CN106276439A - Elevator control gear for single ladder controller - Google Patents
Elevator control gear for single ladder controller Download PDFInfo
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- CN106276439A CN106276439A CN201610840236.5A CN201610840236A CN106276439A CN 106276439 A CN106276439 A CN 106276439A CN 201610840236 A CN201610840236 A CN 201610840236A CN 106276439 A CN106276439 A CN 106276439A
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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
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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Abstract
The invention discloses a kind of elevator control gear for single ladder controller, it is connected with robot controller and/or electric life controller data communication, including data processing module and control module, described data processing module is for receiving the information of each robot controller and/or each electric life controller, described control module controls described data processing module and makes to robot controller and/or electric life controller according to pre-conditioned and preset output, and described electric life controller be single the most terraced master controller.The present invention makes elevator safer, more effectively for robot controller service.
Description
Technical field
The present invention relates to a kind of elevator control gear, a kind of elevator control gear for single ladder controller.
Background technology
Along with Internet of Things, the progress of IT technology, intelligent robot industry gradually starts to rise, and market creates multiple energy
The service robot enough moved freely, therefore, will inevitably occur that robot uses the scene of elevator.
The technical scheme proposed such as application number 201610377713.9 and application number 201610362931.5 etc. all refer to
How robot uses elevator.But in these technical schemes, elevator and robot controller do not carry out sufficient information friendship
Mutually and coordinate.Therefore, during actual use, company of robot is indirectly to monitor from peripheral interface and control electricity
Ladder.Such as company of robot directly enters to handle railway carriage or compartment by passive touch point mode, registers instruction and switch gate in sedan-chair.This will lead
Cause following point:
Passive contact lug is complicated, more particularly with floor or have the situation of multiple elevator cage door, needs to access very
The most passive contact, cost is high；
Multiple elevator is used for robot, in addition it is also necessary to accessing passive contact on stop, cost is higher.And when each
Elevator can service floor inconsistent when, reply difficulty.Such as, robot may call and can not remove its target zone
Elevator；
In the sedan-chair in main manipulation railway carriage or compartment, instruction and switch gate button priority are the highest.When elevator is in can not be for the shape of elevator
During state, robot directly manipulates the interior instruction of sedan-chair in main manipulation railway carriage or compartment can bring danger with switch gate button.Such as in fireman's pattern
Under, fireman needs the interior instruction of sedan-chair and the switch gate button control elevator using main manipulation railway carriage or compartment, if at this moment controlled by robot
In device registration sedan-chair, instruction or door open command may lead to grave consequences；
Under normal service condition, if robot controller breaks down, elevator may be caused can not to service other and to take advantage of
Visitor, as persistently sent door open command；
The passive contact mode of connection can introduce extra uncertain factor (such as interference), and elevator itself is produced impact；
Needing to increase extra sensor, and can only obtain a small amount of elevator status data, cost is high；
A small amount of elevator status data makes robot use the inefficiency of elevator.
Summary of the invention
The technical problem to be solved is to provide a kind of elevator control gear for single ladder controller, makes elevator
Safer, more effective is robot controller service.
For solving above-mentioned technical problem, the technical solution of the present invention is, a kind of elevator control for single ladder controller
Device processed, it is characterised in that this elevator control gear being used for single ladder controller and robot controller and/or electric life controller
Data communication connects, and described elevator control gear includes that data processing module and control module, described data processing module are used for
Receiving the information of each robot controller and/or each electric life controller, described control module controls according to pre-conditioned
Described data processing module is made to robot controller and/or electric life controller and is preset output, and described electric life controller is
Single ladder master controller.
Preferably, described data processing module receives below each robot that each robot controller sends at least
Individual information:
Input information 1. abnormal condition；
Input information 2. is opened the door and is asked；
Input information 3. target zone registration request；
Input information 4. starting layer call is asked；
Input information 5. positional information；
Input information 6. is in a car or car external information；
Input information 7. assigned elevator number；
Described data processing module receives at least one information following of each electric life controller:
Input information 8. down state；
Input information 9. service orientation；
Input information 10. current floor position；
Input information 11. is arrived at a station signal；
Input information 12. run-stopping status；
The whether permission door opening state that input information 13. is each；
The switch gate location status of each of input information 14.；
The switch gate kinestate of each of input information 15.；
Input information 16. registers target zone instruction and/or the situation of starting layer calling；
Input information 17. can service floor information.
