CN114153205A - Elevator boarding control method and operation control device of AGV car - Google Patents
Elevator boarding control method and operation control device of AGV car Download PDFInfo
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- CN114153205A CN114153205A CN202111383530.5A CN202111383530A CN114153205A CN 114153205 A CN114153205 A CN 114153205A CN 202111383530 A CN202111383530 A CN 202111383530A CN 114153205 A CN114153205 A CN 114153205A
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- 238000000034 method Methods 0.000 title claims abstract description 104
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 238000004891 communication Methods 0.000 claims description 90
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 description 18
- 230000002159 abnormal effect Effects 0.000 description 17
- 230000003993 interaction Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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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
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
-
- 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
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/12—Arrangements for effecting simultaneous opening or closing of cage and landing doors
- B66B13/125—Arrangements for effecting simultaneous opening or closing of cage and landing doors electrical
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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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)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an elevator boarding control method, an operation control device and a computer readable storage medium of an AGV car, wherein the elevator boarding control method comprises the following steps: the car dispatching system sends a floor switching instruction to the AGV; the AGV trolley moves to the front of an elevator door of the current floor and is opposite to the elevator door; the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach the current floor and keeps opening the door; the method comprises the steps that a trolley dispatching system sends an obstacle detection instruction to an AGV trolley so that the AGV trolley detects whether an obstacle exists between the AGV trolley and a target parking position; if no obstacle exists, the AGV moves to a target parking position and feeds back the target parking position to a trolley scheduling system; the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach a target floor and keeps opening the door; the AGV car moves outside the car. The elevator boarding control method disclosed by the invention can stably and reliably realize the control of the AGV trolley to board the elevator.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to an elevator boarding control method, an operation control device and a computer readable storage medium of an AGV car.
Background
An agv (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation path, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. Generally, the traveling path and behavior can be controlled by a computer, or the traveling path is set up by using an electromagnetic path (electromagnetic path-following system), the electromagnetic path is adhered to the floor, and the unmanned transport vehicle moves and operates according to the information brought by the electromagnetic path. At present, the operation control of the AGV trolley in a single floor is very stable and reliable, but when the AGV trolley is controlled to take the elevator to cross the floor to work, more abnormal conditions often exist, such as signal interruption, mutual conflict between the AGV trolley and other people or other AGV trolleys, floor mistake removal and the like, and the operation of the AGV trolley is not stable and reliable enough.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the prior art, and an object of the present invention is to provide an elevator boarding control method, an operation control device, and a computer-readable storage medium for an AGV car, which can stably and reliably control the AGV car to board the elevator.
In a first aspect, an embodiment of the present invention provides an elevator boarding control method for an AGV car, where the elevator includes a hoistway and a car that ascends and descends in the hoistway, a target parking position for parking the AGV car is preset in the car, a first wireless AP in communication connection with a server is arranged at the top of the hoistway, the server is deployed with a car dispatching system, the car is provided with a second wireless AP and a elevator control module, the first wireless AP is in communication connection with the second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, and the method includes:
the car dispatching system sends a floor switching instruction to the AGV;
the AGV trolley moves to the front of an elevator door of the current floor and is opposite to the elevator door;
the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach the current floor and keeps opening the door;
the car dispatching system sends a barrier detection instruction to an AGV car so that the AGV car can detect whether a barrier exists between the AGV car and the target parking position;
if no obstacle exists, the AGV moves to the target parking position and feeds back the target parking position to the AGV scheduling system;
the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach a target floor and keeps opening the door;
the AGV trolley moves to the outside of the car.
The method for controlling the elevator riding of the AGV car provided by the embodiment of the invention at least has the following beneficial effects: the elevator is in communication connection with a server provided with a trolley dispatching system through a first wireless AP at the top of the hoistway, so that interaction between the elevator and the trolley dispatching system can be realized, the first wireless AP is in communication connection with a second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of the trolley dispatching system for controlling the elevator is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, the AGV car moves to the front of a lift door according to the floor switching instruction, the car dispatching system interacts with the lift and controls the lift car to reach the current floor and open the door to wait, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, finally the car dispatching system interacts with the lift and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, and the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
In the elevator boarding control method of the AGV car, if the AGV car detects that an obstacle exists between the AGV car and the target parking position, the AGV car returns a detection result to the car dispatching system so that the car dispatching system releases the control of the car.
