predetermined parking space and puts
And after being directed at parking stall track, carrier is by vehicles drive on parking stall.
Carrier and conveying trolley are two kinds of equipment in close relations, mutual dependence for existence.Carrier relies on and removes
Fortune chassis provides electrical source of power, has close information to exchange with conveying trolley simultaneously.Therefore in carrying implement
In structure, power is powered and the always research emphasis that communicate.In a kind of technical scheme, in order to persistently provide
Electrical source of power and communication interaction, the power transmission between carrier and conveying trolley and communication interaction be through
Carried out by around the drum cable being located on reel, this drum cable includes power supply lines and communication respectively
Line, thus form power power and the combined peculiar mode of communication interaction.
However, there is more relative motion between carrier and conveying trolley, inevitably go out
Existing drum cable long-term tension abrasion rupture.Such then can lead to because drum cable rupture lead to power supply
Reliability that electric wire and order wire short circuit and affecting communicate between carrier and conveying trolley and stably
Property, or even burn electronic device.
Content of the invention
The purpose of the disclosure is to provide a kind of multi-storied garage, carrying mechanism and carrier control method,
For lifted carrying mechanism communication reliability and stability, thus at least overcome to a certain extent by
The one or more problems leading in restriction and the defect of correlation technique.
Other characteristics of the disclosure and advantage will be apparent from by detailed description below, or partly
The acquistion by the practice of the disclosure.
According to the disclosure in a first aspect, provide a kind of carrying mechanism, including：
One carrier；Described carrier includes：
One first control module, for the running of carrier described in independent control；And
One first communication module, is coupled with described first control module；And
One conveying trolley, is associated with described carrier；Described conveying trolley includes：
One second control module, for the running of conveying trolley described in independent control；And
One second communication module, coupled with described first control module and communicate with described first mould
Block is communicated to connect in power carrier mode.
In a kind of example embodiment of the disclosure, described first communication module is only in pre- timing
Intermediate node and described second communication module carry out data interaction in power carrier mode.
In a kind of example embodiment of the disclosure, described scheduled time node includes described carrier
The eve starting and rear a moment of described carrier stopping.
In a kind of example embodiment of the disclosure, described first communication module includes：
One first Ethernet Adaptation Unit, is coupled with described first control module；
Described second communication module includes：
One second Ethernet Adaptation Unit, is coupled with described second control module；
Described carrying mechanism also includes：
One first cable, described first Ethernet Adaptation Unit passes through described one first cable and described second
Ethernet Adaptation Unit communicates to connect.
In a kind of example embodiment of the disclosure, described carrying mechanism also includes：
One second cable, for providing electric power for described conveying trolley for described carrier.
In a kind of example embodiment of the disclosure, described first cable and described second cable are same
One cable.
In a kind of example embodiment of the disclosure, described carrying mechanism also includes：
One reel；
Described first cable and the second cable are a drum cable, described drum cable winding and described volume
Cylinder.
In a kind of example embodiment of the disclosure, described Ethernet Adaptation Unit is TPLINK electric power
Line Ethernet Adaptation Unit.
In a kind of example embodiment of the disclosure, described first control module and first controls mould
Block includes：
ET200S type PLC chip, TMS320F2812 type dsp chip or mono- with AT89C51
Piece machine.
According to the second aspect of the disclosure, provide a kind of multi-storied garage, including：
Any one described carrying mechanism above-mentioned.
According to the third aspect of the disclosure, provide a kind of carrier control method, be applied to above-mentioned any
A kind of carrying mechanism or any one carrier above-mentioned；Described carrier control method includes：
Described first communication module receives the control instruction that described second communication module sends, and sends
To described first control module；
Carrier described in described first control module independent control is started and carried out described control instruction, institute
State carrier and be finished and stop after described control instruction；
Described first control module sends one and completes to confirm instruction to described second communication module.
Pass through in disclosure example embodiment to be respectively provided with to enter on carrier and conveying trolley
First control module of row independent control and the second control module, so that described first communication module
Only communicate with described second communication module in scheduled time node and carry out data interaction, and then avoid carrying
Device start and run when between carrier and conveying trolley communication interference, enhance carrier and
The stability of communication between conveying trolley.It is additionally, since without real-time Communication for Power, control can also be reduced
Difficulty and the power consumption reducing communication module.Additionally, also making communication hand in disclosure example embodiment
Mutually supply and share a cable, such that it is able to avoid between power supply lines and order wire with electrical source of power
Be short-circuited fault.