Preferably, input information 1-17 that described control module receives according to data processing module, to there being use elevator
Each robot required specifies it with the corresponding with service relation of each elevator to be:
When being not received by the assigned elevator of a robot, control module according to the information of this robot and each
The information of elevator, for each Robot Selection optimum elevator, and sets up specified services relation；
When receiving the assigned elevator that robot sends, control module according to the information of this robot and each
The information of elevator, for this robot and its assigned elevator preferential set up specified services relation；If assigned elevator can not service
The request of this robot, then be this Robot Selection optimum elevator, and set up specified services relation.
Preferably, control module makes data processing module send assigned elevator or all elevators to robot controller all the time
At least one information following:
Output information 1. service orientation；
Output information 2. current floor position；
Output information 3. is arrived at a station signal；
Output information 4. run-stopping status；
The whether permission door opening state that output information 5. is each；
The switch gate location status of each of output information 6.；
The switch gate kinestate of each of output information 7.；
Output information 8. registers target zone instruction and/or the situation of starting layer calling；
Output information 9. assigned elevator number.
After robot obtains output information 1-4 of elevator control gear, can understand whether elevator reaches its institute in time
The floor needed, ready for request door-opened elevator.
After robot obtains output information 5-7 of elevator control gear, elevator door state can be understood in time, and select a good opportunity
Send enabling request, ready for turnover elevator.
After robot obtains the output information 8 of elevator control gear, can understand whether its registration request obtains in time
Meet.If be unsatisfactory for, then can select a good opportunity and again re-emit registration request or change original registration request, thus improve machine
The efficiency using elevator of people.Output information 8 includes but not limited to be registrated successfully, register be cancelled, registration failure, registration floor
The content such as can not service.
Preferably, when the pre-conditioned input information 8 receiving all elevators for data processing module, preset and be output as
Sending the unavailable information of all elevators to all robots, robot can understand information in time and stop the request to elevator.
Preferably, when pre-conditioned receive robot input information 1 for data processing module time, preset and be output as
Stop sending any information of this robot to all electric life controllers or sending this robot extremely to all electric life controllers
Information.So can avoid the abnormal impact that elevator is likely to result in of robot.
When pre-conditioned receive robot input information 2 for data processing module time, preset and be output as to appointment
Electric life controller sends the request of enabling.
Preferably, receive robot input information 2 for data processing module be not continued above pre-when pre-conditioned
If during the time, preset and be output as sending, to assigned elevator controller, the request of enabling；Receive for data processing module when pre-conditioned
To robot input information 2 be continued above Preset Time time, preset that be output as stopping sending to assigned elevator controller should
The enabling request of robot, and forbid information to the transmission enabling of this robot.So can avoid the elevator will not be strong because of robot
System is opened the door and out of service, and simultaneously in time notice robot stops sending the request of enabling.
Preferably, described control module, if a robot input information 6 cannot be obtained, but this machine can be obtained
When device people inputs information 5, then according to the input information 5 of this robot, judge that this robot is in this car or outside car voluntarily.
Preferably, receive elevator input information 8 for data processing module when pre-conditioned and judge robot
Time in the car of this elevator, preset and be output as sending the information asking robot to leave this elevator, to this elevator to this robot
Controller distribution of machine people information in car.This elevator can be selected a good opportunity and stop at according to necessary analysis and can open the door
Also open the door in district；Whether robot according to whether allow enabling to select a good opportunity sending enabling request, and the state such as can open according to door and selects
Machine leaves elevator.So can preferably coordinate elevator and robot, make robot leave non-serviceable elevator as early as possible.
When pre-conditioned input information 3 and/or the input information 4 receiving robot for data processing module, preset
It is output as sending target zone registration request and/or starting layer calling registration request to assigned elevator controller.
Preferably, when pre-conditioned input information 3 and/or the input letter receiving a robot for data processing module
When ceasing 4, and judge that robot, in this car, presets and is output as sending target zone registration request to this electric life controller；Judge
When robot is not in car, presets and be output as sending starting layer calling registration request to assigned elevator controller.The most permissible
Avoid instruction and the mistake registration of starting layer calling in elevator car, thus reduce elevator operating efficiency and the waste energy.
