CN204737517U - Communication system of AGV and elevator - Google Patents
Communication system of AGV and elevator Download PDFInfo
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- CN204737517U CN204737517U CN201520464724.1U CN201520464724U CN204737517U CN 204737517 U CN204737517 U CN 204737517U CN 201520464724 U CN201520464724 U CN 201520464724U CN 204737517 U CN204737517 U CN 204737517U
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- 238000004891 communication Methods 0.000 title claims abstract description 90
- 230000005611 electricity Effects 0.000 claims abstract description 4
- 239000002775 capsule Substances 0.000 claims description 48
- 230000005693 optoelectronics Effects 0.000 claims description 14
- 230000001174 ascending effect Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- Indicating And Signalling Devices For Elevators (AREA)
- Elevator Control (AREA)
Abstract
The utility model relates to a communication system of AGV and elevator, this communication system includes AGV, first information trigger, photoelectric sensor and elevator, photoelectric sensor sets up outside the lift -cabin door of each layer, an open -closed state for detecting the lift -cabin door, the elevator is including setting up the elevator calling case at each floor, car and the lift control case of setting in the car, the last wireless transceiver module that is equipped with of AGV, still include the multi -functional communication control box of a plurality of, multi -functional communication control box sets up at the elevator calling incasement of each floor with at the lift control incasement, multi -functional communication control box and elevator calling case, lift control case electric connection, pass through radio communication between a plurality of multi -functional communication control boxes and between multi -functional communication control box and the AGV, photoelectric sensor is connected with multi -functional communication control box electricity, and first information trigger sets up in the elevator outside. Through the utility model discloses a communication system makes AGV realize automatic elevator from top to bottom, has safe, reliable, general characteristics.
Description
Technical field
The utility model relates to AGV application, the communication system of especially a kind of AGV and elevator
Background technology
Along with the development of automation of industry, the application of AGV inside factory is more and more extensive.By motor plant to Electronics Factory, then to bathroom factory etc., the industry of application also gets more and more, and span is also increasing.AGV has become an organic part for Factory Logistics delivery system.In the past, AGV carried material, was all only limited to and operated at this floor, because AGV also can not elevator up and down, carried out the material allocation across floor, also must obtain manual intervention, just can complete.In order to allow delivery system realize higher degree of automation, and realizing higher efficiency, being necessary to realize AGV upper and lower elevator automatically, and the automatic elevator up and down of AGV will be realized, just must realize AGV with the communication between elevator device.But realize direct communication, difficulty is very large, and reason has following:
(1) due to elevator device complexity very, calling case is mainly divided into, car, and main frame.Each large parts, by 485 buses or CAN communication, the state of logic all goes process by main frame.So, need to carry out secondary development to this system, the signal of AGV is changed, then follow the main-machine communication of elevator with CAN interface.Above-mentioned secondary development is feasible in theory, but the control system of elevator is the system of standard, is not the strong secondary development carrying out this System on Chip/SoC level of each elevator producer.
(2) elevator is special equipment, and security requirement height very, changes the control circuit of its inside, all needs through strict safety assessment, and needs checking for a long time.In addition, each elevator producer system used is not identical, and the elevator of almost each different manufacturers so will be caused to need to carry out above-mentioned secondary development, and time cost is high.
Therefore, the system and device that a set of AGV that is general, practical simple docks with elevator communication is necessary to develop.
Utility model content
The purpose of this utility model is to provide the communication system of a kind of simple and easy, general AGV and elevator.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
The communication system of a kind of AGV and elevator, comprise AGV, first information binary pair, opto-electronic pickup and elevator, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, described AGV is provided with radio receiving transmitting module, also comprise several multifunctional communication control capsulees, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is electrically connected with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
Compared with prior art, communication system of the present utility model does not need AGV directly to communicate with elevator, the control part transforming elevator is not needed yet, only need to add as intermediate equipment and carry out with AGV the multifunctional communication control capsule that communicates, utilize the relay array in multifunctional communication control capsule, realize the control to each button of elevator, thus the action that imitation people presses the button, make AGV realize automatically elevator up and down.
