CN115417263A - AGV and elevator interaction system based on Bluetooth technology and use method thereof - Google Patents
AGV and elevator interaction system based on Bluetooth technology and use method thereof Download PDFInfo
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- 230000002452 interceptive effect Effects 0.000 claims abstract description 8
- 238000012545 processing Methods 0.000 claims description 16
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- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000001143 conditioned effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 claims description 3
- 230000008713 feedback mechanism Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims 1
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- 206010063385 Intellectualisation Diseases 0.000 description 1
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- 229940079593 drug Drugs 0.000 description 1
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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
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- 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
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an AGV and elevator interaction system based on Bluetooth technology and a using method thereof. According to the invention, the safety is ensured, and because the AGV and elevator interaction system based on the Bluetooth technology adopts local area network wireless communication and does not communicate with the outside, the safety is ensured; the maximum data transmission rate in a Bluetooth Basic Rate (BR) mode (DHx data packet type) is 723.2kbps, and the data transmission rate in the Bluetooth technology can meet the data interaction stability between the AGV and the elevator under different working conditions because the interactive data quantity between the AGV and the elevator is less than 50 bytes per second; a special mechanism is designed to ensure reliability.
Description
Technical Field
The invention relates to the technical field of AGV and elevator interaction, in particular to an AGV and elevator interaction system based on a Bluetooth technology and a using method thereof.
Background
Elevators, the most frequently used vertical transport vehicle, transport hundreds of millions of passengers each day, and have become an essential part of urban vertical traffic. With the development of elevator intellectualization and the improvement of internet of things technology, objects interacting with elevators are not limited to people, but include various AGVs, elevators are gradually popularized to transport medicines, foods, files and the like besides passengers, and the following figures show that the AGVs take the elevators to deliver files to office buildings.
The AGV and elevator interaction system needs to establish a data communication link between the AGV and the elevator at first, and due to the mobility characteristic of the AGV, a wired communication mode is not suitable for the application scene. The wireless communication between the AGV and the elevator can adopt local area network wireless communication and also can adopt wide area wireless communication, such as 3G, 4G, 5G and the like. The existing similar products are mostly based on wide area network wireless communication, and the network signal quality of a telecom operator in an elevator is often not good, so that the reliability of data interaction cannot be ensured.
Disclosure of Invention
The invention aims to provide an AGV and elevator interaction system based on a Bluetooth technology and a using method thereof, so as to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a AGV and elevator interaction system based on bluetooth, includes AGV and elevator control system, elevator control system includes data acquisition transmission conversion module, connect through bluetooth module between AGV and the elevator control system.
Preferably, the bluetooth module comprises a first bluetooth module in the AGV and a second bluetooth module in the elevator control system.
Preferably, the microprocessor on the main controller of the elevator control system communicates with the bluetooth module through a UART interface, including receiving and sending data collected from the AGV according to a data format specified by a bluetooth wireless transmission protocol.
Preferably, the elevator control system comprises a sending module and a receiving module;
the transmitting module comprises a signal acquisition end and a transmitting end, the acquired signals are amplified and conditioned to become standard analog voltage signals of 0-3V, and the standard analog voltage signals are respectively connected to the input end of the microprocessor, and the microprocessor is used for carrying out digital processing on the acquired signals; the sending end takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the receiving module;
the receiving module is divided into a receiving end and a signal processing end, and the receiving end also takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the sending module; the signal processing is completed by a microprocessor and is used for processing the received signals and realizing the control of opening, closing and running of the elevator.
Preferably, the microprocessor adopts an ARM microprocessor.
A use method of an AGV and elevator interaction system based on a Bluetooth technology comprises the following steps:
s1: after the initialization of the Bluetooth modules is completed, the Bluetooth modules immediately carry out wireless communication, respectively carry out reading and writing, send or receive Bluetooth instructions and update;
s2: the whole source code is programmed in an ADS1.2 compiler by using C language, and after the system is reset, the ARM microcontroller establishes a standard data rate of 723.2kbps for the UART; establishing flow control between the Bluetooth devices through an HCI main controller interface, and checking the right of an encryption protocol, thereby forming a Bluetooth module micro local area network, preparing for Bluetooth wireless data transmission, and exchanging data between the Bluetooth modules after establishing an ACL link;
s3: after the AGV applies for using the elevator, if the feedback is obtained, no matter whether the elevator state is available, the door must be closed to release the elevator, and the application can be ended, and each link in the interactive flow is indispensable and is buckled with the loop.
