CN104555220B - Small-sized stereo garage based on RFID and cargo storage control method thereof - Google Patents

Small-sized stereo garage based on RFID and cargo storage control method thereof Download PDF

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CN104555220B
CN104555220B CN201410743283.9A CN201410743283A CN104555220B CN 104555220 B CN104555220 B CN 104555220B CN 201410743283 A CN201410743283 A CN 201410743283A CN 104555220 B CN104555220 B CN 104555220B
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pin
connects
zener diode
motor
goods
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CN104555220A (en
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侯媛彬
陈显
袁磊
高阳东
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Wuhan Landau Industrial Equipment Co ltd
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Xian University of Science and Technology
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Abstract

The invention discloses a kind of small-sized stereo garage based on RFID, including 3 D stereo storehouse and stereo garage control circuit, 3 D stereo storehouse includes multi-layered storage rack and three-dimensional motion body, RFID label tag has been puted up on the end face of container, three-dimensional motion body includes rotating threaded shaft, motion leading screw, column, the first motor, the second motor, the 3rd motor, reel and steel wire rope, and the bottom of steel wire rope connects pallet fork；Stereo garage control circuit includes micro controller module, power module, rfid circuit, RS 232 telecommunication circuit, liquid crystal display circuit, voice playing circuit, the first motor-drive circuit module, the second motor-drive circuit module and the 3rd motor-drive circuit module；The invention also discloses the cargo storage control method of a kind of small-sized stereo garage based on RFID.The present invention realizes convenient and low cost, uses simple operation, substantially increases goods access efficiency, and the safety of goods access is high, applied range, and application value is high.

Description

Small-sized stereo garage based on RFID and cargo storage control method thereof
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 goods thereof Deposit control method.
Background technology
The design of 3 D stereo logistics warehouse is typically all multistory frame structure, every layer of subdivided some goods yard or parking ticket Unit.Utilize Elevator elevator, article or vehicle are risen to layer position to be gone, recycle longitudinal and transverse direction delivery mechanism, will Article or vehicles drive, to the goods yard specified or parking unit, complete from ground to aerial storage article or the process of vehicle, take Process when going out article or vehicle is the most contrary.
3 D stereo logistics warehouse takes up an area few, that storage goods is many feature with it, as emerging storage facilities, obtains Fast-developing；But, 3 D stereo logistics warehouse of the prior art must be equipped with that structure is complicated, cost is higher, complex operation Elevator elevator and vertical, horizontal delivery mechanism, fail to meet the principle of " access article are simple and convenient ", generally there is structure More complicated, operate the shortcomings such as cumbersome, cost is higher, purposes is single, and, prior art does not has the goods of suitable stereo garage Thing deposits optimal control method, causes the inefficient of Cubic stock goods putting thing.
Summary of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, it is provided that a kind of simple in construction Compact, take up an area less, storage goods is many, realize convenient and low cost, based on RFID the small-sized stereo garage of use simple operation.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of small-sized stereo garage based on RFID, its It is characterised by: include that 3 D stereo storehouse and stereo garage control circuit, described 3 D stereo storehouse include the multilamellar for stacking container Shelf and be arranged on multi-layered storage rack top and for driving container to do the three-dimensional motion body of three-dimensional motion, on the end face of described container Having puted up RFID label tag, described three-dimensional motion body includes the rotation being laid in multi-layered storage rack crown center position along X-direction Leading screw, move leading screw and the column along Z-direction laying laid along Y direction, described multi-layered storage rack top is fixedly connected with For first motor that leading screw rotate is rotated, threaded on described rotating threaded shaft have the first feed screw nut, described motion Leading screw is fixing with described first feed screw nut to be connected, and one end of described motion leading screw is fixedly connected with for driving motion leading screw to revolve The second motor turned, threaded on described motion leading screw have the second feed screw nut, described column and described second feed screw nut Fixing connection, described column is fixedly connected with the 3rd motor, the output shaft of described 3rd motor is fixedly connected with reel, institute Stating and be wound with steel wire rope on reel, the bottom of described steel wire rope connects the pallet fork for picking and placeing container；Described stereo garage controls Circuit includes micro controller module and is the power module of each electricity consumption module for power supply in control circuit, and and micro controller module Connect and for identifying rfid circuit and the RS-232 for being attached and communicate of RFID label tag with host computer Telecommunication circuit, the outfan of described micro controller module be connected to liquid crystal display circuit, voice playing circuit, for drive first electricity First motor-drive circuit module of machine, for driving the second motor-drive circuit module of the second motor and for driving the 3rd 3rd motor-drive circuit module of motor.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: the top of described multi-layered storage rack be also equipped with for The panoramic vision photographic head imaging the fetching process of container, described panoramic vision photographic head connects with host computer.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described micro controller module is by single-chip microcomputer STC89C52, crystal oscillating circuit and reset circuit composition, described crystal oscillating circuit is by crystal oscillator X2 and nonpolar electric capacity C35 and nonpolar Electric capacity C36 form, one end of described crystal oscillator X2 and one end of nonpolar electric capacity C36 all with the 18th of described single-chip microcomputer STC89C52 Pin connects, the other end of described crystal oscillator X2 and one end of nonpolar electric capacity C35 all with the 19th of described single-chip microcomputer STC89C52 Pin connects, 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 It is made up of reset key S, resistance R10 and polar capacitor C37, one end of described reset key S, one end of resistance R10 and polarity The negative pole of electric capacity C37 all the 9th pins with described single-chip microcomputer STC89C52 connect, the other end of described reset key S and polarity The positive pole of electric capacity C37 all connects with the 5V voltage output end of power module, the other end ground connection of described resistance R10, described monolithic The 20th pin ground connection of machine STC89C52, the 31st pin of described single-chip microcomputer STC89C52 and the 40th pin all with power module The output of 5V voltage connects.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described rfid circuit includes that radio frequency reads and writes core Sheet MFRC522, aerial coil L and for indicating the light emitting diode D1 that rfid circuit working, described radio frequency is read and write 2nd pin, the 3rd pin, the 12nd pin, the 15th pin and the 32nd pin of chip MFRC522 is all electric with the 3.3V of power module Pressure outfan connects, the 1st pin of described radio frequency read-write chip MFRC522, the 4th pin, the 5th pin, the 10th pin and the 18th The equal ground connection of pin；6th pin of described radio frequency read-write chip MFRC522 connects with the 4th pin of described single-chip microcomputer STC89C52, And connected with the 3.3V voltage output end of power module by resistance R1；The the 31st～29 of described radio frequency read-write chip MFRC522 Pin is corresponding in turn to connect with the 5th～7 pins of described single-chip microcomputer STC89C52, the of described radio frequency read-write chip MFRC522 24 pins connect with the 8th pin of described single-chip microcomputer STC89C52；21st pin of described radio frequency read-write chip MFRC522 and Being connected to crystal oscillator X1 between 22 pins, the 21st pin of described radio frequency read-write chip MFRC522 passes through nonpolar electric capacity C12 ground connection, 22nd pin of described radio frequency read-write chip MFRC522 passes through nonpolar electric capacity C13 ground connection；Described radio frequency read-write chip 16th pin of MFRC522 passes through nonpolar electric capacity C11 ground connection, and by resistance R3, resistance R4 and the nonpolar electric capacity of