Further, described multifunctional communication control capsule comprises photoelectrical coupler, radio receiving transmitting module, MCU and relay array; Described opto-electronic pickup sends elevator door start signal to photoelectrical coupler in the elevator calling case of corresponding floor, described radio receiving transmitting module is used for carrying out wireless telecommunications with AGV, the signal control relay opening and closing that MCU sends according to photoelectrical coupler and radio receiving transmitting module.
Further, can not judge by accident because of the stop of obstacle in order to ensure AGV and enter elevator, between first information binary pair and elevator, be provided with the second information trigger.
Preferably, described first information binary pair and the second information trigger are rfid card or emission sensor or magnetic stripe road sign.
Further, the mouth of the relay array in the multifunctional communication control capsule in described elevator calling case is electrically connected with the ascending for elevator button of described elevator calling case, elevator descending button one_to_one corresponding, and the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of multifunctional communication control capsule of the present utility model;
Fig. 2 is the connection block diagram of calling case of the present utility model, opto-electronic pickup and multifunctional communication control capsule;
Fig. 3 is the connection block diagram of control box of the present utility model and multifunctional communication control capsule;
Fig. 4 is the utility model AGV control flow chart;
Fig. 5 is the control flow chart of the utility model multifunctional communication control capsule.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings and the specific embodiments.
See Fig. 1 to 5, the communication system of AGV of the present utility model and elevator, comprise AGV, first information binary pair, opto-electronic pickup, elevator and several multifunctional communication control capsulees, described AGV is provided with radio receiving transmitting module, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is connected by wire with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
Above-mentioned radio is all the carrier frequencies using 433MHZ, makes to obtain more reliable and more stable communication state between each parts; And the ascending for elevator button of the mouth of relay array in multifunctional communication control capsule in elevator calling case and described elevator calling case, elevator descending button one_to_one corresponding are electrically connected, the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.Relay array is that 4 road normally opened relays combine, and when elevator floor is more than 2 layers, needs increase by or more to be arranged on multifunctional communication control capsule in control box, thus guarantees that each floor button all has relay corresponding with it.
First information binary pair is arranged on outside elevator, and concrete position is the place of distance 2.5 meters, elevator, certainly can adjust because of concrete environment.In addition, can not because of the stop of obstacle in order to ensure AGV, and erroneous judgement has entered elevator, the second information trigger can be provided with between first information binary pair and elevator, distance between second information trigger and elevator is 0.5 meter and is advisable, and the environment that certainly can configure setting too as first information binary pair adjusts.
As the preferred scheme of one, first information binary pair and the second information trigger can be rfid card or opposite type sensor or magnetic stripe road sign.
Owing to having the relay permutation often opened in multifunctional communication control capsule, relay permutation is electrically connected with each button of elevator again, by the closed and disconnected of control relay permutation, imitates people and operates elevator, thus realize the function controlling elevator; In addition, multifunctional communication control capsule carries out communication by radio and AGV, by the instruction that receives from AGV control relay array again after conversion, thus indirectly makes AGV and elevator carry out communication, realizes AGV upper and lower elevator automatically.
See Fig. 4 and Fig. 5, concrete steps of the present utility model are as follows:
A: first need the floor manually inputting present AGV place and the floor needing AGV to arrive, after input, start AGV, when AGV is close to current floor elevator, and after triggering first information binary pair, can send request the instruction of elevator to the multifunctional communication control capsule in elevator calling case, the instruction of the request elevator that AGV sends can send once every 2 seconds;
B: the destination instruction sent according to AGV when the multifunctional communication control capsule in calling case, the relay that closed AGV current floor button is corresponding, activates the ascending for elevator button on elevator calling case or elevator descending button.
C: elevator arrives AGV place floor, elevator door is opened, elevator door opening signal is sent to the multifunctional communication control capsule in calling case by opto-electronic pickup, and elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case; Multifunctional communication control capsule in control box closes the relay be electrically connected with door-opened elevator button according to elevator door opening signal, activate door-opened elevator button; Multifunctional communication control capsule in calling case sends the instruction entering elevator to AGV.
After d:AGV receives the instruction entering elevator, start and start to enter elevator, the wall 5-10 second in car detected as AGV after, sending the instruction having entered elevator.During AGV enters elevator, if AGV does not send the instruction having entered elevator, the door-opened elevator button on control box can by sustained activation, and elevator door can not be closed.