When the AGV dolly detects there being the barrier, it is right to remove not get into the car of elevator earlier inside the control of car for other transport tasks are accomplished earlier to the elevator, avoid the AGV dolly to advance by force and get into the car inside and lead to appearing unusual conflict circumstances.
In the elevator boarding control method of the AGV car, the car dispatching system releases the control of the car and waits for the first preset time, and then sends the running instruction to the elevator control module again so that the elevator control module controls the car to reach the current floor and keep opening the door.
After waiting for the first preset time, the elevator control module sends an operation instruction to the elevator, and the elevator is provided with enough time to execute other transportation tasks, so that the elevator car can have enough space inside to accommodate the AGV.
In a second aspect, an embodiment of the present invention provides an elevator boarding control method for an AGV car, where the elevator includes a hoistway and a car that ascends and descends in the hoistway, the car is preset with a target parking position for parking the AGV car, a first wireless AP in communication connection with a server is arranged at the top of the hoistway, the server is deployed with a car dispatching system, the car is provided with a second wireless AP and a elevator control module, the first wireless AP is in communication connection with the second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, and the method includes:
acquiring a floor switching instruction sent by the trolley dispatching system;
moving the elevator door to the front of the elevator door of the current floor and facing the elevator door;
detecting whether an obstacle exists between the AGV trolley and the target parking position or not under the condition that the elevator is opened and receives an obstacle detection instruction;
if no obstacle exists, the car is moved to the target parking position and fed back to the car dispatching system to be informed in place, so that the car dispatching system controls the car to reach a target floor;
and in the case of an open door of the elevator, to move outside the car.
The method for controlling the elevator riding of the AGV car provided by the embodiment of the invention at least has the following beneficial effects: the elevator is in communication connection with a server provided with a trolley dispatching system through a first wireless AP at the top of the hoistway, so that interaction between the elevator and the trolley dispatching system can be realized, the first wireless AP is in communication connection with a second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of the trolley dispatching system for controlling the elevator is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, the AGV car moves to the front of a lift door according to the floor switching instruction, the AGV car waits for the interaction of the car dispatching system and the lift and controls the lift car to reach the current floor, the door is opened for waiting, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, the AGV car waits for the interaction of the car dispatching system and the lift again and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, and the AGV trolley strictly executes various instructions of the trolley dispatching system, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
In the above method for controlling the elevator boarding of the AGV car, if it is detected that an obstacle exists between the AGV car and the target parking position, a detection result is returned to the car dispatching system, so that the car dispatching system releases the control of the car.
When the AGV dolly detects there being the barrier, it is right to remove not get into the car of elevator earlier inside the control of car for other transport tasks are accomplished earlier to the elevator, avoid the AGV dolly to advance by force and get into the car inside and lead to appearing unusual conflict circumstances.
According to the method for controlling the elevator boarding of the AGV dolly, the AGV dolly navigates to the front of an elevator door, to a target parking position and to the outside of a car through a laser SLAM map.
In the method for controlling the elevator boarding of the AGV car, before the AGV car moves to the outside of the car, a map switching action is executed so as to switch to the laser SLAM map corresponding to the target floor.
In a third aspect, an embodiment of the present invention provides an elevator boarding control method for an AGV car, where the elevator includes a hoistway and a car that ascends and descends in the hoistway, the car is preset with a target parking position for parking the AGV car, a first wireless AP in communication connection with a server is arranged at the top of the hoistway, the server is deployed with a car dispatching system, the car is provided with a second wireless AP and a elevator control module, the first wireless AP is in communication connection with the second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, and the method includes:
sending a floor switching instruction to the AGV so that the AGV moves to the front of an elevator door of the current floor and is opposite to the elevator door;
sending an operation instruction to the elevator control module so that the elevator control module controls the elevator car to reach the current floor and keeps opening the door;
sending an obstacle detection instruction to an AGV so that the AGV can detect whether an obstacle exists between the AGV and the target parking position;
receiving a detection result fed back by the AGV trolley, and controlling the AGV trolley to move to the target parking position under the condition that no obstacle exists;
under the condition of receiving the in-place notification fed back by the AGV, sending an operation instruction to the elevator control module so that the elevator control module controls the lift car to reach a target floor and keeps opening the door;
and sending a moving instruction to the AGV trolley so that the AGV trolley moves to the outside of the car.