series connection C10 connects with one end of described aerial coil L, and the other end of described aerial coil L is by the nonpolar electric capacity C2 connected and electricity Sense L1 connects with the 11st pin of described radio frequency read-write chip MFRC522, and by the nonpolar electric capacity C9 and inductance L2 of series connection Connect with the 13rd pin of described radio frequency read-write chip MFRC522；The other end of described aerial coil L is with nonpolar electric capacity C2's Connect and be parallel with nonpolar electric capacity C4 and nonpolar electric capacity between end and the 14th pin of described radio frequency read-write chip MFRC522 C5, the other end of described aerial coil L connects the 14th of end and described radio frequency read-write chip MFRC522 with nonpolar electric capacity C9's Be parallel with nonpolar electric capacity C7 and nonpolar electric capacity C8 between pin, the 17th pin of described radio frequency read-write chip MFRC522 with The connection end of resistance R3 and resistance R4 connects, the connection end of described inductance L1 and nonpolar electric capacity C2 by nonpolar electric capacity C3 with 14th pin of described radio frequency read-write chip MFRC522 connects, and the connection end of described inductance L2 and nonpolar electric capacity C9 is by non- Polar capacitor C6 connects with the 14th pin of described radio frequency read-write chip MFRC522；The of described radio frequency read-write chip MFRC522 12 pins pass through nonpolar electric capacity C1 ground connection, and the 15th pin of described radio frequency read-write chip MFRC522 is by resistance R2 and luminescence The positive pole of diode D1 connects, the minus earth of described light emitting diode D1.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described voice playing circuit includes speech chip ISD1760, mike MIC, speaker LS1 and for indicating the light emitting diode D2 that voice playing circuit working, described 1st pin of speech chip ISD1760 connects with the 5V voltage output end of power module, the 8th of described speech chip ISD1760 Pin, the 12nd pin, the 16th pin and the 28th equal ground connection of pin；2nd pin of described speech chip ISD1760 passes through resistance R8 Connecting with the negative pole of light emitting diode D2, 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 by the positive pole of nonpolar electric capacity C17 with described mike MIC, described The positive pole of mike MIC connects the end 5V by the resistance R6 connected and resistance R7 with power module with nonpolar electric capacity C17's Voltage output end connects, and the connection end of described resistance R6 and resistance R7 passes through polar capacitor C18 ground connection, described speech chip 11st pin of ISD1760 is connected by the negative pole of nonpolar electric capacity C16 with described mike MIC, and described mike MIC's is negative The connection end of pole and nonpolar electric capacity C16 is by resistance R5 ground connection；14th pin of described speech chip ISD1760 and power supply mould The 5V voltage output end of block connects, and nonpolar electric capacity C15 in parallel and polar capacitor C14 ground connection；Described speech chip 18th pin of ISD1760 passes through polar capacitor C20 ground connection, and the 20th pin of described speech chip ISD1760 passes through resistance R9 Ground connection；21st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module, and in parallel non- Polar capacitor C21 and polar capacitor C22 ground connection；23rd pin of described speech chip ISD1760 and described single-chip microcomputer 28th pin of STC89C52 connects, the of the 26th pin of described speech chip ISD1760 and described single-chip microcomputer STC89C52 27 pins connect；The positive pole of described speaker LS1 connects with the 15th pin of described speech chip ISD1760, described speaker The negative pole of LS1 connects with the 13rd pin of described speech chip ISD1760.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described first motor is motor, described first Motor-drive circuit module includes 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 voltage stabilizing two pole Pipe D8；6th pin and the 11st pin of described motor drive ic U4 all connect with the 5V voltage output end of power module, described 9th pin of motor drive ic U4 connects with the 5V voltage output end of power module, and polar capacitor C23 in parallel and Nonpolar electric capacity C24 ground connection, the 4th pin of described motor drive ic U4 connects with the 24V voltage output end of power module, and Nonpolar electric capacity C25 in parallel and polar capacitor C26 ground connection, the 1st pin of described motor drive ic U4, the 8th pin With the 15th equal ground connection of pin；5th pin of described motor drive ic U4 and the 21st pin phase of described single-chip microcomputer STC89C52 Connecing, the 7th pin of described motor drive ic U4 connects with the 22nd pin of described single-chip microcomputer STC89C52, and described motor drives 10th pin of chip U4 connects with the 23rd pin of described single-chip microcomputer STC89C52, and the 12nd of described motor drive ic U4 is drawn Foot connects with the 24th pin of described single-chip microcomputer STC89C52；2nd pin of described motor drive ic U4 and the A of the first motor One end of phase coil connects, and connects with the anode of Zener diode D1 and the negative electrode of Zener diode D5, described voltage stabilizing two pole The negative electrode of pipe D1 connects with the 24V voltage output end of power module, the plus earth of described Zener diode D5；Described motor drives The other end of the 3rd pin of dynamic chip U4 and the A phase coil of the first motor connects, and with the anode of Zener diode D2 and voltage stabilizing The negative electrode of diode D6 connects, and the negative electrode of described Zener diode D2 connects with the 24V voltage output end of power module, described surely The plus earth of pressure diode D6；13rd pin of described motor drive ic U4 and one end phase of the B phase coil of the first motor Connect, 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 and electricity The 24V voltage output end of source module connects, the plus earth of described Zener diode D7；The 14th of described motor drive ic U4 The other end of the B phase coil of pin and the first motor connects, and with the anode of Zener diode D4 and the moon of Zener diode D8 Pole connects, and the negative electrode of described Zener diode D4 connects with the 24V voltage output end of power module, described Zener diode D8's Plus earth.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described second motor is motor, described second Motor-drive circuit module includes 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 steady Pressure diode D16；6th pin of described motor drive ic U5 and the 11st pin all with the 5V voltage output end phase of power module Connecing, the 9th pin of described motor drive ic U5 connects with the 5V voltage output end of power module, and polarity electricity in parallel Hold C27 and nonpolar electric capacity C28 ground connection, the 4th pin of described motor drive ic U5 and the 24V voltage output end of power module Connect, and nonpolar electric capacity C29 in parallel and polar capacitor C30 ground connection, the 1st pin of described motor drive ic U5, 8th pin and the 15th equal ground connection of pin；5th pin of described motor drive ic U5 and the 25th of described single-chip microcomputer STC89C52 the Pin connects, and the 7th pin of described motor drive ic U5 connects with the 26th pin of described single-chip microcomputer STC89C52, described electricity 10th pin of machine driving chip U5 connects with the 10th pin of described single-chip microcomputer STC89C52, described motor drive ic U5's 12nd pin connects with the 11st pin of described single-chip microcomputer STC89C52；2nd pin and second of described motor drive ic U5 One end of the A phase coil of motor connects, and connects with the anode of Zener diode D9 and the negative electrode of Zener diode D13, described The negative electrode of Zener diode D9 connects with the 24V voltage output end of power module, the plus earth of described Zener diode D13； The other end of the 3rd pin of described motor drive ic U5 and the A phase coil of the second motor connects, and with Zener diode D10 Anode and the negative electrode of Zener diode D14 connect, the negative electrode of described Zener diode D10 is defeated with the 24V voltage of power module Go out end to connect, the plus earth of described Zener diode D14；13rd pin of described motor drive ic U5 and the second motor One end of B phase coil connects, and connects with the anode of Zener diode D11 and the negative electrode of Zener diode D15, described voltage stabilizing two The negative electrode of pole pipe D11 connects with the 24V voltage output end of power module, the plus earth of described Zener diode D15；Described electricity The other end of the 14th pin of machine driving chip U5 and the B phase coil of the second motor connects, and with the anode of Zener diode D12 Connect with the negative electrode of Zener diode D16, the 24V voltage output end phase of the negative electrode of described Zener diode D12 and power module Connect, the plus earth of described Zener diode D16.
