CN219795030U

CN219795030U - Door control system, door body and transportation carrier

Info

Publication number: CN219795030U
Application number: CN202222899148.6U
Authority: CN
Inventors: 张泽飞; 陈建波; 池进彬; 张剑
Original assignee: KUKA Robotics Guangdong Co Ltd
Current assignee: KUKA Robotics Guangdong Co Ltd
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2023-10-03
Anticipated expiration: 2032-11-01

Abstract

The utility model discloses a door control system, a door body and a transport carrier. The transportation carrier comprises a first radio unit, wherein the first radio unit is used for sending a control instruction to the door body. The door body comprises a control module and an execution module, and the control module is electrically connected with the execution module; the control module comprises a second radio unit and is used for sending a control signal to the execution module under the condition that the second radio unit receives a control instruction; the execution module is used for working based on the control signal. Therefore, the transportation carrier is directly communicated with the door body in a command interaction mode, so that the communication efficiency between the door body and the transportation carrier is improved, the door body can be opened in time, and the operation efficiency of the transportation carrier is improved. In addition, the gating system does not need to add an additional central control server, so that the hardware cost of the system is saved.

Description

Door control system, door body and transportation carrier

Technical Field

The utility model relates to the technical field of automatic guided vehicles, in particular to a door control system, a door body and a transportation carrier.

Background

In an industrial manufacturing site, technicians divide the site into a plurality of different areas according to factors such as manufacturing process, production environment and the like, and the areas are connected through an automatic door. As automated guided vehicles (Automated Guided Vehicle, AGVs) are increasingly used in industrial manufacturing sites, the AGVs are required to control the opening and closing of the automatic door as they travel between these different areas.

In the related art, an AGV accesses to a central control server by using a wired transmission technology or a wireless transmission technology (for example, 2.4G WIFI technology, 5G WIFI technology, bluetooth, zigBee technology, etc. of a local area network), and when the AGV needs to pass through an automatic door, the AGV sends an instruction to open the door to the central control server, and the central control server controls the automatic door to open the door according to the instruction to open the door. The automatic door further sends the door opening state to the central control server, the central control server sends the door opening state to the AGV, and finally the AGV decides whether to pass through the automatic door according to the door opening state.

However, the mode of forwarding the door opening command and the door opening state through the central control server can lead to lengthening of a communication link between the AGV and the automatic door, and reduces communication efficiency between the AGV and the automatic door, so that when the AGV needs to pass through the automatic door, the automatic door cannot be opened in time, and further operation efficiency of the AGV is reduced.

Disclosure of Invention

The embodiment of the utility model provides a door control system, a door body and a transportation carrier.

According to a first aspect of the present utility model, an embodiment of the present utility model provides a gating system comprising a door body and a transport vehicle, the door body and the transport vehicle being communicatively connected. The transportation carrier comprises a first radio unit, wherein the first radio unit is used for sending a control instruction to the door body. The door body comprises a control module and an execution module, and the control module is electrically connected with the execution module; the control module comprises a second radio unit and is used for sending a control signal to the execution module under the condition that the second radio unit receives a control instruction; the execution module is used for working based on the control signal.

In some alternative embodiments, the control module further includes a control unit and an output unit, the control unit is connected between the second radio unit and the output unit, and the control module is electrically connected with the execution module through the output unit. The control unit is used for analyzing the control instruction received by the second radio unit and indicating the output unit to generate a control signal. The output unit is used for sending a control signal to the execution module.

Wherein in some alternative embodiments the first radio unit is a first LoRa unit and the second radio unit is a second LoRa unit.

In some optional embodiments, the control module further includes a power supply unit and a circuit board, where the power supply unit is electrically connected to the second radio unit, the control unit and the output unit, respectively; the second radio unit, the control unit, the output unit and the power supply unit are integrated on the circuit board.

In some optional embodiments, the transport vehicle further includes a main control unit and a detection unit, the detection unit is electrically connected to the main control unit, and the main control unit is in communication connection with the first radio unit. The detection unit is used for indicating the main control unit to output a sending signal to the first radio unit when detecting that the transport carrier is at the target position. The first radio unit is further used for sending a control instruction to the door body under the condition that the sending signal is received; the second radio unit of the door body is also used for sending a door body state signal to the transportation carrier, wherein the door body state signal represents the open and close states of the door body; the first radio unit is also used for receiving the door body state signal and sending the received door body state signal to the main control unit; the main control unit is also used for controlling the transportation carrier to pass through the door body under the condition that the door body state signal represents that the door body is in an open state.

