阅读说明：本技术 基于物联网搬运器的控制系统及方法 (Control system and method based on Internet of things carrier ) 是由 李建辉 谢亮 于 2021-06-04 设计创作，主要内容包括：本发明公开了一种基于物联网搬运器的控制系统,其特征在于,该系统包括：上位机调度服务器单元,上位机调度服务器单元与设备内部局域网及外部互联网建立通信连接,搬运器中央处理单元包括PLC主机、RS485通讯模块、CANopen通讯模块、数字量IO模块,用于接收上位机指令,控制搬运器上的执行机构,并收集传感器状态信息,执行机构单元包括行走控制模块及抱夹控制模块,行走控制模块用于负责搬运器的纵向移动,抱夹控制模块用于负责在运送车辆的过程中抬起或放下车辆,反馈单元包括位置检测模块及检测传感器模块,位置检测模块通过检测传感器模块检测搬运器的实际位置、检测抱夹位置、检测有无车辆以及自检防撞击,电源系统包括电池、充电执行机构和充电桩。(The invention discloses a control system based on an Internet of things carrier, which is characterized by comprising the following components: the upper computer dispatching server unit is in communication connection with an internal local area network of the equipment and the external Internet, the carrier central processing unit comprises a PLC host, an RS485 communication module, a CANopen communication module and a digital quantity IO module, the utility model is used for receiving the host computer instruction, the actuating mechanism on the control carrier, and collect sensor state information, the actuating mechanism unit includes walking control module and embraces and press from both sides control module, walking control module is used for being responsible for the longitudinal movement of carrier, it is used for being responsible for lifting up or putting down the vehicle at the in-process of transporting the vehicle to embrace and press from both sides control module, the feedback unit includes position detection module and detection sensor module, position detection module detects the actual position of carrier through detecting sensor module, detect and embrace and press from both sides the position, it has vehicle and self-checking crashproof to detect, electrical power generating system includes the battery, charge actuating mechanism and fill electric pile.)

1. A control system based on thing networking carrier, its characterized in that, this system includes:

the system comprises an upper computer scheduling server unit, a mobile phone APP terminal and an external internet, wherein the upper computer scheduling server unit is in communication connection with the equipment internal local area network and the external internet, the external internet shares data through the mobile phone APP terminal and receives instructions from the internet, and the equipment internal local area network distributes tasks to a carrier and equipment in a three-dimensional garage according to actual conditions;

the carrier central processing unit comprises a PLC host, an RS485 communication module, a CANopen communication module and a digital quantity IO module, and is used for receiving an upper computer instruction, controlling an execution mechanism on the carrier and collecting sensor state information;

the carrying device comprises an execution mechanism unit, a conveying mechanism and a clamping mechanism, wherein the execution mechanism unit comprises a walking control module and a clamping control module, the walking control module is used for taking charge of the longitudinal movement of the carrier, so that the vehicle conveying from a lifter to a sports car, from the sports car to a parking space and in a reverse direction is realized, and the clamping control module is used for taking charge of lifting or putting down the vehicle in the vehicle conveying process;

the feedback unit comprises a position detection module and a detection sensor module, and the position detection module detects the actual position of the carrier, the position of the clamp, the presence or absence of a vehicle and self-detection collision prevention through the detection sensor module;

the power supply system comprises a battery, a charging execution mechanism and a charging pile, wherein the battery is used for being responsible for power supply of the whole carrier, and the charging execution mechanism and the charging pile are used for receiving a charging instruction sent by the central processing unit of the carrier.

2. The Internet of things carrier-based control system according to claim 1, wherein the upper computer dispatching server unit and the carrier central processing unit exchange data through a Profinet communication protocol and establish communication connection through wireless Internet of things equipment.

