CN208732376U - A kind of elevator control system - Google Patents
A kind of elevator control system Download PDFInfo
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- CN208732376U CN208732376U CN201721767070.5U CN201721767070U CN208732376U CN 208732376 U CN208732376 U CN 208732376U CN 201721767070 U CN201721767070 U CN 201721767070U CN 208732376 U CN208732376 U CN 208732376U
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Abstract
The utility model provides a kind of elevator control system.The utility model is carried out wireless communication with medical logistics trolley and elevator respectively by control device, medical logistics trolley sends current location information and destination locations information to control device, control device is parsed to obtain movement routine to current location information and destination locations information, and elevator action command is generated according to movement routine and is sent to elevator, elevator executes corresponding movement according to elevator action command.The utility model generates elevator action command according to medical logistics trolley current location information and destination locations information by control device, and elevator action command is sent to elevator, elevator executes corresponding movement according to elevator action command, floor cannot be independently selected in hospital elevator to efficiently solve AGV, it needs that AGV is manually helped to select floor, cause conevying efficiency low, the problem of high labor cost.
Description
Technical field
The utility model belongs to AGV (Automated Guided Vehicle, automatic guided vehicle) applied technical field, especially
It is related to a kind of elevator control system.
Background technique
With the continuous development of China's scientific and technological level, more and more industry fields transport article by AGV, use
A kind of new development trend is also become when AGV transporting medical articles.
In the prior art, when AGV needs across floor transporting medical articles, since AGV cannot be in hospital elevator independently
Floor is selected, needs that AGV is manually helped to select floor, causes conevying efficiency low, high labor cost.
Utility model content
In view of this, the utility model embodiment provides a kind of elevator control system, it is intended to solve in the prior art by
Floor cannot be independently selected in hospital elevator in AGV, needed that AGV is manually helped to select floor, caused conevying efficiency low, manually
Problem at high cost.
A kind of elevator control system provided by the embodiment of the utility model, including medical logistics trolley, control device and electricity
Ladder.
The control device is carried out wireless communication with the medical logistics trolley and the elevator respectively.
The medical logistics trolley sends current location information and destination locations information to the control device, it is described in
Control equipment is parsed to obtain movement routine to the current location information and the destination locations information, and according to the shifting
Dynamic coordinates measurement elevator action command is sent to the elevator, and the elevator executes corresponding dynamic according to the elevator action command
Make.
In one embodiment, the medical logistics trolley includes locating module and the first WIFI communication module.
The locating module is connect with the first WIFI communication module, the first WIFI communication module respectively with it is described
Control device and external mobile terminal carry out wireless communication.
The first WIFI communication module receives the destination locations signal that the mobile terminal is sent.
The locating module obtains the current location information of the medical logistics trolley, and it is logical to be sent to the first WIFI
Believe module.
The current location information is converted to current position signal by the first WIFI communication module, and by wirelessly passing
The current position signal and the destination locations signal are sent to the control device by defeated mode.
In one embodiment, the locating module includes the ultra wide band for carrying out wireless communication at least three base stations
Positioning unit.
The ultra wide band positioning unit receives the first ultra-broadband signal that the base station is sent, and will receive described first
The time of ultra-broadband signal, after preset interval time, the ultra wide band positioning unit was sent as the first receiving time
Second ultra-broadband signal to the base station, the base station receives the time for receiving second ultra-broadband signal as second
Time, and second receiving time is sent to the ultra wide band positioning unit.
The ultra wide band positioning unit handle according to first receiving time and second receiving time
The first WIFI communication module is sent to the current location information, and by the current location information.
In one embodiment, the control device includes main control module, the first wireless signal transceiver module, the 2nd WIFI
Communication module and interface module.
The main control module respectively with the first wireless signal transceiver module, the 2nd WIFI communication module and described
Interface module connection.
The 2nd WIFI communication module is carried out wireless communication with the medical logistics trolley.
The 2nd WIFI communication module receives the current position signal and the destination locations signal, and is forwarded to
The main control module.
The main control module parses the current position signal and the destination locations signal to obtain mobile road
Diameter, and elevator action command is generated according to the movement routine, the elevator action command is transmitted by the interface module
To the first wireless signal transceiver module, the elevator action command includes numbering of elevator.
