CN108002151A - A kind of elevator task control method and elevator based on robot - Google Patents
A kind of elevator task control method and elevator based on robot Download PDFInfo
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- CN108002151A CN108002151A CN201711277906.8A CN201711277906A CN108002151A CN 108002151 A CN108002151 A CN 108002151A CN 201711277906 A CN201711277906 A CN 201711277906A CN 108002151 A CN108002151 A CN 108002151A
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- Prior art keywords
- task
- controller
- elevator
- robot
- electric life
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Classifications
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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
- B66B1/02—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
Abstract
This application discloses a kind of elevator task control method based on robot, including, task controller receives the task application instruction of robot controller transmission, execution task application operation is instructed according to task application, robot controller control robot is moved into cargo and is sent task-performance instructions；Elevator traffic operation is performed according to task-performance instructions, electric life controller control elevator is reached purpose floor and is sent task completion notice；Task end operation is performed according to task completion notice, robot controller control robot is taken out of cargo.By installing task controller additional between robot control and electric life controller, task controller is allowd to receive the working status of robot and the working status of elevator by agreement, so as to which more preferable handling machine people uses the flow of task of elevator, avoid due to can not receive the fault message of elevator and caused by use the situation of failure.Disclosed herein as well is a kind of elevator, has above beneficial effect.
Description
Technical field
This application involves automation control area, more particularly to a kind of elevator task control method and electricity based on robot
Ladder.
Background technology
With the development of technical field of automation, factory more and more using robot come complete the task of assembly line with
And transporting goods for task.When needing cargo transport in the factory, the task that robot completes not exclusively carries out in one plane
Transport, it is also necessary to three-dimensional transport is carried out using elevator in view of robot.Layer is all installed additional in elevator in general factory
Controller, changes the choosing layer button and on-off circuit of original elevator, and above-mentioned button circuit and on-off circuit are led to a layer controller
In, the action for selecting layer and switch gate is performed by the mode of layer controller control elevator button.
But be the equal of directly to go to grasp due to selecting layer controller to be controlled simply by on-off circuit to lift circuit
The button for making elevator carries out elevator controlling, can not obtain the information of the operating status of elevator, that is, during control, choosing
Control of the layer controller for elevator is one-way communication, selects the operating status that layer controller is not enough to receive elevator to be sentenced
It is disconnected, so that the planning that rational elevator performs task can not be made.And when elevator breaks down, layer controller is selected just can not
Relevant fault message is received, execution task is continued to, be easy to cause major accident.If other robot is also using
The elevator, selects layer controller can not also learn whether elevator is occupied, if continuing to control occupied elevator also easy at this time
Cause the failure that elevator uses.
Meanwhile transformation of the layer controller for elevator is selected, it is that the button circuit and on-off circuit of elevator are changed, by
In button circuit complexity and it is integrated in the carriage body of elevator, single elevator car transformation amount is huge, and is unfavorable for later maintenance.
Therefore, how robot and the matching problem of elevator operationally are being solved, is being that those skilled in the art pay close attention to
Hot issue.
The content of the invention
The purpose of the application is to provide a kind of elevator task control method and elevator based on robot, by robot
Task controller is installed additional between control and electric life controller, also sets up robot controller and task controller, task controller
Communication protocol between electric life controller so that task controller can be received by agreement the working status of robot with
And the working status of elevator, so that preferably handling machine people uses the flow of task of elevator, avoid since elevator can not be received
Fault message and caused by use failure situation.
In order to solve the above technical problems, the application provides a kind of elevator task control method based on robot, including：
Task controller receive robot controller transmission task application instruction, according to the task application instruction and
The operating status of elevator judges whether that task application operation can be performed；
Operated if so, then performing the task application according to task application instruction, so that the robot controller
Control robot moves into cargo and sends task-performance instructions；Wherein, the operating status sends for electric life controller；
The task-performance instructions that the robot controller is sent are received, are performed according to the task-performance instructions
Elevator traffic operates, so that the electric life controller controls the elevator to reach purpose floor and sends task completion notice；
The task completion notice that the electric life controller is sent is received, is performed and appointed according to the task completion notice
Business end operation, so that the robot controller controls the robot to take out of the cargo.