3. The control system based on the carrier of the internet of things of claim 1, wherein the carrier central processing unit establishes Profinet communication connection with the upper computer scheduling server unit through wireless internet of things equipment, is in communication connection with the execution mechanism unit through a CANopen communication module, and is used for controlling the walking control module and the clasping control module, the digital quantity IO module is used for collecting state information of a digital sensor of the carrier and judging the execution condition of each module, and the carrier central processing unit rechecks the position of the carrier through an RFID chip on an RS485 communication module and judges the state of the battery.

4. The control system based on the carrier of the internet of things of claim 1, wherein the walking control module comprises a servo driver, a servo motor and a servo feedback system, and the PLC host sends speed, direction and running starting signals to the walking control module through the CANopen communication module.

5. The Internet of things carrier-based control method according to claim 1, wherein the clasping control module comprises respective servo drivers, servo motors and servo feedback systems, and the PLC host sends speed, direction and operation starting signals to the clasping control module through the CANopen communication module.

6. The Internet of things carrier-based control method as claimed in claim 1, wherein the position detection module comprises a photoelectric sensor and an RFID chip and is used for controlling the relative position operation of the carrier and detecting the absolute position of the carrier.

7. The control method based on the carrier of the internet of things of claim 1, wherein the battery is used for power supply of the whole carrier, the upper computer scheduling server unit sends a charging instruction to the charging pile, the charging state is started after the carrier runs to the position of the charging pile, and the charging pile starts to charge the battery.

8. A control method based on an Internet of things carrier is characterized by comprising the following steps:

s1: a user performs reservation operation of parking and picking up a car through a mobile phone APP terminal;

s2: after the user arrives at the garage, scanning the two-dimensional code on the operation panel, reserving the user to open the door to pick up the car, and waiting for the non-reservation user to finish the operation of the garage to pick up the car;

s3: the upper computer scheduling server unit allocates resources and allocates tasks according to the reservation information of the user and the access information after the access information arrives at the garage;

s4: the carrier receives the command of the upper computer dispatching server unit, then the vehicle is accessed, the running state and the task execution condition are fed back in real time, if a layer changing command is received, a layer changing action is carried out, and the number of the carrier is changed after the layer changing is finished;

s5: the carrier feeds back the self state to the upper computer scheduling server unit in real time, judges the idle state of the carrier according to the acquired state and sends a next action instruction according to the current task state;

s6: the above S4 and S5 are executed repeatedly until completion;

s7: after the task is finished, the carrier enters a waiting state and waits for the next instruction of the upper computer scheduling server unit;

s8: the upper computer dispatching server unit prompts a vehicle taking user to take the vehicle away through a mobile phone APP terminal or prompts a vehicle parking user that the vehicle is stored in a garage;

s9: the entire control system starts executing the next task or enters a wait state.

Technical Field

The invention relates to the technical field of parking of a stereo garage, in particular to a control system and method based on an internet of things carrier.

Background

At present, the prior art vehicle carrier includes a comb-tooth carrier, a vehicle-carrying plate carrier, and a clasping carrier, wherein the comb-tooth carrier transfers a vehicle from one fixed comb-tooth platform (car elevator) to another fixed comb-tooth platform (car space) by using staggered and crossed movements of comb teeth, and in order to realize these functions, the comb-tooth carrier is equipped with a traveling system, a centering system, a lifting system, a sensor detection system, etc., but because of higher control precision requirement and complex movement, the requirement on the control system is higher, and larger manpower and material resources are needed to realize the functions, the vehicle-carrying plate carrier generally adopts a friction wheel, a chain hook or a track to realize vehicle access, the control precision and movement requirement are relatively simpler than those of the comb-tooth carrier, but because the vehicle is carried each time, an empty vehicle-carrying plate needs to be disposed back to the car space, the clamping type carrier clamps the automobile tire through the direct clamping system to lift the automobile, so that the function of carrying the automobile is achieved, the action is relatively simple, and the size is smaller than that of other carriers.

The common defects of the existing carriers can be summarized as the following items:

1) the existing carrier can only run to the left and right adjacent positions of the carrying trolley, so that the technical difficulty of passing through the parking space is high, and the space cannot be utilized more reasonably.