The first wireless signal transceiver module is carried out wireless communication with the elevator, and first wireless signal receives and dispatches mould
The elevator action command is sent to the elevator by wireless transmission method by block.
In one embodiment, the first wireless signal transceiver module includes the first wireless signal transmission unit and first
Reception of wireless signals unit.
The first wireless signal transmission unit and the first reception of wireless signals unit respectively with the main control module
Connection.
The first wireless signal transmission unit and the first reception of wireless signals unit are carried out with the elevator respectively
Communication.
In one embodiment, the elevator includes that elevator controlling module, elevator mobile mechanism and second wireless singal are received
Send out module.
The elevator controlling module is connect with the elevator mobile mechanism and the second wireless singal transceiver module respectively.
The second wireless singal transceiver module is carried out wireless communication with the control device；
The second wireless singal transceiver module receives the elevator action command, and is sent to the elevator controlling mould
Block.
The elevator controlling module detects that the numbering of elevator is matched with number is prestored, then is referred to according to elevator movement
It enables the control elevator mobile mechanism execute correspondingly to act.
In one embodiment, the elevator further includes that elevator operation obtains module.
The elevator operation obtains module and connect with the elevator controlling module.
The elevator operation obtains module and obtains current floor information, and is sent to the elevator controlling module, institute
It states elevator controlling module and the current floor information is forwarded to the second wireless singal transceiver module, second wireless communication
The current floor information is converted to current floor signal by number transceiver module, and is sent to the first wireless signal transmitting-receiving mould
Block.
In one embodiment, the control device further includes human-computer interaction module.
The human-computer interaction module is connected to the main control module.
The current floor signal is converted the current floor information by the first wireless signal transceiver module, and will
The current floor information is sent to the main control module.
The human-computer interaction module obtains the position enquiring information of user's input, and the position enquiring information is sent to
The main control module, the main control module is by the corresponding medical logistics trolley of the position enquiring information and/or the electricity
The current location of ladder is sent to the human-computer interaction module, and the human-computer interaction module shows the current location.
In one embodiment, the human-computer interaction module includes touch display screen.
In one embodiment, the control device further includes power supply module.
The power supply module is connected to the main control module.
The power supply module exports power supply signal to the main control module, and the main control module receives the power supply signal,
And respectively to the first wireless signal transceiver module, the 2nd WIFI communication module, the interface module and described man-machine
Interactive module power supply.
Existing beneficial effect is the utility model embodiment compared with prior art: control device respectively with medical logistics
Trolley and elevator carry out wireless communication, and medical logistics trolley sends current location information and destination locations information to middle control and sets
Standby, control device is parsed to obtain movement routine to current location information and destination locations information, and according to movement routine
It generates elevator action command and is sent to elevator, elevator executes corresponding movement according to elevator action command.The utility model is implemented
Example generates elevator action command according to medical logistics trolley current location information and destination locations information by control device, and
Elevator action command is sent to elevator, elevator executes corresponding movement according to elevator action command, to efficiently solve AGV
Floor cannot be independently selected in hospital elevator, needed that AGV is manually helped to select floor, caused conevying efficiency low, cost of labor
High problem.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the elevator control system that one embodiment of the utility model provides；
Fig. 2 is the structural schematic diagram for the elevator control system that another embodiment of the utility model provides.
Specific embodiment
It, below will knot to enable the purpose of utility model, feature, advantage of the utility model more obvious and understandable
The attached drawing in the utility model embodiment is closed, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the embodiments described below are only the utility model a part of the embodiment, and not all embodiment.Based on this reality
It is obtained by those of ordinary skill in the art without making creative efforts all other with the embodiment in novel
Embodiment is fallen within the protection scope of the utility model.
The realization of the utility model is described in detail below in conjunction with specific attached drawing:
The modular structure for the elevator control system 100 that one embodiment that Fig. 1 shows the utility model provides, in order to just
In explanation, part relevant to the utility model embodiment is illustrated only, details are as follows:
As shown in Figure 1, a kind of elevator control system 100 provided by the utility model embodiment includes medical logistics trolley
110, control device 120 and elevator 130.
Control device 120 is carried out wireless communication with medical logistics trolley 110 and elevator 130 respectively.
Medical logistics trolley 110 sends current location information and destination locations information to control device 120, control device
120 pairs of current location informations and destination locations information are parsed to obtain movement routine, and generate elevator according to movement routine
Action command is sent to elevator 130, and elevator 130 executes corresponding movement according to elevator action command.