Above-mentioned based on RFID small-sized stereo garage, it is characterised in that: described 3rd motor is motor, the described 3rd Motor-drive circuit module includes 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 steady Pressure diode D24；6th pin of described motor drive ic U6 and the 11st pin all with the 5V voltage output end phase of power module Connecing, the 9th pin of described motor drive ic U6 connects with the 5V voltage output end of power module, and polarity electricity in parallel Hold C31 and nonpolar electric capacity C32 ground connection, the 4th pin of described motor drive ic U6 and the 24V voltage output end of power module Connect, and nonpolar electric capacity C33 in parallel and polar capacitor C34 ground connection, the 1st pin of described motor drive ic U6, 8th pin and the 15th equal ground connection of pin；5th pin of described motor drive ic U6 and the 12nd of described single-chip microcomputer STC89C52 the Pin connects, and the 7th pin of described motor drive ic U6 connects with the 13rd pin of described single-chip microcomputer STC89C52, described electricity 10th pin of machine driving chip U6 connects with the 14th pin of described single-chip microcomputer STC89C52, described motor drive ic U6's 12nd pin connects with the 15th pin of described single-chip microcomputer STC89C52；2nd pin and the 3rd of described motor drive ic U6 One end of the A phase coil of motor connects, and connects with the anode of Zener diode D17 and the negative electrode of Zener diode D21, described The negative electrode of Zener diode D17 connects with the 24V voltage output end of power module, the plus earth of described Zener diode D21； The other end of the 3rd pin of described motor drive ic U6 and the A phase coil of the 3rd motor connects, and with Zener diode D18 Anode and the negative electrode of Zener diode D22 connect, the negative electrode of described Zener diode D18 is defeated with the 24V voltage of power module Go out end to connect, the plus earth of described Zener diode D22；13rd pin of described motor drive ic U6 and the 3rd motor One end of B phase coil connects, and connects with the anode of Zener diode D19 and the negative electrode of Zener diode D23, described voltage stabilizing two The negative electrode of pole pipe D19 connects with the 24V voltage output end of power module, the plus earth of described Zener diode D23；Described electricity The other end of the 14th pin of machine driving chip U6 and the B phase coil of the 3rd motor connects, and with the anode of Zener diode D20 Connect with the negative electrode of Zener diode D24, the 24V voltage output end phase of the negative electrode of described Zener diode D20 and power module Connect, the plus earth of described Zener diode D24.
The invention also discloses one and can be greatly improved goods access efficiency and safety, save user valuable time Between the cargo storage control method of based on RFID small-sized stereo garage, it is characterised in that the method comprises the following steps:
Step one, when there being n part goods to be deposited, in a rfid card store the RFID label tag sequence number of n part goods, weight Amount, volume and frequency of access, constitute RFID and always block；The information being stored in described RFID always blocks is entered by described rfid circuit Row reads and exports to micro controller module；Wherein, the value of n is positive integer；
Step 2, described micro controller module determine formula Q according to cargo storage priorityi=a1Mi+a2Vi+a3fiDetermine Go out n part goods deposits priority Q1、Q2、…、Qn, and n part goods is deposited priority Q1、Q2、…、QnCarry out from big to small Arrangement, determines the RFID label tag sequence number of n part goods and the one-to-one relationship depositing priority；Wherein, QiIt is i-th goods Deposit priority, MiIt is the weight of i-th goods, ViIt is the volume of i-th goods, fiIt is the frequency of access of i-th goods, i The positive integer that value is 1～n；a1+a2+a3=1, a1The threshold constant of weight and 0.26 < a for goods1< 0.35, a2For goods The threshold constant of the volume of thing and 0.15 < a2< 0.24, a3The threshold constant of frequency of access and 0.45 < a for goods3<0.5；
Step 3, first, described micro controller module is read by RS-232 telecommunication circuit and is stored in host computer Multi-layered storage rack on empty goods yard numbering, and described empty goods yard numbering is arranged from small to large；Then, described microcontroller Module determines according to depositing priority arrangement preceding cargo storage principle on the empty goods yard that empty goods yard numbering is arranged in front Go out the one-to-one relationship depositing priority and empty goods yard numbering of n part goods；Wherein, each goods yard on described multi-layered storage rack Being provided with a numbering, the value of described numbering is positive integer, and the rule that arranges of described numbering is the bottom from multi-layered storage rack Open numbering, from the inner side of the lateral multi-layered storage rack of multi-layered storage rack, numbering is gradually increased, from the low layer of multi-layered storage rack to multilamellar The high-rise numbering of shelf is gradually increased；
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 priority of depositing putting the n part goods determined in the one-to-one relationship of priority and step 3 is numbered one by one with empty goods yard Corresponding relation, determines the RFID label tag sequence number of n part goods and the one-to-one relationship of empty goods yard numbering；
N part goods is deposited one by one by step 5, described micro controller module according to procedure below: first, when will After the container of the goods deposited is placed on pallet fork, described rfid circuit is to being stored in the RFID being posted on this container end face Information in label is read out and exports to micro controller module；The information being stored in this RFID label tag includes this part goods RFID label tag sequence number, weight, volume and frequency of access；Then, described micro controller module is by the weight of this part goods and weight Amount threshold value is compared, and is compared with volume threshold by the volume of this part goods, when the weight of this part goods is more than weight The volume of threshold value and this part goods is more than having one to set up or time two are all set up in two decision conditions of volume threshold, described Micro controller module control voice playing circuit is play this goods and is unsatisfactory for the audio alert signal of storage requirement, reminds work people This goods of member is unsatisfactory for storage requirement, need to carry out depositing of next part goods；When the weight of this part goods is not more than weight threshold And the volume of this part goods is when being not more than volume threshold, described micro controller module according to the RFID label tag sequence number of this goods in step The RFID label tag sequence number of the n part goods determined in rapid four finds this goods many with the one-to-one relationship kind of empty goods yard numbering The empty goods yard numbering deposited on layer shelf, and according to the numbering output of this sky goods yard to the first motor-drive circuit module, the second electricity Drive circuit module and the control signal of the 3rd motor-drive circuit module, by the first motor-drive circuit module drive first Driven by motor container moves in the X-axis direction, by second motor-drive circuit module drive the second driven by motor container in Y-axis side Move upward, the 3rd motor-drive circuit module drive the 3rd driven by motor container move in the Z-axis direction, this goods is deposited It is put on corresponding goods yard；Then, the empty goods yard numbering that this goods is occupied by described micro controller module is led to by RS-232 Letter circuit is sent to host computer, and host computer is according to the empty goods yard numbering letter of its storage of its information updating received Breath.
