Based on small-sized stereo garage and the cargo storage control method thereof of RFID
Technical field
The invention belongs to material flows automation technical field, be specifically related to a kind of small-sized stereo garage based on RFID and cargo storage control method thereof.
Background technology
The design of 3 D stereo logistics warehouse is all generally multistory frame structure, and every layer divides some goods yards or parking unit again.Utilize Elevator elevator, article or vehicle are risen to the layer position that will go, recycle longitudinal and transverse direction delivery mechanism, by article or vehicles drive to the goods yard of specifying or parking unit, complete the process from ground to aerial stores or vehicle, process when pulling items or vehicle is then contrary.
3 D stereo logistics warehouse takes up an area few with it, store the feature that goods is many, as emerging storage facilities, be rapidly developed; But, 3 D stereo logistics warehouse of the prior art must be equipped with that complex structure, cost are higher, the Elevator elevator of complex operation and vertical, horizontal delivery mechanism, fail to meet the principle of " accessing article is simple and convenient ", the shortcomings such as ubiquity structure is more complicated, operation is more loaded down with trivial details, cost is higher, purposes is single, and, there is no the cargo storage optimal control method of suitable stereo garage in prior art, cause the efficiency of Cubic stock goods putting thing lower.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned deficiency of the prior art, provide a kind of simple and compact for structure, take up an area less, store goods many, realize convenient and cost is low, use the small-sized stereo garage based on RFID of simple operation.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of small-sized stereo garage based on RFID, it is characterized in that: comprise 3 D stereo storehouse and stereo garage control circuit, described 3 D stereo storehouse comprises multi-layered storage rack for stacking container and is arranged on multi-layered storage rack top and three-dimensional motion body for driving container to do three-dimensional motion, the end face of described container has puted up RFID label tag, described three-dimensional motion body comprises the rotating threaded shaft being laid in multi-layered storage rack crown center position along X-direction, along move leading screw and the column along Z-direction laying that Y direction is laid, described multi-layered storage rack top is fixedly connected with the first motor rotated for driven rotary leading screw, described rotating threaded shaft has been threaded the first feed screw nut, described motion leading screw is fixedly connected with described first feed screw nut, one end of described motion leading screw is fixedly connected with the second motor rotated for brought into motion leading screw, described motion leading screw has been threaded the second feed screw nut, described column is fixedly connected with described second feed screw nut, described column is fixedly connected with the 3rd motor, the output shaft of described 3rd motor is fixedly connected with reel, described reel is wound with steel rope, the bottom of described steel rope is connected with the pallet fork for picking and placeing container, described stereo garage control circuit comprises micro controller module and the power module for each electricity consumption module for power supply in control circuit, and to connect with micro controller module and for identify the rfid circuit of RFID label tag with for carrying out being connected and the RS-232 communication circuit communicated with host computer, the mouth of described micro controller module is connected to liquid crystal display circuit, voice playing circuit, for driving the first motor-drive circuit module of the first motor, for driving the second motor-drive circuit module of the second motor and for driving the 3rd motor-drive circuit module of the 3rd motor.
The above-mentioned small-sized stereo garage based on RFID, is characterized in that: the top of described multi-layered storage rack is also provided with the panoramic vision camera for making a video recording to the fetching process of container, and described panoramic vision camera connects with host computer.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described micro controller module is by micro controller system STC89C52, crystal oscillating circuit and reset circuit composition, described crystal oscillating circuit is made up of crystal oscillator X2 and nonpolar electric capacity C35 and nonpolar electric capacity C36, one end of described crystal oscillator X2 and one end of nonpolar electric capacity C36 all connect with the 18th pin of described micro controller system STC89C52, the other end of described crystal oscillator X2 and one end of nonpolar electric capacity C35 all connect with the 19th pin of described micro controller system STC89C52, the other end of described nonpolar electric capacity C35 and the equal ground connection of the other end of nonpolar electric capacity C36, described reset circuit is made up of reset key S, resistance R10 and polar capacitor C37, the negative pole of one end of described reset key S, one end of resistance R10 and polar capacitor C37 all connects with the 9th pin of described micro controller system STC89C52, the other end of described reset key S and the positive pole of polar capacitor C37 all connect with the 5V voltage output end of power module, the other end ground connection of described resistance R10, the 20th pin ground connection of described micro controller system STC89C52, the 31st pin of described micro controller system STC89C52 and the 40th pin all export with the 5V voltage of power module and connect.