The method for controlling the elevator riding of the AGV car provided by the embodiment of the invention at least has the following beneficial effects: the elevator is in communication connection with a server provided with a trolley dispatching system through a first wireless AP at the top of the hoistway, so that interaction between the elevator and the trolley dispatching system can be realized, the first wireless AP is in communication connection with a second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of the trolley dispatching system for controlling the elevator is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, so that the AGV car moves to the front of a lift door according to the floor switching instruction, the car dispatching system interacts with the lift and controls the lift car to reach the current floor and open the door to wait, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, and finally the car dispatching system interacts with the lift and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, and the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
In the elevator boarding control method of the AGV car, under the condition that the detection result is that the obstacle exists, the control of the car is removed, and after waiting for the first preset time, the operation instruction is sent again to the elevator control module, so that the elevator control module controls the car to reach the current floor and keep opening the door.
When the AGV trolley detects that an obstacle exists, the AGV trolley does not enter the interior of the lift car of the elevator, and the control on the lift car is removed, so that the elevator finishes other transportation tasks, and abnormal conflict caused by the fact that the AGV trolley moves into the interior of the lift car is avoided; after waiting for the first preset time, the elevator control module sends an operation instruction to the elevator, and the elevator is provided with enough time to execute other transportation tasks, so that the elevator car can have enough space inside to accommodate the AGV.
In a fourth aspect, an embodiment of the present invention provides an operation control apparatus, including at least one control processor and a memory, which is communicatively connected to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform a method of controlling an elevator ride of an AGV car as described in the first aspect embodiment above, a method of controlling an elevator ride of an AGV car as described in the second aspect embodiment above, or a method of controlling an elevator ride of an AGV car as described in the third aspect embodiment above.
In a fifth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to execute the method for controlling an elevator ride of an AGV car according to the first aspect, the method for controlling an elevator ride of an AGV car according to the second aspect, or the method for controlling an elevator ride of an AGV car according to the third aspect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
The invention is further described below with reference to the accompanying drawings and examples;
fig. 1 is a schematic structural diagram of an elevator provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of the communication connections of an elevator, AGV cart, and server provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an AGV elevator ride control method according to an embodiment of the present invention;
FIG. 4 is a flow chart of an exemplary embodiment of the present invention for controlling the ride of an AGV according to the present invention;
FIG. 5 is a schematic diagram of an AGV detecting an obstacle according to an embodiment of the present invention;
fig. 6 is a flowchart of an elevator boarding control method applied to the AGV car side according to an embodiment of the present invention;
FIG. 7 is a flow chart of an exemplary embodiment of an elevator ride control method for an AGV that is used in a cart dispatching system;
fig. 8 is a schematic structural diagram of an operation control device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The embodiment of the invention provides an elevator boarding control method, an operation control device and a computer readable storage medium for an AGV car, which can stably and reliably control the AGV car to board an elevator.
The embodiments of the present invention will be further explained with reference to the drawings.
Referring to fig. 1 to 3, a first embodiment of the present invention provides an elevator boarding control method for an AGV car. As shown in fig. 1 and 2, the elevator includes a hoistway and a car lifting in the hoistway, a target parking position for parking an AGV car is preset in the car, a first wireless AP in communication connection with a server is arranged at the top of the hoistway, a switch is generally arranged between the first wireless AP and the server, the first wireless AP is connected with the switch through a network cable, and the switch is connected with the server through a network cable; the server is deployed with dolly dispatch system, the car is provided with the wireless AP of second and terraced accuse module, first wireless AP passes through wired communication or wireless communication's mode and the wireless AP communication connection of second, the wireless AP of second and terraced accuse module communication connection, still be provided with the ethernet generally between wireless AP of second and the terraced accuse module and change 485 modules, the wireless AP of second passes through the net twine and changes 485 module with the ethernet and be connected, the ethernet changes 485 module and passes through 485 buses and terraced accuse module connection.