2) The power supply and the control signal of the existing carrier are both from the carrying trolley, so that the carrying trolley and the carrier cannot be separated, the carrier cannot work independently, and the layer changing use cannot be realized.

3) The connecting lines of the existing carrier and the carrying trolley are connected in a cable drum or drag chain mode, the cost of the former is high, and the reliability of the latter is poor.

4) The existing carrier and the carrying trolley share one controller, control instructions and signal judgment excessively depend on the carrying trolley, autonomous judgment capability is not available, and safety risk is caused.

Disclosure of Invention

Aiming at the technical problems in the related art, the invention provides a control system and method based on an internet of things carrier, which can solve the technical defects that the carrier is complex to control, cannot realize layer changing and cannot pass through a parking space, and also solve the problems that a certain carrier cannot timely access vehicles on the current floor after being damaged and the space utilization rate of a garage is low.

In order to achieve the technical purpose, the technical scheme of the invention is realized as follows: a control system based on thing networking carrier, this system includes:

the system comprises an upper computer scheduling server unit, a mobile phone APP terminal and an external internet, wherein the upper computer scheduling server unit is in communication connection with the equipment internal local area network and the external internet, the external internet shares data through the mobile phone APP terminal and receives instructions from the internet, and the equipment internal local area network distributes tasks to a carrier and equipment in a three-dimensional garage according to actual conditions;

the carrier central processing unit comprises a PLC host, an RS485 communication module, a CANopen communication module and a digital quantity IO module, and is used for receiving an upper computer instruction, controlling an execution mechanism on the carrier and collecting sensor state information;

the carrying device comprises an execution mechanism unit, a conveying mechanism and a clamping mechanism, wherein the execution mechanism unit comprises a walking control module and a clamping control module, the walking control module is used for taking charge of the longitudinal movement of the carrier, so that the vehicle conveying from a lifter to a sports car, from the sports car to a parking space and in a reverse direction is realized, and the clamping control module is used for taking charge of lifting or putting down the vehicle in the vehicle conveying process;

the feedback unit comprises a position detection module and a detection sensor module, and the position detection module detects the actual position of the carrier, the position of the clamp, the presence or absence of a vehicle and the self-detection anti-collision function through the detection sensor module;

the power supply system comprises a battery, a charging execution mechanism and a charging pile, wherein the battery is used for being responsible for power supply of the whole carrier, and the charging execution mechanism and the charging pile are used for receiving a charging instruction sent by the central processing unit of the carrier.

Furthermore, the upper computer dispatching server unit and the carrier central processing unit exchange data through a Profinet communication protocol, and establish communication connection through wireless Internet of things equipment.

Further, carrier central processing unit pass through wireless thing networking device with host computer dispatch server unit establishes Profinet communication connection, carrier central processing unit pass through CANopen communication module with actuating mechanism unit communication connection for control the walking control module reaches embrace and press from both sides control module, digital quantity IO module is used for being responsible for collecting the state information of the digital sensor of carrier, judges the execution conditions of each module, carrier central processing unit rechecks the position of carrier through the RFID chip on the RS485 communication module, judges the state of battery.

Further, the walking control module comprises a servo driver, a servo motor and a servo feedback system, and the PLC host sends speed, direction and starting operation signals to the walking control module through the CANopen communication module.

Further, the holding clamp control module comprises respective servo drivers, servo motors and servo feedback systems, and the PLC host sends speed, direction and operation starting signals to the holding clamp control module through the CANopen communication module.

Further, the position detection module comprises a photoelectric sensor and an RFID chip and is used for controlling the relative position operation of the carrier and detecting the absolute position of the carrier.

Furthermore, the battery is used for power supply of the whole carrier, the upper computer scheduling server unit sends a charging instruction to the charging pile, the carrier operates to the charging pile position and then starts a charging state, and the charging pile starts to charge the battery.

