CN105035893B - The communication system and its means of communication of a kind of AGV and elevator - Google Patents
The communication system and its means of communication of a kind of AGV and elevator Download PDFInfo
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- CN105035893B CN105035893B CN201510375333.7A CN201510375333A CN105035893B CN 105035893 B CN105035893 B CN 105035893B CN 201510375333 A CN201510375333 A CN 201510375333A CN 105035893 B CN105035893 B CN 105035893B
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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
- B66B1/3453—Procedure or protocol for the data transmission or communication
-
- 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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/50—Adaptations of switches or switchgear with operating or control mechanisms mounted in the car or cage or in the lift well or hoistway
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The present invention relates to a kind of AGV and the communication system and its means of communication of elevator, the communication system includes AGV, first information trigger, photoelectric sensor and elevator, photoelectric sensor is arranged on the elevator of each layer outdoors, open and-shut mode for detecting elevator door, elevator includes being arranged on the elevator calling case of each floor, car and the elevator controlling case being arranged in car, AGV is provided with radio receiving transmitting module, also include several multifunctional communication control box, multifunctional communication control box is arranged in the elevator calling case of each floor and in elevator controlling case, multifunctional communication control box and elevator calling case, elevator controlling case is electrically connected with；Pass through radio communication between some multifunctional communication control box and between multifunctional communication control box and AGV, photoelectric sensor is electrically connected with multifunctional communication control box, first information trigger is arranged on elevator outside.By communication system of the invention and the means of communication, AGV is realized automatic elevator up and down, with it is safe and reliable, general the characteristics of.
Description
Technical field
The present invention relates to AGV application fields, especially a kind of AGV and the communication system and its means of communication of elevator
Background technology
With the development of industrial automation, applications of the AGV inside factory is more and more extensive.By automobile factory to Electronics Factory,
Bathroom factory etc. is arrived again, and the industry of application is also more and more, and span is also increasing.AGV has become Factory Logistics dispatching system
An organic part for system.In the past, AGV carries material, is all only limited to be operated in this floor because AGV will not also elevator up and down,
Carry out the material allocation across floor, it is necessary to obtain manual intervention, could complete.In order to allow delivery system to realize automation higher
Degree, and realize efficiency higher, it is necessary to the automatic elevators up and down of AGV are realized, and to realize the automatic elevators up and down of AGV, just
Have to realize AGV with the communication between elevator device.But, to realize if direct communication, difficulty is very big, reason have with
Under：
(1) because elevator device is very complicated, calling case, car, and main frame are broadly divided into.Major parts, are logical
485 buses or CAN communication are crossed, the state of logic is all to go treatment by main frame.It is therefore desirable to be carried out to the system
Secondary development, the signal of AGV is changed once, then with CAN interface with elevator main-machine communication.Above-mentioned secondary development is in theory
On be feasible, but the control system of elevator is the system of standard, be not each elevator producer is strong carries out the system
The secondary development of chip-scale.
(2) elevator is special equipment, and security requirement is very high, changes its internal control circuit, be required for by
Strict security evaluation, and need prolonged checking.In addition, the system used by each elevator producer is different from, then
The elevator of almost each different manufacturers will be caused to be required for carrying out above-mentioned secondary development, time cost is high.
Therefore, it is necessary to develop the system and device that a set of general, practical simple AGV is docked with elevator communication.
The content of the invention
First purpose of the invention is to provide the communication system of a kind of simple, general AGV and elevator.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
The communication system of a kind of AGV and elevator, including AGV, first information trigger, photoelectric sensor and elevator, it is described
Photoelectric sensor is arranged on the elevator of each layer outdoors, the open and-shut mode for detecting elevator door, and the elevator includes being arranged on respectively
The elevator calling case of floor, car and the elevator controlling case being arranged in car, the AGV are provided with radio receiving transmitting module, also
Including several multifunctional communication control box, the multifunctional communication control box be arranged in the elevator calling case of each floor and
In the elevator controlling case, the multifunctional communication control box is electrically connected with the elevator calling case, elevator controlling case；Each floor
Elevator calling case in multifunctional communication control box and elevator controlling case in multifunctional communication control box between by wireless
Electricity communication, described several multifunctional communication control box pass through radio communication with AGV, many in the elevator calling case of each floor
Function Communication Control box is electrically connected with the photoelectric sensor of corresponding floor；The first information trigger is arranged on elevator outside,
When the AGV detects the first information trigger, request electricity is sent to the multifunctional communication control box in elevator calling case
The instruction of ladder.
