CN106348110A - Elevator control device for group controllers - Google Patents
Elevator control device for group controllers Download PDFInfo
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- CN106348110A CN106348110A CN201610837666.1A CN201610837666A CN106348110A CN 106348110 A CN106348110 A CN 106348110A CN 201610837666 A CN201610837666 A CN 201610837666A CN 106348110 A CN106348110 A CN 106348110A
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- robot
- elevator
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- controller
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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
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
- B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an elevator control device for group controllers. The elevator control device is in data communication with robot controllers and/or elevator controllers, and comprises a data processing module and a control module, wherein the data processing module is used for receiving information of all the robot controllers and/or all the elevator controllers; the control module controls the data processing module to perform preset outputting on the robot controllers and/or the elevator controllers according to preset conditions; the elevator controllers belong to group controllers. The elevator control device ensures that an elevator serves the robot controllers more safely and effectively.
Description
Technical field
The present invention relates to a kind of control device of elevator, particularly a kind of elevator control gear for group controller.
Background technology
With the progress of Internet of Things, it technology, intelligent robot industry gradually starts to rise, and market creates multiple energy
, therefore, inevitably the scene that robot uses elevator in the service robot enough moving freely.
Technical scheme as the proposition such as application number 201610377713.9 and application number 201610362931.5 all refer to
How robot is using elevator.But in these technical schemes, elevator and robot controller do not carry out sufficient information friendship
Mutually and cooperation.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 manipulate railway carriage or compartment by passive contact mode, to register instruction and switch gate in sedan-chair.This will lead
Cause following point:
Passive contact wiring is complicated, particularly with floor is more or situation that have multiple elevator cage doors, needs to access very
Many passive contacts, high cost.
Multiple elevator is used for robot in addition it is also necessary to passive contact is accessed on stop, cost is higher.And work as each
Elevator can service floor inconsistent when, reply is difficult.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 very high.When elevator is in the shape that can not use for elevator
During state, robot directly manipulates instruction and switch gate button in the sedan-chair in main manipulation railway carriage or compartment and can bring danger.Such as in fireman's pattern
Under, fireman needs using instruction and switch gate button control elevator in the sedan-chair in 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, such as persistently sends door open command.
The passive contact mode of connection can introduce extra uncertain factor (as disturbed), produces impact in itself to elevator.
Need to increase extra sensor, and a small amount of elevator status data can only be obtained, high cost.
A small amount of elevator status data makes robot use the inefficiency of elevator.
Content of the invention
The technical problem to be solved is to provide a kind of elevator control gear, makes elevator safer, more effective
For robot controller service.
For solving above-mentioned technical problem, the technical solution of the present invention is, a kind of elevator controlling for group controller
Device, it is connected with robot controller and/or electric life controller data communication, the described elevator controlling dress for group controller
Put including data processing module and control module, described data processing module is used for receiving each robot controller and/or each
The information of individual electric life controller, described control module controls described data processing module to robot control according to pre-conditioned
Default output made by device and/or electric life controller, and described electric life controller is group controller.
Described data processing module receives at least one letter following of each robot of each robot controller transmission
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
Described data processing module receive each electric life controller transmission each elevator at least one information following:
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 input information 13. whether permission door opening state of each；
The input information 14. switch gate location status of each；
The input information 15. switch gate kinestate of each；
Input information 16. registers target zone instruction and/or the situation of starting layer calling.
Input information 17. can service floor information；
The assigned elevator number of each robot of input information 18.；
Preferably, described control module is according to input information 1-18 receiving, to each machine having using elevator requirement
Device people specifies it with the corresponding with service relation of each elevator to be:
When the assigned elevator number receiving a robot and assigned elevator can service the corresponding requests of this robot,
Then assigned elevator number is sent to electric life controller, and sets up specified services relation for this robot with its assigned elevator；Otherwise；
When receive electric life controller transmission a robot assigned elevator number and assigned elevator can service this machine
During the corresponding requests of device people, then it is that this robot sets up specified services relation with its assigned elevator, otherwise；
The information of the information according to this robot for the control module and each elevator, for each 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 output information 5. whether permission door opening state of each；
The output information 6. switch gate location status of each；
The output information 7. switch gate kinestate of each；
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 needing, 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 output information 8 of elevator control gear, can understand whether its registration request obtains in time
Meet.If being unsatisfactory for, can select a good opportunity and re-emitting registration request again or change original registration request, thus improve machine
The efficiency of the use elevator of people.Output information 8 is including but not limited to 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
Send 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 a robot input information 1 for data processing module when, default be output as
Stop sending any information of this robot to all electric life controllers or to send this robot to all electric life controllers abnormal
Information, so can avoid the abnormal impact that elevator is likely to result in of robot.