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described rfid circuit comprises radio frequency read-write chip MFRC522, aerial coil L and is used to indicate the light-emitting diode D1 that rfid circuit working, 2nd pin of described radio frequency read-write chip MFRC522, the 3rd pin, the 12nd pin, the 15th pin and the 32nd pin all connect with the 3.3V voltage output end of power module, the 1st pin of described radio frequency read-write chip MFRC522, the 4th pin, the 5th pin, the 10th pin and the equal ground connection of the 18th pin, 6th pin of described radio frequency read-write chip MFRC522 connects with the 4th pin of described micro controller system STC89C52, and is connected with the 3.3V voltage output end of power module by resistance R1, 31st ~ 29 pins of described radio frequency read-write chip MFRC522 are corresponding in turn to and connect with 5th ~ 7 pins of described micro controller system STC89C52, and the 24th pin of described radio frequency read-write chip MFRC522 connects with the 8th pin of described micro controller system STC89C52, crystal oscillator X1 is connected between 21st pin of described radio frequency read-write chip MFRC522 and the 22nd pin, 21st pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C12 ground connection, and the 22nd pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C13 ground connection, 16th pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C11 ground connection, and by series connection resistance R3, resistance R4 and nonpolar electric capacity C10 connect with one end of described aerial coil L, the other end of described aerial coil L is connected with the 11st pin of described radio frequency read-write chip MFRC522 by the nonpolar electric capacity C2 of series connection and inductance L 1, and is connected with the 13rd pin of described radio frequency read-write chip MFRC522 by the nonpolar electric capacity C9 that connects and inductance L 2, the other end of described aerial coil L and be parallel with nonpolar electric capacity C4 and nonpolar electric capacity C5 between the coupling end of nonpolar electric capacity C2 and the 14th pin of described radio frequency read-write chip MFRC522, the other end of described aerial coil L and be parallel with nonpolar electric capacity C7 and nonpolar electric capacity C8 between the coupling end of nonpolar electric capacity C9 and the 14th pin of described radio frequency read-write chip MFRC522, 17th pin of described radio frequency read-write chip MFRC522 connects with the coupling end of resistance R3 and resistance R4, the coupling end of described inductance L 1 and nonpolar electric capacity C2 is connected with the 14th pin of described radio frequency read-write chip MFRC522 by nonpolar electric capacity C3, the coupling end of described inductance L 2 and nonpolar electric capacity C9 is connected with the 14th pin of described radio frequency read-write chip MFRC522 by nonpolar electric capacity C6, 12nd pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C1 ground connection, and the 15th pin of described radio frequency read-write chip MFRC522 is connected with the positive pole of light-emitting diode D1 by resistance R2, the negative earth of described light-emitting diode D1.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described voice playing circuit comprises speech chip ISD1760, microphone MIC, loud speaker LS1 and is used to indicate the light-emitting diode D2 that voice playing circuit working, 1st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module, the 8th pin of described speech chip ISD1760, the 12nd pin, the 16th pin and the equal ground connection of the 28th pin, 2nd pin of described speech chip ISD1760 is connected with the negative pole of light-emitting diode D2 by resistance R8, the positive pole of described light-emitting diode D2 connects with the 5V voltage output end of power module, 10th pin of described speech chip ISD1760 is connected with the positive pole of described microphone MIC by nonpolar electric capacity C17, the positive pole of described microphone MIC and the coupling end of nonpolar electric capacity C17 are connected with the 5V voltage output end of power module by the resistance R6 that connects and resistance R7, the coupling end of described resistance R6 and resistance R7 is by polar capacitor C18 ground connection, 11st pin of described speech chip ISD1760 is connected with the negative pole of described microphone MIC by nonpolar electric capacity C16, the negative pole of described microphone MIC and the coupling end of nonpolar electric capacity C16 are by resistance R5 ground connection, 14th pin of described speech chip ISD1760 connects with the 5V voltage output end of power module, and by nonpolar electric capacity C15 in parallel and polar capacitor C14 ground connection, 18th pin of described speech chip ISD1760 is by polar capacitor C20 ground connection, and the 20th pin of described speech chip ISD1760 is by resistance R9 ground connection, 21st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module, and by nonpolar electric capacity C21 in parallel and polar capacitor C22 ground connection, 23rd pin of described speech chip ISD1760 connects with the 28th pin of described micro controller system STC89C52, and the 26th pin of described speech chip ISD1760 connects with the 27th pin of described micro controller system STC89C52, the positive pole of described loud speaker LS1 connects with the 15th pin of described speech chip ISD1760, and the negative pole of described loud speaker LS1 connects with the 13rd pin of described speech chip ISD1760.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described first motor is stepping motor, described first motor-drive circuit module comprises the motor drive ic U4 that model is L298N, and zener diode D1, zener diode D2, zener diode D3, zener diode D4, zener diode D5, zener diode D6, zener diode D7 and zener diode D8; 6th pin and the 11st pin of described motor drive ic U4 all connect with the 5V voltage output end of power module, 9th pin of described motor drive ic U4 connects with the 5V voltage output end of power module, and by polar capacitor C23 in parallel and nonpolar electric capacity C24 ground connection, 4th pin of described motor drive ic U4 connects with the 24V voltage output end of power module, and by nonpolar electric capacity C25 in parallel and polar capacitor C26 ground connection, the 1st pin of described motor drive ic U4, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U4 connects with the 21st pin of described micro controller system STC89C52,7th pin of described motor drive ic U4 connects with the 22nd pin of described micro controller system STC89C52,10th pin of described motor drive ic U4 connects with the 23rd pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U4 connects with the 24th pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U4 connects with one end of the A phase coil of the first motor, and connect with the anode of zener diode D1 and the negative electrode of zener diode D5, the negative electrode of described