Referring to fig. 3 and 4, the elevator boarding control method includes, but is not limited to, step S410 to step S470:
step S410: the car dispatching system sends a floor switching instruction to the AGV;
step S420: the AGV trolley moves to the front of an elevator door of the current floor and is opposite to the elevator door;
step S430: the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach the current floor and keeps opening the door;
step S440: the method comprises the steps that a trolley dispatching system sends an obstacle detection instruction to an AGV trolley so that the AGV trolley detects whether an obstacle exists between the AGV trolley and a target parking position;
step S450: if no obstacle exists, the AGV moves to a target parking position and feeds back the target parking position to a trolley scheduling system;
step S460: the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach a target floor and keeps opening the door;
step S470: the AGV car moves outside the car.
According to the elevator boarding control method of the AGV car provided by the embodiment of the invention, the elevator is in communication connection with the server provided with the car dispatching system through the first wireless AP at the top of the hoistway, so that the interaction between the elevator and the car dispatching system can be realized, the first wireless AP is in communication connection with the second wireless AP in a wired communication or wireless communication mode, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of controlling the elevator by the car dispatching system is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, the AGV car moves to the front of a lift door according to the floor switching instruction, the car dispatching system interacts with the lift and controls the lift car to reach the current floor and open the door to wait, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, finally the car dispatching system interacts with the lift and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, and the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
It is understood that, in step S450, if there is no obstacle, the AGV car may move directly to the target parking position inside the car, or move to the target parking position inside the car in response to the elevator entering command sent by the car dispatching system.
In the method for controlling an elevator ride of an AGV car according to the first aspect of the present invention, if the AGV car detects that an obstacle exists between the AGV car and a target parking position, the AGV car returns a detection result to the car dispatching system, so that the car dispatching system releases the control of the car.
When the AGV trolley detects that the obstacle exists, the AGV trolley does not enter the interior of the lift car of the elevator, and control over the lift car is removed, so that the elevator finishes other transportation tasks firstly, and abnormal conflict caused by the fact that the AGV trolley moves into the interior of the lift car is avoided.
In the method for controlling an elevator of an AGV car to take a ride, the car dispatching system releases the control of the car and waits for the first preset time, and then sends the operation command to the elevator control module again, so that the elevator control module controls the car to reach the current floor and keeps opening the door.
After waiting for the first preset time, the elevator control module sends an operation instruction to the elevator, and the elevator is provided with enough time to execute other transportation tasks, so that the elevator car can have enough space inside to accommodate the AGV.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating the AGV cart detecting whether there is an obstacle between the AGV cart and the target parking position in step S440, where the obstacle detection area includes a rectangular area and two semicircular areas located at both ends of the rectangular area as shown in the figure. According to the application scene, the problem of detecting the regional obstacles can be converted into the problem of the shortest distance: traversing the obstacle by taking the laser SLAM map coordinate system as a reference system, solving the shortest distance from the obstacle point coordinate to the connecting line between the target point and the AGV point, and ensuring no singular value by adopting a point-line vector distance calculation method.
It will be appreciated that the above described embodiment of the first aspect of the invention provides an elevator ride control method which is based on a complete system level control method. In the following, the present invention introduces the elevator boarding control method for AGV cars from the AGV car level and the car dispatching system level, respectively.
Referring to fig. 3 and 6, a second aspect of the present invention provides an elevator boarding control method for AGV carts, where the elevator includes a hoistway and a car that ascends and descends in the hoistway, the car presets a target parking position for parking the AGV carts, a first wireless AP is disposed at the top of the hoistway and is in communication connection with a server, the server is deployed with a car dispatching system, the car is provided with a second wireless AP and a elevator control module, the first wireless AP is in communication connection with the second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, and the elevator boarding control method of this embodiment is a control method applied to AGV carts, and includes, but is not limited to, steps S610 to S650:
step S610: acquiring a floor switching instruction sent by a trolley dispatching system;
step S620: moving to the front of the elevator door of the current floor and facing the elevator door;
step S630: detecting whether a barrier exists between an AGV trolley and a target parking position under the condition that the elevator is opened and receives a barrier detection instruction;
step S640: if no obstacle exists, the car is moved to a target parking position and fed back to a car dispatching system to be informed in place, so that the car dispatching system controls the car to reach a target floor;
step S650: and moves to the outside of the car when the elevator door is opened.