According to a second aspect of the present utility model, an embodiment of the present utility model further provides a door body, which is in communication connection with a transportation vehicle; the door body comprises a control module and an execution module, and the control module and the execution module are electrically connected. The control module comprises a second radio unit, and is used for sending a control signal to the execution module under the condition that the second radio unit receives a control instruction, wherein the control instruction is sent by the first radio unit on the transport carrier. The execution module is used for working based on the control signal.

According to a third aspect of the present utility model, an embodiment of the present utility model further provides a transport vehicle, where the transport vehicle is in communication connection with a door body, and the door body includes a control module and an execution module, where the control module is electrically connected with the execution module. The transportation carrier comprises a first radio unit, wherein the first radio unit is used for sending a control instruction to the door body; the control module on the door body is used for sending a control signal to the execution module under the condition that the second radio unit receives the control instruction; the execution module is used for working based on the control signal.

In some optional embodiments, the transport vehicle further includes a main control unit and a detection unit, the detection unit is electrically connected to the main control unit, and the main control unit is in communication connection with the first radio unit. The detection unit is used for indicating the main control unit to output a sending signal to the first radio unit when detecting that the transport carrier is at the target position; the first radio unit is further used for sending a control instruction to the door body under the condition that the sending signal is received; the first radio unit is also used for receiving the door body state signal and sending the received door body state signal to the main control unit; the door body state signal is sent by a second radio unit of the door body and used for representing the open and close states of the door body; the main control unit is also used for controlling the transportation carrier to pass through the door body under the condition that the door body state signal represents that the door body is in an open state.

The utility model provides a door control system, a door body and a transportation carrier. The door control system comprises a door body and a transport vehicle, wherein the transport vehicle comprises a first radio unit, the door body comprises a second radio unit, namely, the door body and the transport vehicle directly establish communication connection through a radio technology. When the transport vehicle needs to pass through the door body, the first radio unit in the transport vehicle can send a control instruction to the door body, and under the condition that the control module in the door body receives the control instruction through the second radio unit, the control module can send a control signal to the execution module, and finally the execution module works based on the control signal to finish the opening and closing of the door body.

Therefore, the gate control system does not need to add an additional central control server, and the transportation carrier can directly send a control instruction to the gate body through the first radio unit so as to control the gate body to work. Therefore, the transportation carrier is directly communicated with the door body in a command interaction mode, so that the communication efficiency between the door body and the transportation carrier is improved, the door body can be opened in time, and the operation efficiency of the transportation carrier is improved. In addition, the gating system does not need to add an additional central control server, so that the hardware cost of the gating system is saved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a gating system according to an embodiment of the present utility model.

Fig. 2 is a block diagram of a transport vehicle in the gating system of fig. 1.

Fig. 3 is a block diagram of a door body in the gating system of fig. 1.

Detailed Description

In order to enable those skilled in the art to better understand the present utility model, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present utility model with reference to the accompanying drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, the present embodiment provides a gating system 100, where the gating system 100 may be applied to industrial manufacturing sites, large malls, warehouses, hospitals, etc. Specifically, the gating system 100 includes a door body 200 and a transport vehicle 300, wherein the door body 200 is used to separate different areas (e.g., different production workshops in an industrial manufacturing site, different wards in a hospital, etc.). Specifically, the door body 200 may be an automatic door provided with a door opener, an automatic induction swing door, or the like. The present utility model will be described in detail by taking the door body 200 as an example of an automatic door provided with a door opener. The transport vehicle 300 is a device provided with power means to drive wheels for movement, and may include, in particular, an automated guided vehicle (Automated Guided Vehicle, AGV), an autonomous mobile robot (Autonomous Mobile Robot, AMR), an intelligent transfer robot, and the like.

In this embodiment, the transportation carrier 300 may include a first radio unit 320, and the first radio unit 320 is a data transmitting device based on a radio technology. Specifically, the first Radio unit 320 may be a Long Range Radio (LoRa) transmitting unit, where the first LoRa unit adopts a LoRa communication technology, which is a low power consumption local area network wireless digital communication technology, and has advantages of low power consumption and Long Range. In addition, compared with wireless transmission technologies such as 2.4G WIFI technology, 5G WIFI technology, bluetooth technology and ZigBee technology of a local area network, the cost of LoRa communication is lower, and the system cost of the gating system 100 can be reduced while the communication quality is ensured.

