CN108375975A - A kind of System and method for passing in and out elevator automatically for two-way piggy-back type AGV - Google Patents
A kind of System and method for passing in and out elevator automatically for two-way piggy-back type AGV Download PDFInfo
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- CN108375975A CN108375975A CN201810030300.2A CN201810030300A CN108375975A CN 108375975 A CN108375975 A CN 108375975A CN 201810030300 A CN201810030300 A CN 201810030300A CN 108375975 A CN108375975 A CN 108375975A
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- elevator
- piggy
- way
- control module
- back type
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000013459 approach Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 12
- 238000000465 moulding Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- RCLRGJMFVIDWTM-VHSKPIJISA-N (2r,3r,4s)-1-[(4-amino-5h-pyrrolo[3,2-d]pyrimidin-7-yl)methyl]-2-(hydroxymethyl)pyrrolidine-3,4-diol Chemical compound C=1NC=2C(N)=NC=NC=2C=1CN1C[C@H](O)[C@H](O)[C@H]1CO RCLRGJMFVIDWTM-VHSKPIJISA-N 0.000 claims 11
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Elevator Control (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention discloses a kind of System and method fors passing in and out elevator automatically for two-way piggy-back type AGV.Including industrial personal computer, wireless control module, elevator actuator, two-way piggy-back type AGV and wireless router；Industrial personal computer is connected by wireless router with wireless control module, elevator actuator, two-way piggy-back type AGV, and wireless router is wirelessly connected using the topological structure of star-like connection.The present invention, which applies, may be implemented AGV in automated production workshop and passes in and out elevator automatically, improves into production efficiency, reduces production cost.
Description
Technical field
The present invention relates to the System and method for that AGV passes in and out elevator automatically, concretely relate to for two-way piggy-back AGV certainly
The System and method for of dynamic disengaging elevator.
Background technology
With the continuous development of industrial automation technology, Autonomous guide vehicle (AGV) trolley is more and more applied in life
Produce workshop, logistic storage field.For large-scale workshop and bulk storage plant, often more than one layer, it is made of multilayer.This makes
The application of AGV trolleies brings larger problem.Existing AGV trolleies often can not can only upstairs or downstairs be run in one floor run,
So that workshop or warehouse need to use greater number of AGV, cost is increased.
Invention content
In view of the above problems, the present invention provides a kind of System and method fors passing in and out elevator automatically for two-way piggy-back AGV.It can
To realize that AGV passes in and out elevator automatically, manpower is saved, production efficiency is improved, reduces labor intensity.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：
One, a kind of system passing in and out elevator automatically for two-way piggy-back type AGV：
System includes industrial personal computer, wireless control module, elevator actuator, two-way piggy-back type AGV and wireless router；Industry control
Machine is connected by wireless router with wireless control module, elevator actuator, two-way piggy-back type AGV, and wireless router uses star
The topological structure of type connection is wirelessly connected.
The wireless control module include be mounted on elevator outside external wireless control module and be mounted on elevator interior
Internal wireless control module, the elevator actuator include mounted on elevator interior inside elevator actuator and mounted on electricity
External lifts actuator outside ladder；External wireless control module and internal wireless control module are connected respectively to the outside of elevator
Elevator actuator and internal elevator actuator, the external wireless control module and internal wireless control module of wireless control module connect
It receives the control signal that industrial personal computer transmits and then controls elevator actuator and execute action.
The approach switch sensor is mounted on the top outside elevator, and approach switch sensor is connected to external wireless control
Molding block, approach switch sensor is for detecting whether elevator door is opened completely.
As more preferably scheme, the two-way piggy-back type AGV itself has wireless communication module and RFID card reader,
It is connected to wireless router by the wireless communication module of itself, RFID card reader is used to read the RFID card of elevator doorway placement
The RFID card piece that piece and elevator interior are placed.
It is both provided with external wireless control module, external lifts actuator outside each floor of the elevator and approaches and opens
Close sensor.
As more preferably scheme, the wireless router as wireless aps provide wireless signal, wireless control module,
Elevator actuator, AGV, industrial personal computer use the topological structure of star-like connection.