Optionally, further include：
When a failure occurs, the task controller is sent abnormal to the robot controller and the electric life controller
Notice；
The robot controller and the electric life controller perform abnormality processing operation according to protocol conventions respectively.
Optionally, after the robot moves into the cargo, further include：
The robot controller sends task lock instruction to the task controller；
The task controller is according to the task lock instruction judges whether the electric life controller can lock
Elevator；
If so, the elevator is then locked according to lock instruction；
Optionally, the task-performance instructions for receiving the robot controller and sending, according to the task
Execute instruction performs elevator traffic operation, so that the electric life controller controls the elevator to reach purpose floor and sends task
Completion notice, including：
The task controller judges whether the electric life controller can be with according to the task-performance instructions received
Execution task；
If so, then the electric life controller controls the elevator to go to the purpose floor；
After the purpose floor is reached, the electric life controller sends the task completion notice.
Optionally, the task completion notice for receiving the electric life controller and sending, it is complete according to the task
Into notice execution task end operation, so that the robot controller controls the robot to take out of the cargo, including：
The task controller sends task according to the task completion notice received to the robot controller
Complete signal；
The robot controller controls the robot to take out of the cargo according to the task completion signal；
After the cargo takes out of, the robot controller sends task to the task controller and releases order；
The task controller releases order according to the task judges whether the electric life controller can discharge task；
If so, the then task controller release task, and close the railway carriage or compartment door of the elevator.
The application also provides a kind of elevator, including：
The operating status of the elevator is sent, the electric life controller for receiving operation signal and controlling the elevator to perform；
It is connected with the electric life controller, receiving the robot execution relevant items of task by procotol refers to
Order, the operating status is received by bus protocol, and sends the related behaviour to the electric life controller according to described instruction
Make the task controller of signal；
It is connected with the task controller, the task application instruction is sent by the procotol, the task is held
Row instruction, the task lock instruction release order with the task, can control the robot that the cargo is moved into institute
The robot controller stated elevator and taken out of.
Optionally, further include：
It is connected with the robot controller, is carried according to what the different instruction state of the robot controller was prompted
Show module.
Optionally, the task controller is specially RAM control panels.
Optionally, the reminding module is specially display screen/player.
A kind of elevator task control method based on robot provided herein, including：Task controller receives
The task application instruction that robot controller is sent, being judged whether according to the operating status of the task application instruction and elevator can
To perform the operation of task application locking；Operated if so, then performing the task application locking according to task application instruction, with
The robot controller control robot is set to move into cargo and send task-performance instructions；Wherein, the operating status is electricity
Terraced controller is sent；The task-performance instructions that the robot controller is sent are received, are referred to according to the tasks carrying
Order execution elevator traffic operation, completes to lead to so that the electric life controller controls the elevator to reach purpose floor and sends task
Know；The task completion notice that the electric life controller is sent is received, task knot is performed according to the task completion notice
Beam operates, so that the robot controller controls the robot to take out of the cargo.
In the prior art due to the use of be layer controller control elevator a job, and layer controller be simply installed at by
The controller of button circuit and on-off circuit, layer controller can only control elevator by signals such as trigger button switches, and can not connect
The information on elevator operation is received, so that the task of elevator can not be also used robot according to the operating status of elevator
Flow is better controlled.
And technical scheme is used to communicate and control by establishing between robot controller and electric life controller
The task controller of task, and robot controller and electric life controller is led to task controller according to the agreement of agreement
Letter, can be controlled more robot and elevator according to the operating status of elevator after the task signal of robot is received
Good completion cargo transport task.It is also right so as to avoid the situation for also still carrying out task when elevator failure and causing the accident
The elevator used is locked, and avoids the situation that elevator is used by Duo Tai robots.