In this embodiment, the first radio unit 320 is configured to send a control instruction to the door 200, where the control instruction is configured to control the door 200 to operate, for example, to control the door 200 to open and close. Specifically, the control instruction may be implemented by a control message, and since the control message is sent by using the LoRa communication technology, the control message sent by using the LoRa communication technology includes a smaller number of bytes, that is, the control message occupies less memory, so that the memory consumption of the gate body 200 when receiving the control message is reduced.

In the present embodiment, the first radio unit 320 also has a function of receiving a door status signal, wherein the door status signal characterizes the open/closed state of the door 200. Specifically, the gate status signal may be represented by one byte in the data message. For example, if the value of the byte is 1, it indicates that the door 200 is in the open state, and if the value of the byte is 0, it indicates that the door 200 is in the closed state. In some examples, the first radio unit 320 receives a door status signal transmitted by the door 200 after transmitting a control instruction to the door 200.

In addition, in some possible embodiments, the power supply voltage of the first LoRa unit is 5 vdc, the wireless transmitting current is 110mA, the receiving current is 16.8mA, and the sleep current is 2uA, so that only little power is consumed when the first LoRa unit is operated, and the overall power consumption of the transport carrier 300 is reduced.

In this embodiment, referring to fig. 2, the transport vehicle 300 may further include a main control unit 340 and a detection unit 360, wherein the detection unit 360 is electrically connected to the main control unit 340, and the main control unit 340 is communicatively connected to the first radio unit 320. The detecting unit 360 is configured to detect whether the transport vehicle 300 is at a target position, where the target position is a specified position on a predetermined travel path corresponding to the transport vehicle 300. In the present embodiment, the target position is a position point on the predetermined travel path at which the distance from the door body 200 is less than or equal to the preset distance. When the transport vehicle 300 detects that it is currently at the target position through the detection unit 360, it indicates that the transport vehicle 300 has a need to pass through the door 200, and at this time, the detection unit 360 instructs the main control unit 340 to output a transmission signal to the first radio unit 320. Specifically, the detection unit 360 may be a comprehensive system unit of a software and hardware set such as a distance sensor navigation technology, a positioning technology, and a laser scanner.

As a possible implementation, the detection unit 360 may comprise a signal receiver. Specifically, a signal transmitter matched with the signal receiver is installed at the target position, and when the signal transmitter is used for transmitting a specified signal and the signal receiver on the transport carrier 300 receives the specified signal, it indicates that the transport carrier 300 is driven to the target position, at this time, the signal receiver instructs the main control unit 340 to output a transmission signal to the first radio unit 320. As another possible implementation, the detection unit 360 may include a distance sensor. The distance sensor may acquire the distance between the transport vehicle 300 and the door body 200, and if the distance is less than or equal to a preset distance, the distance sensor instructs the main control unit 340 to output a transmission signal to the first radio unit 320. Specifically, the preset distance may be a default value in the transportation vehicle 300, and may be adjusted based on the actual working condition of the transportation vehicle 300. Illustratively, the preset distance may be less than or equal to 1m, e.g., 0.5m, 0.2m, etc. As yet another possible implementation manner, the detection unit 360 may acquire a specific position of the transport vehicle 300 in the current operation scenario by using a positioning technology (for example, a wireless communication positioning technology, an inertial navigation positioning technology, etc.), and if a distance between the specific position and the target position is smaller than a specified distance, instruct the main control unit 340 to output a transmission signal to the first radio unit 320.

The main control unit 340 is a main controller of the transport vehicle 300, and is configured to receive signals received by the transport vehicle 300 during a working process, and generate corresponding output instructions. In the present embodiment, the main control unit 340 establishes an electrical connection through the cable and the detecting unit 360 on the one hand, and establishes a communication connection with the first radio unit 320 through a serial port (e.g., a TTL serial port, an RS-232-C serial port, etc.). When the main control unit 340 determines that the current transportation vehicle 300 is at the target position through the detection unit 360, a transmission signal is output to the first radio unit 320 through the serial port, and in the subsequent process, the first radio unit 320 transmits a control instruction to the door body 200 when receiving the transmission signal. Specifically, the main control unit 340 may be an industrial personal computer (Industrial Personal Computer, IPC).

In this embodiment, the main control unit 340 is further configured to receive the door status signal sent by the first radio unit 320, further analyze the door control signal, and control the transportation vehicle 300 to pass through the door when determining that the door status signal indicates that the door 200 is in the open state. Specifically, after determining that the door 200 is in the open state, the main control unit 340 may send a driving instruction to a driving system (e.g., a driving motor) of the transportation vehicle 300, and further drive the transportation vehicle 300 to travel through the door 200 through the driving system.