When pre-conditioned receive a robot input information 2 for data processing module when, default be output as to elevator
Controller sends has the enabling of specified relationship elevator to ask with it.
Preferably, when pre-conditioned for data processing module receive a robot input information 2 be not continued above pre-
If during the time, presetting to be output as sending to electric life controller has the enabling of specified relationship elevator to ask with it；When data processing mould
When block receives a robot and enters information 2 and be continued above Preset Time, default be output as sending enabling to this robot forbid
Information, and stop sending the enabling request of this robot to electric life controller.Send to this elevator without other robot
Open the door and ask, then this elevator will be closed the door.So can avoid elevator will not because robot force open the door and out of service, simultaneously and
Shi Tongzhi robot stops sending request of opening the door.
Preferably, described control module, if a robot input information 6 cannot be obtained, but can obtain this machine
During device people's input information 5, then the input information 5 according to this robot, voluntarily judge this robot in car or outside car.
Preferably, receive an elevator input information 8 for data processing module and judge robot when pre-conditioned
When in the car of this elevator, the default information being output as asking robot to leave this elevator to the transmission of this robot, to elevator control
Information in this car for the device distribution of machine people processed.This elevator can be selected a good opportunity and stop at and can open the door according to necessary analysis
Simultaneously open the door in area；Robot according to whether allowing enabling to select a good opportunity sending enabling request, and can be selected according to whether door the state such as opens
Machine leaves elevator.So can preferably coordinate elevator and robot, make robot leave non-serviceable elevator as early as possible.
When the pre-conditioned input information 3 receiving robot for data processing module, preset and be output as to elevator control
Device processed sends the target zone registration request of assigned elevator；When receiving the input information 4 of robot, preset and be output as to elevator
Controller send assigned elevator or not assigned elevator starting layer calling registration request.
Preferably, when pre-conditioned input information 3 and the input information 4 receiving a robot for data processing module
When, and judge robot in car, preset and be output as sending the target zone registration request of this elevator to electric life controller.When pre-
If condition is simultaneously received input information 3 and the input information 4 of a robot for data processing module, and judge robot
When not in car, default it is output as sending assigned elevator or not assigned elevator starting layer calling registration to electric life controller
Request.The mistake registration of instruction and starting layer calling registration request in elevator car so can be avoided, thus reduce elevator running
Efficiency and the waste energy.
Preferably, when the pre-conditioned input information 3 receiving a robot for data processing module comprises multiple mesh
Layer registration request and/or input information 4 when comprising multiple starting layers calling registration request, default be output as stopping to elevator control
Device processed sends target zone registration request and/or the starting layer calling registration request of this robot；And can not to the transmission of this robot
Register many floors warning message.After robot receives warning message, correct request can be resend.So can avoid
Because the abnormal registration request of robot reduces elevator operating efficiency and wastes the energy.
Preferably, described data communication is connected as wired connection mode, including but not limited to 485, can serial communication even
Connect or Ethernet connects.
Preferably it is characterised in that described data communication is connected as radio connection, including but not limited to 2.4g,
Wifi, bluetooth, mobile 3g or 4g connect.
Preferably it is characterised in that described elevator control gear can according to robot controller No. id simultaneously with
Multiple robot controller communications.
Preferably it is characterised in that described elevator control gear is integrated in electric life controller or robot controller.
In sum, what the present invention can reach has the technical effect that
1. avoid the complicated problem of passive contact wiring, no matter the quantity of floor and elevator door, all only a small amount of wiring,
Even without wiring.
2. starting layer calls the realization of elevator functions to have more inexpensive and more effective advantage.
3. safer control mode, when elevator can not be supplied to robot controller and use, shields robot control
The instruction of device processed.Such as do not interfere with fireman the control of elevator is used.
4. increased long-time open the door detection, under normal service condition, if robot controller breaks down, a straight hair
Send enabling request, also will not cause the paralysis of elevator.