Above-mentioned method, it is characterised in that: a described in step 21、a2、a3Value 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 advantage that
1, the small-sized stereo garage of the present invention is simple and compact for structure, takes up an area few, and storage goods is many, novel in design reasonable, it is achieved Convenience and low cost.
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 use The essential information at family, it is simple to user confirms in time, is effectively increased 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 achieved convenient, owing to have employed optimization Cargo storage priority determine that rule determines cargo storage position, therefore, it is possible to be effectively improved cargo storage efficiency, it is possible to It is greatly improved goods access efficiency, saves user valuable time.
5, the multi-layered storage rack of the present invention can size according to the actual requirements be set up, and the number in goods yard can be with arbitrary extension, should Invention extend to industry components and parts stereo garage, the stereo garage of jewellery sector, the finished product stereo garage of business or client deposit thing The multiple application such as stereo garage, application value is high.
In sum, the realization convenience of the present invention and low cost, use simple operation, substantially increase goods access effect Rate, the safety of goods access is high, applied range, and application value is high.
Below by drawings and Examples, technical scheme 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 of the present invention control circuit.
Fig. 3 is the circuit theory diagrams of micro controller module of the present invention.
Fig. 4 is the circuit theory diagrams of rfid circuit of the present invention.
Fig. 5 is the circuit theory diagrams of voice playing circuit of the present invention.
Fig. 6 is the circuit theory diagrams of the present invention the first motor-drive circuit module.
Fig. 7 is the circuit theory diagrams of the present invention the second motor-drive circuit module.
Fig. 8 is the circuit theory diagrams of the present invention the 3rd motor-drive circuit module.
Description of reference numerals:
1 micro controller module；2 host computers；3 voice playing circuits；
4 liquid crystal display circuits；5 rfid circuits；6 first motor-drive circuit modules；
7 second motor-drive circuit modules；8 the 3rd motor-drive circuit modules；
9 RFID label tag；10 rotating threaded shafts；11 motion leading screws；
12 columns；13 panoramic vision photographic head；14 containers；
15 multi-layered storage racks；16 pallet forks；17 first motors；
18 second motors；19 the 3rd motors；20 steel wire ropes；
21 power modules；22 RS-232 telecommunication circuits.
Detailed description of the invention
As depicted in figs. 1 and 2, based on RFID the small-sized stereo garage of the present invention, including 3 D stereo storehouse and stereo garage control Circuit processed, described 3 D stereo storehouse includes the multi-layered storage rack 15 for stacking container 14 and is arranged on multi-layered storage rack 15 top and use In the three-dimensional motion body driving container 14 to do three-dimensional motion, the end face of described container 14 is puted up RFID label tag 9, described three-dimensional Movable body includes being laid in the rotating threaded shaft 10 of multi-layered storage rack 15 crown center position, along Y direction laying along X-direction Motion leading screw 11 and the column 12 laid along Z-direction, described multi-layered storage rack 15 top is fixedly connected with for silk is rotated The first motor 17 that thick stick 10 rotates, threaded on described rotating threaded shaft 10 have the first feed screw nut, described motion leading screw 11 with Described first feed screw nut is fixing to be connected, and one end of described motion leading screw 11 is fixedly connected with for driving motion leading screw 11 to rotate The second motor 18, threaded on described motion leading screw 11 have the second feed screw nut, described column 12 and described second leading screw Nut is fixing to be connected, and described column 12 is fixedly connected with the 3rd motor 19, the company of fixing on the output shaft of described 3rd motor 19 Being connected to reel, described reel is wound with steel wire rope 20, the bottom of described steel wire rope 20 connects the goods for picking and placeing container 14 Fork 16；Described stereo garage control circuit includes micro controller module 1 and is the power supply mould of each electricity consumption module for power supply in control circuit Block 21, and connect with micro controller module 1 and by the rfid circuit 5 identifying RFID label tag 9 and by with upper based on The RS-232 telecommunication circuit 22 that calculation machine 2 is attached and communicates, the outfan of described micro controller module 1 is connected to liquid crystal display electricity Road 4, voice playing circuit 3, for drive the first motor 17 the first motor-drive circuit module 6, for drive the second motor The second motor-drive circuit module 7 of 18 and for driving the 3rd motor-drive circuit module 8 of the 3rd motor 19.
As it is shown in figure 1, in the present embodiment, the top of described multi-layered storage rack 15 was also equipped with for picking and placeing container 14 The panoramic vision photographic head 13 of Cheng Jinhang shooting, described panoramic vision photographic head 13 connects with host computer 2.