In some possible embodiments, the master control unit 340 and the first radio unit 320 may be two units independent of each other, and a communication connection is established between the two units through a serial port. In other possible embodiments, the first radio unit 320 may be integrated on the main control unit 340, for example, the first radio unit 320 is integrated on a circuit board inside the IPC, so that the overall hardware structure of the transportation vehicle 300 is more compact.

In this embodiment, the transportation vehicle 300 may further include a power module 380, where the power module 380 is connected to the first radio unit 320, the main control unit 340 and the detection unit 360, respectively. Specifically, the power module 380 may be an integrated module formed by a battery pack through a power management circuit to power the transport vehicle 300. The power module 380 may be charged by a commercial power (220V) on the one hand, and may output a specified voltage (for example, direct current voltages of 5V and 24V) to supply power to the first radio unit 320, the main control unit 340 and the detection unit 360, respectively.

Referring to fig. 1 again, in the present embodiment, the door body 200 includes a control module 210 and an execution module 230, and the control module 210 and the execution module 230 are electrically connected. The control module 210 is a control center of the door body 200, and is configured to receive a signal and generate a corresponding output instruction. Specifically, the control module 210 may include a second radio unit 2100, where the second radio unit 2100 is configured to receive a control command sent by the first radio unit 320 on the transport vehicle 300. The second radio unit 2100 may have both a radio transmitting function and a radio receiving function, or may have only a radio receiving function.

In this embodiment, the second radio unit 2100 may be a second LoRa unit, that is, a communication connection is established between the door body 200 and the transportation vehicle 300 through the LoRa communication technology. Specifically, the control module 210 in this embodiment is configured to send a control signal to the execution module 230 when the second LoRa unit receives the control instruction. In a subsequent process, the execution module 230 is configured to perform an operation based on the control signal. Specifically, the execution module 230 may be a door opener in the door body 200, which controls the opening and closing of the door body 200 upon receiving a control signal.

Therefore, the gate control system 100 of the present utility model does not need to add an additional central control server, and the transport vehicle 300 can directly send a control command to the gate body 200 through the first radio unit 320, so as to control the gate body 200 to work. Therefore, the transportation carrier 300 directly performs instruction interaction with the door body 200, so that the communication efficiency between the door body 200 and the transportation carrier 300 is improved, the door body 200 can be opened in time, and the operation efficiency of the transportation carrier 300 is improved. In addition, since the gating system 100 does not need to add an additional central control server, the hardware cost of the gating system 100 is saved.

In this embodiment, referring to fig. 3, the control module 210 may further include a control unit 2120 and an output unit 2140, where the control unit 2120 is connected between the second radio unit 2100 and the output unit 2140, and the control module 210 is electrically connected to the execution module 230 through the output unit 2140. The control unit 2120 is configured to parse the control instruction received by the second radio unit 2100, and instruct the output unit 2140 to generate a control signal. Specifically, the control unit 2120 may be a micro control unit (Microcontroller Unit, MCU), where the MCU establishes an electrical connection with the output unit 2140 through an IO interface on the one hand, and establishes a communication connection with the second radio unit 2100 through a serial port (for example, a TTL serial port, an RS-232-C serial port, etc.) on the other hand, and if the MCU determines that the control instruction received by the second radio unit 2100 is a door opening instruction, then an instruction signal is output to the output unit 2140 through the IO interface, and the output unit 2140 is configured to send the control signal to the execution module 230 when receiving the instruction signal. Specifically, the output unit 2140 may be an output relay (e.g., a programmable relay, an electromagnetic relay, an electric relay, an electronic relay, etc.), which is electrically connected to the door opener, and transmits a control signal (e.g., a voltage signal, a current signal, etc.) to the door opener in case the output relay receives the indication signal transmitted by the control unit 2120. In particular, the control signal is capable of closing a working circuit in the door operator such that the door operator is in a working state.

In the present embodiment, the second radio unit 2100 also has a function of transmitting a door status signal to the transport vehicle 300. Specifically, after the control module 210 receives the control command and controls the door operator to operate, a door status signal is generated and sent to the second radio unit 2100, and the second radio unit 2100 further sends the door status signal to the transport vehicle 300 to instruct the transport vehicle 300 to pass through the door 200.