5. avoid the signal interference that the passive contact mode of connection produces to elevator.
6. provide the much information of elevator, be that robot controller provides more facilities using elevator, improve use
Terraced efficiency.
7. the multiple monitoring of pair robot controller information, avoiding of high degree uses elevator because of robot controller
And the elevator traffic efficiency causing is the problems such as decline.
8. no ill effect, make troubles to the daily installation of elevator, uses, maintenance.
9. the present invention can be communicated with multiple robot controllers and multiple elevator simultaneously, thus tackle multiple robots making
Complex situations with multiple elevator.
Brief description
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description:
Fig. 1 is an elevator control gear for group controller and a group controller and multiple robot of the present invention
The connection diagram that controller connects respectively.
Fig. 2 is the multiple elevator control gears for group controller and multiple group controllers and multiple robot of the present invention
The connection diagram of controller.
Fig. 3 is that the elevator control gear for group controller of the present invention is integrated into the schematic diagram in robot controller.
Fig. 4 is that the elevator control gear for group controller of the present invention is integrated into the schematic diagram in group controller.
Fig. 5 is that two elevator control gears being used for group controller of the present invention are connected by wired mode with group controller
The schematic diagram of the embodiment connecing.
Fig. 6 is that the present invention is used for the elevator control gear of group controller and is integrated in showing of one of group controller embodiment
It is intended to.
Fig. 7 be the present invention be used for group controller elevator control gear elevator control gear be integrated in each robot control
The schematic diagram of one of device embodiment.
Specific embodiment
As shown in figure 1, the present invention elevator control gear being used for group controller and group controller and multiple machine
People's controller connects respectively.The mode connecting can be wired can also be wireless.Each robot controller can be controlled
Make one or more robots.
As shown in Fig. 2 multiple elevator control gears for group controller are connected with multiple group controllers.Each elevator control
Device processed is connected with one or more robot controllers.The mode connecting can be wired can also be wireless.Each
Robot controller can control one or more robots.
Preferably, as shown in figure 3, the elevator control gear for group controller is desirably integrated into robot master controller
In.
Preferably, as shown in figure 4, the elevator control gear for group controller is desirably integrated in group controller.
The schematic diagram of Fig. 5 illustrates a kind of technical scheme, and group controller is used for group controller by wired mode and two
Elevator control gear connect, each be used for group controller elevator control gear pass through wired mode connection one robot control
Device processed, robot controller is separated with robot moving body.
The schematic diagram of Fig. 6 illustrates a kind of technical scheme, and the elevator control gear for group controller is integrated in group control
In device, it is mobile internal that robot controller is located at robot.Group controller wirelessly connects multiple robot controllers.
The schematic diagram of Fig. 7 illustrates a kind of technical scheme, and the elevator control gear for group controller is integrated in each machine
In device people's controller, it is mobile internal that robot controller is located at robot.Each robot controller wirelessly simultaneously
Connect group controller.
Taking Fig. 5 embodiment as a example introduce the present invention below.For group controller elevator control gear by control module and
Data module forms, terse in order to state, and below only will introduce embodiment using elevator control gear.Assume there are two electricity
Ladder, respectively No. 1 and No. 2 elevators, by a group controller management and dispatching；There is elevator control gear i and ii；Have robot a, b,
c；Robot controller is separated with robot moving body；Robot controller i and robot controller ii, as needed can
Control robot moving body a, b, c and the information of robot a, b, c can be provided to elevator control gear i and ii simultaneously.
In Fig. 5, elevator control gear i and ii for group controller receives robot controller i and ii transmission respectively
The following information of robot a, b, c:
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 No. 1 and No. 2 elevator of the elevator control gear i and ii reception group controller of group 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 input information 13. whether permission door opening state of each；
The input information 14. switch gate location status of each；
The input information 15. switch gate kinestate of each；
Input information 16. registers target zone instruction and/or the situation of starting layer calling；
Input information 17. can service floor information；
The assigned elevator number of each robot of input information 18.；
For group controller elevator control gear i and ii respectively to robot controller i and ii controlled robot a,
The following information of b, c respective assigned elevator of transmission:
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 output information 5. whether permission door opening state of each；
The output information 6. switch gate location status of each；
The output information 7. switch gate kinestate of each；
Output information 8. registers target zone instruction and/or the situation of starting layer calling；
Output information 9. assigned elevator number
Assume to receive No. 1 for elevator control gear i and ii of group controller and No. 2 elevators are all unable to service robot
A, b, c (input information 8), then send the unavailable information of all elevators to robot a, b, c.Robot a, b, c stop to elevator
Various requests.