Preferably, receive the input information 3 of a robot for data processing module comprise multiple mesh when pre-conditioned
Layer registration request and/or input information 4 comprise multiple starting layer calling registration request time, preset be output as stop to specify electricity
Ladder controller sends target zone registration request and/or starting layer calling registration request；And can not register many to the transmission of this robot
Floor warning message, after robot receives warning message, can resend correct request.So can avoid because of machine
The abnormal registration request of people reduces elevator operating efficiency and the waste energy.
Preferably, described data communication is connected as wired connection mode, include but not limited to 485, CAN serial communication even
Connect or Ethernet connects.
Preferably, described data communication is connected as radio connection, includes but not limited to 2.4G, WIFI, bluetooth, shifting
Dynamic 3G or 4G connects.
Preferably, the machine that the described elevator control gear for single ladder controller can provide according to robot controller
With multiple robot communications while of device people ID.
Preferably, for the requirement of reduction cost, the described elevator control gear for single ladder controller is integrated in electricity
In ladder controller or in robot controller.
In sum, what the present invention can reach has the technical effect that
1. avoid the problem that passive contact lug is complicated, though floor and the quantity of elevator door, the most a small amount of wiring,
Even without wiring.
2. the realization of starting layer calling elevator functions has lower cost and more effective advantage.
The most safer control mode, when elevator can not be supplied to robot use, shields the instruction of robot.Ratio
As do not interfered with fireman, the control of elevator is used.
4. add detection of opening the door for a long time, under normal service condition, if robot breaks down, send enabling always
Request, also will not cause the paralysis of elevator.
5. avoid the signal interference that elevator is produced by the passive contact mode of connection.
6. provide the much information of elevator, use elevator to provide more facility for robot, improve by ladder efficiency.
7. the multiple monitoring of pair robot information, high degree avoid the elevator that causes because robot uses elevator
Degradation problem under conevying efficiency.
8., without ill effect, the daily installation of elevator will not be given, use, safeguard and make troubles.
9. the present invention can simultaneously with multiple robots and multiple elevator communication, thus tackle multiple robot and use multiple stage
The complex situations of elevator.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is controlling with single ladder master controller and robot of the elevator control gear for single ladder controller of the present invention
The schematic diagram that device connects respectively.
Fig. 2 is the signal that the elevator control gear for single ladder controller of the present invention is integrated in robot controller
Figure.
Fig. 3 is that the elevator control gear for single ladder controller of the present invention is integrated into the signal in single ladder master controller
Figure.
Fig. 4 be the present invention for single ladder controller elevator control gear and two elevators by wired mode connection,
With the embodiment schematic diagram that robot controller uses wireless connections.
Fig. 5 is that the elevator control gear for single ladder controller of the present invention is integrated in the reality in each robot controller
Execute illustration to be intended to.
Fig. 6 is that the elevator control gear for single ladder controller of the present invention is integrated in the embodiment in single ladder master controller
Schematic diagram.
Fig. 7 is that elevator control gear and two elevators for singly ladder controller of the present invention are connected by wired mode,
With the embodiment schematic diagram that robot controller uses wired connection.Robot controller separates with robot moving body, passes through
Wireless mode controls A, B, C robot moving body simultaneously.
Detailed description of the invention
As it is shown in figure 1, the elevator control gear for single ladder controller of the present invention and single ladder master controller and robot
Controller connects respectively.The mode connected can be wired can also be wireless.
Preferably, as in figure 2 it is shown, the elevator control gear being used for single ladder controller is desirably integrated into robot controller
In.
Preferably, as it is shown on figure 3, the elevator control gear being used for single ladder controller is desirably integrated into single ladder master controller
In.
The schematic diagram of Fig. 4 illustrates a kind of technical scheme, and two elevators are controlled for single ladder by wired mode and one
The elevator control gear of device connects, and the elevator control gear for single ladder controller can connect multiple simultaneously wirelessly
Robot controller, each robot controller is positioned at each robot moving body.
The schematic diagram of Fig. 5 illustrates a kind of technical scheme, and the elevator control gear for single ladder controller is integrated in each
In robot controller, each robot controller is positioned at each robot moving body.Each robot controller leads to simultaneously
Cross wireless mode and connect multiple elevator.
The schematic diagram of Fig. 6 illustrates a kind of technical scheme, and the elevator control gear for single ladder controller is integrated in single ladder
In controller, each robot controller is positioned at each robot moving body.Single ladder controller wirelessly connects many
Individual robot controller.