In this embodiment, the control module 210 may further include a power supply unit 2160, wherein the power supply unit 2160 is electrically connected to the second radio unit 2100, the control unit 2120, and the output unit 2140, respectively. Specifically, an input terminal of the power supply unit 2160 is connected to the commercial power (220V), and an output terminal of the power supply unit 2160 is connected to the second radio unit 2100, the control unit 2120, and the output unit 2140. In some possible embodiments, the output of the power supply unit 2160 includes a first output, a second output, and a third output, where the first output is connected to the second radio unit 2100 and the output voltage of the first output is a direct voltage of 5V. The second output terminal is connected to the control unit 2120, and the output voltage of the second output terminal is a dc voltage of 3.5V. The third output terminal is connected to the output unit 2140, and the output voltage of the third output terminal is a direct current voltage of 5V. Specifically, the power supply unit 2160 may be an integrated circuit having a step-down function, which is not particularly limited in this embodiment.

In this embodiment, the control module 210 may further include a circuit board 2180, and the second radio unit 2100, the control unit 2120, the output unit 2140, and the power supply unit 2160 are integrated on the circuit board 2180, so that the overall structure of the control module 210 is more compact. In some possible embodiments, the second radio unit 2100, the control unit 2120, the output unit 2140, and the power supply unit 2160 may be separate units with hardware, i.e., the second radio unit 2100, the control unit 2120, the output unit 2140, and the power supply unit 2160 are not integrated on the same circuit board, so as to facilitate repair and replacement by subsequent maintenance personnel.

The present utility model also provides a door body 200, and the door body 200 is in communication connection with the transportation vehicle 300. The door body 200 includes a control module 210 and an execution module 230, and the control module 210 is electrically connected with the execution module 230. Wherein the control module 210 includes a second radio unit 2100, and the control module 210 is configured to send a control signal to the execution module 230 when the second radio unit 2100 receives a control instruction. Wherein the control instruction is sent by the first radio unit 320 on the transport vehicle 300. The execution module 230 is configured to operate based on the control signal.

In this embodiment, the control module 210 may further include a control unit 2120 and an output unit 2140, where the control unit 2120 is connected between the second radio unit 2100 and the output unit 2140, and the control module 2120 is electrically connected to the execution module 230 through the output unit 2140. The control unit 2120 is configured to parse the control instruction received by the second radio unit 2100, and instruct the output unit 2140 to generate a control signal. The output unit 2140 is configured to send a control signal to the execution module 230.

In this embodiment, the control module 210 may further include a power supply unit 2160 and a circuit board 2180, where the power supply unit 2160 is electrically connected to the second radio unit 2100, the control unit 2120 and the output unit 2140, respectively; the second radio unit 2100, the control unit 2120, the output unit 2140, and the power supply unit 2160 are integrated on the circuit board 2180.

Specifically, the detailed description of each functional module in the door body 200 may refer to the detailed description of the door body 200 in the door control system 100, which is not described herein.

The present utility model also provides a transportation carrier 300, and the transportation carrier 300 is in communication connection with the door body 200. The door body 200 includes a control module 210 and an execution module 230, and the control module 210 and the execution module 230 are electrically connected.

The transport vehicle 300 may include a first radio unit 320, the first radio unit 320 for transmitting control instructions to the door 200. The control module 210 on the door body 200 is configured to send a control signal to the execution module 230 when the second radio unit 2100 receives a control instruction. The execution module 230 is configured to operate based on the control signal.

In this embodiment, the transportation carrier 300 further includes a main control unit 340 and a detection unit 360, the detection unit 360 is electrically connected to the main control unit 340, and the main control unit 340 is in communication connection with the first radio unit 320. The detection unit 360 is configured to instruct the main control unit 340 to output a transmission signal to the first radio unit 320 when detecting that the transportation vehicle 300 is at the target position. The first radio unit 320 is further configured to send a control instruction to the door body 200 when receiving the transmission signal. The first radio unit 320 is further configured to receive a door status signal, and send the received door status signal to the main control unit. Wherein the door status signal is transmitted by the second radio unit 2100 of the door 200 for characterizing the open and closed states of the door. The main control unit 340 is further configured to control the transport vehicle 300 to pass through the door body if the door body status signal indicates that the door body 200 is in the open state.

Specifically, the detailed description of each functional unit in the transportation carrier 300 may refer to the detailed description of the transportation carrier 300 in the gating system 100, which is not repeated herein.