In the present embodiment, it includes rising that elevator 130, which executes corresponding movement, and decline opens the door and closes the door.
In the present embodiment, control device is generated according to medical logistics trolley current location information and destination locations information
Elevator action command, and elevator action command is sent to elevator, elevator executes corresponding movement, nothing according to elevator action command
It needs medical logistics trolley to select floor, so that floor cannot independently be selected in hospital elevator by efficiently solving AGV, needs artificial
The problem of help AGV selects floor, causes conevying efficiency low, high labor cost.
In one embodiment, medical logistics trolley 110 includes locating module 111 and the first WIFI communication module 112.
Locating module 111 is connect with the first WIFI communication module 112, and the first WIFI communication module 112 is set with middle control respectively
Standby 120 carry out wireless communication with external mobile terminal 200.
First WIFI communication module 112 receives the destination locations signal that mobile terminal 200 is sent.
Locating module 111 obtains the current location information of medical logistics trolley 110, and is sent to the first WIFI communication module
112。
Current location information is converted to current position signal by the first WIFI communication module 112, and passes through wireless transmission side
Current position signal and destination locations signal are sent to control device 120 by formula.
In the present embodiment, the first WIFI communication module 112 turns current location information by WIFI wireless transmission protocol
It is changed to current position signal.
In the present embodiment, current location information includes the current geographic coordinate information of medical logistics trolley 110.
In one embodiment, the elevator door geographic coordinate information and medical logistics trolley current geographic by judging to prestore
Whether coordinate information is consistent, determines whether medical logistics trolley needs to take elevator.
In the present embodiment, at least one elevator door geographic coordinate information is prestored in medical logistics trolley 110.
In the present embodiment, when locating module 111 judges the current location information of medical logistics trolley 110 and the electricity prestored
When terraced door geographic coordinate information is consistent, then it represents that medical logistics trolley 110 has arrived at elevator doorway, needs to take elevator 130,
It controls the first WIFI communication module 112 and current position signal and destination locations signal is sent to control device 120, middle control is set
Standby 120 are acted accordingly according to current location medium wave signal and destination locations medium wave signal control elevator 130.
In the present embodiment, when locating module 111 judges the current geographic coordinate information of medical logistics trolley 110 and prestores
Elevator door geographic coordinate information it is inconsistent when, then it represents that medical logistics trolley 110 does not reach elevator doorway, controls medical object
It is mobile up to current geographic coordinate information is consistent with the elevator door geographic coordinate information prestored to flow trolley 110.
In one embodiment, the elevator door geographic coordinate information prestored is corresponding with numbering of elevator, for example, the electricity prestored
Terraced door geographic coordinate information is that numbering of elevator corresponding to (100,100,100) is 001.
By taking a concrete application scene as an example, the elevator door geographic coordinate information prestored is (100,100,100), positioning mould
It is (100,100,100) that block 111, which gets medical 110 current geographic coordinate information of logistics trolley, when locating module 111 judges to cure
When consistent with the elevator door geographic coordinate information prestored with 110 current geographic coordinate information of logistics trolley, then the first WIFI is controlled
Current position signal and destination locations signal are sent to control device 120 by communication module 112.
In one embodiment, mobile terminal 200 sends the mobile route of medical logistics trolley 110 and communicates to the first WIFI
Module 112 is moved with controlling medical logistics trolley 110 according to mobile route.
In one embodiment, when locating module 111 judges the current location information of medical logistics trolley 110 and prestores
When elevator door geographic coordinate information is consistent, then wireless communication module 112 is controlled by current position signal and destination locations signal
It is sent to control device 120, when locating module 111 judges the current location information of medical logistics trolley 110 and the elevator prestored
When door geographic coordinate information is inconsistent, then medical logistics trolley 110 is moved also according to mobile route, so as to effective
It ensure that medical logistics trolley 110 can take elevator 130, carry out across floor transporting medical articles.
In one embodiment, locating module 111 includes the ultra wide band positioning carried out wireless communication at least three base stations
Unit 10.