Assume only No. 1 elevator to enter down state and robot moving body a now in this elevator, elevator controlling fills
Put i and will receive the unavailable information (input information 8) of No. 1 elevator and robot a information (input information 6) in this car.With
Elevator control gear i sends, to robot controller i, the information asking robot a to leave elevator afterwards, to group controller distribution of machine
Information in No. 1 car for the people a.Group controller sends that information to the controller of No. 1 elevator, and No. 1 elevator is according to necessary
Analysis stop in the opened the door area of nearest floor and open the door；Robot controller i will be according to whether allow (the output letter that opens the door
Breath 5) select a good opportunity sending enabling request, and according to door whether open states such as (output informations 6,7) select a good opportunity make robot a moving body from
Open No. 1 elevator.After robot a moving body leaves elevator, elevator control gear i will stop sending to robot controller i to be asked
Robot a leaves the information of elevator, stops the information in No. 1 car to group controller distribution of machine people a.
When No. 1 elevator enters down state, now outside No. 1 elevator, robot controls for robot b and c moving body
Device ii, by after the unavailable information of No. 1 elevator (output information 8) of acquisition elevator control gear ii, directly stops to No. 1 elevator
All requests；Elevator control gear excludes No. 1 elevator outside corresponding with service relation.
Elevator control gear i and ii is according to input information 1-18 receiving it is intended that each robot and Ge Tai elevator
Corresponding with service relation:
A) it is assumed that when elevator control gear i receive robot b assigned elevator number be No. 1 ladder, and robot b require
Go to 10th floors from 5th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, meanwhile, No. 1 elevator energy
Enough service 10th floors, then elevator control gear i is by the requirement process according to robot b: the assigned elevator number of robot b is sent to
Group controller, and set up specified services relation for robot b and No. 1 elevator；Robot b will receive assigned elevator number (output letter
Breath 9), group controller will assign No. 1 elevator for robot b.
B) it is assumed that when the assigned elevator number that elevator control gear i receives the controller of robot b is No. 1 ladder, and machine
People b requires to go to 10th floors from 5th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, meanwhile, 1
Number elevator can not service 10th floors, and No. 2 elevators can service 10th floors, then starting layer calling and target zone are stepped on by elevator control gear i
Note request is sent to group controller, waits specifying of group controller.
C) it is further assumed that being No. 2 electricity when elevator control gear i receives group controller to robot b assigned elevator number
When terraced, meanwhile, No. 2 elevators can service 10th floors, then elevator control gear i is by the requirement process according to group controller: for machine
People b selects No. 2 elevators, and sets up specified services relation；Robot b will receive assigned elevator number (output information 9)
D) it is further assumed that being No. 1 electricity when elevator control gear i receives group controller to robot b assigned elevator number
When terraced, meanwhile, No. 1 elevator can not service 10th floors, and No. 2 elevators can service 10th floors, then elevator control gear i will decide finger in its sole discretion
Determine relation: select No. 2 elevators for robot b, and set up specified services relation；Robot will receive assigned elevator number (output letter
Breath 9)；Robot b will be sent to group controller using the information of No. 2 elevators by elevator control gear i
E) it is assumed that when elevator control gear i is not received by the assigned elevator number of the controller of robot b, and robot b
Require to go to 10th floors from 5th floors.No. 1 elevator runs downwards from 10th floors simultaneously, and No. 2 elevators run up from 3rd floors, meanwhile, only 2
Number elevator can service 10th floors, then starting layer calling and target zone registration request are sent to group controller by elevator control gear i,
Wait specifying of group controller；
If f) it is further assumed that group controller has specifies and specify correct, process same c)
If g) it is further assumed that group controller is not specified or specified mistake, process same d)
It is assumed that robot b enters abnormal condition, then elevator control gear i and ii receive robot b be in non-
During normal state information (input information 1), stop any information to group controller distribution of machine people b or send to group controller
Robot b abnormal information.All elevators will not respond the request of robot b again.