Compared with prior art, communication system of the invention does not need AGV directly to be communicated with elevator, it is not required that go
Transform the control section of elevator, it is only necessary to add as intermediate equipment and the multifunctional communication control box that is communicated with AGV, profit
With the relay array in multifunctional communication control box, the control to each button of elevator is realized, so that imitating people presses button
Action, AGV is realized automatic elevator up and down.
Further, the multifunctional communication control box includes photoelectrical coupler, radio receiving transmitting module, MCU and relay battle array
Row；Elevator door open signal is sent to the photoelectric sensor photoelectrical coupler in the elevator calling case of correspondence floor, institute
Radio receiving transmitting module is stated for being communicated wirelessly with AGV, the signal that MCU sends according to photoelectrical coupler and radio receiving transmitting module
Control relay is opened and closed.
Further, elevator is had been enter into order to ensure AGV will not be judged by accident because of the stop of barrier, in first information triggering
The second information trigger is provided between device and elevator.
Preferably, the first information trigger and the second information trigger are rfid card or emission sensor or magnetic stripe
Road sign.
Further, the output end of the relay array in the multifunctional communication control box in the elevator calling case with it is described
The ascending for elevator button of elevator calling case, elevator descending button correspond electrical connection, multi-functional in the elevator controlling case
Each floor button of the output end of the relay array in Communication Control box and the elevator controlling case, door-opened elevator button and
Elevator door close button electricity corresponds electrical connection.
Second object of the present invention is to provide a kind of means of communication of the communication system for utilizing the AGV and elevator, its tool
Step is as follows：
a：Firstly the need of the floor where being manually entered present AGV and the floor for needing AGV to reach, after input is finished, open
Dynamic AGV, after AGV triggers first information trigger close to current floor elevator, to the multifunctional communication control in elevator calling case
Box processed sends the instruction of request elevator；
b：The destination instruction that multifunctional communication control box in calling case sends according to AGV, closes AGV current floors
The corresponding relay of button, ascending for elevator button or elevator descending button on activation elevator calling case；
c：Elevator reaches floor where AGV, and elevator door is opened, and elevator door opening signal is sent to calling by photoelectric sensor
Elevator door opening signal is fed back to control cabinet by the multifunctional communication control box in case, the multifunctional communication control box in calling case
Interior multifunctional communication control box；Multifunctional communication control box in control cabinet is opened according to elevator door opening signal closure with elevator
The relay of door button electrical connection, activates door-opened elevator button；Multifunctional communication control box in calling case is transmitted into AGV
The instruction of elevator；
d：AGV receives the instruction into elevator, starts and enter elevator, when AGV detects the wall in its close car
After the wall T1 times, send and have been enter into elevator instruction；
e：After what the multifunctional communication control box in control cabinet received that AGV sends has entered elevator instruction, with door-opened elevator
The corresponding relay of button resets, and closes relay corresponding with destination button and closes corresponding with elevator door close button
Relay；
f：Elevator reaches destination, and elevator door is opened, and floor elevator photoelectric sensor outdoors opens elevator door
Signal is sent to the multifunctional communication control box in calling case, and elevator door is opened and believed by the multifunctional communication control box in calling case
The multifunctional communication control box in control cabinet number is fed back to, the multifunctional communication control box in control cabinet is opened according to elevator door and believed
Number corresponding with the door-opened elevator button relay of closure, and roll the instruction of elevator away to AGV transmissions；
g：After AGV receives the instruction rolled away from, start and roll away from elevator, after AGV traveling T2 times, send AGV and sail out of
The instruction of elevator, after the multifunctional communication control box in control cabinet receives the instruction that AGV sails out of elevator, with door-opened elevator button
Corresponding relay resets.
Further, after AGV detects the wall 3-8S in its close car, transmission comes into elevator instruction.
Further, in order to ensure AGV can have time enough to roll elevator away from, running time when AGV rolls elevator away from is
Valid running time, running time T2 is 10-20S.