The schematic diagram of Fig. 7 illustrates a kind of technical scheme, for elevator control gear and two elevators of single ladder controller
Connected by wired mode, use wired connection with a robot controller.This robot controller and robot moving body
Separate, control A, B, C robot moving body the most simultaneously.Elevator control gear according to different ID mark, with
The information of robot controller mutual A, B, C robot.
The present invention is introduced below as a example by Fig. 4 embodiment.For the elevator control gear of single ladder controller by control module
Form with data module, terse in order to state, the elevator control gear of single ladder controller will be only used for introduce reality below
Execute example.Assume there are two elevators, respectively No. 1 and No. 2 elevators；There are 3 machine artificial robots A, B, C.
In Fig. 4, the elevator control gear for single ladder controller receives the following letter that robot A, B, C controller sends
Breath:
Input information 1. abnormal condition；
Input information 2. is opened the door and is asked；
Input information 3. target zone registration request；
Input information 4. starting layer call is asked；
Input information 5. positional information；
Input information 6. is in a car or car external information；
Input information 7. assigned elevator number
Following information for elevator control gear reception No. 1 and No. 2 single ladder master controller of single ladder controller:
Input information 8. down state；
Input information 9. service orientation；
Input information 10. current floor position；
Input information 11. is arrived at a station signal；
Input information 12. run-stopping status；
The whether permission door opening state that input information 13. is each；
The switch gate location status of each of input information 14.；
The switch gate kinestate of each of input information 15.；
Input information 16. registers target zone instruction and/or the situation of starting layer calling；
Input information 17. can service floor information.
Send the following letter of assigned elevator to robot A, B, C controller for the elevator control gear of single ladder controller
Breath:
Output information 1. service orientation；
Output information 2. current floor position；
Output information 3. is arrived at a station signal；
Output information 4. run-stopping status；
The whether permission door opening state that output information 5. is each；
The switch gate location status of each of output information 6.；
The switch gate kinestate of each of output information 7.；
Output information 8. registers target zone instruction and/or the situation of starting layer calling；
Output information 9. assigned elevator number.
Assume elevator control gear receive No. 1 and No. 2 elevators all can not service robot A, B, C (input information 8), then
Elevator control gear sends the unavailable information of all elevators to robot A, B, C.
Assume No. 1 elevator to enter down state and robot A moving body now in this elevator, elevator control gear will
Receive the unavailable information of this elevator (input information 8) and robot A in this car internal information (input information 6).Elevator subsequently
Control device and send the information asking robot to leave elevator to this robot A controller, to No. 1 electric life controller distribution of machine people
A information in car.This single ladder controller, by according to necessary analysis, stops in the opened the door district of nearest floor and opens
Door；Whether robot A controller according to whether allow enabling (output information 5) to select a good opportunity send enabling request, and will be beaten according to door
States such as (output information 6,7) of opening is selected a good opportunity and is made robot A moving body leave No. 1 elevator.When robot, A moving body leaves elevator
After, elevator control gear sends, to robot A controller, the information asking robot to leave elevator by stopping, and stops to No. 1 elevator
Controller distribution of machine people A information in car.
If No. 1 elevator enter down state and the moving body of robot B and C now outside No. 1 elevator, robot B
With C controller by after No. 1 unavailable information of elevator (output information 8) of acquisition elevator control gear, directly stop this elevator
All requests；No. 1 elevator is got rid of outside corresponding with service relation by elevator control gear.
Elevator control gear, according to input information 1-17 received, controls there being each robot using elevator requirement
The corresponding with service relation of itself and each electric life controller specified by device:
A) it is assumed that work as the assigned elevator number of the controller being not received by robot B, and robot B requires to go to from 5th floors
10th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, and meanwhile, No. 2 elevators can service 10
Building, then elevator control gear will select No. 2 elevators for robot B, and set up specified services relation；Robot will receive appointment electricity
Ladder number (output information 9)；
B) assuming again that, when the assigned elevator number of the controller being not received by robot B, and robot B requires to go from 5th floors
Toward 10th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, and meanwhile, No. 2 elevators can not take
Be engaged in 10th floors but No. 1 elevator can service 10th floors, then elevator control gear will select No. 1 elevator for robot B, and set up appointment clothes
Business relation；Robot will receive assigned elevator number (output information 9)；
C) it is assumed that the assigned elevator number working as the controller receiving robot B is No. 1 elevator, and robot B requires from 5
Building goes to 10th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, and meanwhile, No. 1 elevator can
Service 10th floors, then elevator control gear will select No. 1 elevator for robot B, and set up specified services relation；Robot will receive
Assigned elevator number (output information 9)；
D) it is assumed that the assigned elevator number working as the controller receiving robot B is No. 1 elevator, and robot B requires from 5
Building goes to 10th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, and meanwhile, No. 1 elevator can not
Enough service 10th floors but No. 2 elevators can service 10th floors, then elevator control gear will select No. 2 elevators for robot B, and set up and refer to
Determine service relation；Robot will receive assigned elevator number (output information 9).