When being provided with the second information trigger between first information binary pair and elevator, AGV just can stop after needing to trigger the second information trigger simultaneously and the wall 5-10 second in car being detected, and send the instruction having entered elevator, such setting is to prevent AGV when not arriving elevator, blocked by obstacle and be detected as in arrival elevator, effectively guaranteeing normal operation.
E: after the multifunctional communication control capsule in control box receives the instruction that AGV sends, the relay corresponding with door-opened elevator button resets, the closed relay corresponding with destination button and the closed relay corresponding with elevator door close button, elevator door closedown;
At elevator run duration, AGV can carry out inquiry elevator every 2 seconds and whether arrive destination.
F: elevator arrives destination, this floor elevator opto-electronic pickup outdoors detects that elevator door is opened, and multifunctional communication control capsule elevator door opening signal is sent in calling case, elevator door opening signal is fed back to the multifunctional communication control capsule in control box by the multifunctional communication control capsule in calling case, the relay that multifunctional communication control capsule in control box is corresponding with door-opened elevator button according to signal closes, and the instruction of sailing out of elevator is sent to AGV.
After g:AGV receives the instruction of rolling away from, start and roll elevator away from, when after traveling 10-20 second, sending the instruction that AGV has sailed out of elevator, multifunctional communication control capsule in control box receives after AGV sails out of the instruction of elevator, and the relay corresponding with door-opened elevator button resets.During AGV rolls elevator away from, if AGV does not send the instruction of having sailed out of elevator, the door-opened elevator button on control box can by sustained activation, and elevator door can not be closed.
As the preferred scheme of one, time enough can be had to roll elevator away from order to ensure AGV, running time when AGV rolls elevator away from is valid running time, if namely there is stuck situation in AGV when rolling elevator away from, rolling timing away from and will stop at this time in AGV, AGV does not send the instruction of having sailed out of elevator; When AGV recovers to travel, roll timing away from and continue timing, until arrive Preset Time.
The announcement of book and instruction according to the above description, the utility model those skilled in the art can also change above-mentioned embodiment and revise.Therefore, the utility model is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present utility model modifications and changes more of the present utility model.In addition, although employ some specific terms in this specification sheets, these terms just for convenience of description, do not form any restriction to the utility model.
Claims (5)
1. the communication system of an AGV and elevator, comprise AGV, first information binary pair, opto-electronic pickup and elevator, described opto-electronic pickup is arranged on outside the elevator door of each layer, for detecting the open and-shut mode of elevator door, described elevator comprises the elevator calling case being arranged on each floor, car and the elevator controlling case be arranged in car, described AGV is provided with radio receiving transmitting module, it is characterized in that: also comprise several multifunctional communication control capsulees, in the elevator calling case that described multifunctional communication control capsule is arranged on each floor and in described elevator controlling case, described multifunctional communication control capsule and described elevator calling case, elevator controlling case is electrically connected, radio communication is passed through between multifunctional communication control capsule in the elevator calling case of each floor and the multifunctional communication control capsule in elevator controlling case, several multifunctional communication control capsulees described and AGV are by radio communication, and the multifunctional communication control capsule in the elevator calling case of each floor is electrically connected with the opto-electronic pickup of corresponding floor, described first information binary pair is arranged on outside elevator, when described AGV detects described first information binary pair, sends request the instruction of elevator to the multifunctional communication control capsule in elevator calling case.
2. the communication system of a kind of AGV according to claim 1 and elevator, is characterized in that: described multifunctional communication control capsule comprises photoelectrical coupler, radio receiving transmitting module, MCU and relay array; Described opto-electronic pickup sends elevator door start signal to photoelectrical coupler in the elevator calling case of corresponding floor, described radio receiving transmitting module is used for carrying out wireless telecommunications with AGV, 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, is characterized in that: be provided with the second information trigger between described first information binary pair and elevator.