Brief description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of application, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of flow chart of the elevator task control method based on robot provided by the embodiments of the present application；
Fig. 2 is a kind of stream of the troubleshooting of the elevator task control method based on robot provided by the embodiments of the present application
Cheng Tu；
Fig. 3 is a kind of task lock operation of the elevator task control method based on robot provided by the embodiments of the present application
Flow chart；
Fig. 4 is that a kind of tasks carrying of elevator task control method based on robot provided by the embodiments of the present application operates
Flow chart；
Fig. 5 is a kind of task end operation of the elevator task control method based on robot provided by the embodiments of the present application
Flow chart；
Fig. 6 is a kind of structure diagram of elevator provided by the embodiments of the present application.
Embodiment
The core of the application is to provide a kind of elevator task control method and elevator based on robot, by robot
Task controller is installed additional between control and electric life controller, also sets up robot controller and task controller, task controller
Communication protocol between electric life controller so that task controller can be received by agreement the working status of robot with
And the working status of elevator, so that preferably handling machine people uses the flow of task of elevator, avoid since elevator can not be received
Fault message and caused by use failure situation.
To make the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical solution in the embodiment of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art
All other embodiments obtained without making creative work, shall fall in the protection scope of this application.
Please refer to Fig.1, Fig. 1 is a kind of stream of the elevator task control method based on robot provided by the embodiments of the present application
Cheng Tu.
The present embodiment provides a kind of elevator task control method based on robot, by robot controller and elevator
The task controller for communicating is established between controller, and the task of elevator is used robot by the task controller
Flow is controlled, and prevents accident.
Embodiment can include：
S101, task controller receive the task application instruction of robot controller transmission, are instructed according to task application
Judge whether that task application operation can be performed with the operating status of elevator；
This step is intended to, and when robot begins to use elevator, robot controller, which starts to send to task controller, appoints
Business application instruction, task controller judge that elevator is at this time according to the operating status of the elevator received and task application instruction
It is no can be with normal use.It is envisioned that include the information for judgement, example in the task application instruction that robot is sent
Such as, robot wants the purpose floor reached, and the floor where current robot, is also wrapped in the operating status of corresponding elevator
Included similar information, for example, elevator at present floor, whether elevator have task performing.
If when the functional difference of elevator to transport different types of cargo, task application instruction and elevator
It can also include in operating status, at this time the type of institute of robot freight, the type that elevator can transport goods, with more
The use of good distribution elevator.
Certainly, the task controller other information should also be had according to the operating status of task application instruction and elevator,
It according to the environment and problem to be solved of the concrete application of elevator can select which kind of other information there is, herein no longer
Repeat.
S102, if so, then execution task application operation is instructed according to task application, so that robot controller controls machine
People moves into cargo and sends task-performance instructions；Wherein, operating status sends for electric life controller；
On the basis of step S101, this step is intended to, when that can perform task application operation, perform the operation.Also
It is to work as to judge that successfully returning to application successfully instructs, robot moves into cargo into elevator.
Optionally, the elevator can be then locked, prevents other robots from using the elevator.When robot moves into cargo
Afterwards, task-performance instructions are then sent, are moved so that elevator is started to work to purpose floor.
Wherein, the status information that task controller is used to judge is that electric life controller is sent to task controller, task
Controller is attached with electric life controller by the interface protocol of CAN Bus (CAN bus), therefore task
Controller can receive the elevator operation of electric life controller transmission.
Conventionally, as layer controller is directly installed in the choosing layer circuit and on-off circuit of elevator, in work
As when be the working motion that directly transmits electric signal to control elevator, and the operating status of elevator can not be obtained.But in factory
In environment, general factory is since cost consideration can select to be transformed on original elevator, and in transformation, due to elevator-mainboard
It is to dispense to integrate to be not easy to be modified, therefore can selects that directly elevator controlling is carried out to install layer controller additional.And install layer control additional
Device processed only needs to change the choosing layer circuit of original electric life controller and on-off circuit, smaller for the change amount in integral construction,
Construction is simple, cost are also more cheap.But since layer controller can not obtain the operating status of elevator in operating mode transport, meeting
Elevator is caused to be used for multiple times, elevator, which breaks down, can not learn situations such as but still using, and serious accident easily occur.