Assume that robot b, outside car, is controlled by robot controller i, when it is wanted from 10th floor, 5 Lou Qu, elevator control
Device i processed will receive 10 floor registration requests (input information 3), the up registration request of 5 floors (input information 4) and robot
B is outer (input information 6) in car.
Assume again that robot b and No. 1 elevator are set up service relation by elevator control gear i, and will to group controller transmission
No. 1 elevator is asked to go to respond 5 upstairs row registration requests.No. 1 elevator will respond 5 row registrations upstairs.When No. 1 elevator reaches 5th floors, machine
People controller i is received the uplink information (output information 1) of No. 1 elevator of elevator control gear transmission, successively in 5th floors information
(output information 2), information of arriving at a station (output information 3), Stop message (output information 4), allow enabling information (output information 5),
Door opens information (output information 6), enabling information (output information 7).
After robot controller i determines that No. 1 elevator stops and allows to open the door, distribution of machine people b is required No. 1 door-opened elevator
Request.When elevator control gear i judges that this enabling solicited message is not continued above Preset Time, elevator control gear i is to group
Controller sends and requires the enabling of No. 1 elevator to ask.After robot controller i judges that No. 1 door-opened elevator puts in place, control robot
B moving body enters No. 1 elevator.Enter after elevator Deng robot b moving body, robot controller i will stop sending request of opening the door.
Elevator control gear i sends 10th floors target zone registration requests of No. 1 elevator to group controller.When No. 1 elevator registers 10th floors sedan-chairs
After interior instruction, robot controller i will receive instruction letter in the registered 10th floors sedan-chairs of No. 1 elevator of elevator control gear i transmission
Breath.No. 1 elevator will respond instruction in 10th floors sedan-chairs.Robot controller i is received No. 1 of elevator control gear i transmission successively
The uplink information (output information 1) of elevator, in 10th floors information (output information 2), information of arriving at a station (output information 3), Stop messages
(output information 4), enabling information (output information 5), door is allowed to open information (output information 6), enabling information (output letter
Breath 7).After robot controller i determines that No. 1 elevator stops and allows to open the door, distribution of machine people b is required No. 1 door-opened elevator
Request.When elevator control gear i judges that this enabling solicited message is not continued above Preset Time, elevator control gear i is to team control
Device processed sends the enabling request of No. 1 elevator.After robot controller i judges that No. 1 door-opened elevator puts in place, robot b is controlled to leave
Elevator.
Assume that robot controller i does not provide information (input information in which car or outside car for the robot b
6), but provide robot b positional information (input information 5) when, then elevator control gear i, according to its positional information, voluntarily sentences
Disconnected robot b is in which car or outside car.
After assuming that robot b leaves car, when robot controller i still persistently sends enabling solicited message and exceedes default
Between, then elevator control gear i will stop sending No. 1 door-opened elevator request to group controller, and send to robot controller i
Information is forbidden in enabling.No. 1 elevator will not execute this enabling request, and robot controller i then can learn that elevator can not open the door
Information, and stop send open the door request.
Assume that robot b is sending 10th floors registration requests (input information 3), 5 upstairs row registration requests (input information 4)
Also have sent 11st floors registration requests (input information 3), elevator control gear i will not send No. 1 elevator to group controller simultaneously
10th floors, the target zone registration request and 5 of 11st floors upstairs go starting layer calling registration request；And send out to robot controller i
Send and can not register many floors warning message.No. 1 elevator will not registering instruction and calling, and robot controller i also can know
This situation, and resend 10th floors registration requests (input information 3), 5 upstairs row registration request (input informations 4).
When starting layer calling can not be registered but target zone instruction can be registered in sedan-chair, the present invention can be each by judging
The state of individual elevator simultaneously is registered to instruct in sedan-chair to realize starting layer call.Hypothesis robot b is outside car it is desirable to go 10 from 5th floors
Building.Assume 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 b does not have assigned elevator, then No. 2 elevators are set up service relation with robot b and passed through by elevator control gear i
Group controller registers 5th floors target zone instructions of No. 2 elevators, and such No. 2 elevators are just called to 5th floors.Assume again that, robot b
Specify No. 2 elevators, No. 2 elevators can service 10th floors, and No. 2 elevators run downwards from 3rd floors, then elevator control gear i is by machine
People b and No. 2 elevators are set up service relation and are registered 5th floors target zone instructions of No. 2 elevators by group controller, or wait No. 2
Elevator direction is changed into up and again robot b and No. 2 elevators is set up service relation by group controller No. 2 elevators of registration 5
Building target zone instruction.So, No. 2 elevators also can be by calling to 5th floors.