It is assumed that when the assigned elevator of the controller being not received by robot B, and robot B requires to go to 10 from 5th floors
Building.No. 1 elevator runs up from 10th floors simultaneously, and No. 2 elevators run downwards from 3rd floors, then elevator control gear will first not set up
Specified services relation, wait any elevator can the request of forward service robot, i.e. No. 1 elevator runs downwards or No. 2 electricity
Specified services relation is resettled when ladder runs up；
It is assumed that robot A enters abnormal condition, then elevator control gear is in improper receiving robot A
During status information (input information 1), stop any information to electric life controller distribution of machine people A or send to electric life controller
Robot A abnormal information.Each elevator will not respond the request of robot A again.
Assuming that robot A is outside car, it is desirable to when 10th floor, 5 Lou Qu, elevator control gear will receive 10 floors registrations
Request (input information 3), the 5 up registration requests of floor (input information 4) and robot A are in car outer (input information 6).Assume
Robot A and No. 1 elevator are established service relation by elevator control gear.Owing to robot A is outside car, elevator control gear
5 upstairs row registration requests will be sent to No. 1 elevator.After No. 1 elevator registers 5 row callings upstairs, registered 5th floors uplink informations
Robot controller will be sent to by elevator control gear.No. 1 elevator will response 5 row registration upstairs.No. 1 elevator arrives 5th floors
Time, robot A controller by receive successively No. 1 elevator that elevator control gear sends uplink information (output information 1),
5th floors information (output information 2), information of arriving at a station (output information 3), Stop message (output information 4), permission enabling information (output
Information 5), door opens information (output information 6), opens the door information (output information 7).Robot A controller determines No. 1 elevator
After stopping and allowing to open the door, request that transmission is opened the door.Elevator control gear judges the enabling solicited message of robot A controller not
When being continued above Preset Time, elevator control gear sends, to No. 1 electric life controller, the request of enabling.Robot A controller judges 1
After number door-opened elevator puts in place, control robot and enter No. 1 elevator.After entering elevator Deng robot A, robot A controller will stop
Only send the request of enabling.Owing to robot A is in No. 1 lift car, elevator control gear sends 10th floors to No. 1 electric life controller
Target zone registration request.In No. 1 elevator registers 10th floors sedan-chairs after instruction, robot A controller will receive elevator controlling dress
Put command information in registered 10th floors sedan-chairs of transmission.No. 1 elevator will instruct in 10th floors sedan-chairs of response.Robot A controller will successively
Receive No. 1 elevator that elevator control gear sends uplink information (output information 1), 10th floors information (output information 2), arrive
Information of standing (output information 3), Stop message (output information 4), permission enabling information (output information 5), door open information (output
Information 6), open the door information (output information 7).After robot A controller determines that No. 1 elevator stops and allowing to open the door, will send out
Send enabling request.Elevator control gear judges when the enabling solicited message of robot A controller is not continued above Preset Time, electricity
Ladder controls device and sends, to No. 1 electric life controller, the request of enabling.After robot A controller judges that door-opened elevator puts in place, control machine
Device people A leaves elevator.
Assume that robot A controller does not provide robot A information in which car or outside car, but machine is provided
During the positional information of people A, then elevator control gear is according to its positional information, judges robot A is in which car or sedan-chair voluntarily
Outside railway carriage or compartment.
After assuming that robot A leaves car, the most persistently send enabling solicited message and exceed Preset Time, then elevator control
Device processed sends, to No. 1 electric life controller, the request of enabling by stopping, and forbids information to robot A controller transmission enabling.No. 1
Elevator will not perform the enabling request of robot A controller, and robot A controller then can learn the letter that elevator can not open the door
Breath, and stop sending the request of enabling.