And technical scheme, the use of CAN Bus interface protocols is task controller and elevator on the basis of elevator
Controller establishes the interface mutually communicated, as the basis of software between task controller and electric life controller.Task controller
ARM process chips can be selected, processor that can be small-sized equivalent to one can use CAN Bus interface protocols, and locate
The data based on agreement are managed, as the hardware foundation communicated between task controller and electric life controller.Based on software
Basis and hardware foundation, therefore when transforming original elevator, can select in robot controller and electric life controller
Between task controller is installed, rather than select layer controller.
S103, receives the task-performance instructions of robot controller transmission, and elevator fortune is performed according to task-performance instructions
Defeated operation, so that electric life controller control elevator reaches purpose floor and sends task completion notice；
On the basis of step S102, this step is intended to, and elevator is started to work according to received task execute instruction,
And reach purpose floor and send the notice that task is completed.Instructed similar to above-mentioned task application, task in this step is held
Row instruction can also equally include, and robot needs the purpose floor reached, and the floor being currently located.
Certainly, during electric life controller is worked according to task-performance instructions, there are some other processing
Operation, can make choice according to specifically wanting to add which type of function in transportational process, specifically no longer repeat.
S104, receives the task completion notice of electric life controller transmission, and performing task according to task completion notice terminates
Operation, so that robot controller control robot takes out of cargo.
On the basis of step S103, this step is intended to take out of cargo by task completion notice, and makes elevator controlling
Device terminates lock-out state.When robot takes out of cargo, the elevator flow that whole robot uses terminates, and elevator needs to return to just
Therefore normal state terminates the locking of elevator.
In above-mentioned steps S101 into S104, opening and the action of closing on elevator car door can be all included, in elevator
During the opening of railway carriage or compartment door and closing, all more or less goes wrong, and causes opening inconvenience or closing not smooth, this
When elevator in order to ensure that transported cargo occurs without contingency, feedback can be made to elevator car door, reopen railway carriage or compartment door and
Other operations, while corresponding fault cues can be sent.And in the prior art, layer controller is based only on circuit due to transformation
Shallow-layer transformation, will not be the fault cues that receive elevator in elevator faults, also just can not be according to failed controller robot
Take action to eliminate failure.If elevator, which is still run, at this time is likely to result in huge failure.
Therefore, the embodiment that the application provides, by establishing being used for being in communication with each other of the task between robot and elevator
Controller, for strengthening elevator and task controller, the communication between robot and task controller, so as to ensure when elevator goes out
During existing failure, robot can make corresponding reaction, and vice versa.
Wherein, Web Service (WEB Web page application programs) interface is used between robot controller and task controller
Agreement is attached, and is attached between electric life controller and task controller using CAN Bus interface protocols.Due to Web
For Service using quite varied, specific transmission mode and medium are also varied, can select to be adapted in work condition environment
Be configured, and Web Service interface protocol development it is remote, can be kept using Web Service interfaces agreement
The stabilization and security of certain data transfer, are also easy to build and transform in the environment of plant.Its Web Service can be with
Wired connection mode or wireless connection mode are selected, such as RFID, UFH/ can be selected in wireless connection mode
RFID, WIFI or bluetooth, similar biography connection mode, can also select wireless sensor network WSN, which kind of specifically chosen Web
The internetwork connection mode of Service, can make choice according to specific work condition environment, no longer repeat herein.
Simultaneously as the task controller in the present embodiment is installed near electric life controller, therefore selection uses CAN
Bus interface protocols are as the communication protocol between task controller and electric life controller.Such as Modbus, RS- can also be selected
485th, the bus inferface protocol such as RS-422, should make choice depending on specifically used situation, no longer repeat herein.
Optionally, the load bearing equipment of cargo is transported for robot in task control module, establishes Internet of Things transmission equipment, can
Institute's freight to be identified, to follow the trail of the position of cargo at any time.The management system of factory can be transmitted information back at the same time
In system, effectively and timely management and control is carried out to cargo.
Optionally, big data function can be established in task controller, the log of electric life controller can be read,
Robot is collected using being analyzed after the operational data of elevator, there is provided pre- off-position when elevator is without task is put, busy work is appointed
The suggestion mode of scheduling, the suggestion of elevator maintenance work during business.