zener diode D1 connects with the 24V voltage output end of power module, the plus earth of described zener diode D5; 3rd pin of described motor drive ic U4 connects with the other end of the A phase coil of the first motor, and connect with the anode of zener diode D2 and the negative electrode of zener diode D6, the negative electrode of described zener diode D2 connects with the 24V voltage output end of power module, the plus earth of described zener diode D6; 13rd pin of described motor drive ic U4 connects with one end of the B phase coil of the first motor, and connect with the anode of zener diode D3 and the negative electrode of zener diode D7, the negative electrode of described zener diode D3 connects with the 24V voltage output end of power module, the plus earth of described zener diode D7; 14th pin of described motor drive ic U4 connects with the other end of the B phase coil of the first motor, and connect with the anode of zener diode D4 and the negative electrode of zener diode D8, the negative electrode of described zener diode D4 connects with the 24V voltage output end of power module, the plus earth of described zener diode D8.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described second motor is stepping motor, described second motor-drive circuit module comprises the motor drive ic U5 that model is L298N, and zener diode D9, zener diode D10, zener diode D11, zener diode D12, zener diode D13, zener diode D14, zener diode D15 and zener diode D16; 6th pin and the 11st pin of described motor drive ic U5 all connect with the 5V voltage output end of power module, 9th pin of described motor drive ic U5 connects with the 5V voltage output end of power module, and by polar capacitor C27 in parallel and nonpolar electric capacity C28 ground connection, 4th pin of described motor drive ic U5 connects with the 24V voltage output end of power module, and by nonpolar electric capacity C29 in parallel and polar capacitor C30 ground connection, the 1st pin of described motor drive ic U5, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U5 connects with the 25th pin of described micro controller system STC89C52,7th pin of described motor drive ic U5 connects with the 26th pin of described micro controller system STC89C52,10th pin of described motor drive ic U5 connects with the 10th pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U5 connects with the 11st pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U5 connects with one end of the A phase coil of the second motor, and connect with the anode of zener diode D9 and the negative electrode of zener diode D13, the negative electrode of described zener diode D9 connects with the 24V voltage output end of power module, the plus earth of described zener diode D13; 3rd pin of described motor drive ic U5 connects with the other end of the A phase coil of the second motor, and connect with the anode of zener diode D10 and the negative electrode of zener diode D14, the negative electrode of described zener diode D10 connects with the 24V voltage output end of power module, the plus earth of described zener diode D14; 13rd pin of described motor drive ic U5 connects with one end of the B phase coil of the second motor, and connect with the anode of zener diode D11 and the negative electrode of zener diode D15, the negative electrode of described zener diode D11 connects with the 24V voltage output end of power module, the plus earth of described zener diode D15; 14th pin of described motor drive ic U5 connects with the other end of the B phase coil of the second motor, and connect with the anode of zener diode D12 and the negative electrode of zener diode D16, the negative electrode of described zener diode D12 connects with the 24V voltage output end of power module, the plus earth of described zener diode D16.
The above-mentioned small-sized stereo garage based on RFID, it is characterized in that: described 3rd motor is stepping motor, described 3rd motor-drive circuit module comprises the motor drive ic U6 that model is L298N, and zener diode D17, zener diode D18, zener diode D19, zener diode D20, zener diode D21, zener diode D22, zener diode D23 and zener diode D24; 6th pin and the 11st pin of described motor drive ic U6 all connect with the 5V voltage output end of power module, 9th pin of described motor drive ic U6 connects with the 5V voltage output end of power module, and by polar capacitor C31 in parallel and nonpolar electric capacity C32 ground connection, 4th pin of described motor drive ic U6 connects with the 24V voltage output end of power module, and by nonpolar electric capacity C33 in parallel and polar capacitor C34 ground connection, the 1st pin of described motor drive ic U6, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U6 connects with the 12nd pin of described micro controller system STC89C52,7th pin of described motor drive ic U6 connects with the 13rd pin of described micro controller system STC89C52,10th pin of described motor drive ic U6 connects with the 14th pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U6 connects with the 15th pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U6 connects with one end of the A phase coil of the 3rd motor, and connect with the anode of zener diode D17 and the negative electrode of zener diode D21, the negative electrode of described zener diode D17 connects with the 24V voltage output end of power module, the plus earth of described zener diode D21; 3rd pin of described motor drive ic U6 connects with the other end of the A phase coil of the 3rd motor, and connect with the anode of zener diode D18 and the negative electrode of zener diode D22, the negative electrode of described zener diode D18 connects with the 24V voltage output end of power module, the plus earth of described zener diode D22; 13rd pin of described motor drive ic U6 connects with one end of the B phase coil of the 3rd motor, and connect with the anode of zener diode D19 and the negative electrode of zener diode D23, the negative electrode of described zener diode D19 connects with the 24V voltage output end of power module, the plus earth of described zener diode D23; 14th pin of described motor drive ic U6 connects with the other end of the B phase coil of the 3rd motor, and connect with the anode of zener diode D20 and the negative electrode of zener diode D24, the negative electrode of described zener diode D20 connects with the 24V voltage output end of power module, the plus earth of described zener diode D24.