According to the elevator boarding control method of the AGV car provided by the embodiment of the invention, the elevator is in communication connection with the server provided with the car dispatching system through the first wireless AP at the top of the hoistway, so that the interaction between the elevator and the car dispatching system can be realized, the first wireless AP is in communication connection with the second wireless AP in a wired communication or wireless communication mode, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of controlling the elevator by the car dispatching system is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, the AGV car moves to the front of a lift door according to the floor switching instruction, the AGV car waits for the interaction of the car dispatching system and the lift and controls the lift car to reach the current floor, the door is opened for waiting, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, the AGV car waits for the interaction of the car dispatching system and the lift again and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, and the AGV trolley strictly executes various instructions of the trolley dispatching system, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
In the method for controlling the elevator boarding of the AGV car, if the obstacle is detected to exist between the AGV car and the target parking position, the detection result is returned to the car dispatching system, so that the car dispatching system releases the control of the car.
When the AGV trolley detects that the obstacle exists, the AGV trolley does not enter the interior of the lift car of the elevator, and control over the lift car is removed, so that the elevator finishes other transportation tasks firstly, and abnormal conflict caused by the fact that the AGV trolley moves into the interior of the lift car is avoided.
In the method for controlling the elevator boarding of the AGV car, the AGV car is navigated to the front of the elevator door, the target parking position and the outside of the car through the laser SLAM map.
In the elevator boarding control method of the AGV car, before the AGV car moves to the outside of the car, a map switching action is executed to switch to the laser SLAM map corresponding to the target floor, the laser SLAM map corresponding to the target floor is repositioned according to the position and the posture of the map, and after the AGV car is repositioned, the floor switching task chain can be completed by navigating to the outside of the elevator through the floor laser SLAM map.
Referring to fig. 3 and 7, a third embodiment of the present invention provides an elevator boarding control method for AGV carts, where the elevator includes a hoistway and a car that ascends and descends in the hoistway, the car presets a target parking position for parking the AGV carts, a first wireless AP is disposed at the top of the hoistway and is in communication connection with a server, the server is deployed with a car dispatching system, the car is provided with a second wireless AP and a elevator control module, the first wireless AP is in communication connection with the second wireless AP through wired communication or wireless communication, and the second wireless AP is in communication connection with the elevator control module, the elevator boarding control method of this embodiment is a control method applied to the car dispatching system, and includes, but is not limited to, steps S710 to S760:
step S710: sending a floor switching instruction to the AGV so that the AGV moves to the front of the elevator door of the current floor and is opposite to the elevator door;
step S720: sending an operation instruction to the elevator control module so that the elevator control module controls the elevator car to reach the current floor and keeps opening the door;
step S730: sending an obstacle detection instruction to the AGV trolley so that the AGV trolley detects whether an obstacle exists between the AGV trolley and the target parking position;
step S740: receiving a detection result fed back by the AGV, and controlling the AGV to move to a target parking position under the condition that no obstacle exists;
step S750: under the condition of receiving an in-place notice fed back by the AGV, sending an operation instruction to the elevator control module so that the elevator control module controls the lift car to reach a target floor and keeps opening the door;
step S760: and sending a moving instruction to the AGV trolley so that the AGV trolley moves to the outside of the car.