According to another aspect of the present invention, there is provided an internet of things carrier-based control method, including the steps of:

s1: a user performs reservation operation of parking and picking up a car through a mobile phone APP terminal;

s2: after the user arrives at the garage, scanning the two-dimensional code on the operation panel, reserving the user to open the door to pick up the car, and waiting for the non-reservation user to finish the operation of the garage to pick up the car;

s3: the upper computer scheduling server unit allocates resources and allocates tasks according to the reservation information of the user and the access information after the access information arrives at the garage;

s4: the carrier receives the command of the upper computer dispatching server unit, then the vehicle is accessed, the running state and the task execution condition are fed back in real time, if a layer changing command is received, a layer changing action is carried out, and the number of the carrier is changed after the layer changing is finished;

s5: the carrier feeds back the self state to the upper computer scheduling server unit in real time, judges the idle state of the carrier according to the acquired state and sends a next action instruction according to the current task state;

s6: the above S4 and S5 are executed repeatedly until completion;

s7: after the task is finished, the carrier enters a waiting state and waits for the next instruction of the upper computer scheduling server unit;

s8: the upper computer dispatching server unit prompts a vehicle taking user to take the vehicle away through a mobile phone APP terminal or prompts a vehicle parking user that the vehicle is stored in a garage;

s9: the entire control system starts executing the next task or enters a wait state.

The invention has the beneficial effects that: in view of the defects of the prior art, the application gives full play to the advantages of the clamp carrier, combines the networking function to reserve vehicles and carry the vehicles through the parking spaces, can realize multi-row crossing, more reasonably utilizes space, has automatic charging function, more reliable performance, reduces the hidden trouble caused by the connection of a carrier and a carrying trolley in the prior art, and has the capability of autonomously judging faults, avoids potential safety hazards caused by communication faults, improves the safety, and on the other hand, the absolute position of the carrier is rechecked by the RFID chip in the design, so that the problem that the traditional carrier cannot be positioned due to data errors is solved, the carrier is designed with the function of autonomously changing the serial number, so that each carrier can be applied to different layers, or a plurality of carriers are applied on the same layer, thereby avoiding the situation that the whole layer of vehicles can not be taken out due to the damage of one carrier.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a block diagram of a control system based on an internet of things carrier according to an embodiment of the invention;

fig. 2 is a flow chart of a control method based on an internet of things carrier according to an embodiment of the invention;

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

As shown in fig. 1-2, the control system based on the carrier of the internet of things according to the embodiment of the invention is characterized in that the system comprises an upper computer scheduling server unit, a carrier central processing unit, an execution mechanism unit, a feedback unit and a power supply system;

the system comprises an upper computer scheduling server unit, a mobile phone APP terminal, a carrier central processing unit, an equipment internal local area network and an external internet, wherein the upper computer scheduling server unit is in communication connection with the equipment internal local area network and the external internet, the external internet shares data through a micro-message public number and a micro-message applet of the mobile phone APP terminal and receives instructions from the internet, the equipment internal local area network distributes tasks to the carrier and equipment in a three-dimensional garage according to actual conditions, and the upper computer scheduling server unit exchanges data with the carrier central processing unit through a Profinet communication protocol and establishes communication connection through wireless Internet of things equipment;

a carrier central processing unit which comprises a PLC host, an RS485 communication module, a CANopen communication module and a digital IO module, used for receiving the instructions of the upper computer, controlling the actuating mechanism on the carrier and collecting the state information of the sensor, the carrier central processing unit establishes a Profinet communication connection with the upper computer scheduling server unit through wireless Internet of things equipment, the carrier central processing unit is in communication connection with the executing mechanism unit through a CANopen communication module, the digital quantity IO module is used for collecting the state information of the digital sensor of the carrier and judging the execution condition of each module, the carrier central processing unit rechecks the position of the carrier through an RFID chip on the RS485 communication module and judges the state of the battery;