Therefore, the embodiment that application scheme provides, by installing task additional between robot control and electric life controller
Controller, also sets up robot controller and task controller, and the communication protocol between task controller and electric life controller, makes
The working status of robot and the working status of elevator can be received by agreement by obtaining task controller, so as to preferably locate
Manage the flow of task that robot uses elevator, avoid due to can not receive the fault message of elevator and caused by use the feelings of failure
Condition.
Please refer to Fig.2, Fig. 2 is a kind of event of elevator task control method based on robot provided by the embodiments of the present application
Hinder the flow chart of processing.
Based on a upper embodiment, the present embodiment does an expansion, other parts and upper one primarily directed to a upper embodiment
Embodiment is essentially identical, and same section may be referred to an embodiment, no longer repeat herein.
The present embodiment can include：
S201, when a failure occurs, task controller send abnormal notice to robot controller and electric life controller；
This step is intended to, and when breaking down during using elevator in robot, task controller is to robot control
Device processed sends abnormal notice with electric life controller.Due to logical between task controller and robot controller and electric life controller
Letter is two-way, therefore when any one party breaks down, task controller can be known, and task controller can conduct
The repeater station of unexpected message, is forwarded to an other side, for making a response by unexpected message.
It is envisioned that the unexpected message on transmission also has other processing in task controller in the process
Operation, which kind of specific processing operation, should make a choice depending on specific use environment, no longer limit herein.
S202, robot controller and electric life controller perform abnormality processing operation according to protocol conventions respectively.
On the basis of step S201, this step be intended to allow robot controller and electric life controller according to protocol conventions with
And abnormal notice carries out processing operation to abnormal.
To sum up, two-way communication can be carried out between robot controller and electric life controller in task controller, when appoint
Anticipate failure at one when, task controller can obtain corresponding message and make rational task arrangement prevent therefore
Barrier causes unexpected situation.
Please refer to Fig.3, Fig. 3 is a kind of lock of the elevator task control method based on robot provided by the embodiments of the present application
Surely the flow chart operated.
Based on a upper embodiment, the present embodiment does an expansion, other parts and upper one primarily directed to a upper embodiment
Embodiment is essentially identical, and same section may be referred to an embodiment, no longer repeat herein.
The present embodiment can include：
S301, robot controller send task lock instruction to task controller；
S302, task controller judge whether electric life controller can lock elevator according to task lock instruction；
S303, if so, then locking elevator according to lock instruction；
On the basis of a upper embodiment, the present embodiment is intended to send task lock instruction, the task to task controller
Controller receives task lock instruction and judges whether elevator can lock, and if it is locks the elevator, can prevent
One elevator is by multiple elevator situation used at the same time.When locking successfully, then electric life controller control elevator closes the railway carriage or compartment of elevator
Door.Cargo, which loads, at this time finishes, it is necessary to which elevator starts to work to purpose floor, then the robot controller sends task and holds
Row instruction.
Wherein, comprising sending instruction and the process judged twice, if it is determined that cannot, then electric life controller is to task
Controller returns to failure cause, and robot controller continues to send relevant instruction.
To sum up, this step is how cargo is moved into elevator by robot controller control robot.Robot uses elevator
General steps can analogize to the mankind and go state using elevator, be divided into three big steps, into elevator, take elevator and walk
Go out elevator, robot can also substantially be seen as this three big step using elevator, and elevator be not initially for Robot Design, because
This, needs in each step for some details of Robot Design.In this embodiment, exactly judge whether to apply using electricity
Ladder and locking elevator, in order to ensure that robot can smoothly use elevator, prevent failure and anticipate after preventing failure
Outside.
Certainly, in different use environments, the problem of different needs is perhaps faced and make personalized detailed design, all
Specific selection can be done according to the problem of specific, is no longer repeated herein.But the design of above-mentioned details, can be in this Shen
Please the task controller of scheme with implement in the two-way communication of robot and elevator, and detailed design software and hardware basis.
Please refer to Fig.4, Fig. 4 is a kind of appointing for elevator task control method based on robot provided by the embodiments of the present application
Business performs the flow chart of operation.