According to the elevator boarding control method of the AGV car provided by the embodiment of the invention, the elevator is in communication connection with the server provided with the car dispatching system through the first wireless AP at the top of the hoistway, so that the interaction between the elevator and the car dispatching system can be realized, the first wireless AP is in communication connection with the second wireless AP in a wired communication or wireless communication mode, and the second wireless AP is in communication connection with the elevator control module, so that the operation instruction of controlling the elevator by the car dispatching system is transmitted to the elevator control module; in addition, a second wireless AP in the car can also be in wireless communication with the AGV car, so that the AGV car can still normally communicate with a car dispatching system through the second wireless AP after entering the car, and the situation that the AGV car is abnormal in communication in the car is avoided; when the AGV car needs to take a lift, a floor switching instruction is sent to the AGV car by a car dispatching system, so that the AGV car moves to the front of a lift door according to the floor switching instruction, the car dispatching system interacts with the lift and controls the lift car to reach the current floor and open the door to wait, then the AGV car carries out obstacle detection according to an obstacle detection instruction of the car dispatching system, the AGV car moves to a target parking position in the lift car when no obstacle exists, and finally the car dispatching system interacts with the lift and controls the lift car to reach the target floor, and the AGV car moves to the outside of the lift car; the whole process of taking the elevator by the AGV trolley is comprehensively controlled by a trolley dispatching system, and the trolley dispatching system is respectively interacted with the elevator and the AGV trolley, so that the whole process is stable and reliable, and the error probability is greatly reduced; the obstacle detection step is added, the abnormal situation caused by the fact that other people and articles or other AGV trolleys still enter the elevator car when the elevator car is internally provided is avoided, the safety of the AGV trolleys in the process of taking the elevator is fully guaranteed, and the reliability of taking the elevator is improved.
In the method for controlling the elevator boarding of the AGV car, the control over the car is released under the condition that the detection result shows that the obstacle exists, and after waiting for the first preset time, the operation instruction is sent to the elevator control module again, so that the elevator control module controls the car to reach the current floor and keeps opening the door.
When the AGV trolley detects that the obstacle exists, the AGV trolley does not enter the interior of the lift car of the elevator, and the control on the lift car is removed, so that the elevator finishes other transportation tasks, and abnormal conflict situations caused by the fact that the AGV trolley moves into the interior of the lift car are avoided; after waiting for the first preset time, the elevator control module sends an operation instruction to the elevator, and the elevator is provided with enough time to execute other transportation tasks, so that the elevator car can have enough space inside to accommodate the AGV.
Additionally, referring to fig. 8, a fourth aspect embodiment of the present invention provides an operation control apparatus 800, comprising at least one control processor 810 and a memory 820 for communicative connection with the at least one control processor 810; the memory 820 stores instructions executable by the at least one control processor 810, the instructions being executable by the at least one control processor 810 to enable the at least one control processor 810 to perform a method of controlling an elevator ride of an AGV car as described above in the first aspect embodiment, a method of controlling an elevator ride of an AGV car as described above in the second aspect embodiment, or a method of controlling an elevator ride of an AGV car as described above in the third aspect embodiment, e.g., to perform method steps S410 to S470 in fig. 4, method steps S610 to S650 in fig. 6, and method steps S710 to S760 in fig. 7.
In addition, a fifth aspect embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the method for controlling an elevator ride of an AGV car as in the first aspect embodiment above, the method for controlling an elevator ride of an AGV car as in the second aspect embodiment above, or the method for controlling an elevator ride of an AGV car as in the third aspect embodiment above, such as performing method steps S410 to S470 in fig. 4, method steps S610 to S650 in fig. 6, and method steps S710 to S760 in fig. 7.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media or non-transitory media and communication media or transitory media. The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks, DVD, or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (11)
1. The utility model provides a control method is taken to elevator of AGV dolly, its characterized in that, the elevator includes the well and is in the car that goes up and down in the well, the car is inside to be preset and is used for parking the target parking position of AGV dolly, the top of well is provided with the first wireless AP with server communication connection, the server is deployed and is had dolly dispatch system, the car is provided with the wireless AP of second and terraced control module, first wireless AP through wired communication or wireless communication's mode with the wireless AP communication connection of second, the wireless AP of second with terraced control module communication connection, the method includes:
the car dispatching system sends a floor switching instruction to the AGV;
the AGV trolley moves to the front of an elevator door of the current floor and is opposite to the elevator door;
the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach the current floor and keeps opening the door;
the car dispatching system sends a barrier detection instruction to an AGV car so that the AGV car can detect whether a barrier exists between the AGV car and the target parking position;
if no obstacle exists, the AGV moves to the target parking position and feeds back the target parking position to the AGV scheduling system;
the car dispatching system sends an operation instruction to the elevator control module so that the elevator control module controls the car to reach a target floor and keeps opening the door;
the AGV trolley moves to the outside of the car.