As it is shown on figure 3, in the present embodiment, described micro controller module 1 is by single-chip microcomputer STC89C52, crystal oscillating circuit and reset Circuit forms, and described crystal oscillating circuit is made up of crystal oscillator X2 and nonpolar electric capacity C35 and nonpolar electric capacity C36, described crystal oscillator X2 One end and one end all the 18th pins with described single-chip microcomputer STC89C52 of nonpolar electric capacity C36 connect, described crystal oscillator X2's One end of the other end and nonpolar electric capacity C35 all the 19th pins with described single-chip microcomputer STC89C52 connect, described nonpolar electricity Hold the other end and the equal ground connection of the other end of nonpolar electric capacity C36 of C35；Described reset circuit by reset key S, resistance R10 and Polar capacitor C37 forms, and the negative pole of one end of described reset key S, one end of resistance R10 and polar capacitor C37 is all with described 9th pin of single-chip microcomputer STC89C52 connects, and the other end of described reset key S and the positive pole of polar capacitor C37 are all and power supply The 5V voltage output end of module 21 connects, the other end ground connection of described resistance R10, the 20th pin of described single-chip microcomputer STC89C52 Ground connection, the 31st pin of described single-chip microcomputer 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 includes radio frequency read-write chip MFRC522, antenna line Enclose L and for the light emitting diode D1 indicating rfid circuit working, the 2nd of described radio frequency read-write chip MFRC522 Pin, 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, institute State the 1st pin, the 4th pin, the 5th pin, the 10th pin and the 18th equal ground connection of pin of radio frequency read-write chip MFRC522；Described 6th pin of radio frequency read-write chip MFRC522 connects with the 4th pin of described single-chip microcomputer STC89C52, and by resistance R1 with The 3.3V voltage output end of power module 21 connects；31st～29 pins of described radio frequency read-write chip MFRC522 are corresponding in turn to Connecting with the 5th～7 pins of described single-chip microcomputer STC89C52, the 24th pin of described radio frequency read-write chip MFRC522 is with described 8th pin of single-chip microcomputer STC89C52 connects；21st pin of described radio frequency read-write chip MFRC522 and the 22nd pin are indirectly Having crystal oscillator X1, the 21st pin of described radio frequency read-write chip MFRC522 passes through nonpolar electric capacity C12 ground connection, and described radio frequency is read and write 22nd pin of chip MFRC522 passes through nonpolar electric capacity C13 ground connection；16th pin of described radio frequency read-write chip MFRC522 By nonpolar electric capacity C11 ground connection, and by the resistance R3, the resistance R4 that connect and nonpolar electric capacity C10 and described aerial coil L One end connect, the other end of described aerial coil L is read and write by nonpolar electric capacity C2 and inductance L1 and the described radio frequency of series connection 11st pin of chip MFRC522 connects, and by the nonpolar electric capacity C9 connected and inductance L2 and described radio frequency read-write chip 13rd pin of MFRC522 connects；The connection end of the other end of described aerial coil L and nonpolar electric capacity C2 is read with described radio frequency Writing and be parallel with nonpolar electric capacity C4 and nonpolar electric capacity C5 between the 14th pin of chip MFRC522, described aerial coil L's is another It is parallel with nonpolar between one end and connection end and the 14th pin of described radio frequency read-write chip MFRC522 of nonpolar electric capacity C9 Electric capacity C7 and nonpolar electric capacity C8, the 17th pin of described radio frequency read-write chip MFRC522 and resistance R3 and the connection of resistance R4 End connects, and the connection end of described inductance L1 and nonpolar electric capacity C2 is by nonpolar electric capacity C3 and described radio frequency read-write chip 14th pin of MFRC522 connects, and the connection end of described inductance L2 and nonpolar electric capacity C9 passes through nonpolar electric capacity C6 with described 14th pin of radio frequency read-write chip MFRC522 connects；12nd pin of described radio frequency read-write chip MFRC522 is by nonpolar Electric capacity C1 ground connection, the 15th pin of the described radio frequency read-write chip MFRC522 positive pole phase by resistance R2 and light emitting diode D1 Connect, the minus earth of described light emitting diode D1.
As it is shown in figure 5, in the present embodiment, described voice playing circuit 3 include speech chip ISD1760, mike MIC, Speaker LS1 and for indicating the light emitting diode D2 that voice playing circuit 3 working, described speech chip ISD1760's 1st pin connects with the 5V voltage output end of power module 21, the 8th pin of described speech chip ISD1760, the 12nd pin, 16th pin and the 28th equal ground connection of pin；2nd pin of described speech chip ISD1760 is by resistance R8 and light emitting diode D2 Negative pole connect, the positive pole of described light emitting diode D2 connects with the 5V voltage output end of power module 21, described speech chip 10th pin of ISD1760 is connected by the positive pole of nonpolar electric capacity C17 with described mike MIC, and described mike MIC is just Pole connects the end 5V voltage output end phase by the resistance R6 connected and resistance R7 with power module 21 with nonpolar electric capacity C17's Connecing, the connection end of described resistance R6 and resistance R7 passes through polar capacitor C18 ground connection, and the 11st of described speech chip ISD1760 is drawn Foot is connected by the negative pole of nonpolar electric capacity C16 with described mike MIC, the negative pole of described mike MIC and nonpolar electric capacity The connection end of C16 passes through resistance R5 ground connection；14th pin of described speech chip ISD1760 is defeated with the 5V voltage of power module 21 Go out end to connect, and nonpolar electric capacity C15 in parallel and polar capacitor C14 ground connection；The 18th of described speech chip ISD1760 Pin passes through polar capacitor C20 ground connection, and the 20th pin of described speech chip ISD1760 passes through resistance R9 ground connection；Described voice 21st pin of chip I SD1760 connects with the 5V voltage output end of power module 21, and nonpolar electric capacity C21 in parallel With polar capacitor C22 ground connection；23rd pin of described speech chip ISD1760 and the 28th pin of described single-chip microcomputer STC89C52 Connecting, the 26th pin of described speech chip ISD1760 connects with the 27th pin of described single-chip microcomputer STC89C52；Described raise one's voice The positive pole of device LS1 connects with the 15th pin of described speech chip ISD1760, the negative pole of described speaker LS1 and described voice 13rd pin of chip I SD1760 connects.