Brief description of the drawings
Fig. 1 is the structured flowchart of multifunctional communication control box of the invention；
Fig. 2 is the connection block diagram of calling case of the invention, photoelectric sensor and multifunctional communication control box；
Fig. 3 is the connection block diagram of control cabinet of the invention and multifunctional communication control box；
Fig. 4 is AGV control flow charts of the present invention；
Fig. 5 is the control flow chart of multifunctional communication control box of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings and the specific embodiments.
Referring to Fig. 1 to 5, the communication system of AGV of the invention and elevator, including AGV, first information trigger, photoelectric transfer
Sensor, elevator and several multifunctional communication control box, the AGV are provided with radio receiving transmitting module, and the photoelectric sensor sets
Put each layer elevator outdoors, the open and-shut mode for detecting elevator door, the elevator includes that being arranged on the elevator of each floor calls together
Case, car and the elevator controlling case being arranged in car are called out, the elevator that the multifunctional communication control box is arranged on each floor is called together
Call out in case and in the elevator controlling case, the multifunctional communication control box and the elevator calling case, elevator controlling case are electric
Connection；Multifunctional communication control box in multifunctional communication control box in the elevator calling case of each floor and elevator controlling case it
Between by radio communication, described several multifunctional communication control box with AGV by radio communication, call together by the elevator of each floor
The multifunctional communication control box called out in case is connected with the photoelectric sensor of corresponding floor by wire；The first information triggering
Device is arranged on elevator outside, when the AGV detects the first information trigger, to the multifunctional communication in elevator calling case
Control box sends the instruction of request elevator.
Above-mentioned radio is the carrier frequency for using 433MHZ, and more stable reliable communication shape is obtained between making each part
State；And the electricity of the output end of the relay array in the multifunctional communication control box in elevator calling case and the elevator calling case
The up button of ladder, elevator descending button correspond electrical connection, in the multifunctional communication control box in the elevator controlling case
Each floor button of the output end of relay array and the elevator controlling case, door-opened elevator button and elevator door close button electricity
Correspond electrical connection.Relay array is combined for 4 road normally opened relays, when elevator floor more than 2 layers, it is necessary to increase by one
Individual or more the multifunctional communication control box being arranged in control cabinet, so that it is guaranteed that each floor button have it is corresponding after
Electrical equipment.
First information trigger is arranged on elevator outside, and specific position is apart from the place of 2.5 meters of elevator, it is of course possible to
Because specific environment is adjusted.In addition, in order to ensure AGV because of the stop of barrier, and will not judge elevator by accident, can
To be provided with the second information trigger, the distance between the second information trigger and elevator between first information trigger and elevator
For 0.5 meter is advisable, the environment that can similarly configure setting as first information trigger certainly is adjusted.
Used as a kind of preferred scheme, first information trigger and the second information trigger can be rfid cards or to penetrating biography
Sensor or magnetic stripe road sign.
Due in multifunctional communication control box have normally opened relay permutation, relay permutation again with each button of elevator
It is electrically connected, by the closed and disconnected of control relay permutation, imitates people and elevator is operated, so as to realizes control electricity
The function of ladder；Additionally, multifunctional communication control box is communicated by radio with AGV, the instruction that will be received from AGV is passed through
Control relay array again after conversion, so as to make AGV be communicated with elevator indirectly, realizes the automatic elevators up and down of AGV.
Referring to Fig. 4 and Fig. 5, present invention also offers the means of communication using above-mentioned AGV and the communication system of elevator, the party
Method comprises the following steps：
a：Firstly the need of the floor where being manually entered present AGV and the floor for needing AGV to reach, after input is finished, open
Dynamic AGV, as AGV close to current floor elevator, and after triggering first information trigger, can be to multi-functional logical in elevator calling case
News control box sends the instruction of request elevator, and the instruction of the request elevator that AGV sends can send once every 2 seconds；
b：When the destination instruction that the multifunctional communication control box in calling case sends according to AGV, the current buildings of closure AGV
The corresponding relay of layer button, ascending for elevator button or elevator descending button on activation elevator calling case.
c：Elevator reaches floor where AGV, and elevator door is opened, and elevator door opening signal is sent to calling by photoelectric sensor
Elevator door opening signal is fed back to control cabinet by the multifunctional communication control box in case, the multifunctional communication control box in calling case
Interior multifunctional communication control box；Multifunctional communication control box in control cabinet is opened according to elevator door opening signal closure with elevator
The relay of door button electrical connection, activates door-opened elevator button；Multifunctional communication control box in calling case is transmitted into AGV
The instruction of elevator.
d：AGV is received into after the instruction of elevator, starts and initially enter elevator, and the wall in car is detected as AGV
After wall 5-10 seconds, send the instruction of elevator.During AGV enters elevator, if AGV does not send the finger for coming into elevator
Order, the door-opened elevator button on control cabinet can be not turned off by sustained activation, elevator door.
