A gate and elevator control integrated controller

Abstract

The utility model discloses a kind of gate control elevator control integrated controller, including MCU module and with the wireless communication module, Ethernet communication module, relay drive module, CAN communication module and serial communication module of MCU module electrical connection;The serial communication module is connected with elevator height detection sensor, the CAN communication module is connected with elevator motor driver;The relay drive module includes multi-channel photoelectric isolation input circuit and multi-channel photoelectric isolation output circuit, the relay drive module is connected with switch door motor and limit switch;The wireless communication module and the Ethernet communication module are respectively used to be wirelessly and wiredly connected with upper layer management device.The controller of the utility model takes MCU module as core, integrates the multiple modules involved in gate control, elevator control and upper communication, compared with gate control elevator control independent design simplifies hardware structure, improves the collaborative efficiency of gate control elevator control.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, and in particular to an integrated controller for door and elevator control. Background Technology

[0002] As society develops, unmanned warehouses are becoming more and more common. Unmanned AGV vehicles (such as unmanned AGV forklifts) are usually used in unmanned warehouses for material handling. If unmanned AGV vehicles are to be used across floors in a warehouse, they need to be combined with elevator control and door control. In the current technology, the door control and elevator control of unmanned AGV vehicles are controlled by independent controllers, which results in low coordination efficiency and complex wiring.

[0003] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0004] The main purpose of this invention is to propose an integrated door and elevator control controller, which aims to solve the problems mentioned in the background of the prior art.

[0005] This utility model provides an integrated door control and elevator control controller, including: an MCU module, a wireless communication module, an Ethernet communication module, a relay drive module, a CAN communication module, and a serial communication module. The wireless communication module, the Ethernet communication module, the relay drive module, the CAN communication module, and the serial communication module are all electrically connected to the MCU module.

[0006] The serial communication module is used to connect to the elevator height detection sensor, and the CAN communication module is used to connect to the elevator motor driver; the relay drive module includes a multi-channel opto-isolated input circuit and a multi-channel opto-isolated output circuit, and the relay drive module is used to connect to the door opening and closing motor and the limit switch; the wireless communication module and the Ethernet communication module are used to connect wirelessly and wiredly to the upper-level management equipment, respectively.

[0007] In one optional embodiment of this utility model, the multi-channel opto-isolated output circuit includes a first chip connection side circuit, a first optical coupling isolation circuit, and a first load connection side circuit.

[0008] The first chip connection side circuit includes multiple control input interfaces and multiple first current limiting resistors, with one end of each first current limiting resistor connected to one of the control input interfaces;

[0009] The first optical coupling isolation circuit includes a first multi-channel optocoupler. Each channel of the first multi-channel optocoupler includes a first light-emitting diode and a first phototransistor. The anode of each first light-emitting diode is connected to the other end of the first current-limiting resistor. The cathode of each first light-emitting diode is connected to a reference ground. The emitter of each first phototransistor is connected to the negative terminal of the input power supply.

[0010] The first load connection side circuit includes multiple relays. The first end of the coil of each relay is connected to the collector of the first phototransistor, and the second end of the coil of each relay is connected to the positive terminal of the input power supply. The two ends of the switch of each relay are used to connect the load.

[0011] In one optional embodiment of this utility model, the multi-channel opto-isolated input circuit includes: a second load connection side circuit, a second opto-coupled isolation circuit, and a second chip connection side circuit;

[0012] The second load connection side circuit includes a common input terminal and multiple input signal terminals;

[0013] The second optical coupling isolation circuit includes a second multi-channel optocoupler, which includes a group of light-emitting diodes and a second phototransistor. The group of light-emitting diodes consists of two diodes connected in reverse parallel. The common input terminal is connected to the first terminal of the multiple groups of light-emitting diodes. Each input signal terminal is connected to the second terminal of a group of light-emitting diodes through a second current-limiting resistor. The output side of each second current-limiting resistor is connected to the common input terminal through a third current-limiting resistor.

[0014] The second chip connection side circuit includes multiple output signal terminals, each of which is connected to the collector of a second phototransistor, and the emitter of each second phototransistor is grounded.

[0015] In one optional embodiment of this utility model, the Ethernet communication module includes a PHY chip unit and peripheral functional units. The peripheral functional units include a crystal oscillator and clock unit, a reset control unit, and a power management unit. The crystal oscillator and clock unit, the reset control unit, and the power management unit are electrically connected to the corresponding pin groups of the PHY chip unit.