Based on a upper embodiment, the present embodiment is done primarily directed to the tasks carrying operation that how to carry out in a upper embodiment
One explanation, other parts and a upper embodiment are essentially identical, and same section may be referred to an embodiment, herein no longer
Repeat.
The present embodiment can include：
S401, task controller judge whether electric life controller can perform and appoint according to received task execute instruction
Business；
This step is intended to, and according to received task execute instruction, judges whether electric life controller can perform task.
The possibility there are failure is had after the shutdown of elevator, therefore elevator needs self-test herein, and task controller acquisition is relevant certainly
Inspection information is judged.
S402, if so, then electric life controller control elevator goes to purpose floor；
On the basis of step S402, this step be intended to when elevator self-test by after, start to transport goods to purpose floor.
S403, after purpose floor is reached, electric life controller sends task completion notice.
On the basis of step S402, this step is intended to open elevator car door and to robot after purpose floor is reached
Notify to reach purpose floor.
To sum up, the step of this step is exactly the seating elevator of analogy in a upper embodiment.In seating, have for elevator
Probability breaks down, and the two-way communication of task controller and electric life controller can ensure that failure notification can be by robot control
Device processed is learnt, and makes corresponding reaction.
Fig. 5 is refer to, Fig. 5 is a kind of appointing for elevator task control method based on robot provided by the embodiments of the present application
The flow chart of business end operation.
Based on a upper embodiment, the present embodiment is done primarily directed to the task end operation that how to carry out in a upper embodiment
One explanation, other parts and a upper embodiment are essentially identical, and same section may be referred to an embodiment, herein no longer
Repeat.
The present embodiment can include：
S501, task controller send task to robot controller according to received task completion notice and complete letter
Number；
S502, robot controller take out of cargo according to task completion signal, control robot；
Step S501 to step S502 is intended to, and is that robot takes out of cargo in elevator by control signal.
S503, after cargo takes out of, robot controller sends task to task controller and releases order；
S504, task controller releases order according to task judges whether electric life controller can discharge task；
S505, if so, then task controller release task, and close the railway carriage or compartment door of elevator.
On the basis of step S501 to step S502, step S503 to step S505 is intended to judge whether to discharge to appoint
Business, if can if task controller discharge the elevator, electric life controller control elevator closes elevator car door.
The embodiment of the present application provides a kind of elevator task control method based on robot, by robot control with
Install task controller between electric life controller additional, also set up robot controller and task controller, task controller and elevator
Communication protocol between controller so that task controller can receive the working status of robot and the work of elevator with agreement
Make state, so that preferably handling machine people uses the flow of task of elevator, avoid since the failure that can not receive elevator is believed
Breath and caused by use failure situation.
A kind of elevator provided by the embodiments of the present application is introduced below, elevator described below and above-described one
Elevator task control method of the kind based on robot can correspond reference.
Fig. 6 is refer to, Fig. 6 is a kind of structure diagram of elevator provided by the embodiments of the present application.
The present embodiment can include：
The operating status of elevator is sent, the electric life controller 100 for receiving operation signal and controlling elevator to perform；
It is connected with electric life controller, receiving robot by procotol performs the relevant instructions of task, by total
Wire protocol receives operating status, and sends the task controller 200 of relevant operation signal to electric life controller according to instruction；
It is connected with task controller, task application instruction, task-performance instructions is sent by procotol, task locking refers to
Order is released order with task, can control robot by cargo moves into elevator and takes out of robot controller 300.
Optionally, the present embodiment can also include：
It is connected with robot controller, the reminding module prompted according to the different instruction state of robot controller.
Optionally, task controller 200 is specially RAM control panels.
Optionally, reminding module is specially display screen/player.
Each embodiment is described by the way of progressive in specification, and what each embodiment stressed is and other realities
Apply the difference of example, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
Speech, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is referring to method part illustration
.
Professional further appreciates that, with reference to each exemplary unit of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes each exemplary composition and step according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical solution.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think to exceed scope of the present application.