In the description of the present utility model, certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the difference in name as a way of distinguishing between components, but rather take the difference in functionality of the components as a criterion for distinguishing. As used throughout the specification and claims, the word "comprise" and "comprises" are to be construed as "including, but not limited to"; by "substantially" is meant that a person skilled in the art can solve the technical problem within a certain error range, essentially achieving the technical effect.

In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "inner," and the like indicate orientation or positional relationships based on those shown in the drawings, and are merely for convenience of description of the utility model, but do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model.

In the present utility model, the terms "mounted," "connected," "secured," and the like are to be construed broadly, unless otherwise specifically indicated or defined. For example, the connection can be fixed connection, detachable connection or integral connection; can be mechanically or electrically connected; the connection may be direct, indirect via an intermediate medium, or communication between two elements, or only surface contact. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be appreciated by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. The door control system is characterized by comprising a door body and a transport carrier, wherein the door body is in communication connection with the transport carrier;

the transportation carrier comprises a first radio unit, wherein the first radio unit is used for sending a control instruction to the door body;

the door body comprises a control module and an execution module, and the control module is electrically connected with the execution module;

the control module comprises a second radio unit and is used for sending a control signal to the execution module when the second radio unit receives the control instruction;

the execution module is used for working based on the control signal.

2. The gating system of claim 1, wherein the control module further comprises a control unit and an output unit, the control unit being connected between the second radio unit and the output unit, the control module being electrically connected between the execution module and the output unit;

the control unit is used for analyzing the control instruction received by the second radio unit and indicating the output unit to generate the control signal;

the output unit is used for sending the control signal to the execution module.

3. The gating system of claim 1, wherein the first radio unit is a first LoRa unit and the second radio unit is a second LoRa unit.

4. The gating system of claim 2, wherein the control module further comprises a power supply unit and a circuit board, the power supply unit being electrically connected to the second radio unit, the control unit, and the output unit, respectively; the second radio unit, the control unit, the output unit and the power supply unit are integrated with the circuit board.

5. The gating system of any one of claims 1 to 4, wherein the transport vehicle further comprises a master control unit and a detection unit, the detection unit and the master control unit being electrically connected, the master control unit and the first radio unit being communicatively connected;

the detection unit is used for indicating the main control unit to output a transmission signal to the first radio unit when detecting that the transport carrier is at a target position;

the first radio unit is further configured to send the control instruction to the door body when the sending signal is received;

the second radio unit of the door body is further configured to send a door body status signal to the transport vehicle, the door body status signal being indicative of an open and closed state of the door body;

the first radio unit is further configured to receive the door body state signal, and send the received door body state signal to the master control unit;

the main control unit is also used for controlling the transportation carrier to pass through the door body under the condition that the door body state signal represents that the door body is in an open state.

6. The door body is characterized in that the door body is in communication connection with the transportation carrier; the door body comprises a control module and an execution module, and the control module is electrically connected with the execution module;

the control module comprises a second radio unit, and is used for sending a control signal to the execution module when the second radio unit receives a control instruction, wherein the control instruction is sent by a first radio unit on the transport carrier;

the execution module is used for working based on the control signal.

7. The door of claim 6, wherein the control module further comprises a control unit and an output unit, the control unit being connected between the second radio unit and the output unit, the control module being electrically connected to the execution module through the output unit;

the output unit is used for sending the control signal to the execution module.

8. The door of claim 7, wherein the control module further comprises a power supply unit and a circuit board, the power supply unit being electrically connected to the second radio unit, the control unit and the output unit, respectively; the second radio unit, the control unit, the output unit and the power supply unit are integrated with the circuit board.

9. The transportation carrier is characterized in that the transportation carrier is in communication connection with the door body; the door body comprises a control module and an execution module, and the control module is electrically connected with the execution module;

the transportation carrier comprises a first radio unit, wherein the first radio unit is used for sending a control instruction to the door body; the control module on the door body is used for sending a control signal to the execution module under the condition that the second radio unit receives the control instruction; the execution module is used for working based on the control signal.

10. The transport vehicle of claim 9, further comprising a master control unit and a detection unit, wherein the detection unit is electrically connected to the master control unit, and wherein the master control unit is communicatively connected to the first radio unit;

the detection unit is used for indicating the main control unit to output a transmission signal to the first radio unit when detecting that the transport carrier is at a target position; the first radio unit is further configured to send the control instruction to the door body when the sending signal is received;

the first radio unit is further used for receiving a door body state signal and sending the received door body state signal to the main control unit; the door body state signal is sent by a second radio unit of the door body and is used for representing the open and closed states of the door body;