[0016] In an optional embodiment of the first aspect of this utility model, the crystal oscillator and clock unit includes a 25MHz crystal oscillator, a frequency stabilizing capacitor, and a pull-down resistor; the reset control unit includes a reset signal input terminal, a current limiting resistor, and an energy storage capacitor; the power management unit includes an input port, a ferrite bead filter circuit, and multiple sets of power filter capacitors with different capacitance values.

[0017] In one optional embodiment of this utility model, the Ethernet communication module further includes an Ethernet interface circuit, which includes an Ethernet interface for transmitting and receiving differential Ethernet signals; a PHY chip connection terminal for connecting a PHY chip unit to realize Ethernet physical layer communication; and an isolation transformer for connecting the Ethernet interface and the PHY chip connection terminal.

[0018] In one optional embodiment of this utility model, the wireless communication module includes a Bluetooth / WIFI dual-mode wireless communication module, which includes a WiFi / Bluetooth dual-mode main control chip, and an antenna matching circuit, a power supply circuit, a clock circuit, an interface communication circuit, and a noise suppression circuit respectively connected to the WiFi / Bluetooth dual-mode main control chip.

[0019] In an optional embodiment of the first aspect of this utility model, the CAN communication module includes a CAN transceiver chip, and a power filter circuit and a CAN bus protection circuit connected to the CAN transceiver chip. The CAN bus protection circuit includes a fuse protection circuit and a transient suppression diode protection circuit.

[0020] In one optional embodiment of this utility model, the serial communication module includes an RS-232 serial communication module and an RS-485 serial communication module.

[0021] Beneficial Effects: This utility model discloses an integrated door and elevator control controller, including an MCU module and a wireless communication module, an Ethernet communication module, a relay drive module, a CAN communication module, and a serial communication module electrically connected to the MCU module. The serial communication module is used to connect to an elevator height detection sensor, and the CAN communication module is used to connect to an elevator motor driver. The relay drive module includes multiple opto-isolated input circuits and multiple opto-isolated output circuits, and is used to connect to door opening / closing motors and limit switches. The wireless communication module and the Ethernet communication module are used for wireless and wired connections with upper-level management equipment, respectively. This utility model's controller, with the MCU module as its core, integrates multiple modules involved in door control, elevator control, and upper-level communication into one unit. Compared to separate door and elevator control designs, this simplifies the hardware structure and improves the collaborative efficiency of door and elevator control. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of a control system based on an integrated door and elevator control controller according to the present invention.

[0024] Figure 2 This is a circuit diagram of an MCU module according to the present invention;

[0025] Figure 3 This is a circuit diagram of a multi-channel opto-isolated input circuit according to the present invention;

[0026] Figure 4 This is a circuit diagram of a multi-channel opto-isolated output circuit according to the present invention;

[0027] Figure 5 This is a circuit diagram of an Ethernet communication module according to the present invention;

[0028] Figure 6 This is a circuit diagram of an Ethernet interface circuit according to the present invention.

[0029] Figure 7 This is a circuit diagram of a wireless communication module according to the present invention;

[0030] Figure 8 This is a circuit diagram of a CAN communication module according to the present invention.

[0031] Explanation of icon numbers:

[0032] 10. MCU module; 20. Wireless communication module; 30. Ethernet communication module; 40. Relay drive module; 50. CAN communication module; 60. Serial communication module; 70. Elevator height detection sensor; 80. Elevator motor driver; 90. Multi-channel opto-isolated input circuit; 100. Multi-channel opto-isolated output circuit; 110. Door opening / closing motor; 120. Limit switch; 130. Upper-level management equipment.

[0033] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] See Figure 1 This utility model provides an integrated door and elevator control controller, including: an MCU module 10, a wireless communication module 20, an Ethernet communication module 30, a relay drive module 40, a CAN communication module 50, and a serial communication module 60. The wireless communication module 20, the Ethernet communication module 30, the relay drive module 40, the CAN communication module 50, and the serial communication module 60 are all electrically connected to the MCU module 10. The serial communication module 60 is used to connect to an elevator height detection sensor 70, and the CAN communication module 50 is used to connect to an elevator motor driver 80. The relay drive module 40 includes a multi-channel opto-isolated input circuit 90 and a multi-channel opto-isolated output circuit 100, and is used to connect to a door opening / closing motor 110 and a limit switch 120. The wireless communication module 20 and the Ethernet communication module 30 are used to connect wirelessly and wiredly to upper-level management equipment 130 (including a warehouse control system (WCS) and a warehouse management system (WMS)).