The invention also discloses one and can greatly improve goods access efficiency and safety, save the cargo storage control method of the small-sized stereo garage based on RFID of the time of user's preciousness, it is characterized in that the method comprises the following steps:
Step one, when there being n part goods to deposit, in a rfid card, storing the RFID label tag sequence number of n part goods, weight, volume and frequency of access, forming RFID and always blocking; Described rfid circuit to be stored in described RFID always block in information read and export to micro controller module; Wherein, the value of n is positive integer;
Step 2, described micro controller module are according to cargo storage priority determination formula Q
i=a
1m
i+ a
2v
i+ a
3f
ithat determines n part goods deposits priority Q
1, Q
2..., Q
n, and priority Q is deposited to n part goods
1, Q
2..., Q
narrange from big to small, determine the RFID label tag sequence number of n part goods and deposit the one-to-one relationship of priority; Wherein, Q
ibe i-th goods deposit priority, M
ibe the weight of i-th goods, V
ibe the volume of i-th goods, f
ibe the frequency of access of i-th goods, the value of i is the positive integer of 1 ~ n; a
1+ a
2+ a
3=1, a
1for the threshold constant of the weight of goods and 0.26<a
1<0.35, a
2for the threshold constant of the volume of goods and 0.15<a
2<0.24, a
3for the threshold constant of the frequency of access of goods and 0.45<a
3<0.5;
Step 3, first, described micro controller module reads the empty goods yard numbering on the multi-layered storage rack that is stored in host computer by RS-232 communication circuit, and arranges from small to large described empty goods yard numbering; Then, described micro controller module deposits the one-to-one relationship of priority and empty goods yard numbering according to what deposit that the priority arrangement preceding cargo storage principle of to number in empty goods yard on the empty goods yard that is arranged in front determines n part goods; Wherein, each goods yard on described multi-layered storage rack is provided with a numbering, the value of described numbering is positive integer, described numbering rule is set for from the bottom open numbering of multi-layered storage rack, increase gradually from the inner side numbering of the lateral multi-layered storage rack of multi-layered storage rack, the high level numbering from the low layer of multi-layered storage rack to multi-layered storage rack increases gradually;
Step 4, described micro controller module according to the RFID label tag sequence number of the n part goods determined in step 2 with deposit the n part goods determined in the one-to-one relationship of priority and step 3 deposit the one-to-one relationship of priority and empty goods yard numbering, determine the one-to-one relationship that the RFID label tag sequence number of n part goods and empty goods yard are numbered;
Step 5, described micro controller module are deposited n part goods one by one according to following process: first, when the container of the goods that will deposit is placed on after on pallet fork, described rfid circuit reads the information be stored in the RFID label tag that is posted on this container end face and exports to micro controller module, the information be stored in this RFID label tag comprises the RFID label tag sequence number of this part goods, weight, volume and frequency of access, then, the weight of this part goods and weight threshold are compared by described micro controller module, and the volume of this part goods and volume threshold are compared, when the volume that the weight of this part goods is greater than weight threshold and this part goods be greater than in two decision conditions of volume threshold have one to set up or two are all set up time, described micro controller module controls voice playing circuit module and plays the dissatisfied audio alert signal depositing requirement of this goods, remind this goods of staff not meet and deposit requirement, need depositing of next part goods be carried out, when the weight of this part goods is not more than weight threshold and the volume of this part goods is not more than volume threshold, the empty goods yard that the one-to-one relationship kind that the RFID label tag sequence number of the n part goods that described micro controller module is determined in step 4 according to the RFID label tag sequence number of this goods and empty goods yard are numbered finds this goods to deposit on multi-layered storage rack is numbered, and export the first motor-drive circuit module according to this sky goods yard numbering, the control signal of the second motor-drive circuit module and the 3rd motor-drive circuit module, moved in the X-axis direction by the first motor-drive circuit module drive first driven by motor container, moved in the Y-axis direction by the second motor-drive circuit module drive second driven by motor container, moved in the Z-axis direction by the 3rd motor-drive circuit module drive the 3rd driven by motor container, by this cargo storage on corresponding goods yard, then, the empty goods yard numbering that this goods occupies by described micro controller module sends to host computer by RS-232 communication circuit, and host computer is according to its empty goods yard number information stored of its information updating received.
The above-mentioned small-sized stereo garage based on RFID, is characterized in that: a described in step 2
1, a
2, a
3value be respectively 0.3,0.2,0.5, or 0.35,0.2,0.45, or 0.35,0.15,0.5, or 0.26,0.24,0.5.
The present invention compared with prior art has the following advantages:
1, the small-sized stereo garage of the present invention is simple and compact for structure, and occupation of land is few, stores goods many, rationally novel in design, and realization is convenient and cost is low.
2, the use simple operation of the small-sized stereo garage of the present invention.
3, liquid crystal display circuit of the present invention can show user and goods information in real time, and voice playing circuit can report the essential information of user, is convenient to user and confirms in time, effectively improves the safety of goods access.
4, the cargo storage control method step of the small-sized stereo garage of the present invention is simple, it is convenient to realize, because the cargo storage priority that have employed optimization determines that rule determines cargo storage position, therefore, it is possible to effectively improve cargo storage efficiency, can greatly improve goods access efficiency, save the time of user's preciousness.
5, multi-layered storage rack of the present invention can size according to the actual requirements be set up, the number in goods yard can arbitrary extension, this invention extend to the components and parts stereo garage of industry, the stereo garage of jewellery sector, the finished product stereo garage of business or client deposit the multiple applications such as thing stereo garage, application value is high.
In sum, realization of the present invention is convenient and cost is low, uses simple operation, substantially increases goods access efficiency, and the safety of goods access is high, and applied range, application value is high.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the structural representation in 3 D stereo storehouse of the present invention.
The schematic block circuit diagram of Fig. 2 stereo garage control circuit of the present invention.