As shown in Figure 6, in the present embodiment, described first motor 17 is motor, described first motor-drive circuit mould Block 6 includes 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；Described motor 6th pin of driving chip U4 and the 11st pin all connect with the 5V voltage output end of power module 21, and described motor drives core 9th pin of sheet U4 connects with the 5V voltage output end of power module 21, and polar capacitor C23 in parallel and nonpolar electricity Holding C24 ground connection, the 4th pin of described motor drive ic U4 connects with the 24V voltage output end of power module 21, and by also The nonpolar electric capacity C25 of connection and polar capacitor C26 ground connection, the 1st pin of described motor drive ic U4, the 8th pin and the 15th The equal ground connection of pin；5th pin of described motor drive ic U4 connects with the 21st pin of described single-chip microcomputer STC89C52, described 7th pin of motor drive ic U4 connects with the 22nd pin of described single-chip microcomputer STC89C52, described motor drive ic U4 The 10th pin connect with the 23rd pin of described single-chip microcomputer STC89C52, the 12nd pin and the institute of described motor drive ic U4 The 24th pin stating single-chip microcomputer STC89C52 connects；2nd pin of described motor drive ic U4 and the A phase line of the first motor 17 One end of circle connects, and connects with the anode of Zener diode D1 and the negative electrode of Zener diode D5, described Zener diode D1 Negative electrode connect with the 24V voltage output end of power module 21, the plus earth of described Zener diode D5；Described motor drives The other end of the 3rd pin of chip U4 and the A phase coil of the first motor 17 connects, and with the anode of Zener diode D2 and voltage stabilizing The negative electrode of diode D6 connects, and the negative electrode of described Zener diode D2 connects with the 24V voltage output end of power module 21, described The plus earth of Zener diode D6；13rd pin of described motor drive ic U4 and the one of the B phase coil of the first motor 17 End connects, and connects with the anode of Zener diode D3 and the negative electrode of Zener diode D7, the negative electrode of described Zener diode D3 Connect with the 24V voltage output end of power module 21, the plus earth of described Zener diode D7；Described motor drive ic U4 The 14th pin and the other end of B phase coil of the first motor 17 connect, and with the anode of Zener diode D4 and voltage stabilizing two pole The negative electrode of pipe D8 connects, and the negative electrode of described Zener diode D4 connects with the 24V voltage output end of power module 21, described voltage stabilizing The plus earth of diode D8.
As it is shown in fig. 7, in the present embodiment, described second motor 18 is motor, described second motor-drive circuit mould Block 7 includes 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；Institute The 6th pin and the 11st pin of stating motor drive ic U5 all connect with the 5V voltage output end of power module 21, described motor 9th pin of driving chip U5 connects with the 5V voltage output end of power module 21, and polar capacitor C27 in parallel and non- Polar capacitor C28 ground connection, the 4th pin of described motor drive ic U5 connects with the 24V voltage output end of power module 21, and Nonpolar electric capacity C29 in parallel and polar capacitor C30 ground connection, the 1st pin of described motor drive ic U5, the 8th pin With the 15th equal ground connection of pin；5th pin of described motor drive ic U5 and the 25th pin phase of described single-chip microcomputer STC89C52 Connecing, the 7th pin of described motor drive ic U5 connects with the 26th pin of described single-chip microcomputer STC89C52, and described motor drives 10th pin of chip U5 connects with the 10th pin of described single-chip microcomputer STC89C52, and the 12nd of described motor drive ic U5 is drawn Foot connects with the 11st pin of described single-chip microcomputer STC89C52；2nd pin of described motor drive ic U5 and the second motor 18 One end of A phase coil connect, and connect with the anode of Zener diode D9 and the negative electrode of Zener diode D13, described voltage stabilizing The negative electrode of diode D9 connects with the 24V voltage output end of power module 21, the plus earth of described Zener diode D13；Institute The other end stating the 3rd pin of motor drive ic U5 and the A phase coil of the second motor 18 connects, and with Zener diode D10 Anode and the negative electrode of Zener diode D14 connect, the negative electrode of described Zener diode D10 and the 24V voltage of power module 21 Outfan connects, the plus earth of described Zener diode D14；13rd pin of described motor drive ic U5 and the second motor One end of the B phase coil of 18 connects, and connects with the anode of Zener diode D11 and the negative electrode of Zener diode D15, described surely The negative electrode of pressure diode D11 connects with the 24V voltage output end of power module 21, the plus earth of described Zener diode D15； The other end of the 14th pin of described motor drive ic U5 and the B phase coil of the second motor 18 connects, and and Zener diode The anode of D12 and the negative electrode of Zener diode D16 connect, and the negative electrode of described Zener diode D12 is electric with the 24V of power module 21 Pressure outfan connects, the plus earth of described Zener diode D16.
As shown in Figure 8, in the present embodiment, described 3rd motor 19 is motor, described 3rd motor-drive circuit mould Block 8 includes 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；Institute The 6th pin and the 11st pin of stating motor drive ic U6 all connect with the 5V voltage output end of power module 21, described motor 9th pin of driving chip U6 connects with the 5V voltage output end of power module 21, and polar capacitor C31 in parallel and non- Polar capacitor C32 ground connection, the 4th pin of described motor drive ic U6 connects with the 24V voltage output end of power module 21, and Nonpolar electric capacity C33 in parallel and polar capacitor C34 ground connection, the 1st pin of described motor drive ic U6, the 8th pin With the 15th equal ground connection of pin；5th pin of described motor drive ic U6 and the 12nd pin phase of described single-chip microcomputer STC89C52 Connecing, the 7th pin of described motor drive ic U6 connects with the 13rd pin of described single-chip microcomputer STC89C52, and described motor drives 10th pin of chip U6 connects with the 14th pin of described single-chip microcomputer STC89C52, and the 12nd of described motor drive ic U6 is drawn Foot connects with the 15th pin of described single-chip microcomputer STC89C52；2nd pin of described motor drive ic U6 and the 3rd motor 19 One end of A phase coil connect, and connect with the anode of Zener diode D17 and the negative electrode of Zener diode D21, described voltage stabilizing The negative electrode of diode D17 connects with the 24V voltage output end of power module 21, the plus earth of described Zener diode D21；Institute The other end stating the 3rd pin of motor drive ic U6 and the A phase coil of the 3rd motor 19 connects, and with Zener diode D18 Anode and the negative electrode of Zener diode D22 connect, the negative electrode of described Zener diode D18 and the 24V voltage of power module 21 Outfan connects, the plus earth of described Zener diode D22；13rd pin of described motor drive ic U6 and the 3rd motor One end of the B phase coil of 19 connects, and connects with the anode of Zener diode D19 and the negative electrode of Zener diode D23, described surely The negative electrode of pressure diode D19 connects with the 24V voltage output end of power module 21, the plus earth of described Zener diode D23； The other end of the 14th pin of described motor drive ic U6 and the B phase coil of the 3rd motor 19 connects, and and Zener diode The anode of D20 and the negative electrode of Zener diode D24 connect, and the negative electrode of described Zener diode D20 is electric with the 24V of power module 21 Pressure outfan connects, the plus earth of described Zener diode D24.