[0038] See Figure 2 In one optional embodiment of this utility model, the MCU chip of the MCU module 10 includes an STM32F407VGT6 (ARM Cortex-M4 core), with a built-in floating-point unit and support for the μC / OS-III real-time operating system. The MCU module 10 serves as the core of the controller, responsible for receiving input signals, processing data, outputting control commands, and coordinating the work of various interface modules. In this utility model, during gate control management, the warehouse control system equipment establishes master-slave communication with the MCU module 10 of the controller through the Ethernet communication module 30. Commands are issued using the MODBUS TCP extended protocol. The MCU module 10 of the controller responds to the commands of the warehouse control system equipment via Ethernet interrupts. The MCU module 10 dynamically generates PWM signals according to the command type. After receiving the signal, the gate control triggers the DC motor to open / close the door. After the door action is completed (triggering the full open / full close limit switch), the MCU module 10 actively reports via MODBUS. Upon receiving this report, the warehouse control system equipment updates the door status database, forming a control closed loop.

[0039] In an optional embodiment of this utility model, the multi-channel opto-isolated output circuit 100 is used to control the start and stop of the door opening / closing motor 110, see [link to relevant documentation]. Figure 3 The multi-channel opto-isolated output circuit 100 includes a first chip connection side circuit, a first optocoupler isolation circuit, and a first load connection side circuit. The first chip connection side circuit includes multiple control input interfaces (i.e., OUT01, OUT02, OUT03, and OUT04 shown in the diagram) and multiple first current-limiting resistors (R70, R74, R78, and R82 shown in the diagram), with one end of each first current-limiting resistor connected to one of the control input interfaces. The first optocoupler isolation circuit includes a first multi-channel optocoupler (model PS2801C-4-F3-A), each channel of the first multi-channel optocoupler including a first light-emitting diode and a first phototransistor. The anode of each of the first light-emitting diodes is connected to the other end of the first current-limiting resistor, the cathode of each of the first light-emitting diodes is connected to the reference ground, and the emitter of each of the first phototransistors is connected to the negative terminal of the input power supply. The first load connection side circuit includes multiple relays (model HF46F / 24-HS1, the switching parts of the four relays are represented as JK1, JK2, JK3 and JK4 respectively). The first end of the coil of each relay (end 2 in the figure) is connected to the collector of the first phototransistor, and the second end of the coil of each relay (end 1 in the figure) is connected to the positive terminal of the input power supply. The two ends of the switch of each relay (i.e., OUPUT NO and OUPUT CM in the figure) are used to connect the load.

[0040] See Figure 4 In an optional embodiment of this utility model, the multi-channel opto-isolated input circuit 90 is used to receive the signal from the limit switch 120. The multi-channel opto-isolated input circuit 90 includes: a second load connection side circuit, a second optocoupler isolation circuit, and a second chip connection side circuit; the second load connection side circuit includes a common input terminal (i.e., INPUTCOM shown in the figure) and multiple input signal terminals (i.e., NX04, NX03, NX02, and NX01 shown in the figure); the second optocoupler isolation circuit includes a second multi-channel optocoupler (model can be TLP290-4), and the second multi-channel optocoupler includes a light-emitting diode. The second phototransistor comprises two LEDs connected in reverse parallel. A common input terminal is connected to the first terminal of each LED group. Each input signal terminal is connected to the second terminal of one LED group via a second current-limiting resistor. The output side of each second current-limiting resistor is connected to the common input terminal via a third current-limiting resistor. The second chip connection side circuit includes multiple output signal terminals (IN04, IN03, IN02, and IN01 in the diagram). Each output signal terminal is connected to the collector of one second phototransistor, and the emitter of each second phototransistor is grounded.

[0041] See Figure 5 In one optional embodiment of this utility model, the Ethernet communication module 30 includes a PHY chip unit (model LAN8720A-CP-TR) and peripheral functional units. The peripheral functional units include a crystal oscillator and clock unit, a reset control unit, and a power management unit. The crystal oscillator and clock unit, the reset control unit, and the power management unit are electrically connected to corresponding pin groups of the PHY chip unit. The Ethernet communication module supports the wired TCP / IP protocol to realize the remote monitoring function of the controller.