Two, a kind of method passing in and out elevator automatically for two-way piggy-back type AGV：
The two-way piggy-back type AGV is moved to the elevator doorway of current floor, is read by the RFID card reader of itself
After RFID card piece outside current floor elevator, two-way piggy-back type AGV movements stop, and simultaneously bi-directionally piggy-back type AGV passes through itself
Wireless communication module the card number information of RFID card on piece is sent to industrial personal computer；
Control information is sent to the external wireless control module of current floor after industrial personal computer reception card number information, through external nothing
Line traffic control module controls signal to external lifts actuator sending action, and elevator actuator is made to press elevator outer button so that
Elevator reaches current floor and elevator door is opened；
After elevator door is opened, the completely open state of elevator is detected by approach switch sensor and to external wireless controlled
Molding block sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to industrial personal computer through external wireless control module,
Movable signal is sent out to two-way piggy-back type AGV through industrial personal computer, two-way piggy-back type AGV moves into the elevator of current floor；
After two-way piggy-back type AGV enters elevator, after reading the RFID card piece of elevator interior by the RFID card reader of itself,
Two-way piggy-back type AGV movement stops, simultaneously bi-directionally piggy-back type AGV by the wireless communication module of itself by the card of RFID card on piece
Number information and the new floor information reached is needed to be sent to industrial personal computer；
Control information is sent to internal wireless control module after industrial personal computer reception card number information and new floor information, through inside
Internally elevator actuator sending action controls signal to wireless control module, so that elevator actuator is pressed elevator interior button, makes
It obtains elevator door and closes the simultaneously new floor of elevator arrival；
After reaching new floor, the completely open state of elevator is detected by approach switch sensor and to outside new floor
Portion's wireless control module sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to work by external wireless control module
Control machine sends out movable signal through industrial personal computer to two-way piggy-back type AGV, and the elevator of new floor is walked out in two-way piggy-back type AGV movements.
The present invention has the advantages that：
The present invention provides the AGV System and method fors for passing in and out elevator automatically, applies and AGV may be implemented in automated production workshop
Automatic disengaging elevator, can improve production efficiency, reduce labor intensity, save production cost.
Description of the drawings
Fig. 1 is the systematic schematic diagram that the specific embodiment of the invention provides.
Fig. 2 is the system elevator outside general three design sketch that the specific embodiment of the invention provides.
Fig. 3 is the system elevator interior portion general three design sketch that the specific embodiment of the invention provides.
Fig. 4 is the partial enlarged view for showing proximity sensor.
Fig. 5 is internal elevator actuator enlarged drawing.
Attached figure label explanation：Two-way piggy-back AGV1, external wireless controller 2, external lifts actuator 3, wireless routing
Device 4, approach switch sensor 5, industrial personal computer 6, internal wireless controller 7, internal elevator actuator 8, electromagnet 9, electromagnet 10.
Specific implementation mode
Patent of the present invention is described in further details below in conjunction with attached drawing.Following embodiment for illustrating the present invention, but
It is not limited to the scope of the present invention.
As shown in Figure 1, the present invention specific implementation include industrial personal computer 6, wireless control module 2 and 7, elevator actuator 3 and 8,
Two-way piggy-back type AGV1 and wireless router 4；Industrial personal computer 6 is executed by wireless router 4 and wireless control module 2 and 7, elevator
Device 3 is connected with 8, two-way piggy-back type AGV1, and wireless router 4 is used as wireless access point, wireless signal is provided, using star-like connection
Topological structure be wirelessly connected.
Wireless control module include be mounted on elevator outside external wireless control module 2 and in elevator interior
Portion's wireless control module 7, the elevator actuator include mounted on the inside elevator actuator 8 of elevator interior and mounted on elevator
External external lifts actuator 3；External wireless control module 2 and internal wireless control module 7 are connected respectively to the outer of elevator
Portion's elevator actuator 3 and internal elevator actuator 8, external wireless control module 2 and the internal wireless control of wireless control module
Module 7, which receives the control signal that industrial personal computer 6 transmits and then controls elevator actuator, executes action.
As shown in figure 5, being equipped with electromagnet and push rod inside elevator actuator, elevator actuator working electromagnet is powered,
The action of button is realized in push rod ejection, is realized to elevator motion control.In elevator actuator, electromagnet coil obtain it is electric after, push rod
It will eject, to realize the action of button, after electromagnet coil power-off, push rod resets under the action of the spring.What Fig. 5 was shown
There are two buttons for elevator interior, one layer and two layers are corresponded to respectively, if factory floor is more, as long as expanding inside elevator actuator
Charge magnet.
As shown in figure 4, approach switch sensor 5 is mounted on the top outside elevator, approach switch sensor 5 is connected to outer
Portion's wireless control module 2, approach switch sensor 5 is for detecting whether elevator door is opened completely.