Fig. 3 is the schematic circuit diagram of micro controller module of the present invention.
Fig. 4 is the schematic circuit diagram of rfid circuit of the present invention.
Fig. 5 is the schematic circuit diagram of voice playing circuit of the present invention.
Fig. 6 is the schematic circuit diagram of the present invention first motor-drive circuit module.
Fig. 7 is the schematic circuit diagram of the present invention second motor-drive circuit module.
Fig. 8 is the schematic circuit diagram of the present invention the 3rd motor-drive circuit module.
Description of reference numerals:
1-micro controller module; 2-host computer; 3-voice playing circuit;
4-liquid crystal display circuit; 5-rfid circuit; 6-the first motor-drive circuit module;
7-the second motor-drive circuit module; 8-the three motor-drive circuit module;
9-RFID label tag; 10-rotating threaded shaft; 11-motion leading screw;
12-column; 13-panoramic vision camera; 14-container;
15-multi-layered storage rack; 16-pallet fork; 17-the first motor;
18-the second motor; 19-the three motor; 20-steel rope;
21-power module; 22-RS-232 communication circuit.
Detailed description of the invention
As depicted in figs. 1 and 2, small-sized stereo garage based on RFID of the present invention, comprise 3 D stereo storehouse and stereo garage control circuit, described 3 D stereo storehouse comprises the multi-layered storage rack 15 for stacking container 14 and is arranged on multi-layered storage rack 15 top and three-dimensional motion body for driving container 14 to do three-dimensional motion, the end face of described container 14 has puted up RFID label tag 9, described three-dimensional motion body comprises the rotating threaded shaft 10 being laid in multi-layered storage rack 15 crown center position along X-direction, along move leading screw 11 and the column 12 along Z-direction laying that Y direction is laid, described multi-layered storage rack 15 top is fixedly connected with the first motor 17 rotated for driven rotary leading screw 10, described rotating threaded shaft 10 has been threaded the first feed screw nut, described motion leading screw 11 is fixedly connected with described first feed screw nut, one end of described motion leading screw 11 is fixedly connected with the second motor 18 rotated for brought into motion leading screw 11, described motion leading screw 11 has been threaded the second feed screw nut, described column 12 is fixedly connected with described second feed screw nut, described column 12 is fixedly connected with the 3rd motor 19, the output shaft of described 3rd motor 19 is fixedly connected with reel, described reel is wound with steel rope 20, the bottom of described steel rope 20 is connected with the pallet fork 16 for picking and placeing container 14, described stereo garage control circuit comprises micro controller module 1 and the power module 21 for each electricity consumption module for power supply in control circuit, and to connect with micro controller module 1 and for identify the rfid circuit 5 of RFID label tag 9 with for carrying out being connected and the RS-232 communication circuit 22 communicated with host computer 2, the mouth of described micro controller module 1 is connected to liquid crystal display circuit 4, voice playing circuit 3, for driving the first motor-drive circuit module 6 of the first motor 17, for driving the second motor-drive circuit module 7 of the second motor 18 and for driving the 3rd motor-drive circuit module 8 of the 3rd motor 19.
As shown in Figure 1, in the present embodiment, the top of described multi-layered storage rack 15 is also provided with the panoramic vision camera 13 for making a video recording to the fetching process of container 14, and described panoramic vision camera 13 connects with host computer 2.
As shown in Figure 3, in the present embodiment, described micro controller module 1 is made up of micro controller system STC89C52, crystal oscillating circuit and reset circuit, described crystal oscillating circuit is made up of crystal oscillator X2 and nonpolar electric capacity C35 and nonpolar electric capacity C36, one end of described crystal oscillator X2 and one end of nonpolar electric capacity C36 all connect with the 18th pin of described micro controller system STC89C52, the other end of described crystal oscillator X2 and one end of nonpolar electric capacity C35 all connect with the 19th pin of described micro controller system STC89C52, the other end of described nonpolar electric capacity C35 and the equal ground connection of the other end of nonpolar electric capacity C36; Described reset circuit is made up of reset key S, resistance R10 and polar capacitor C37, the negative pole of one end of described reset key S, one end of resistance R10 and polar capacitor C37 all connects with the 9th pin of described micro controller system STC89C52, the other end of described reset key S and the positive pole of polar capacitor C37 all connect with the 5V voltage output end of power module 21, the other end ground connection of described resistance R10, the 20th pin ground connection of described micro controller system STC89C52, the 31st pin of described micro controller system STC89C52 and the 40th pin all export with the 5V voltage of power module 21 and connect.