Ultra wide band positioning unit 10 receives the first ultra-broadband signal that base station is sent, and will receive the first ultra-broadband signal
Time as the first receiving time, after preset interval time, ultra wide band positioning unit 10 send the second ultra-wide take a message
Number to base station, base station sends out the time for receiving the second ultra-broadband signal as the second receiving time, and by the second receiving time
It send to ultra wide band positioning unit 10.
Ultra wide band positioning unit 10 is handled to obtain current location information to the first receiving time and the second receiving time,
And current location information is sent to the first WIFI communication module 112.
In the present embodiment, base station is mounted on hospital's different location, and ultra wide band positioning unit 10 receives the super of Base Transmitter
Broadband signal, and will receive Base Transmitter ultra-broadband signal time as the first receiving time, when passing through preset interval
After time, ultra wide band positioning unit 10 emits ultra-broadband signal to base station, and base station will receive ultra wide band positioning unit 10 and emit
Time of ultra-broadband signal be sent to ultra wide band positioning unit 10 as the second receiving time, and by the second receiving time, surpass
Broadband positioning unit 10 is according to the first receiving time, the second receiving time and preset interval time and prestores ultra-broadband signal in sky
Itself is calculated at a distance from base station using following formula in spread speed in gas:
In formula: d is distance of the ultra wide band positioning unit to base station；t1For the first receiving time；t2For the second receiving time；
treplyFor preset interval time, c is the aerial spread speed of ultra-broadband signal.
In the present embodiment, ultra wide band positioning unit 10 according to the base station coordinate information prestored and itself at a distance from base station
The current location information is obtained, current location information is current position coordinates information, utilize following calculation formula:
(x1-x)2+(y1-y)2+(z1-z)2=d2
In formula, (x1, y1, z1) it is base station coordinate information；(x, y, z) is current position coordinates information.
In the present embodiment, the aerial spread speed of ultra-broadband signal is equal to the aerial spread speed of light.
By taking a concrete application scene as an example, 3 base stations are mounted on hospital's different location, 3 base stations are respectively A base
It stands, the base station B and the base station C, according toThis formula calculates the base station A to ultra wide band positioning unit 10
Distance d1, the distance d of the base station B to ultra wide band positioning unit 102, the distance d of the base station C to ultra wide band positioning unit 103, will prestore
The base station A coordinate information (x1, y1, z1), the coordinate information (x of the base station A2, y2, z2), the coordinate information (x of the base station C3, y3, z3)、
Distance d of the base station A to ultra wide band positioning unit 101, the base station B to ultra wide band positioning unit 10 distance d2With the base station C to ultra wide band
The distance d of positioning unit 103Substitute into formulaIn, calculate current position coordinates
Information.
In the present embodiment, locating module 111 judges medical elevator door logistics trolley 110 current location information and prestored
When geographic coordinate information is consistent, then current position signal and destination locations signal are sent by the first WIFI communication module
Equipment is controlled, so that control device can know medical logistics trolley present position and destination locations.
In one embodiment, control device 120 includes main control module 121, the first wireless signal transceiver module 122, the
Two WIFI communication modules 123 and interface module 124.
Main control module 121 respectively with the first wireless signal transceiver module 122, the 2nd WIFI communication module 123 and interface mould
Block 124 connects.
2nd WIFI communication module 123 is carried out wireless communication with medical logistics trolley 110.
2nd WIFI communication module 123 receives current position signal and destination locations signal, and is forwarded to main control module
121。
Main control module 121 is parsed to obtain movement routine to current position signal and destination locations signal, and according to
Movement routine generates elevator action command, and elevator action command is transmitted to the first wireless signal transceiver module by interface module
122, elevator action command includes numbering of elevator.
First wireless signal transceiver module 122 is carried out wireless communication with elevator 130, the first wireless signal transceiver module 122
Elevator action command is sent to elevator 130 by wireless transmission method.
In the present embodiment, main control module 121 parses current position signal and obtains current location information, i.e., medical logistics is small
The current geographic coordinate information of vehicle 110, due to medical logistics trolley 110 current geographic coordinate information with the elevator door that prestores
It is identical to manage coordinate information, then corresponding numbering of elevator is got according to the current geographic coordinate information of medical logistics trolley 110.
In the present embodiment, the first wireless signal transceiver module 122 sends elevator action command in a manner of medium-wave communication
To elevator 130, the information that control device is sent can not be shielded by elevator 130, so that control device 120 and electricity be effectively ensured
The reliability of 130 communication of ladder.