Two-way piggy-back type AGV1 itself has wireless communication module and RFID card reader, passes through the wireless communication module of itself
It is connected to wireless router 4, the RFID card piece that RFID card reader is used to read elevator doorway and elevator interior is placed, each elevator
Outwardly and inwardly there is unique RFID card piece.
It is both provided with external wireless control module 2, external lifts actuator 3 outside each floor of elevator and is passed close to switch
Sensor 5.
Elevator interior is provided only with internal wireless control module 7 and internal elevator actuator 8.Industrial personal computer 6 and wireless routing
Device 4 only there are one.
The job control process of the present invention is as follows：
As shown in Fig. 2, two-way piggy-back type AGV1 is moved to the elevator doorway of current floor, pass through the RFID card reader of itself
After reading the RFID card piece outside current floor elevator, two-way piggy-back type AGV1 movements stop, and simultaneously bi-directionally piggy-back type AGV1 is logical
It crosses the wireless communication module of itself and the card number information of RFID card on piece is sent to industrial personal computer 6；
Control information is sent to the external wireless control module 2 of current floor after the reception card number information of industrial personal computer 6, through outside
Wireless control module 2 controls signal to 3 sending action of external lifts actuator, and elevator actuator is made to press elevator outer button,
So that elevator reaches current floor and elevator door is opened；
After elevator door is opened, the completely open state of elevator is detected by approach switch sensor and to external wireless controlled
Molding block 2 sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to industrial personal computer through external wireless control module 2
6, movable signal is sent out to two-way piggy-back type AGV1 through industrial personal computer 6, two-way piggy-back type AGV1 moves into the elevator of current floor.
As shown in figure 3, after two-way piggy-back type AGV1 enters elevator, elevator interior is read by the RFID card reader of itself
After RFID card piece, two-way piggy-back type AGV1 movements stop, and simultaneously bi-directionally piggy-back type AGV1 will by the wireless communication module of itself
The new floor information that the card number information and needs of RFID card on piece reach is sent to industrial personal computer 6.
Control information is sent to internal wireless control module 7 after the reception card number information of industrial personal computer 6 and new floor information, through interior
Internally elevator actuator sending action controls signal to portion's wireless control module 7, and elevator actuator is made to press elevator interior button,
So that elevator door is closed and elevator reaches new floor；
After reaching new floor, the completely open state of elevator is detected by approach switch sensor and to outside new floor
Portion's wireless control module 2 sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to by external wireless control module 2
Industrial personal computer 6 sends out movable signal through industrial personal computer 6 to two-way piggy-back type AGV1, and new floor is walked out in two-way piggy-back type AGV1 movements
Elevator.
During trolley passes in and out elevator, the included sensor of elevator door can sense the disengaging action of trolley, ensure
Elevator door does not turn off during trolley passes in and out, and influences the operation of trolley.
As a result, the present invention can realize industrial personal computer controlled by way of wireless telecommunications the automatic opening of elevator door with close with
And the start and stop of two-way piggy-back type AGV.
Claims (6)
1. a kind of system passing in and out elevator automatically for two-way piggy-back type AGV, it is characterised in that：Including industrial personal computer (6), wireless controlled
Molding block (2,7), elevator actuator (3,8), two-way piggy-back type AGV (1) and wireless router (4)；Industrial personal computer (6) is by wireless
Router (4) and wireless control module (2,7), elevator actuator (3,8), the connection of two-way piggy-back type AGV (1), wireless router
(4) topological structure of star-like connection is used to be wirelessly connected.
2. a kind of system passing in and out elevator automatically for two-way piggy-back type AGV according to claim 1, it is characterised in that：
The wireless control module includes being mounted on the external wireless control module (2) outside elevator and the inside mounted on elevator interior
Wireless control module (7), the elevator actuator include mounted on the inside elevator actuator (8) of elevator interior and mounted on electricity
External lifts actuator (3) outside ladder；External wireless control module (2) and internal wireless control module (7) are connected respectively to
The external lifts actuator (3) of elevator and internal elevator actuator (8), the external wireless control module (2) of wireless control module
Receiving the control signal that industrial personal computer (6) transmits with internal wireless control module (7), control elevator actuator executes action in turn.
3. a kind of system passing in and out elevator automatically for two-way piggy-back type AGV according to claim 1, it is characterised in that：
The approach switch sensor (5) is mounted on the top outside elevator, and approach switch sensor (5) is connected to external wireless control
Module (2), approach switch sensor (5) is for detecting whether elevator door is opened completely.