Brief description
Describe its example embodiment in detail by referring to accompanying drawing, above and other feature of the disclosure and
Advantage will be apparent from.
Fig. 1 is a kind of module connection diagram of carrying mechanism in disclosure example embodiment.
Fig. 2 is a kind of schematic flow sheet of carrier control method in disclosure example embodiment.
Description of reference numerals：
10 carriers
101 first communication modules
102 first control modules
20 conveying trolleys
201 second communication modules
202 second control modules
30 drum cables
S0-S3 step
Specific embodiment
It is described more fully with example embodiment referring now to accompanying drawing.However, example embodiment energy
Enough implement in a variety of forms, and be not understood as limited to embodiment set forth herein；On the contrary, carry
Make the disclosure will fully and completely for these embodiments, and will be comprehensive for the design of example embodiment
Convey to those skilled in the art.Represent same or similar knot in figure identical reference
Structure, thus their detailed description will be omitted.
Additionally, described feature, structure or characteristic can combine at one in any suitable manner
Or in more embodiment.In the following description, many details are provided thus providing to the disclosure
The fully understanding of embodiment.It will be appreciated, however, by one skilled in the art that the disclosure can be put into practice
Technical scheme without one of described specific detail or more, or other knots can be adopted
Structure, part, step, method etc..In other cases, be not shown in detail or describe known features,
Part or operation are to avoid each side of the fuzzy disclosure.
In order to effectively lift reliability and the stability of carrying mechanism communication, first in this example embodiment
First provide a kind of carrying mechanism.With reference to shown in Fig. 1, this carrying mechanism mainly includes interrelated
Carrier 10 and conveying trolley 20, for example described conveying trolley 20 powers for described carrier 10,
And there is communication interaction between described carrier 10 and conveying trolley 20.Described carrier 10 wraps
Include a first communication module 101 and one first control module 102.Described first control module 102
For the running of carrier described in independent control 10, for example, control drive module (inclusion converter)
And the state of information acquisition module etc., described first communication module 101 controls mould with described first
Block 102 couples.Described conveying trolley 20 includes a second communication module 201 and one second control
Module 202, described second control module 202 is used for the running of conveying trolley 20 described in independent control,
Described second communication module 201 is coupled with described first control module 102, and, described second leads to
Letter module 201 is communicated to connect in the way of power carrier with described first communication module 101.Due to being
Communicated in the way of power carrier, therefore, first communication module 101 and second communication module
Power power line communications can be passed through between 201, thus need not consider power supply lines and order wire it
Between short trouble for communication impact.
In this example embodiment, described first control module 102 and the second control module 202 can
With include PLC (Programmable Logic Controller, programmable logic controller (PLC)) chip,
Single-chip microcomputer and DSP (Digital Signal Processor, digital signal processor) chip etc..
For example, the first control module 102 and the second control module 202 can include ET200S type PLC
Chip or TMS320F2812 type dsp chip etc..But not with this in this example embodiment
It is limited, described first control module 102 and the second control module 202 can also include other and can use
Control chip.
Because above-mentioned first control module 102 and the second control module to carrier 10 and can be removed
Transport chassis 20 to be independently controlled, therefore, carrier 10 described in this example embodiment and carrying
It is no longer necessary to real-time Communication for Power between chassis 20, and only need to carry out data interaction in scheduled time node,
I.e. described first communication module 101 is only communicated with described second communication module 201 in scheduled time node
Carry out data interaction.For example, described scheduled time node can include what described carrier 10 started
Eve and rear a moment of described carrier 10 stopping, and in other moment, described carrier 10
Then can not carry out or only carry out the data interaction of a small amount of number of times and conveying trolley 20 between, so,
To logical between carrier 10 and conveying trolley 20 when carrier 10 then can be avoided to start and run
The interference of letter, and then strengthen the stability of communication between carrier 10 and conveying trolley 20.Additionally,
Control difficulty and reduce first communication module 101 and the due to without real-time Communication for Power, can also reduce
The power consumption of two communication modules 201.