4. the communication system of a kind of AGV according to claim 3 and elevator, is characterized in that: described first information binary pair 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 characterized in that: the mouth of the relay array in the multifunctional communication control capsule in described elevator calling case is electrically connected with the ascending for elevator button of described elevator calling case, elevator descending button one_to_one corresponding, the mouth of the relay array in the multifunctional communication control capsule in described elevator controlling case is electrically connected with each floor button of described elevator controlling case, door-opened elevator button and elevator door close button electricity one_to_one corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520464724.1U CN204737517U (en) | 2015-06-30 | 2015-06-30 | Communication system of AGV and elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520464724.1U CN204737517U (en) | 2015-06-30 | 2015-06-30 | Communication system of AGV and elevator |
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| Publication Number | Publication Date |
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| CN204737517U true CN204737517U (en) | 2015-11-04 |
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| CN201520464724.1U Withdrawn - After Issue CN204737517U (en) | 2015-06-30 | 2015-06-30 | Communication system of AGV and elevator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035893A (en) * | 2015-06-30 | 2015-11-11 | 广东嘉腾机器人自动化有限公司 | Communication system and communication method for AGV (automatic guided vehicle) and elevator |
| CN105858368A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically calling elevator |
| CN105858383A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | Automatic elevator-in/out system and method |
| CN105858381A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for remotely calling elevator |
| CN105858382A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically getting in/out of elevator |
| CN105858372A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | Elevator Internet of Things system and method |
| CN105905712A (en) * | 2016-05-31 | 2016-08-31 | 北京云迹科技有限公司 | System and method for automatically getting on and getting off elevator |
| CN105905713A (en) * | 2016-05-31 | 2016-08-31 | 北京云迹科技有限公司 | System and method for automatically getting off elevator |
| CN106044419A (en) * | 2016-05-31 | 2016-10-26 | 北京云迹科技有限公司 | System and method for entering and coming out of elevator automatically |
| CN107601202A (en) * | 2017-11-09 | 2018-01-19 | 上海木爷机器人技术有限公司 | Lift space detection method and device |
| CN108578134A (en) * | 2018-03-15 | 2018-09-28 | 浙江大学医学院附属妇产科医院 | A kind of medical AGV trolleies intelligent dispensing system |
| 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 |
-
2015
- 2015-06-30 CN CN201520464724.1U patent/CN204737517U/en not_active Withdrawn - After Issue
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035893A (en) * | 2015-06-30 | 2015-11-11 | 广东嘉腾机器人自动化有限公司 | Communication system and communication method for AGV (automatic guided vehicle) and elevator |
| CN105035893B (en) * | 2015-06-30 | 2017-05-31 | 广东嘉腾机器人自动化有限公司 | The communication system and its means of communication of a kind of AGV and elevator |
| CN106044419A (en) * | 2016-05-31 | 2016-10-26 | 北京云迹科技有限公司 | System and method for entering and coming out of elevator automatically |
| CN105858368A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically calling elevator |
| CN105858382A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for automatically getting in/out of elevator |
| CN105858372A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | Elevator Internet of Things system and method |
| CN105905712A (en) * | 2016-05-31 | 2016-08-31 | 北京云迹科技有限公司 | System and method for automatically getting on and getting off elevator |
| CN105905713A (en) * | 2016-05-31 | 2016-08-31 | 北京云迹科技有限公司 | System and method for automatically getting off elevator |
| CN105858383A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | Automatic elevator-in/out system and method |
| CN105858381A (en) * | 2016-05-31 | 2016-08-17 | 北京云迹科技有限公司 | System and method for remotely calling elevator |
| CN105858383B (en) * | 2016-05-31 | 2019-05-03 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN106044419B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN105905713B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | Automatically exit from the system and method for elevator |
| CN105905712B (en) * | 2016-05-31 | 2019-04-30 | 北京云迹科技有限公司 | The system and method for automatic disengaging elevator |
| CN107601202A (en) * | 2017-11-09 | 2018-01-19 | 上海木爷机器人技术有限公司 | Lift space detection method and device |
| CN108578134A (en) * | 2018-03-15 | 2018-09-28 | 浙江大学医学院附属妇产科医院 | A kind of medical AGV trolleies intelligent dispensing system |
| 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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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151104 Effective date of abandoning: 20170531 |
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| AV01 | Patent right actively abandoned |