In one embodiment, the first wireless signal transceiver module 122 includes the first wireless signal transmission unit 20 and the
One reception of wireless signals unit 21.
First wireless signal transmission unit 20 and the first reception of wireless signals unit 21 are connect with main control module 121 respectively.
First wireless signal transmission unit 20 and the first reception of wireless signals unit 21 are communicated with elevator 130 respectively.
In the present embodiment, the first wireless signal transmission unit 20 includes the first wireless transparent transmission device.
In the present embodiment, the first reception of wireless signals unit 21 includes the first radio system.
In the present embodiment, interface module 124 includes serial communication unit.
In one embodiment, elevator 130 includes elevator controlling module 131, elevator mobile mechanism 132 and the second wireless communication
Number transceiver module 133.
Elevator controlling module 131 is connect with elevator mobile mechanism 132 and second wireless singal transceiver module 133 respectively.
Second wireless singal transceiver module 133 is carried out wireless communication with the first wireless signal transceiver module 122.
Second wireless singal transceiver module 133 receives elevator action command, and is sent to elevator controlling module 131.
Elevator controlling module 131 detects that numbering of elevator is matched with number is prestored, then controls electricity according to elevator action command
Terraced mobile mechanism 132 executes and correspondingly acts.
In the present embodiment, second wireless singal transceiver module 133 includes the second wireless transparent transmission device and the second radio
Reception device.
In one embodiment, elevator 130 further includes that elevator operation obtains module 134.
Elevator operation obtains module 134 and connect with elevator controlling module 131.
Elevator operation obtains module 134 and obtains current floor information, and current floor information is sent to elevator controlling
Current floor information is forwarded to second wireless singal transceiver module 133, second wireless singal by module 131, elevator controlling module
Current floor information is converted to current floor signal by transceiver module 133, and is sent to the first wireless signal transceiver module 122.
In one embodiment, the current floor signal of elevator 130 is converted to and is worked as by the first wireless signal transceiver module 122
Preceding floor information, and be forwarded to main control module 121, main control module 121 send control command to medical according to current floor information
Logistics trolley 110 so that medical logistics trolley according to control command execute corresponding operation, wherein medical logistics trolley according to
It includes coming into elevator and walking out elevator that control command, which executes corresponding operation,.
By taking a concrete application scene as an example, when medical logistics trolley 110 is at 2 buildings, destination floor is 3 buildings, works as elevator
When 130 current floor information show 2 buildings, then main control module 121 sends control command to medical logistics trolley 110 so that hospital's object
Stream trolley comes into elevator.
In the present embodiment, elevator operation module 134 generates current floor letter according to the status information of elevator button
Breath.
In the present embodiment, main control module 121 sends control command extremely according to the current floor information of elevator 130 accordingly
Medical logistics trolley 110, so that medical logistics trolley 110 executes corresponding operation according to control command, to realize medical
Logistics trolley 110 independently takes elevator 130, improves conevying efficiency.
In the present embodiment, current floor signal is medium wave signal.
In one embodiment, control device 120 further includes human-computer interaction module 125.
Human-computer interaction module 125 connect 121 with main control module.
Current floor signal is converted current floor information by first wireless signal transceiver module 122, and by current floor
Information is sent to main control module 121.
Human-computer interaction module 125 obtains the position enquiring information of user's input, and position enquiring information is sent to master control
Module 121, main control module 121 is by the current location of the corresponding medical logistics trolley 110 of position enquiring information and/or elevator 130
It is sent to human-computer interaction module 125, human-computer interaction module shows current location.
In one embodiment, human-computer interaction module 125 includes touch display screen.
In one embodiment, control device 120 further includes power supply module 126.
Power supply module 126 is connect with main control module 121.