Above by specific embodiment, the present invention is described in detail, 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 and improvement that the method for the present invention is made, are regarded as in the technology category that the present invention is protected.
Claims (18)
1. a kind of elevator control gear for group controller is it is characterised in that this is used for the elevator control gear of group controller
It is connected with robot controller and/or electric life controller data communication, the described elevator control gear for group controller includes
Data processing module and control module, described data processing module is used for receiving each robot controller and/or each elevator
The information of controller, described control module controlled according to pre-conditioned described data processing module to robot controller and/
Or electric life controller makes default output, described electric life controller is group controller.
2. the elevator control gear for group controller according to claim 1 is it is characterised in that described data processing mould
Block receive each robot controller transmission each robot at least one information following:
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 receive each electric life controller transmission each elevator at least one information following:
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 input information 13. whether permission door opening state of each；
The input information 14. switch gate location status of each；
The input information 15. switch gate kinestate of each；
Input information 16. registers target zone instruction and/or the situation of starting layer calling.
Input information 17. can service floor information；
The assigned elevator number of each robot of input information 18..
3. the elevator control gear for group controller according to claim 2 is it is characterised in that described control module root
According to input information 1-18 receiving, to there being the corresponding with service specifying itself and each elevator using each robot of elevator requirement
Relation is:
When the assigned elevator number receiving a robot and assigned elevator can service the corresponding requests of this robot, then will
Assigned elevator number is sent to electric life controller, and sets up specified services relation for this robot with its assigned elevator；Otherwise；
When receive electric life controller transmission a robot assigned elevator number and assigned elevator can service this robot
Corresponding requests when, then be that this robot and its assigned elevator set up specified services relation, otherwise；
The information of the information according to this robot for the control module and each elevator, for each Robot Selection optimum elevator, and builds
Vertical specified services relation.
4. the elevator control gear for group controller according to claim 3 is it is characterised in that control module makes all the time
Data processing module is at least one information following of robot controller transmission assigned elevator or 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 output information 5. whether permission door opening state of each；
The output information 6. switch gate location status of each；
The output information 7. switch gate kinestate of each；
Output information 8. registers target zone instruction and/or the situation of starting layer calling；
Output information 9. assigned elevator number.
5. the elevator control gear for group controller according to claim 3 it is characterised in that when pre-conditioned for number
Receive according to processing module all elevators input information 8 when, it is default that be output as sending all elevators to all robots can not
Use information.
6. the elevator control gear for group controller according to claim 3 it is characterised in that when pre-conditioned for number
When receiving a robot input information 1 according to processing module, preset and be output as stopping sending this machine to all electric life controllers
Any information of device people or send this robot abnormal information to all electric life controllers.
7. the elevator control gear for group controller according to claim 3 it is characterised in that when pre-conditioned for number
When receiving a robot input information 2 according to processing module, preset and be output as sending to have with it to electric life controller specifying pass
It is the enabling request of elevator.
8. the elevator control gear for group controller according to claim 3 it is characterised in that when pre-conditioned for number
When receiving a robot input information 2 according to processing module and not being continued above Preset Time, default it is output as to elevator controlling
Device sends has the enabling of specified relationship elevator to ask with it；Hold when data processing module receives a robot input information 2
Continuous when exceeding Preset Time, default be output as sending enabling to this robot forbid information, and stop sending to electric life controller
The enabling request of this robot.
9. the elevator control gear for group controller according to claim 3 is 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, voluntarily judges this robot in this car or outside car.
10. the elevator control gear for group controller according to claim 3 is it is characterised in that when pre-conditioned be
When data processing module receives an elevator input information 8 and judges that robot is in the car of this elevator, preset output
It is to send, to this robot, the information asking robot to leave this elevator, to letter in this car for the electric life controller distribution of machine people
Breath.
11. elevator control gears for group controller according to claim 3 are it is characterised in that when pre-conditioned be
When data processing module receives the input information 3 of robot, the default mesh being output as to electric life controller transmission assigned elevator
Layer registration request；When receiving the input information 4 of robot, preset and be output as sending assigned elevator to electric life controller
Or not assigned elevator starting layer calling registration request.