As shown in Figure 4, in the present embodiment, described rfid circuit 5 comprises radio frequency read-write chip MFRC522, aerial coil L and is used to indicate the light-emitting diode D1 that rfid circuit working, 2nd pin of described radio frequency read-write chip MFRC522, the 3rd pin, the 12nd pin, the 15th pin and the 32nd pin all connect with the 3.3V voltage output end of power module 21, the 1st pin of described radio frequency read-write chip MFRC522, the 4th pin, the 5th pin, the 10th pin and the equal ground connection of the 18th pin, 6th pin of described radio frequency read-write chip MFRC522 connects with the 4th pin of described micro controller system STC89C52, and is connected with the 3.3V voltage output end of power module 21 by resistance R1, 31st ~ 29 pins of described radio frequency read-write chip MFRC522 are corresponding in turn to and connect with 5th ~ 7 pins of described micro controller system STC89C52, and the 24th pin of described radio frequency read-write chip MFRC522 connects with the 8th pin of described micro controller system STC89C52, crystal oscillator X1 is connected between 21st pin of described radio frequency read-write chip MFRC522 and the 22nd pin, 21st pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C12 ground connection, and the 22nd pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C13 ground connection, 16th pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C11 ground connection, and by series connection resistance R3, resistance R4 and nonpolar electric capacity C10 connect with one end of described aerial coil L, the other end of described aerial coil L is connected with the 11st pin of described radio frequency read-write chip MFRC522 by the nonpolar electric capacity C2 of series connection and inductance L 1, and is connected with the 13rd pin of described radio frequency read-write chip MFRC522 by the nonpolar electric capacity C9 that connects and inductance L 2, the other end of described aerial coil L and be parallel with nonpolar electric capacity C4 and nonpolar electric capacity C5 between the coupling end of nonpolar electric capacity C2 and the 14th pin of described radio frequency read-write chip MFRC522, the other end of described aerial coil L and be parallel with nonpolar electric capacity C7 and nonpolar electric capacity C8 between the coupling end of nonpolar electric capacity C9 and the 14th pin of described radio frequency read-write chip MFRC522, 17th pin of described radio frequency read-write chip MFRC522 connects with the coupling end of resistance R3 and resistance R4, the coupling end of described inductance L 1 and nonpolar electric capacity C2 is connected with the 14th pin of described radio frequency read-write chip MFRC522 by nonpolar electric capacity C3, the coupling end of described inductance L 2 and nonpolar electric capacity C9 is connected with the 14th pin of described radio frequency read-write chip MFRC522 by nonpolar electric capacity C6, 12nd pin of described radio frequency read-write chip MFRC522 is by nonpolar electric capacity C1 ground connection, and the 15th pin of described radio frequency read-write chip MFRC522 is connected with the positive pole of light-emitting diode D1 by resistance R2, the negative earth of described light-emitting diode D1.
As shown in Figure 5, in the present embodiment, described voice playing circuit 3 comprises speech chip ISD1760, microphone MIC, loud speaker LS1 and is used to indicate the light-emitting diode D2 that voice playing circuit 3 working, 1st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module 21, the 8th pin of described speech chip ISD1760, the 12nd pin, the 16th pin and the equal ground connection of the 28th pin, 2nd pin of described speech chip ISD1760 is connected with the negative pole of light-emitting diode D2 by resistance R8, the positive pole of described light-emitting diode D2 connects with the 5V voltage output end of power module 21, 10th pin of described speech chip ISD1760 is connected with the positive pole of described microphone MIC by nonpolar electric capacity C17, the positive pole of described microphone MIC and the coupling end of nonpolar electric capacity C17 are connected with the 5V voltage output end of power module 21 by the resistance R6 that connects and resistance R7, the coupling end of described resistance R6 and resistance R7 is by polar capacitor C18 ground connection, 11st pin of described speech chip ISD1760 is connected with the negative pole of described microphone MIC by nonpolar electric capacity C16, the negative pole of described microphone MIC and the coupling end of nonpolar electric capacity C16 are by resistance R5 ground connection, 14th pin of described speech chip ISD1760 connects with the 5V voltage output end of power module 21, and by nonpolar electric capacity C15 in parallel and polar capacitor C14 ground connection, 18th pin of described speech chip ISD1760 is by polar capacitor C20 ground connection, and the 20th pin of described speech chip ISD1760 is by resistance R9 ground connection, 21st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module 21, and by nonpolar electric capacity C21 in parallel and polar capacitor C22 ground connection, 23rd pin of described speech chip ISD1760 connects with the 28th pin of described micro controller system STC89C52, and the 26th pin of described speech chip ISD1760 connects with the 27th pin of described micro controller system STC89C52, the positive pole of described loud speaker LS1 connects with the 15th pin of described speech chip ISD1760, and the negative pole of described loud speaker LS1 connects with the 13rd pin of described speech chip ISD1760.
As shown in Figure 6, in the present embodiment, described first motor 17 is stepping motor, described first motor-drive circuit module 6 comprises the motor drive ic U4 that model is L298N, and zener diode D1, zener diode D2, zener diode D3, zener diode D4, zener diode D5, zener diode D6, zener diode D7 and zener diode D8; 6th pin and the 11st pin of described motor drive ic U4 all connect with the 5V voltage output end of power module 21,9th pin of described motor drive ic U4 connects with the 5V voltage output end of power module 21, and by polar capacitor C23 in parallel and nonpolar electric capacity C24 ground connection, 4th pin of described motor drive ic U4 connects with the 24V voltage output end of power module 21, and by nonpolar electric capacity C25 in parallel and polar capacitor C26 ground connection, the 1st pin of described motor drive ic U4, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U4 connects with the 21st pin of described micro controller system STC89C52,7th pin of described motor drive ic U4 connects with the 22nd pin of described micro controller system STC89C52,10th pin of described motor drive ic U4 connects with the 23rd pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U4 connects with the 24th pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U4 connects with one end of the A phase coil of the first motor 17, and connect with the anode of zener diode D1 and the negative electrode of zener diode D5, the negative electrode of described zener diode D1 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D5; 3rd pin of described motor drive ic U4 connects with the other end of the A phase coil of the first motor 17, and connect with the anode of zener diode D2 and the negative electrode of zener diode D6, the negative electrode of described zener diode D2 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D6; 13rd pin of described motor drive ic U4 connects with one end of the B phase coil of the first motor 17, and connect with the anode of zener diode D3 and the negative electrode of zener diode D7, the negative electrode of described zener diode D3 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D7; 14th pin of described motor drive ic U4 connects with the other end of the B phase coil of the first motor 17, and connect with the anode of zener diode D4 and the negative electrode of zener diode D8, the negative electrode of described zener diode D4 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D8.