Assume that robot A controller is sending 10th floors registration requests (input information 3), 5 upstairs row registration request (input letters
Breath 4) while also have sent 11st floors registration requests (input information 3), elevator control gear will not be sent out to No. 1 electric life controller
Send 10th floors, the target zone registration request and 5 of 11st floors upstairs go starting layer calling registration request；And send out to robot A controller
Send and can not register many floors warning message.No. 1 elevator will not registering instruction and calling, and robot A controller also can be known
This situation, and resend 10th floors registration requests (input information 3), 5 upstairs row registration request (input information 4).
When starting layer calling can not be registered but target zone instruction can be registered in sedan-chair, and the present invention can be each by judging
The state of individual elevator and in registering sedan-chair instruction realize starting layer call.Assume that robot A is outside car, it is desirable to go 10 from 5th floors
Building.Assuming again that, No. 1 elevator runs up from 10th floors, and No. 2 elevators run up from 3rd floors.No. 1 and No. 2 elevators can service
10th floors, robot A does not has assigned elevator, then No. 2 elevators are set up service relation with robot A and directly step on by elevator control gear
5th floors target zone instructions of No. 2 elevators of note, such No. 2 elevators are just called to 5th floors.Assuming again that, robot A specifies No. 2 electricity
Ladder, No. 2 elevators can service 10th floors, and No. 2 elevators run downwards from 3rd floors, then elevator control gear is by robot A and No. 2 electricity
5th floors target zones instruction of service relation direct No. 2 elevators of registration set up by ladder, or wait No. 2 elevator directions become up again
Robot A and No. 2 elevators are set up service relation and register 5th floors target zone instructions of No. 2 elevators.So, No. 2 elevators also can quilt
Calling is to 5th floors.
Additionally, the connection of the elevator control gear of the present invention and electric life controller, it is not limited to elevator control gear with
Being directly connected to of single ladder controller.It can show as being connected to the miscellaneous part system (such as station, sedan-chair top system etc.) of elevator,
Communication connection by miscellaneous part system with single ladder controller, it is achieved between elevator control gear and electric life controller in succession
Connect.Such as needing for mounting arrangements, elevator control gear is installed on sedan-chair top, now elevator control gear can be with station, sedan-chair top
System is connected by CAN, and station, sedan-chair top system uses 422 modes to communicate with electric life controller.So, it is achieved that elevator controlling fills
Put station, sedan-chair top system and arrive the communication connection of electric life controller again.
Being described in detail the present invention above by specific embodiment, embodiment is only the preferable enforcement of the present invention
Example, the invention is not limited in above-mentioned embodiment.Without departing from the principles of the present invention, those skilled in the art couple
Equivalent replacement that the method for the present invention is made and improvement, be regarded as in the technology category that the present invention is protected.
Claims (17)
1. the elevator control gear for single ladder controller, it is characterised in that this is used for the elevator controlling of single ladder controller
Device is connected with robot controller and/or electric life controller data communication, and described elevator control gear includes that data process mould
Block and control module, described data processing module is for receiving the letter of each robot controller and/or each electric life controller
Breath, described control module controls described data processing module to robot controller and/or elevator controlling according to pre-conditioned
Device is made and is preset output, and described electric life controller is single ladder master controller.
Elevator control gear for single ladder controller the most according to claim 1, it is characterised in that described data process
Module receive each robot controller send each robot below at least one information:
Input information 1. abnormal condition；
Input information 2. is opened the door and is asked；
Input information 3. target zone registration request；
Input information 4. starting layer call is asked；
Input information 5. positional information；
Input information 6. is in a car or car external information；
Input information 7. assigned elevator number；
Described data processing module receives at least one information following of each elevator of each electric life controller:
Input information 8. down state；
Input information 9. service orientation；
Input information 10. current floor position；
Input information 11. is arrived at a station signal；
Input information 12. run-stopping status；
The whether permission door opening state that input information 13. is each；
The switch gate location status of each of input information 14.；
The switch gate kinestate of each of input information 15.；
Input information 16. registers target zone instruction and/or the situation of starting layer calling；
Input information 17. can service floor information.