4. a kind of system passing in and out elevator automatically for two-way piggy-back type AGV according to claim 1, it is characterised in that：
The two-way piggy-back type AGV (1) itself has wireless communication module and RFID card reader, is connected by the wireless communication module of itself
It is connected to wireless router (4), RFID card reader is used to read the RFID card piece of elevator doorway placement.
5. a kind of system passing in and out elevator automatically for two-way piggy-back type AGV according to claim 1, it is characterised in that：
External wireless control module (2), external lifts actuator (3) and close switch are both provided with outside each floor of the elevator
Sensor (5).
6. a kind of method passing in and out elevator automatically for two-way piggy-back type AGV, it is characterised in that：
The two-way piggy-back type AGV (1) is moved to the elevator doorway of current floor, is read and is worked as by the RFID card reader of itself
After RFID card piece outside preceding floor elevator, two-way piggy-back type AGV (1) is mobile to stop, and simultaneously bi-directionally piggy-back type AGV (1) passes through
The card number information of RFID card on piece is sent to industrial personal computer (6) by the wireless communication module of itself；
Control information is sent to the external wireless control module (2) of current floor after industrial personal computer (6) reception card number information, through outside
Wireless control module (2) to external lifts actuator (3) sending action control signal, make elevator actuator press outside elevator by
Button so that elevator reaches current floor and elevator door is opened；
After elevator door is opened, the completely open state of elevator is detected by approach switch sensor and to external wireless control mould
Block (2) sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to industrial personal computer through external wireless control module (2)
(6), movable signal is sent out to two-way piggy-back type AGV (1) through industrial personal computer (6), two-way piggy-back type AGV (1) moves into current building
The elevator of layer；
After two-way piggy-back type AGV (1) enters elevator, after reading the RFID card piece of elevator interior by the RFID card reader of itself,
Two-way piggy-back type AGV (1) is mobile to stop, simultaneously bi-directionally piggy-back type AGV (1) by the wireless communication module of itself by RFID card piece
On the new floor information that reaches of card number information and needs be sent to industrial personal computer (6)；
Control information is sent to internal wireless control module (7) after industrial personal computer (6) reception card number information and new floor information, through interior
Portion's wireless control module (7) internally elevator actuator sending action control signal, make elevator actuator press elevator interior by
Button so that elevator door is closed and elevator reaches new floor；
After reaching new floor, the completely open state of elevator is detected by approach switch sensor and to the external nothing of new floor
Line traffic control module (2) sends out the complete opening signal of elevator, and the complete opening signal of elevator is sent to by external wireless control module (2)
Industrial personal computer (6) sends out movable signal through industrial personal computer (6) to two-way piggy-back type AGV (1), and two-way piggy-back type AGV (1) movement is walked out
The elevator of new floor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810030300.2A CN108375975A (en) | 2018-01-12 | 2018-01-12 | A kind of System and method for passing in and out elevator automatically for two-way piggy-back type AGV |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810030300.2A CN108375975A (en) | 2018-01-12 | 2018-01-12 | A kind of System and method for passing in and out elevator automatically for two-way piggy-back type AGV |
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| Publication Number | Publication Date |
|---|---|
| CN108375975A true CN108375975A (en) | 2018-08-07 |
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ID=63016659
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810030300.2A Pending CN108375975A (en) | 2018-01-12 | 2018-01-12 | A kind of System and method for passing in and out elevator automatically for two-way piggy-back type AGV |
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| CN (1) | CN108375975A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111427366A (en) * | 2020-05-13 | 2020-07-17 | 合肥卓科智能技术有限公司 | Control system for logistics AGV |
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| CN107098230A (en) * | 2017-05-16 | 2017-08-29 | 莆田市烛火信息技术有限公司 | A kind of logistics elevator control method and logistics elevator |
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2018
- 2018-01-12 CN CN201810030300.2A patent/CN108375975A/en active Pending
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|---|---|---|---|---|
| CN202265275U (en) * | 2011-08-19 | 2012-06-06 | 上海新时达电气股份有限公司 | Elevator information display device and elevator display system |
| CN203133585U (en) * | 2013-03-05 | 2013-08-14 | 广州埃勃斯自动化控制科技有限公司 | Robot lifting control system between floors |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111427366A (en) * | 2020-05-13 | 2020-07-17 | 合肥卓科智能技术有限公司 | Control system for logistics AGV |
| CN111427366B (en) * | 2020-05-13 | 2023-08-29 | 合肥卓科智能技术有限公司 | Control system for logistics AGV trolley |
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