When the second information trigger is provided between first information trigger and elevator, AGV needs triggering second simultaneously
Can just stop behind information trigger and wall 5-10 seconds detected in car, and send the instruction for coming into elevator, so
It is disposed to prevent AGV when elevator is not reached, is blocked by barrier and be detected as reaching in elevator, effectively ensures normal
Operation.
e：It is corresponding with door-opened elevator button after multifunctional communication control box in control cabinet receives the instruction that AGV sends
Relay reset, close corresponding with destination button relay and closure relay corresponding with elevator door close button
Device, elevator door is closed；
During elevator runs, AGV can carry out whether inquiry elevator has arrived at destination every 2 seconds.
f：Elevator reaches destination, and floor elevator photoelectric sensor outdoors detects elevator door opening, and by electricity
Terraced door opening signal is sent to the multifunctional communication control box in calling case, and the multifunctional communication control box in calling case is by elevator
Door opening signal feeds back to the multifunctional communication control box in control cabinet, and the multifunctional communication control box in control cabinet is according to signal
Closure relay corresponding with door-opened elevator button, and the instruction for sailing out of elevator is sent to AGV.
g：After AGV receives the instruction rolled away from, start and roll away from elevator, after travelling 10-20 seconds, send AGV and sailed
From the instruction of elevator, after the multifunctional communication control box in control cabinet receives the instruction that AGV sails out of elevator, pressed with door-opened elevator
The corresponding relay of button resets.During AGV rolls elevator away from, if AGV does not send the instruction for having sailed out of elevator, on control cabinet
Door-opened elevator button can be not turned off by sustained activation, elevator door.
As a kind of preferred scheme, in order to ensure AGV can have time enough to roll elevator away from, when AGV rolls elevator away from
Running time be valid running time, if i.e. AGV occurs stuck situation when elevator is rolled away from, at this time rolling away from AGV
Timing will stop, and AGV does not send the instruction for having sailed out of elevator；When AGV recovers to travel, roll timing away from and continue timing, until
Reach Preset Time.
The announcement and teaching of book according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula is changed and changed.Therefore, the invention is not limited in specific embodiment disclosed and described above, to of the invention
Some modifications and changes should also be as falling into scope of the claims of the invention.Although additionally, being used in this specification
Some specific terms, but these terms are merely for convenience of description, do not constitute any limitation to the present invention.
Claims (8)
1. the communication system of a kind of AGV and elevator, including AGV, first information trigger, photoelectric sensor and elevator, the light
Electric transducer is arranged on the elevator of each layer outdoors, the open and-shut mode for detecting elevator door, and the elevator includes being arranged on each building
The elevator calling case of layer, car and the elevator controlling case that is arranged in car, the AGV are provided with radio receiving transmitting module, and it is special
Levy and be：Also include several multifunctional communication control box, the elevator that the multifunctional communication control box is arranged on each floor is called together
Call out in case and in the elevator controlling case, the multifunctional communication control box and the elevator calling case, elevator controlling case are electric
Connection；Multifunctional communication control box in multifunctional communication control box in the elevator calling case of each floor and elevator controlling case it
Between by radio communication, described several multifunctional communication control box with AGV by radio communication, call together by the elevator of each floor
The multifunctional communication control box called out in case is electrically connected with the photoelectric sensor of corresponding floor；The first information trigger is arranged on
Elevator outside, when the AGV detects the first information trigger, sends out to the multifunctional communication control box in elevator calling case
Send the instruction of request elevator.