the actuating mechanism unit, the actuating mechanism unit includes walking control module and embraces and presss from both sides control module, walking control module is used for being responsible for the longitudinal movement of carrier to the realization is from the lift to the sports car, from the sports car to parking stall and reverse vehicle transport, it is used for being responsible for lifting up or putting down the vehicle at the in-process that transports the vehicle to embrace and press from both sides control module, wherein:

the walking control module comprises a servo driver, a servo motor and a servo feedback system, the PLC host sends speed, direction and operation starting signals to the walking control module through the CANopen communication module, the servo driver drives the servo motor to start operation until a target position is reached, and the PLC host stops sending signals to the servo driver to finish operation;

the clamp control module comprises respective servo drivers, servo motors and servo feedback systems, the PLC host sends speed, direction and operation starting signals to the clamp control module through the CANopen communication module, the servo drivers drive the servo motors to start operation until a target position is reached, and the PLC host stops sending signals to the servo drivers to finish operation;

the feedback unit, the feedback unit includes position detection module and detection sensor module, the position detection module passes through the actual position that detection sensor module detected the carrier, detect and embrace the position, detect whether there is vehicle and self-checking crashproof function, wherein, the position detection module includes photoelectric sensor and RFID chip for the relative position operation of control carrier, and detect the absolute position of carrier, wherein, all install the only ID card of a serial number on every parking stall, the carrier operation is targeted the back and is read this card serial number, acquire the absolute position, detect and embrace the sensor of pressing from both sides the operating position, adopt shielding type proximity switch, be used for detecting the vehicle condition on the carrier, the vehicle condition on the parking stall through ultrasonic sensor, adopt the gasbag sensor to be the crashproof sensor of carrier.

The power supply system, the power supply system includes the battery, charges actuating mechanism and fills electric pile, the power pass through RS485 communication module with carrier central processing unit communication connection, the battery is used for the power supply of whole carrier, the electric quantity real-time feedback of battery feeds back to carrier central processing unit, carrier central processing unit feeds back through the network host computer dispatch server unit, when the electric quantity of battery is less than the settlement threshold value, host computer dispatch server unit sends the instruction of charging and gives fill electric pile, the carrier move to open the charged state behind the stake position of charging, fill electric pile and begin to give the battery charges.

According to another aspect of the present invention, there is provided an internet of things carrier-based control method, including the steps of:

step one, the user carries out the reservation operation of parking, getting the car through cell-phone APP end, further includes: the method comprises the following steps that a user makes parking and picking-up appointments through a WeChat public number and a WeChat applet of a mobile phone APP terminal, the state of a garage is inquired, the picking-up progress is inquired, after the user makes an appointment, user information and vehicle information are transmitted to an upper computer scheduling server unit through the Internet, the upper computer scheduling server unit starts to allocate resources, a parking space is reserved in advance or a vehicle is taken out, and the steps are specifically used for vehicle appointment and inquiry, so that time and resources can be saved;

scanning the two-dimensional code on the operation panel after the user arrives at the garage, reserving the user to open the door to pick up the car, and waiting for the non-reservation user to finish the operation of the garage to pick up the car;

thirdly, allocating resources and tasks according to the access information of the user after the access information arrives at the garage by the upper computer scheduling server unit, allocating the tasks to the carrier and other equipment according to the resource utilization condition of the garage by the upper computer scheduling server unit, and sending the action instruction of the carrier by the upper computer scheduling server unit;

the carrier receives the instructions of the upper computer scheduling server unit, then the vehicles are stored and taken, and the running state and the task execution condition are fed back in real time, the instructions comprise a charging instruction, a vehicle storing and taking instruction and a layer changing instruction, after the carrier receives the charging instruction, the carrier needs to run to the position of a charging pile and is changed into the charging state, a charging execution mechanism acts, a charging branch is conducted, a charger is waited for charging, after the carrier receives the storing and taking instruction, the carrier firstly judges the state of the carrier and the state of a target parking space, starts running after no error, lifts up or puts down the vehicles after reaching the target position, if the layer changing instruction is received, the carrier needs to run into the elevator, and after the elevator is in place, the carrier moves out and changes the number of the carrier, and waits for the storing and taking instruction;