[0042] See Figure 5 In one optional embodiment of this utility model, the crystal oscillator and clock unit includes a 25MHz crystal oscillator, frequency stabilizing capacitors (i.e., C38 and C35 in the figure) and pull-down resistors (i.e., R15 in the figure); the reset control unit includes a reset signal input terminal, a current limiting resistor (i.e., R8 in the figure) and an energy storage capacitor (i.e., C46 in the figure); the power management unit includes an input port, a ferrite bead filter circuit and multiple sets of power filter capacitors with different capacitance values.

[0043] See Figure 6In an optional embodiment of this utility model, the Ethernet communication module 30 further includes an Ethernet interface circuit (RJ45 interface), which includes an Ethernet interface (i.e., TPTX and TPRX shown in the figure) for transmitting and receiving differential Ethernet signals; a PHY chip connection terminal (i.e., ETH_VDDA shown in the figure) for connecting the PHY chip unit to realize Ethernet physical layer communication; and an isolation transformer (model 13F-39MNL) for connecting the Ethernet interface and the PHY chip connection terminal.

[0044] See Figure 7 In one optional embodiment of this utility model, the wireless communication module 20 includes a Bluetooth / Wi-Fi dual-function wireless communication module. This module includes a Wi-Fi / Bluetooth dual-function main control chip (model AP6256), and antenna matching circuits, power supply circuits, clock circuits, interface communication circuits, and noise suppression circuits respectively connected to the Wi-Fi / Bluetooth dual-function main control chip. In this utility model, the controller can also access a local area network via the Wi-Fi function of the wireless communication module 20 to wirelessly interface with warehouse control / management system equipment and transmit equipment status and control commands.

[0045] See Figure 8 In an optional embodiment of the first aspect of this utility model, the CAN communication module 50 includes a CAN transceiver chip (model TJA1051T / 3), a power filter circuit and a CAN bus protection circuit connected to the CAN transceiver chip, and the CAN bus protection circuit includes a fuse protection circuit (i.e., the circuit where CB2 and CB3 are shown in the figure) and a transient suppression diode protection circuit (i.e., the circuit where TVS1 and TVS4 are shown in the figure).

[0046] In this invention, the CAN communication module 50 drives the motor driver (three-phase asynchronous motor) to control the stable operation of the elevator. The controller uses the CAN communication module to achieve standardized data interaction between the unmanned forklift / AGV and the elevator system. The controller packages the control data into CAN frames, converts them into differential signals, and sends commands such as call direction and target floor. The elevator control system returns information such as the current floor, door status (open / closed), and fault codes, and controls the elevator operation according to the commands. The bus signal is also converted back to a single-ended signal for the microcontroller, and frames meeting certain conditions trigger interrupt processing.

[0047] In an optional embodiment of the first aspect of this utility model, the serial communication module 60 includes an RS-232 serial communication module and an RS-485 serial communication module. For example, the elevator height detection sensor 70 includes a laser rangefinder sensor, which is communicatively connected to the MCU module 10 via the RS-485 serial communication module and completes height data acquisition via the Modbus protocol.

[0048] In summary, this utility model discloses an integrated door and elevator control controller, including an MCU module and a wireless communication module, an Ethernet communication module, a relay drive module, a CAN communication module, and a serial communication module electrically connected to the MCU module. The serial communication module is used to connect to an elevator height detection sensor, and the CAN communication module is used to connect to an elevator motor driver. The relay drive module includes multiple opto-isolated input circuits and multiple opto-isolated output circuits, and is used to connect to door opening / closing motors and limit switches. The wireless communication module and the Ethernet communication module are used for wireless and wired connections to upper-level management equipment, respectively. This utility model's controller, with the MCU module as its core, integrates multiple modules involved in door control, elevator control, and upper-level communication into one unit. Compared to separate door and elevator control designs, this simplifies the hardware structure and improves the collaborative efficiency of door and elevator control.

[0049] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. For those skilled in the art, this utility model can have various modifications, combinations, and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of the claims of this utility model.