2. The method of claim 1, wherein if the AGV detects an obstacle between the AGV and the target parking position, the AGV returns a detection result to the car dispatching system to enable the car dispatching system to remove the control of the car.
3. The AGV car elevator boarding control method of claim 2, wherein the car dispatching system releases the control of the car and waits for a first preset time before sending the operation command to the elevator control module again, so that the elevator control module controls the car to reach the current floor and keeps opening the door.
4. The utility model provides a control method is taken to elevator of AGV dolly, its characterized in that, the elevator includes the well and is in the car that goes up and down in the well, the car presets and is used for parking the target parking position of AGV dolly, the top of well is provided with the first wireless AP with server communication connection, the server is deployed and is had dolly dispatch system, the car is provided with the wireless AP of second and terraced control module, first wireless AP through wired communication or wireless communication's mode with the wireless AP communication connection of second, the wireless AP of second with terraced control module communication connection, the method includes:
acquiring a floor switching instruction sent by the trolley dispatching system;
moving the elevator door to the front of the elevator door of the current floor and facing the elevator door;
detecting whether an obstacle exists between the AGV trolley and the target parking position or not under the condition that the elevator is opened and receives an obstacle detection instruction;
if no obstacle exists, the car is moved to the target parking position and fed back to the car dispatching system to be informed in place, so that the car dispatching system controls the car to reach a target floor;
and in the case of an open door of the elevator, to move outside the car.
5. The AGV car elevator boarding control method of claim 4, wherein if an obstacle is detected between the AGV car and the target parking position, a detection result is returned to the car dispatching system so that the car dispatching system releases the control of the car.
6. The method of claim 4, wherein the AGV car is navigated to the front of the elevator door, to the target parking location, and to the outside of the car via a laser SLAM map.
7. The method of claim 6, wherein a map switching operation is performed to switch to the laser SLAM map corresponding to the destination floor before the AGV moves outside the car.
8. The utility model provides a control method is taken to elevator of AGV dolly, its characterized in that, the elevator includes the well and is in the car that goes up and down in the well, the car presets and is used for parking the target parking position of AGV dolly, the top of well is provided with the first wireless AP with server communication connection, the server is deployed and is had dolly dispatch system, the car is provided with the wireless AP of second and terraced control module, first wireless AP through wired communication or wireless communication's mode with the wireless AP communication connection of second, the wireless AP of second with terraced control module communication connection, the method includes:
sending a floor switching instruction to the AGV so that the AGV moves to the front of an elevator door of the current floor and is opposite to the elevator door;
sending an operation instruction to the elevator control module so that the elevator control module controls the elevator car to reach the current floor and keeps opening the door;
sending an obstacle detection instruction to an AGV so that the AGV can detect whether an obstacle exists between the AGV and the target parking position;
receiving a detection result fed back by the AGV trolley, and controlling the AGV trolley to move to the target parking position under the condition that no obstacle exists;
under the condition of receiving the in-place notification fed back by the AGV, sending an operation instruction to the elevator control module so that the elevator control module controls the lift car to reach a target floor and keeps opening the door;
and sending a moving instruction to the AGV trolley so that the AGV trolley moves to the outside of the car.
9. The AGV car elevator boarding control method according to claim 8, wherein in case that there is an obstacle as a result of the detection, the control of the car is released, and after waiting for a first preset time, an operation command is sent to the elevator control module again, so that the elevator control module controls the car to reach the current floor and keep opening the door.
10. An operation control device comprising at least one control processor and a memory for communicative connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform a method for controlling an elevator ride of an AGV car according to any one of claims 1 to 3, a method for controlling an elevator ride of an AGV car according to any one of claims 4 to 7 or a method for controlling an elevator ride of an AGV car according to any one of claims 8 to 9.
11. A computer-readable storage medium, characterized in that it stores computer-executable instructions for causing a computer to execute the method for controlling an elevator ride of an AGV car according to any one of claims 1 to 3, the method for controlling an elevator ride of an AGV car according to any one of claims 4 to 7, or the method for controlling an elevator ride of an AGV car according to any one of claims 8 to 9.
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