12. elevator control gears for group controller according to claim 11 are it is characterised in that when pre-conditioned be
When data processing module receives input information 3 and the input information 4 of a robot, and judge robot in this car,
Preset and be output as sending the target zone registration request of this elevator to electric life controller.
13. elevator control gears for group controller according to claim 11 are it is characterised in that when pre-conditioned be
When data processing module is simultaneously received input information 3 and the input information 4 of a robot, and judge robot not in car
When interior, default it is output as sending assigned elevator or not assigned elevator starting layer calling registration request to electric life controller.
14. elevator control gears for group controller according to claim 3 are it is characterised in that when pre-conditioned be
The input information 3 that data processing module receives a robot comprises multiple target zone registration requests and/or input information 4 is wrapped
During containing multiple starting layers calling registration request, the default target zone being output as stopping sending this robot to electric life controller is registered
Request and/or starting layer calling registration request；And many floors warning message can not be registered to the transmission of this robot.
15. elevator control gears for group controller according to one of claim 1-14 are it is characterised in that described
Data communication be connected as wired connection mode, including but not limited to 485, can serial communication connection or Ethernet connect.
16. elevator control gears for group controller according to one of claim 1-14 are it is characterised in that described
Data communication be connected as radio connection, including but not limited to 2.4g, wifi, bluetooth, mobile 3g or 4g connect.
17. elevator control gears for group controller according to one of claim 1-14 are it is characterised in that described
Elevator control gear can according to robot controller provide No. id simultaneously with multiple robot communications.
18. elevator control gears for group controller according to one of claim 1-14 are it is characterised in that described
Elevator control gear be integrated in electric life controller or robot controller.
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| CN201610837666.1A CN106348110B (en) | 2016-09-21 | 2016-09-21 | Elevator control gear for group controller |
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| CN201610837666.1A CN106348110B (en) | 2016-09-21 | 2016-09-21 | Elevator control gear for group controller |
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| CN106348110B CN106348110B (en) | 2019-06-04 |
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| CN107601194A (en) * | 2017-09-30 | 2018-01-19 | 樱花电梯（中山）有限公司 | A kind of lift appliance, Electromechanical Control module and elevator automatic sweeping system |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
| CN108163655A (en) * | 2018-02-07 | 2018-06-15 | 上海有个机器人有限公司 | Intelligent mobile equipment boarding method and system, external calling device and interior exhale device |
| CN108382933A (en) * | 2018-02-07 | 2018-08-10 | 上海有个机器人有限公司 | A kind of Intelligent mobile equipment boarding method and system, storage medium and intelligent gateway |
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| CN107601194B (en) * | 2017-09-30 | 2023-10-31 | 樱花电梯（中山）有限公司 | Elevator device, electromechanical control module and elevator automatic cleaning system |
| CN107777492A (en) * | 2017-10-25 | 2018-03-09 | 上海木爷机器人技术有限公司 | The control system and method for elevator are taken by robot |
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| CN109095299A (en) * | 2018-08-23 | 2018-12-28 | 北京云迹科技有限公司 | Robot boarding method and device based on Internet of Things |
| CN111099461A (en) * | 2018-10-26 | 2020-05-05 | 深圳市旺龙智能科技有限公司 | Elevator control method and system for intelligently improving reliability of robot taking elevator |
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| CN109292551A (en) * | 2018-11-21 | 2019-02-01 | 合肥云眸智能科技有限公司 | A kind of contactless elevator docking system |
| CN109665388A (en) * | 2018-12-19 | 2019-04-23 | 北京联合大学 | A kind of method and system of the riding elevator of robot |
| CN112441482A (en) * | 2019-08-30 | 2021-03-05 | 南通深南电路有限公司 | Control method, system and device for automatically guiding transport vehicle to use elevator |
| CN111332891A (en) * | 2020-03-26 | 2020-06-26 | 上海有个机器人有限公司 | Elevator taking method and elevator taking device |
| CN114538222A (en) * | 2020-11-24 | 2022-05-27 | 株式会社日立大厦*** | Elevator system |
| CN114538222B (en) * | 2020-11-24 | 2023-11-17 | 株式会社日立大厦*** | Elevator system |
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