As shown in Figure 7, in the present embodiment, described second motor 18 is stepping motor, described second motor-drive circuit module 7 comprises the motor drive ic U5 that model is L298N, and zener diode D9, zener diode D10, zener diode D11, zener diode D12, zener diode D13, zener diode D14, zener diode D15 and zener diode D16; 6th pin and the 11st pin of described motor drive ic U5 all connect with the 5V voltage output end of power module 21,9th pin of described motor drive ic U5 connects with the 5V voltage output end of power module 21, and by polar capacitor C27 in parallel and nonpolar electric capacity C28 ground connection, 4th pin of described motor drive ic U5 connects with the 24V voltage output end of power module 21, and by nonpolar electric capacity C29 in parallel and polar capacitor C30 ground connection, the 1st pin of described motor drive ic U5, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U5 connects with the 25th pin of described micro controller system STC89C52,7th pin of described motor drive ic U5 connects with the 26th pin of described micro controller system STC89C52,10th pin of described motor drive ic U5 connects with the 10th pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U5 connects with the 11st pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U5 connects with one end of the A phase coil of the second motor 18, and connect with the anode of zener diode D9 and the negative electrode of zener diode D13, the negative electrode of described zener diode D9 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D13; 3rd pin of described motor drive ic U5 connects with the other end of the A phase coil of the second motor 18, and connect with the anode of zener diode D10 and the negative electrode of zener diode D14, the negative electrode of described zener diode D10 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D14; 13rd pin of described motor drive ic U5 connects with one end of the B phase coil of the second motor 18, and connect with the anode of zener diode D11 and the negative electrode of zener diode D15, the negative electrode of described zener diode D11 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D15; 14th pin of described motor drive ic U5 connects with the other end of the B phase coil of the second motor 18, and connect with the anode of zener diode D12 and the negative electrode of zener diode D16, the negative electrode of described zener diode D12 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D16.
As shown in Figure 8, in the present embodiment, described 3rd motor 19 is stepping motor, described 3rd motor-drive circuit module 8 comprises the motor drive ic U6 that model is L298N, and zener diode D17, zener diode D18, zener diode D19, zener diode D20, zener diode D21, zener diode D22, zener diode D23 and zener diode D24; 6th pin and the 11st pin of described motor drive ic U6 all connect with the 5V voltage output end of power module 21,9th pin of described motor drive ic U6 connects with the 5V voltage output end of power module 21, and by polar capacitor C31 in parallel and nonpolar electric capacity C32 ground connection, 4th pin of described motor drive ic U6 connects with the 24V voltage output end of power module 21, and by nonpolar electric capacity C33 in parallel and polar capacitor C34 ground connection, the 1st pin of described motor drive ic U6, the 8th pin and the equal ground connection of the 15th pin; 5th pin of described motor drive ic U6 connects with the 12nd pin of described micro controller system STC89C52,7th pin of described motor drive ic U6 connects with the 13rd pin of described micro controller system STC89C52,10th pin of described motor drive ic U6 connects with the 14th pin of described micro controller system STC89C52, and the 12nd pin of described motor drive ic U6 connects with the 15th pin of described micro controller system STC89C52; 2nd pin of described motor drive ic U6 connects with one end of the A phase coil of the 3rd motor 19, and connect with the anode of zener diode D17 and the negative electrode of zener diode D21, the negative electrode of described zener diode D17 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D21; 3rd pin of described motor drive ic U6 connects with the other end of the A phase coil of the 3rd motor 19, and connect with the anode of zener diode D18 and the negative electrode of zener diode D22, the negative electrode of described zener diode D18 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D22; 13rd pin of described motor drive ic U6 connects with one end of the B phase coil of the 3rd motor 19, and connect with the anode of zener diode D19 and the negative electrode of zener diode D23, the negative electrode of described zener diode D19 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D23; 14th pin of described motor drive ic U6 connects with the other end of the B phase coil of the 3rd motor 19, and connect with the anode of zener diode D20 and the negative electrode of zener diode D24, the negative electrode of described zener diode D20 connects with the 24V voltage output end of power module 21, the plus earth of described zener diode D24.