The cargo storage control method of based on RFID the small-sized stereo garage of the present invention, comprises the following steps:
Step one, when there being n part goods to be deposited, in a rfid card store the RFID label tag sequence number of n part goods, weight Amount, volume and frequency of access, constitute RFID and always block；The described rfid circuit 5 information to being stored in described RFID always blocks It is read out and exports to micro controller module 1；Wherein, the value of n is positive integer；
Step 2, described micro controller module 1 determine formula Q according to cargo storage priorityi=a1Mi+a2Vi+a3fiReally That makes n part goods deposits priority Q1、Q2、…、Qn, and n part goods is deposited priority Q1、Q2、…、QnCarry out from greatly to Minispread, determines the RFID label tag sequence number of n part goods and the one-to-one relationship depositing priority；Wherein, QiIt is i-th goods Thing deposit priority, MiIt is the weight of i-th goods, ViIt is the volume of i-th goods, fiIt it is the access frequency of i-th goods Rate, the value of i is the positive integer of 1～n；a1+a2+a3=1, a1The threshold constant of weight and 0.26 < a for goods1< 0.35, a2 The threshold constant of volume and 0.15 < a for goods2< 0.24, a3The threshold constant of frequency of access and 0.45 < a for goods3< 0.5；
Step 3, first, described micro controller module 1 is read by RS-232 telecommunication circuit 22 and is stored in host computer Empty goods yard numbering on multi-layered storage rack 15 in 2, and described empty goods yard numbering is arranged from small to large；Then, described micro- Controller module 1 is according to depositing former on the empty goods yard that empty goods yard numbering is arranged in front of the preceding cargo storage of priority arrangement Then determine the one-to-one relationship depositing priority and empty goods yard numbering of n part goods；Wherein, on described multi-layered storage rack 15 Each goods yard is provided with a numbering, and the value of described numbering is positive integer, and the rule that arranges of described numbering is from multilamellar goods The bottom open numbering of frame 15, from the inner side of the lateral multi-layered storage rack 15 of multi-layered storage rack 15, numbering is gradually increased, from multilamellar goods The low layer of frame 15 is gradually increased to the high-rise numbering of multi-layered storage rack 15；
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 priority of depositing putting the n part goods determined in the one-to-one relationship of priority and step 3 is numbered one by one with empty goods yard Corresponding relation, determines the RFID label tag sequence number of n part goods and the one-to-one relationship of empty goods yard numbering；
N part goods is deposited one by one by step 5, described micro controller module 1 according to procedure below: first, when will After the container 14 of the goods deposited is placed on pallet fork 16, described rfid circuit 5 is posted in this container 14 end face to being stored in On RFID label tag 9 in information be read out and export to micro controller module 1；It is stored in the information in this RFID label tag 9 RFID label tag sequence number, weight, volume and frequency of access including this part goods；Then, described micro controller module 1 is by this part goods The weight of thing is compared with weight threshold, and is compared with volume threshold by the volume of this part goods, when this part goods Weight is more than in two decision conditions of volume threshold more than the volume of weight threshold and this part goods has one to set up or two When all setting up, described micro controller module 1 controls voice playing circuit 3 and plays this goods and be unsatisfactory for the audio alert of storage requirement Signal, reminds this goods of staff to be unsatisfactory for storage requirement, need to carry out depositing of next part goods；Weight when this part goods Being not more than the volume of weight threshold and this part goods when being not more than volume threshold, described micro controller module 1 is according to this goods The one-to-one relationship that the RFID label tag sequence number of the n part goods that RFID label tag sequence number is determined in step 4 is numbered with empty goods yard Plant the empty goods yard numbering finding this goods to deposit on multi-layered storage rack 15, and according to the numbering output of this sky goods yard, the first motor is driven Dynamic circuit module the 6, second motor-drive circuit module 7 and the control signal of the 3rd motor-drive circuit module 8, by the first motor Drive circuit module 6 drives the first motor 17 to drive container 14 to move in the X-axis direction, by the second motor-drive circuit module 7 Drive the second motor 18 to drive container 14 to move in the Y-axis direction, the 3rd motor-drive circuit module 8 drive the 3rd motor 19 Container 14 is driven to move in the Z-axis direction, by this cargo storage to corresponding goods yard；Then, described micro controller module 1 will The empty goods yard numbering that this goods occupies is sent to host computer 2, host computer 2 basis by RS-232 telecommunication circuit 22 The empty goods yard number information of its storage of its information updating received.
In the present embodiment, a described in step 21、a2、a3Value 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, leading screw 10 being rotated and rotates, the first feed screw nut makes motion leading screw 11 Moving in the X-axis direction, the second motor 18, column 12 and pallet fork 16 also move in the X-axis direction with motion leading screw 11；Second electricity When machine 18 rotates, drive motion leading screw 11 rotate, the second feed screw nut makes column 12 move in the Y-axis direction, pallet fork 16 also with Column 12 moves in the Y-axis direction；When 3rd motor 19 rotates, band movable reel rotates, and steel wire rope 20 drives pallet fork 16 in Z axis side Move upward.
It addition, in goods access procedure, micro controller module 1 can pass through RS-232 telecommunication circuit 22 and host computer 2 are attached and communicate, panoramic vision photographic head 13 fetching process of container 14 can be imaged and by image transmitting to Micro controller module 1, micro controller module 1 is transferred to host computer 2, in upper calculating by RS-232 telecommunication circuit 22 again Show on machine 2.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention In the protection domain of art scheme.