2. the communication system of a kind of AGV according to claim 1 and elevator, it is characterised in that：The multifunctional communication control
Box processed includes photoelectrical coupler, radio receiving transmitting module, MCU and relay array；Elevator door is opened and believed by the photoelectric sensor
Number send the photoelectrical coupler in the elevator calling case of correspondence floor to, the radio receiving transmitting module is used to be carried out wirelessly with AGV
Communication, the signal control relay opening and closing that MCU sends according to photoelectrical coupler and radio receiving transmitting module.
3. the communication system of a kind of AGV according to claim 1 and elevator, it is characterised in that：The first information triggering
The second information trigger is provided between device and elevator.
4. the communication system of a kind of AGV according to claim 3 and elevator, it is characterised in that：The first information triggering
Device and the second information trigger are rfid card or emission sensor or magnetic stripe road sign.
5. the communication system of a kind of AGV according to claim 2 and elevator, it is characterised in that：In the elevator calling case
Multifunctional communication control box in the output end of relay array and ascending for elevator button, the elevator of the elevator calling case under
Row button corresponds electrical connection, the output end of the relay array in multifunctional communication control box in the elevator controlling case
Each floor button, door-opened elevator button and elevator door close button electricity with the elevator controlling case is corresponded and electrically connected.
6. a kind of means of communication of the communication system of AGV according to claim 1 and elevator, its step includes：
a：Instruct and go to destination to instruct to AGV input current floors, as AGV close to current floor elevator triggering first
After information trigger, the instruction of request elevator is sent to the multifunctional communication control box in elevator calling case；
b：The destination instruction that multifunctional communication control box in calling case sends according to AGV, closes AGV current floor buttons
Corresponding relay, ascending for elevator button or elevator descending button on activation elevator calling case；
c：Elevator reaches floor where AGV, and elevator door is opened, and be sent to elevator door opening signal in calling case by photoelectric sensor
Multifunctional communication control box, calling case in multifunctional communication control box elevator door opening signal is fed back in control cabinet
Multifunctional communication control box；Multifunctional communication control box in control cabinet is pressed according to elevator door opening signal closure with door-opened elevator
The relay of button electrical connection, activates door-opened elevator button；Multifunctional communication control box in calling case is transmitted into elevator to AGV
Instruction；
d：AGV receives the instruction into elevator, starts and enter elevator, when AGV detects the wall T1 in its close car
After time, send and have been enter into elevator instruction；
e：After what the multifunctional communication control box in control cabinet received that AGV sends has entered elevator instruction, with door-opened elevator button
Corresponding relay resets, close relay corresponding with destination button and closure it is corresponding with elevator door close button after
Electrical equipment；
f：Elevator reaches destination, and elevator door is opened, and floor elevator photoelectric sensor outdoors is by elevator door opening signal
The multifunctional communication control box in calling case is sent to, the multifunctional communication control box in calling case is anti-by elevator door opening signal
The multifunctional communication control box fed in control cabinet, the multifunctional communication control box in control cabinet is closed according to elevator door opening signal
Relay corresponding with door-opened elevator button is closed, and the instruction for rolling elevator away from is sent to AGV；
g：After AGV receives the instruction rolled away from, start and roll away from elevator, after AGV traveling T2 times, send AGV and sail out of elevator
Instruction, it is corresponding with door-opened elevator button after the multifunctional communication control box in control cabinet receives the instruction that AGV sails out of elevator
Relay reset.
7. the means of communication of the communication system of AGV according to claim 6 and elevator, it is characterised in that：In step d, institute
T1 is stated for 3-8S.
8. the means of communication of the communication system of AGV according to claim 6 and elevator, it is characterised in that：In step g, AGV
Running time T2 when rolling elevator away from is valid running time, and T2 is 10-20S.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510375333.7A CN105035893B (en) | 2015-06-30 | 2015-06-30 | The communication system and its means of communication of a kind of AGV and elevator |
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| CN201510375333.7A CN105035893B (en) | 2015-06-30 | 2015-06-30 | The communication system and its means of communication of a kind of AGV and elevator |
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| CN105035893B true CN105035893B (en) | 2017-05-31 |
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| CN110482348A (en) * | 2019-08-15 | 2019-11-22 | 广东嘉腾机器人自动化有限公司 | A kind of elevator automatically controls AGV logistics system and method |
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| CN105035893A (en) | 2015-11-11 |
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