Preferably, the method comprises the following steps of: after the AGV enters the elevator car and registers a destination floor instruction, in the running process of the elevator, the registered instruction is eliminated due to some abnormal reasons; and increasing abnormal loss judgment of the registered instruction, circularly detecting the instruction loss, automatically performing supplementary registration, and circularly updating the elevator state and feeding back to the AGV.
Preferably, closed loop data interaction is included: any instruction of AGV and elevator interaction all needs to be confirmed, namely data all need to be fed back in the receiving and dispatching process, a closed loop is formed, the problem that real-time states of two parties are inconsistent and logic control is abnormal is avoided, if the AGV reaches a target floor feedback mechanism, when the elevator judges that the AGV reaches a target floor, a feedback confirmation signal is fed back to the AGV, and before the AGV replies confirmation, the elevator circularly notifies the AGV until the AGV replies and stops after confirmation.
Preferably, the method comprises the following steps of: the AGV or elevator circulating retransmission time value is marked as T, the retransmission times are marked as C, and the retransmission times threshold value is marked as S; when the AGV or the elevator sends 1 data packet, the overtime counter carries out accumulation, the overtime counter is reset when feedback data are received, and when the accumulated value of the overtime counter reaches T, the data are automatically retransmitted; if the condition of item 1 is still met in the retransmission stage, adding 1 to C, and if the condition of item 1 is not met, clearing C; if C > = S, judging that the jamming occurs, readjusting the overtime retransmission time, realizing automatic adjustment of the transmission frequency and reducing the data jamming.
Compared with the prior art, the invention has the beneficial effects that: safety, an AGV and elevator interaction system based on the Bluetooth technology adopts local area network wireless communication, and does not communicate with the outside, so that the safety is guaranteed; the maximum data transmission rate in a Bluetooth Basic Rate (BR) mode (DHx data packet type) is 723.2kbps, and the data transmission rate in the Bluetooth technology can meet the data interaction stability between the AGV and the elevator under different working conditions because the interactive data quantity between the AGV and the elevator is less than 50 bytes per second; a special mechanism is designed to ensure reliability.
Drawings
The accompanying drawings, which 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 description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, an AGV and elevator interaction system based on a bluetooth technology includes an AGV and an elevator control system, where the elevator control system includes a data acquisition transmission conversion module, and the AGV and the elevator control system are connected through a bluetooth module.
Preferably, the bluetooth module comprises a first bluetooth module in the AGV and a second bluetooth module in the elevator control system.
Preferably, the microprocessor on the main controller of the elevator control system communicates with the bluetooth module through a UART interface, including receiving and sending data collected from the AGV according to a data format specified by a bluetooth wireless transmission protocol.
Preferably, the elevator control system comprises a sending module and a receiving module;
the transmitting module comprises a signal acquisition end and a transmitting end, the acquired signals are amplified and conditioned to become standard analog voltage signals of 0-3V, and the standard analog voltage signals are respectively connected to the input end of the microprocessor, and the microprocessor is used for carrying out digital processing on the acquired signals; the sending end takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the receiving module;
the receiving module is divided into a receiving end and a signal processing end, and the receiving end also takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the sending module; the signal processing is completed by a microprocessor and is used for processing the received signals and realizing the control of opening, closing and running of the elevator.
Preferably, the microprocessor adopts an ARM microprocessor.
A use method of an AGV and elevator interaction system based on a Bluetooth technology comprises the following steps:
s1: after the initialization of the Bluetooth modules is completed, the Bluetooth modules immediately carry out wireless communication, respectively carry out reading and writing, send or receive Bluetooth instructions and update;
s2: the whole source code is programmed in an ADS1.2 compiler by using C language, and after the system is reset, the ARM microcontroller establishes a standard data rate of 723.2kbps for the UART; flow control is established among the Bluetooth devices through an HCI main controller interface, and the right of an encryption protocol is checked, so that a Bluetooth module micro local area network is formed, preparation is made for Bluetooth wireless data transmission, and after an ACL link is established, data exchange can be performed among the Bluetooth modules;
s3: after the AGV applies for using the elevator, if feedback is obtained, no matter whether the elevator state is available, the door must be closed to release the elevator, and the application can be ended, and each link in the interactive flow is indispensable and is buckled in a loop.