Elevator control gear for single ladder controller the most according to claim 2, it is characterised in that described control module
Input information 1-17 received according to data processing module, specifies itself and each to there being each robot using elevator requirement
The corresponding with service relation of elevator is:
When being not received by the assigned elevator of a robot, control module is according to the information of this robot and each elevator
Information, for each Robot Selection optimum elevator, and set up specified services relation；
When receiving the assigned elevator that robot sends, control module is according to the information of this robot and each elevator
Information, for this robot and its assigned elevator preferential set up specified services relation；If assigned elevator can not service this machine
The request of device people, then be this Robot Selection optimum elevator, and set up specified services relation.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that control module is all the time
Make data processing module to robot controller transmission assigned elevator or at least one information following of all elevators:
Output information 1. service orientation；
Output information 2. current floor position；
Output information 3. is arrived at a station signal；
Output information 4. run-stopping status；
The whether permission door opening state that output information 5. is each；
The switch gate location status of each of output information 6.；
The switch gate kinestate of each of output information 7.；
Output information 8. registers target zone instruction and/or the situation of starting layer calling；
Output information 9. assigned elevator number.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that be when pre-conditioned
When data processing module receives the input information 8 of all elevators, preset and be output as sending all elevators not to all robots
Available information.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that be when pre-conditioned
When data processing module receives a robot input information 1, preset and be output as stopping sending to all electric life controllers being somebody's turn to do
Any information of robot or send this robot abnormal information to all electric life controllers.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that be when pre-conditioned
When data processing module receives a robot input information 2, preset and be output as sending to open the door to assigned elevator controller asking
Ask.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that be when pre-conditioned
Data processing module receives robot input information 2 when not being continued above Preset Time, presets and is output as to specifying electricity
Ladder controller sends the request of enabling；Receive robot input information 2 for data processing module persistently surpass when pre-conditioned
When crossing Preset Time, preset the enabling request being output as stopping sending this robot to assigned elevator controller, and to this machine
People sends enabling and forbids information.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that described control mould
Block, if a robot input information 6 cannot be obtained, but when can obtain this robot input information 5, then according to this machine
The input information 5 of people, judges that this robot is in this car or outside car voluntarily.
Elevator control gear for single ladder controller the most according to claim 3, it is characterised in that when pre-conditioned
When receiving an elevator input information 8 for data processing module and judge that robot is in the car of this elevator, preset defeated
Go out for sending the information asking robot to leave this elevator to this robot, to this electric life controller distribution of machine people in car
Information.
11. elevator control gears for single ladder controller according to claim 3, it is characterised in that when pre-conditioned
When receiving input information 3 and/or the input information 4 of robot for data processing module, preset and be output as to assigned elevator control
Device processed sends target zone registration request and/or starting layer calling registration request.
12. elevator control gears for single ladder controller according to claim 11, it is characterised in that when pre-conditioned
When receiving input information 3 and/or the input information 4 of a robot for data processing module, and judge that robot is at this sedan-chair
In railway carriage or compartment, preset and be output as sending target zone registration request to this electric life controller；Judge when robot is not in car, preset defeated
Go out for sending starting layer calling registration request to assigned elevator controller.
13. elevator control gears for single ladder controller according to claim 3, it is characterised in that when pre-conditioned
The input information 3 receiving a robot for data processing module comprises multiple target zone registration request and/or input information 4
When comprising multiple starting layer calling registration request, preset and be output as stopping sending target zone registration request to assigned elevator controller
And/or starting layer calling registration request；And many floors warning message can not be registered to the transmission of this robot.
14. according to the elevator control gear for single ladder controller one of claim 1-13 Suo Shu, it is characterised in that institute
The data communication stated is connected as wired connection mode, includes but not limited to that 485, CAN serial communication connection or Ethernet connect.
15. according to the elevator control gear for single ladder controller one of claim 1-13 Suo Shu, it is characterised in that institute
The data communication stated is connected as radio connection, includes but not limited to that 2.4G, WIFI, bluetooth, mobile 3G or 4G connect.
16. according to the elevator control gear for single ladder controller one of claim 1-13 Suo Shu, it is characterised in that institute
With many while of the robot ID that the elevator control gear for single ladder controller stated can provide according to robot controller
Individual robot communication.
17. according to the elevator control gear for single ladder controller one of claim 1-13 Suo Shu, it is characterised in that institute
The elevator control gear for single ladder controller stated is integrated in electric life controller or robot controller.
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| CN201610840236.5A CN106276439B (en) | 2016-09-21 | 2016-09-21 | Elevator control gear for single terraced controller |
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| CN201610840236.5A CN106276439B (en) | 2016-09-21 | 2016-09-21 | Elevator control gear for single terraced controller |
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| CN106276439B CN106276439B (en) | 2019-06-04 |
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