Power supply module 126 exports power supply signal to main control module 121, and main control module 121 receives power supply signal, and gives respectively
First wireless signal transceiver module 122, the 2nd WIFI communication module 123, interface module 124 and human-computer interaction module 125 are powered.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (7)
1. a kind of elevator control system, which is characterized in that including medical logistics trolley, control device and elevator；
The control device is carried out wireless communication with the medical logistics trolley and the elevator respectively；
The medical logistics trolley sends current location information and destination locations information to the control device, and the middle control is set
It is standby that the current location information and the destination locations information are parsed to obtain movement routine, and according to the mobile road
Diameter generates elevator action command and is sent to the elevator, and the elevator executes corresponding movement according to the elevator action command；
Wherein, the medical logistics trolley includes locating module and the first WIFI communication module；
The locating module is connect with the first WIFI communication module, the first WIFI communication module respectively with the middle control
Equipment and external mobile terminal carry out wireless communication；
Wherein, the control device includes main control module, the first wireless signal transceiver module, the 2nd WIFI communication module and interface
Module；
The main control module respectively with the first wireless signal transceiver module, the 2nd WIFI communication module and the interface
Module connection；
The 2nd WIFI communication module is carried out wireless communication with the medical logistics trolley；
The first wireless signal transceiver module is carried out wireless communication with the elevator；
Wherein, the elevator includes elevator controlling module, elevator mobile mechanism and second wireless singal transceiver module；
The elevator controlling module is connect with the elevator mobile mechanism and the second wireless singal transceiver module respectively；
The second wireless singal transceiver module is carried out wireless communication with the first wireless signal transceiver module.
2. elevator control system as described in claim 1, which is characterized in that the locating module includes for at least three
The ultra wide band positioning unit that base station carries out wireless communication；
The ultra wide band positioning unit receives the first ultra-broadband signal that the base station is sent, and will receive first ultra-wide
The time of band signal, after preset interval time, the ultra wide band positioning unit sent second as the first receiving time
For ultra-broadband signal to the base station, the base station will receive the time of second ultra-broadband signal as when the second reception
Between, and second receiving time is sent to the ultra wide band positioning unit；
The ultra wide band positioning unit handles first receiving time and second receiving time to obtain described work as
Front position information, and the current location information is sent to the first WIFI communication module.
3. elevator control system as described in claim 1, which is characterized in that the first wireless signal transceiver module includes the
One wireless signal transmission unit and the first reception of wireless signals unit；
The first wireless signal transmission unit and the first reception of wireless signals unit are connected to the main control module respectively；
The first wireless signal transmission unit and the first reception of wireless signals unit are communicated with the elevator respectively.
4. elevator control system as described in claim 1, which is characterized in that the elevator further includes that elevator operation obtains
Module；
The elevator operation obtains module and connect with the elevator controlling module；
The elevator operation obtains module and obtains current floor information, and is sent to the elevator controlling module, the electricity
The current floor information is forwarded to the second wireless singal transceiver module by terraced control module, and the second wireless singal is received
It sends out module and the current floor information is converted into current floor signal, and be sent to the first wireless signal transceiver module.
5. elevator control system as claimed in claim 4, which is characterized in that the control device further includes human-computer interaction mould
Block；
The human-computer interaction module is connected to the main control module；
The current floor signal is converted the current floor information by the first wireless signal transceiver module, and will be described
Current floor information is sent to the main control module；
The human-computer interaction module obtains the position enquiring information of user's input, and the position enquiring information is sent to described
Main control module, the main control module is by the corresponding medical logistics trolley of the position enquiring information and/or the elevator
Current location is sent to the human-computer interaction module, and the human-computer interaction module shows the current location.
6. elevator control system as claimed in claim 5, which is characterized in that the human-computer interaction module includes touching display
Screen.
7. elevator control system as claimed in claim 5, which is characterized in that the control device further includes power supply module；
The power supply module is connected to the main control module；
The power supply module exports power supply signal to the main control module, and the main control module receives the power supply signal, and divides
It Gei not the first wireless signal transceiver module, the 2nd WIFI communication module, the interface module and the human-computer interaction
Module for power supply.
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| CN201721767070.5U CN208732376U (en) | 2017-12-15 | 2017-12-15 | A kind of elevator control system |
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| CN201721767070.5U CN208732376U (en) | 2017-12-15 | 2017-12-15 | A kind of elevator control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111392524A (en) * | 2020-04-01 | 2020-07-10 | 广东嘉腾机器人自动化有限公司 | Method for realizing cross-floor movement by communication and butt joint of AGV and elevator |
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2017
- 2017-12-15 CN CN201721767070.5U patent/CN208732376U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111392524A (en) * | 2020-04-01 | 2020-07-10 | 广东嘉腾机器人自动化有限公司 | Method for realizing cross-floor movement by communication and butt joint of AGV and elevator |
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