feeding the state of the carrier back to an upper computer scheduling server unit in real time, judging the idle condition of the carrier according to the acquired state, and sending a next action instruction according to the current task condition;

step six, the S4 and the S5 are executed repeatedly until the completion, and each task can not be completed when each task comprises a multi-action command, so that the carrier continuously and repeatedly executes various commands;

step seven, after the task is finished, the carrier enters a waiting state and waits for the next instruction of the upper computer dispatching server unit;

step eight, the upper computer scheduling server unit prompts a vehicle taking user to take the vehicle away through a mobile phone APP terminal, or prompts a vehicle parking user that the vehicle is already stored in a garage;

and step nine, starting the whole control system to execute the next task or entering a waiting state.

In order to facilitate understanding of the above-described technical aspects of the present invention, the above-described technical aspects of the present invention will be described in detail below in terms of specific usage.

When the control system and the control method based on the carrier of the internet of things are used specifically, firstly, a user carries out reservation operation of parking and picking up a car through a mobile phone APP terminal, and the control system and the control method further comprise the following steps: the method comprises the steps that a user makes reservation for parking and taking a car through a WeChat public number and a WeChat applet at an APP end of a mobile phone, the state of a garage is inquired, the car taking progress is inquired, after the reservation of the user, user information and vehicle information are transmitted to an upper computer dispatching server unit through the internet, the upper computer dispatching server unit starts to allocate resources, a parking space is reserved in advance or the car is taken out, the steps are specifically used for reserving and inquiring the car, time and resources can be saved, after the user arrives at the garage, the user scans a two-dimensional code on an operation panel, the reservation user opens a door to take the car, a non-reservation user waits for the completion of the operation of the garage and then takes the car, then the upper computer dispatching server unit allocates resources and allocates tasks according to the reservation information of the user after arriving at the garage, the upper computer dispatching server unit allocates the tasks to a carrier and other equipment according to the resource utilization condition of the garage, the upper computer dispatching server unit is responsible for sending action instructions of the carrier, the carrier receives the instructions of the upper computer dispatching server unit and then carries out vehicle access, and feeds back the running state and the task execution situation in real time, the instructions comprise charging instructions, vehicle access instructions and layer changing instructions, after receiving the charging instructions, the carrier needs to run to a charging pile position and is changed into a charging state, a charging execution mechanism acts, a charging branch circuit is conducted to wait for charging of a charger, after receiving the access instructions, the carrier firstly judges the self state and the state of a target parking space, starts running after no fault, lifts up or puts down the vehicle after reaching the target position, if receiving the layer changing instructions, the carrier needs to run into a lifter, after the lifter is in place, the carrier moves out and changes the self number, waits for the access instructions, and feeds back the self state to the upper computer dispatching server unit in real time, judging the idle condition of the carrier according to the acquired state, sending a next action instruction according to the current task condition, secondly, executing the content of the carrier repeatedly until the task is completed, wherein each task can be completed by a multi-action instruction, so that the carrier continuously and repeatedly executes various instructions, and after the last task is completed, the carrier enters a waiting state, waiting for the next instruction of the upper computer scheduling server unit, the upper computer scheduling server unit prompts a vehicle taking user to take the vehicle away through a mobile phone APP terminal, or prompts a vehicle parking user to store the vehicle in a garage, and the whole control system starts to execute the next task or enter the waiting state.

In conclusion, by means of the technical scheme, the vehicle is reserved and conveyed across the parking spaces through the combination of the carrier and the internet function, multi-row crossing can be achieved, space is utilized more reasonably, the automatic charging function is achieved, the performance is more reliable, the potential fault hazard caused by the fact that the carrier is connected with the conveying trolley in the prior art is reduced, the capability of automatically judging faults is achieved, the potential safety hazard caused by communication faults is avoided, and the safety is improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.