Preferably, the method comprises the following steps of: after the AGV enters the elevator car and registers a destination floor instruction, in the running process of the elevator, the registered instruction is eliminated due to some abnormal reasons; and increasing abnormal loss judgment of the registered instruction, circularly detecting the instruction loss, automatically performing supplementary registration, and circularly updating the elevator state and feeding back to the AGV.
Preferably, closed loop data interaction is included: any instruction that AGV and elevator are interactive all needs to be confirmed, and data all need obtain the feedback at the receiving and dispatching in-process promptly, forms the closed loop, prevents that both sides real-time condition is inconsistent to lead to logic control's unusualness, reaches target floor feedback mechanism if the AGV, judges when the AGV reaches the target floor after the elevator, feeds back the acknowledgement signal and gives the AGV, before the AGV replies the affirmation, the elevator circulates and notifies the AGV, stops until the AGV replies after the affirmation.
Preferably, the method comprises the following steps of: the AGV or elevator circulating retransmission time value is marked as T, the retransmission times are marked as C, and the retransmission times threshold value is marked as S; when the AGV or the elevator sends 1 data packet, the overtime counter carries out accumulation, the overtime counter is reset when feedback data are received, and when the accumulated value of the overtime counter reaches T, the data are automatically retransmitted; if the condition of item 1 is still met in the retransmission stage, adding 1 to C, and if the condition of item 1 is not met, clearing C; if C > = S, judging that the jamming occurs, readjusting the overtime retransmission time, realizing automatic adjustment of the transmission frequency and reducing the data jamming.
According to the Bluetooth wireless communication solution of the AGV and elevator interaction system, a Bluetooth communication module is added to each of the AGV and elevator control system data acquisition, transmission and conversion devices, the AGV and the elevator control system send and receive signals through the Bluetooth modules, the Bluetooth modules carry out wireless transmission according to a Bluetooth wireless communication protocol through a sender and a receiver, the AGV and elevator interaction system is formed, and a wireless communication link between the AGV and an elevator is established.
The Bluetooth technology follows BR/EDR standards and LE standards, and the BR/EDR is used for establishing continuous connection with relatively short distance and is suitable for connecting use scenes such as audio and video equipment; LE provides long-distance instantaneous data transmission, long connection is not established, power consumption is low, and the method is suitable for the situation that continuity is not required and low power consumption is required, such as the Internet of things of the elevator, and an interactive system of the AGV and the elevator adopts a Bluetooth technology based on LE standard; the maximum data transmission rate in the Bluetooth Basic Rate (BR) mode (DHx data packet type) is 723.2kbps, and the data transmission rate in the Bluetooth technology can meet the data interaction requirements between the AGV and the elevator under different working conditions because the data interaction amount between the AGV and the elevator is less than 50 bytes per second.
The Bluetooth chip adopts a Bluetooth NRG-LPS Bluetooth 5.3 authentication system chip of an ideological semiconductor, and forms a Bluetooth module together with peripheral devices. The voltage adjusting circuit provides 3.3V and 1.8V voltages required by the Bluetooth module, and the ROM is used for storing Bluetooth firmware and configuration parameters; the ARM microprocessor on the elevator control system main controller is communicated with the Bluetooth module through a UART interface and receives and sends data collected by the AGV according to a data format specified by a Bluetooth wireless transmission protocol.
The sending module comprises a signal collecting end and a sending end; the acquired signals are amplified and conditioned to become standard analog voltage signals of 0-3V, and the standard analog voltage signals are respectively connected to the input end of a microprocessor, and the microprocessor carries out digital processing on the acquired signals; the transmitting end uses the Bluetooth module as a core and carries out Bluetooth wireless data communication with the receiving module.
The receiving module is divided into a receiving end and a signal processing end; the receiving end also takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the sending module; the signal processing is completed by a microprocessor and is used for processing the received signals and realizing the control of opening, closing and running of the elevator.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a AGV and elevator interaction system based on bluetooth, includes AGV and elevator control system, its characterized in that: the elevator control system comprises a data acquisition transmission conversion module, and the AGV and the elevator control system are connected through a Bluetooth module.