Claims

1. An integrated door and elevator control controller, characterized in that, include: The system includes an MCU module, a wireless communication module, an Ethernet communication module, a relay drive module, a CAN communication module, and a serial communication module, wherein the wireless communication module, the Ethernet communication module, the relay drive module, the CAN communication module, and the serial communication module are all electrically connected to the MCU module. The serial communication module is used to connect to the elevator height detection sensor, and the CAN communication module is used to connect to the elevator motor driver; the relay drive module includes a multi-channel opto-isolated input circuit and a multi-channel opto-isolated output circuit, and the relay drive module is used to connect to the door opening and closing motor and the limit switch; the wireless communication module and the Ethernet communication module are used to connect wirelessly and wiredly to the upper-level management equipment, respectively.

2. The integrated door control and elevator control controller according to claim 1, characterized in that, The multi-channel opto-isolated output circuit includes a first chip connection side circuit, a first optical coupling isolation circuit, and a first load connection side circuit. The first chip connection side circuit includes multiple control input interfaces and multiple first current limiting resistors, with one end of each first current limiting resistor connected to one of the control input interfaces; The first optical coupling isolation circuit includes a first multi-channel optocoupler. Each channel of the first multi-channel optocoupler includes a first light-emitting diode and a first phototransistor. The anode of each first light-emitting diode is connected to the other end of the first current-limiting resistor. The cathode of each first light-emitting diode is connected to a reference ground. The emitter of each first phototransistor is connected to the negative terminal of the input power supply. The first load connection side circuit includes multiple relays. The first end of the coil of each relay is connected to the collector of the first phototransistor, and the second end of the coil of each relay is connected to the positive terminal of the input power supply. The two ends of the switch of each relay are used to connect the load.

3. The integrated door control and elevator control controller according to claim 1, characterized in that, The multi-channel opto-isolated input circuit includes: a second load connection side circuit, a second optical coupling isolation circuit, and a second chip connection side circuit; The second load connection side circuit includes a common input terminal and multiple input signal terminals; The second optical coupling isolation circuit includes a second multi-channel optocoupler, which includes a group of light-emitting diodes and a second phototransistor. The group of light-emitting diodes consists of two diodes connected in reverse parallel. The common input terminal is connected to the first terminal of the multiple groups of light-emitting diodes. Each input signal terminal is connected to the second terminal of a group of light-emitting diodes through a second current-limiting resistor. The output side of each second current-limiting resistor is connected to the common input terminal through a third current-limiting resistor. The second chip connection side circuit includes multiple output signal terminals, each of which is connected to the collector of a second phototransistor, and the emitter of each second phototransistor is grounded.

4. The integrated door control and elevator control controller according to claim 1, characterized in that, The Ethernet communication module includes a PHY chip unit and peripheral functional units. The peripheral functional units include a crystal oscillator and clock unit, a reset control unit, and a power management unit. The crystal oscillator and clock unit, the reset control unit, and the power management unit are electrically connected to the corresponding pin groups of the PHY chip unit.

5. The integrated door control and elevator control controller according to claim 4, characterized in that, The crystal oscillator and clock unit includes a 25MHz crystal oscillator, a frequency stabilizing capacitor, and a pull-down resistor; the reset control unit includes a reset signal input terminal, a current limiting resistor, and an energy storage capacitor; the power management unit includes an input port, a ferrite bead filter circuit, and multiple sets of power filter capacitors with different capacitance values.

6. The integrated door control and elevator control controller according to claim 4, characterized in that, The Ethernet communication module further includes an Ethernet interface circuit, which includes an Ethernet interface for transmitting and receiving differential Ethernet signals; a PHY chip connection terminal for connecting to a PHY chip unit to realize Ethernet physical layer communication; and an isolation transformer for connecting the Ethernet interface and the PHY chip connection terminal.

7. The integrated door and elevator control controller according to claim 1, characterized in that, The wireless communication module includes a Bluetooth / WIFI dual-mode wireless communication module, which includes a WiFi / Bluetooth dual-mode main control chip, and an antenna matching circuit, a power supply circuit, a clock circuit, an interface communication circuit, and a noise suppression circuit respectively connected to the WiFi / Bluetooth dual-mode main control chip.

8. The integrated door control and elevator control controller according to claim 1, characterized in that, The CAN communication module includes a CAN transceiver chip, a power filter circuit and a CAN bus protection circuit connected to the CAN transceiver chip, and the CAN bus protection circuit includes a fuse protection circuit and a transient suppression diode protection circuit.

9. The integrated door control and elevator control controller according to claim 1, characterized in that, The serial communication module includes an RS-232 serial communication module and an RS-485 serial communication module.

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