Can directly it be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
A kind of elevator task control method based on robot provided herein and a kind of elevator are carried out above
It is discussed in detail.Specific case used herein is set forth the principle and embodiment of the application, above example
Illustrate that being only intended to help understands the present processes and its core concept.It should be pointed out that the common skill for the art
For art personnel, on the premise of the application principle is not departed from, some improvement and modification can also be carried out to the application, these change
Also fallen into modification in the application scope of the claims.
Claims (9)
- A kind of 1. elevator task control method based on robot, it is characterised in that including：Task controller receives the task application instruction of robot controller transmission, according to the task application instruction and elevator Operating status judge whether to perform task application operation；Operated if so, then performing the task application according to task application instruction, so that the robot controller controls Robot moves into cargo and sends task-performance instructions；Wherein, the operating status sends for electric life controller；The task-performance instructions that the robot controller is sent are received, elevator is performed according to the task-performance instructions Transport operation, so that the electric life controller controls the elevator to reach purpose floor and sends task completion notice；The task completion notice that the electric life controller is sent is received, task knot is performed according to the task completion notice Beam operates, so that the robot controller controls the robot to take out of the cargo.
- 2. task control method according to claim 1, it is characterised in that further include：When a failure occurs, the task controller is sent abnormal logical to the robot controller and the electric life controller Know；The robot controller and the electric life controller perform abnormality processing operation according to protocol conventions respectively.
- 3. task control method according to claim 2, it is characterised in that after the robot moves into the cargo, Further include：The robot controller sends task lock instruction to the task controller；The task controller judges whether the electric life controller can lock the elevator according to the task lock instruction；If so, the elevator is then locked according to lock instruction.
- 4. task control method according to claim 3, it is characterised in that described to receive the robot controller hair The task-performance instructions sent, perform elevator traffic operation, so that the electric life controller according to the task-performance instructions Control the elevator to reach purpose floor and send task completion notice, including：The task controller judges whether the electric life controller can perform according to the task-performance instructions received Task；If so, then the electric life controller controls the elevator to go to the purpose floor；After the purpose floor is reached, the electric life controller sends the task completion notice.
- 5. task control method according to claim 4, it is characterised in that described to receive the electric life controller transmission The task completion notice, according to the task completion notice perform task end operation so that the robot controller The robot is controlled to take out of the cargo, including：The task controller sends task to the robot controller according to the task completion notice received and completes Signal；The robot controller controls the robot to take out of the cargo according to the task completion signal；After the cargo takes out of, the robot controller sends task to the task controller and releases order；The task controller releases order according to the task judges whether the electric life controller can discharge task；If so, the then task controller release task, and close the railway carriage or compartment door of the elevator.
- A kind of 6. elevator, it is characterised in that including：The operating status of the elevator is sent, the electric life controller for receiving operation signal and controlling the elevator to perform；It is connected with the electric life controller, receiving the robot by procotol performs the relevant instructions of task, leads to Cross bus protocol and receive the operating status, and the related operation signal is sent to the electric life controller according to described instruction Task controller；It is connected with the task controller, the task application instruction is sent by the procotol, the tasks carrying refers to Order, the task lock instruction release order with the task, can control the robot that the cargo is moved into the electricity Ladder and the robot controller taken out of.
- 7. elevator according to claim 6, it is characterised in that further include：It is connected with the robot controller, the prompting mould prompted according to the different instruction state of the robot controller Block.
- 8. elevator according to claim 7, it is characterised in that the task controller is specially RAM control panels.
- 9. elevator according to claim 8, it is characterised in that the reminding module is specially display screen/player.
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| CN201711277906.8A CN108002151A (en) | 2017-12-06 | 2017-12-06 | A kind of elevator task control method and elevator based on robot |
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| CN110228742A (en) * | 2019-05-22 | 2019-09-13 | 上海江菱机电有限公司 | A kind of AGV trolley intelligently takes the method and system of elevator delivery |
| CN110255306A (en) * | 2019-05-21 | 2019-09-20 | 拉扎斯网络科技（上海）有限公司 | Call method, system, device, server and storage medium |
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| CN111847156A (en) * | 2020-07-20 | 2020-10-30 | 广东嘉腾机器人自动化有限公司 | 0PC server, control system and control method suitable for AGV running in elevator room |
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