In this example embodiment, described first communication module 101 includes one first Ethernet adaptation
Device, described first Ethernet Adaptation Unit is coupled with described first control module 102.Described second communication
Module 201 includes one second Ethernet Adaptation Unit, described second Ethernet Adaptation Unit and described second control
Molding block 202 couples.Described carrying mechanism also includes one first cable, described first Ethernet adaptation
Device passes through described one first cable and described second Ethernet Adaptation Unit communication connection.This example embodiment party
In formula, so that described Ethernet Adaptation Unit is for TPLINK electric lines of force Ethernet Adaptation Unit as a example said
Bright, for example described Ethernet Adaptation Unit can for TPLINK-PA200, TPLINK-PA201 and
The electric lines of force Ethernet Adaptation Unit such as TPLINK-PWA2801N.Certainly, in this example embodiment simultaneously
It is not limited, described first Ethernet Adaptation Unit and the second Ethernet Adaptation Unit can also include it
His available electric lines of force Ethernet Adaptation Unit.
Further, described carrying mechanism can also include one second cable.Described second cable is used for
There is provided electric power for described conveying trolley 20 for described carrier 10.However, carrier 10 and carrying
There is more relative motion between chassis 20, drum cable long-term tension inevitably occurs
Abrasion rupture.Such then can lead to because drum cable rupture leads to the short circuit of power supply lines and order wire
Burn electronic device.And in this example embodiment, started in described carrier 10 due to described
And in running, there is no data interaction between described carrier 10 and conveying trolley 20, and only exist
The eve that described carrier 10 starts and rear a moment of described carrier 10 stopping carrying out data friendship
Mutually, therefore, described first cable and described second cable can be same cable, thus need not consider
Such short trouble.
For example, with continued reference to shown in Fig. 1, described first cable and described second cable are with a roll of
Cylinder cable 30.This drum cable 30 is set around a reel (not shown)；Additionally, described remove
Fortune mechanism can also include the switching devices such as chopper, catalyst.In this example embodiment, due to
Communication interaction shares a cable with electrical source of power supply, therefore can avoid power supply lines and communication
Be short-circuited between line fault.
In addition, described carrying mechanism can also include position sensor, temperature sensor and pressure
The signal acquisition module such as force transducer.Described signal acquisition module and described first control module 102 with
And second control module 202 connect, thus for described first control module 102 and the second control mould
The independent control of block 202 provides reference data and accepts described first control module 102 and the second control
The control of molding block 202.This part may be referred to related art, will not be described here.
A kind of carrier control method is additionally provided in this example embodiment.This carrier control method
It is applied to any one above-mentioned carrying mechanism.With reference to shown in Fig. 2, methods described can include：
S0. the starting stage, during carrier is standby.Now the first communication mould in carrier
Although keeping communication connection between the second communication module on block and conveying trolley, and no data is handed over
Mutually, it is simply waiting for receiving control instruction.
S1. receive, in described first communication module, the control instruction that described second communication module sends
Afterwards, send to described first control module, complete the data interaction in this stage.Due to now carrier
Also in armed state and not actuated, communicate thus without described second is received to first communication module
The control instruction that module sends interferes.
S2. the first control module in carrier, after receiving described control instruction, can independently execute
Described control instruction, for example, be transported to conveying trolley by vehicle from the load of elevator platform of vehicle in and out port
On load platform, or after conveying trolley moves to the parking spot in garage, by vehicle from carrying
Chassis load platform is transported to parking stall.After carrier is finished described control instruction, can return
To described conveying trolley load platform, and out of service restPose.
S3., after described carrier restPoses, the first control module in described carrying sends
One completes to confirm that the second communication module to described conveying trolley for the instruction is confirmed.Due to now removing
Fortune device is out of service, is sent completely really to described second communication module thus without to first communication module
Recognize instruction to interfere.To completing after confirmation is confirmed, carrier separate regression steps S0
In armed state, wait control instruction next time.
Further, additionally provide a kind of multi-storied garage in this example embodiment.This multi-storied garage bag
Include any one above-mentioned carrying mechanism.
With regard to the multi-storied garage in above-mentioned example embodiment and carrier control method, wherein each
The concrete mode of structure or step execution operation is in the example embodiment party about this controlling organization
It has been described in detail in formula embodiment, explanation will be not set forth in detail herein.
In sum, pass through in disclosure example embodiment to set respectively on carrier and conveying trolley
Put the first control module that can be independently controlled and the second control module, so that described first
Communication module is only communicated with described second communication module in scheduled time node and carries out data interaction, and then
When avoiding carrier to start and running, the interference to communication between carrier and conveying trolley, enhances
The stability of communication between carrier and conveying trolley.It is additionally, since without real-time Communication for Power, acceptable
Reduce the power consumption controlling difficulty and reducing communication module.Additionally, in disclosure example embodiment also
Communication interaction is made to share a cable with electrical source of power supply, such that it is able to avoiding power supply lines and leading to
Be short-circuited between letter line fault.