The cargo storage control method of the small-sized stereo garage based on RFID of the present invention, comprises the following steps:
Step one, when there being n part goods to deposit, in a rfid card, storing the RFID label tag sequence number of n part goods, weight, volume and frequency of access, forming RFID and always blocking; Described rfid circuit 5 to be stored in described RFID always block in information read and export to micro controller module 1; Wherein, the value of n is positive integer;
Step 2, described micro controller module 1 are according to cargo storage priority determination formula Q
i=a
1m
i+ a
2v
i+ a
3f
ithat determines n part goods deposits priority Q
1, Q
2..., Q
n, and priority Q is deposited to n part goods
1, Q
2..., Q
narrange from big to small, determine the RFID label tag sequence number of n part goods and deposit the one-to-one relationship of priority; Wherein, Q
ibe i-th goods deposit priority, M
ibe the weight of i-th goods, V
ibe the volume of i-th goods, f
ibe the frequency of access of i-th goods, the value of i is the positive integer of 1 ~ n; a
1+ a
2+ a
3=1, a
1for the threshold constant of the weight of goods and 0.26<a
1<0.35, a
2for the threshold constant of the volume of goods and 0.15<a
2<0.24, a
3for the threshold constant of the frequency of access of goods and 0.45<a
3<0.5;
Step 3, first, described micro controller module 1 reads the empty goods yard numbering on the multi-layered storage rack 15 that is stored in host computer 2 by RS-232 communication circuit 22, and arranges from small to large described empty goods yard numbering; Then, described micro controller module 1 deposits the one-to-one relationship of priority and empty goods yard numbering according to what deposit that the priority arrangement preceding cargo storage principle of to number in empty goods yard on the empty goods yard that is arranged in front determines n part goods; Wherein, each goods yard on described multi-layered storage rack 15 is provided with a numbering, the value of described numbering is positive integer, described numbering rule is set for from the bottom open numbering of multi-layered storage rack 15, increase gradually from the inner side numbering of the lateral multi-layered storage rack 15 of multi-layered storage rack 15, the high level numbering from the low layer of multi-layered storage rack 15 to multi-layered storage rack 15 increases gradually;
Step 4, described micro controller module 1 according to the RFID label tag sequence number of the n part goods determined in step 2 with deposit the n part goods determined in the one-to-one relationship of priority and step 3 deposit the one-to-one relationship of priority and empty goods yard numbering, determine the one-to-one relationship that the RFID label tag sequence number of n part goods and empty goods yard are numbered;
Step 5, described micro controller module 1 are deposited n part goods one by one according to following process: first, when the container 14 of the goods that will deposit is placed on after on pallet fork 16, described rfid circuit 5 reads the information be stored in the RFID label tag 9 that is posted on this container 14 end face and exports to micro controller module 1, the information be stored in this RFID label tag 9 comprises the RFID label tag sequence number of this part goods, weight, volume and frequency of access, then, the weight of this part goods and weight threshold are compared by described micro controller module 1, and the volume of this part goods and volume threshold are compared, when the volume that the weight of this part goods is greater than weight threshold and this part goods be greater than in two decision conditions of volume threshold have one to set up or two are all set up time, described micro controller module 1 controls voice playing circuit module 3 and plays the dissatisfied audio alert signal depositing requirement of this goods, remind this goods of staff not meet and deposit requirement, need depositing of next part goods be carried out, when the weight of this part goods is not more than weight threshold and the volume of this part goods is not more than volume threshold, the empty goods yard that the one-to-one relationship kind that the RFID label tag sequence number of the n part goods that described micro controller module 1 is determined in step 4 according to the RFID label tag sequence number of this goods and empty goods yard are numbered finds this goods to deposit on multi-layered storage rack 15 is numbered, and export the first motor-drive circuit module 6 according to this sky goods yard numbering, the control signal of the second motor-drive circuit module 7 and the 3rd motor-drive circuit module 8, the first motor 17 is driven to drive container 14 to move in the X-axis direction by the first motor-drive circuit module 6, the second motor 18 is driven to drive container 14 to move in the Y-axis direction by the second motor-drive circuit module 7, the 3rd motor 19 is driven to drive container 14 to move in the Z-axis direction by the 3rd motor-drive circuit module 8, by this cargo storage on corresponding goods yard, then, the empty goods yard numbering that this goods occupies by described micro controller module 1 sends to host computer 2 by RS-232 communication circuit 22, and host computer 2 is according to its empty goods yard number information stored of its information updating received.
In the present embodiment, a described in step 2
1, a
2, a
3value be respectively 0.3,0.2,0.5, or 0.35,0.2,0.45, or 0.35,0.15,0.5, or 0.26,0.24,0.5.
Specifically, when the first motor 17 rotates, driven rotary leading screw 10 rotates, and the first feed screw nut makes motion leading screw 11 move in the X-axis direction, and the second motor 18, column 12 and pallet fork 16 also move in the X-axis direction with motion leading screw 11; When second motor 18 rotates, brought into motion leading screw 11 rotates, and the second feed screw nut makes column 12 move in the Y-axis direction, and pallet fork 16 also moves in the Y-axis direction with column 12; When 3rd motor 19 rotates, band movable reel rotates, and steel rope 20 drives pallet fork 16 to move in the Z-axis direction.
In addition, in goods access procedure, micro controller module 1 can carry out being connected and communicating with host computer 2 by RS-232 communication circuit 22, panoramic vision camera 13 can be made a video recording to the fetching process of container 14 and by image transmitting to micro controller module 1, micro controller module 1 is transferred to host computer 2 by RS-232 communication circuit 22 again, and host computer 2 shows.
The above; it is only preferred embodiment of the present invention; not the present invention is imposed any restrictions, every above embodiment is done according to the technology of the present invention essence any simple modification, change and equivalent structure change, all still belong in the protection domain of technical solution of the present invention.