2. The AGV and elevator interaction system based on Bluetooth technology of claim 1, wherein: the Bluetooth module comprises a first Bluetooth module in the AGV and a second Bluetooth module in the elevator control system.
3. The AGV and elevator interaction system based on Bluetooth technology of claim 1, wherein: the microprocessor on the main controller of the elevator control system is communicated with the Bluetooth module through a UART interface and receives and sends data acquired from the AGV according to a data format specified by a Bluetooth wireless transmission protocol.
4. The AGV and elevator interaction system based on Bluetooth technology of claim 3, wherein: the elevator control system comprises a sending module and a receiving module;
the transmitting module comprises a signal acquisition end and a transmitting end, the acquired signals are amplified and conditioned to become standard analog voltage signals of 0-3V, and the standard analog voltage signals are respectively connected to the input end of the microprocessor, and the microprocessor is used for carrying out digital processing on the acquired signals; the sending end takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the receiving module;
the receiving module is divided into a receiving end and a signal processing end, and the receiving end also takes the Bluetooth module as a core and carries out Bluetooth wireless data communication with the sending module; the signal processing is completed by a microprocessor and is used for processing the received signals and realizing the control of opening, closing and running of the elevator.
5. An AGV and elevator interaction system based on Bluetooth technology as claimed in claim 3 or 4, wherein: the microprocessor adopts an ARM microprocessor.
6. The use method of the AGV and elevator interaction system based on the Bluetooth technology according to claim 1, characterized in that: the method comprises the following steps:
s1: after the initialization of the Bluetooth modules is completed, the Bluetooth modules immediately carry out wireless communication, respectively carry out reading and writing, send or receive Bluetooth instructions and update;
s2: the whole source code is programmed in an ADS1.2 compiler by using C language, and after the system is reset, the ARM microcontroller establishes a standard data rate of 723.2kbps for the UART; establishing flow control between the Bluetooth devices through an HCI main controller interface, and checking the right of an encryption protocol, thereby forming a Bluetooth module micro local area network, preparing for Bluetooth wireless data transmission, and exchanging data between the Bluetooth modules after establishing an ACL link;
s3: after the AGV applies for using the elevator, if the feedback is obtained, no matter whether the elevator state is available, the door must be closed to release the elevator, and the application can be ended, and each link in the interactive flow is indispensable and is buckled with the loop.
7. The use method of the AGV and elevator interaction system based on the Bluetooth technology as claimed in claim 6, wherein: including registered instruction miss handling: after the AGV enters the elevator car and registers a destination floor instruction, in the running process of the elevator, the registered instruction is eliminated due to some abnormal reasons; and increasing abnormal loss judgment of the registered instruction, circularly detecting the instruction loss, automatically performing additional registration, and circularly updating the elevator state and feeding back to the AGV.
8. The use method of the AGV and elevator interaction system based on the Bluetooth technology as claimed in claim 6, wherein: including closed loop data interaction: any instruction that AGV and elevator are interactive all needs to be confirmed, and data all need obtain the feedback at the receiving and dispatching in-process promptly, forms the closed loop, prevents that both sides real-time condition is inconsistent to lead to logic control's unusualness, reaches target floor feedback mechanism if the AGV, judges when the AGV reaches the target floor after the elevator, feeds back the acknowledgement signal and gives the AGV, before the AGV replies the affirmation, the elevator circulates and notifies the AGV, stops until the AGV replies after the affirmation.
9. The use method of the AGV and elevator interaction system based on the Bluetooth technology as claimed in claim 6, wherein: including transmit frequency adaptation: the AGV or elevator circulating retransmission time value is marked as T, the retransmission times are marked as C, and the retransmission times threshold value is marked as S; when the AGV or the elevator sends 1 data packet, the overtime counter carries out accumulation, the overtime counter is reset when feedback data are received, and when the accumulated value of the overtime counter reaches T, the data are automatically retransmitted; if the condition of item 1 is still met in the retransmission stage, adding 1 to C, and if the condition of item 1 is not met, clearing C; if C > = S, judging that the jamming occurs, readjusting the overtime retransmission time, realizing automatic adjustment of the transmission frequency and reducing the data jamming.
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