Scenario-frame provided in this example embodiment is simple, convenient arrangement, easily realization, energy
Enough stability requirements meeting multi-storied garage well.Scheme provided in this example embodiment is fitted
For, in the polymorphic type multi-storied garage such as AisleStack, horizontal mobile and vertical lift type, having
High adaptability, independence, safety and practicality.
The disclosure is been described by by above-mentioned related embodiment, but above-described embodiment only implements this public affairs
The example opened.It must be noted that, the embodiment of exposure is not limiting as the scope of the present disclosure.On the contrary
Ground, the change made in without departing from spirit and scope of the present disclosure and retouching, all belong to the special of the disclosure
Sharp protection domain.
Claims (9)
1. a kind of carrying mechanism is it is characterised in that include：
One carrier；Described carrier includes：
One first control module, for the running of carrier described in independent control；And
One first communication module, is coupled with described first control module；And
One conveying trolley, is associated with described carrier；Described conveying trolley includes：
One second control module, for the running of conveying trolley described in independent control；And
One second communication module, coupled with described first control module and communicate with described first mould
Block communication is communicated to connect in power carrier mode.
2. carrying mechanism according to claim 1 is it is characterised in that described first communication module
Including：
One first Ethernet Adaptation Unit, is coupled with described first control module；
Described second communication module includes：
One second Ethernet Adaptation Unit, is coupled with described second control module；
Described carrying mechanism also includes：
One first cable, described first Ethernet Adaptation Unit passes through described one first cable and described second
Ethernet Adaptation Unit communicates to connect.
3. carrying mechanism according to claim 2 is it is characterised in that described carrying mechanism also wraps
Include：
One second cable, for providing electric power for described conveying trolley for described carrier.
4. carrying mechanism according to claim 3 is it is characterised in that described first cable and institute
Stating the second cable is same cable.
5. the carrying mechanism according to claim 3 or 4 is it is characterised in that described carrying mechanism
Also include：
One reel；
Described first cable and the second cable are a drum cable, described drum cable winding and described volume
Cylinder.
6. the carrying mechanism according to claim 1-4 any one it is characterised in that described with
Too net adapter is TPLINK electric lines of force Ethernet Adaptation Unit.
7. the carrying mechanism according to claim 1-4 any one is it is characterised in that described
One control module and the first control module include：
ET200S type PLC chip, TMS320F2812 type dsp chip or mono- with AT89C51
Piece machine.
8. a kind of multi-storied garage is it is characterised in that include：
Described carrying mechanism according to claim 1-7 any one.
9. a kind of carrier control method, is applied to removing according to claim 1-7 any one
Fortune mechanism；It is characterized in that, described carrier control method includes：
Described first communication module receives the control instruction that described second communication module sends, and sends
To described first control module；
Carrier described in described first control module independent control is started and carried out described control instruction, institute
State carrier and be finished and stop after described control instruction；
Described first control module sends one and completes to confirm instruction to described second communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510487224.4A CN106437234A (en) | 2015-08-10 | 2015-08-10 | Stereo garage, carrying mechanism and carrier control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510487224.4A CN106437234A (en) | 2015-08-10 | 2015-08-10 | Stereo garage, carrying mechanism and carrier control method |
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| Publication Number | Publication Date |
|---|---|
| CN106437234A true CN106437234A (en) | 2017-02-22 |
Family
ID=58092616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510487224.4A Pending CN106437234A (en) | 2015-08-10 | 2015-08-10 | Stereo garage, carrying mechanism and carrier control method |
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| CN204475939U (en) * | 2014-12-24 | 2015-07-15 | 北京航天汇信科技有限公司 | Warehouse style mechanical parking equipment control system |
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| JP2006036453A (en) * | 2004-07-27 | 2006-02-09 | Murata Mach Ltd | Automated warehouse |
| CN201749345U (en) * | 2010-05-20 | 2011-02-16 | 侯秀峰 | Control system for plane moving type mechanical three-dimensional parking equipment |
| CN101892756A (en) * | 2010-07-27 | 2010-11-24 | 深圳怡丰自动化科技有限公司 | Full automatic planar movement class mechanical type three-dimensional parking garage |
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