Claims (8)

1. a small-sized stereo garage based on RFID, it is characterised in that: include 3 D stereo storehouse and stereo garage control circuit, described 3 D stereo storehouse includes the multi-layered storage rack (15) for stacking container (14) and is arranged on multi-layered storage rack (15) top and is used for carrying Dynamic container (14) does the three-dimensional motion body of three-dimensional motion, and the end face of described container (14) puted up RFID label tag (9), and described three Maintenance and operation kinetoplast includes being laid in the rotating threaded shaft (10) of multi-layered storage rack (15) crown center position, along Y direction along X-direction The motion leading screw (11) laid and the column (12) laid along Z-direction, described multi-layered storage rack (15) top is fixedly connected with use In first motor (17) that leading screw (10) rotate is rotated, described rotating threaded shaft (10) is the most threaded the first leading screw spiral shell Mother, described motion leading screw (11) is fixing with described first feed screw nut to be connected, and one end of described motion leading screw (11) is fixing to be connected Having the second motor (18) for driving motion leading screw (11) to rotate, described motion leading screw (11) is the most threaded the second leading screw Nut, described column (12) is fixing with described second feed screw nut to be connected, and described column is fixedly connected with the 3rd motor on (12) (19), the output shaft of described 3rd motor (19) is fixedly connected with reel, described reel is wound with steel wire rope (20), described The bottom of steel wire rope (20) connects the pallet fork (16) for picking and placeing container (14)；Described stereo garage control circuit includes microcontroller Device module (1) and be the power module (21) of each electricity consumption module for power supply in control circuit, and connect with micro controller module (1) And be used for the rfid circuit (5) identifying RFID label tag (9) with for being attached with host computer (2) and communicating RS-232 telecommunication circuit (22), the outfan of described micro controller module (1) is connected to liquid crystal display circuit (4), speech play electricity Road (3), for driving the first motor-drive circuit module (6) of the first motor (17), for driving the of the second motor (18) Two motor-drive circuit modules (7) and the 3rd motor-drive circuit module (8) for driving the 3rd motor (19)；
The top of described multi-layered storage rack (15) is also equipped with the panoramic vision for imaging the fetching process of container (14) Photographic head (13), described panoramic vision photographic head (13) connects with host computer (2)；
Described micro controller module (1) is made up of single-chip microcomputer STC89C52, crystal oscillating circuit and reset circuit, described crystal oscillating circuit by Crystal oscillator X2 and nonpolar electric capacity C35 and nonpolar electric capacity C36 composition, one end of described crystal oscillator X2 and nonpolar electric capacity C36's One end all the 18th pins with described single-chip microcomputer STC89C52 connect, the other end of described crystal oscillator X2 and nonpolar electric capacity C35's One end all the 19th pins with described single-chip microcomputer STC89C52 connect, the other end of described nonpolar electric capacity C35 and nonpolar electricity Hold the equal ground connection of the other end of C36；Described reset circuit is made up of reset key S, resistance R10 and polar capacitor C37, described reset The negative pole of one end of button S, one end of resistance R10 and polar capacitor C37 all with the 9th pin phase of described single-chip microcomputer STC89C52 Connect, the other end of described reset key S and the positive pole of polar capacitor C37 all with the 5V voltage output end phase of power module (21) Connect, the other end ground connection of described resistance R10, the 20th pin ground connection of described single-chip microcomputer STC89C52, described single-chip microcomputer 31st pin of STC89C52 and the 40th pin all export with the 5V voltage of power module (21) and connect.
2. according to based on RFID the small-sized stereo garage described in claim 1, it is characterised in that: described rfid circuit (5) Including radio frequency read-write chip MFRC522, aerial coil L and for the light emitting diode indicating rfid circuit working D1, the 2nd pin, the 3rd pin, the 12nd pin, the 15th pin and the 32nd pin of described radio frequency read-write chip MFRC522 is all with electric The 3.3V voltage output end of source module (21) connects, and the 1st pin of described radio frequency read-write chip MFRC522, the 4th pin, the 5th draws Foot, the 10th pin and the 18th equal ground connection of pin；6th pin of described radio frequency read-write chip MFRC522 and described single-chip microcomputer 4th pin of STC89C52 connects, and is connected by the 3.3V voltage output end of resistance R1 with power module (21)；Described radio frequency 31st～29 pins of read-write chip MFRC522 are corresponding in turn to connect with the 5th～7 pins of described single-chip microcomputer STC89C52, institute 8th pin of the 24th pin and described single-chip microcomputer STC89C52 of stating radio frequency read-write chip MFRC522 connects；Described radio frequency is read and write Being connected to crystal oscillator X1 between 21st pin and the 22nd pin of chip MFRC522, the 21st of described radio frequency read-write chip MFRC522 is drawn Foot passes through nonpolar electric capacity C12 ground connection, and the 22nd pin of described radio frequency read-write chip MFRC522 is connect by nonpolar electric capacity C13 Ground；16th pin of described radio frequency read-write chip MFRC522 pass through nonpolar electric capacity C11 ground connection, and by series connection resistance R3, One end of resistance R4 and nonpolar electric capacity C10 and described aerial coil L connects, and the other end of described aerial coil L is by series connection Nonpolar electric capacity C2 and inductance L1 connect with the 11st pin of described radio frequency read-write chip MFRC522, and by series connection non- Polar capacitor C9 and inductance L2 connects with the 13rd pin of described radio frequency read-write chip MFRC522；Another of described aerial coil L End and connecting of nonpolar electric capacity C2 are parallel with nonpolar electricity between end and the 14th pin of described radio frequency read-write chip MFRC522 The connection end holding C4 and nonpolar electric capacity C5, the other end of described aerial coil L and nonpolar electric capacity C9 is read and write with described radio frequency Nonpolar electric capacity C7 and nonpolar electric capacity C8, described radio frequency read-write chip it is parallel with between 14th pin of chip MFRC522 17th pin of MFRC522 connects with the connection end of resistance R3 and resistance R4, described inductance L1 and the connection of nonpolar electric capacity C2 End is connected by the 14th pin of nonpolar electric capacity C3 with described radio frequency read-write chip MFRC522, described inductance L2 and nonpolar The end that connects of electric capacity C9 is connected by the 14th pin of nonpolar electric capacity C6 with described radio frequency read-write chip MFRC522；Described penetrate Frequently the 12nd pin of read-write chip MFRC522 passes through nonpolar electric capacity C1 ground connection, the 15th of described radio frequency read-write chip MFRC522 Pin is connected by the positive pole of resistance R2 with light emitting diode D1, the minus earth of described light emitting diode D1.
3. according to based on RFID the small-sized stereo garage described in claim 1, it is characterised in that: described voice playing circuit (3) Including speech chip ISD1760, mike MIC, speaker LS1 and for indicating what voice playing circuit (3) working to send out Optical diode D2, the 1st pin of described speech chip ISD1760 connects with the 5V voltage output end of power module (21), described 8th pin, the 12nd pin, the 16th pin and the 28th equal ground connection of pin of speech chip ISD1760；Described speech chip 2nd pin of ISD1760 is connected by the negative pole of resistance R8 with light emitting diode D2, the positive pole of described light emitting diode D2 and electricity The 5V voltage output end of source module (21) connects, the 10th pin of described speech chip ISD1760 by nonpolar electric capacity C17 with The positive pole of described mike MIC connects, and the positive pole of described mike MIC and nonpolar electric capacity C17 connect end by connecting Resistance R6 and resistance R7 connects with the 5V voltage output end of power module (21), and the connection end of described resistance R6 and resistance R7 passes through Polar capacitor C18 ground connection, the 11st pin of described speech chip ISD1760 is by nonpolar electric capacity C16 and described mike MIC Negative pole connect, the connection end of the negative pole of described mike MIC and nonpolar electric capacity C16 is by resistance R5 ground connection；Described voice 14th pin of chip I SD1760 connects with the 5V voltage output end of power module (21), and nonpolar electric capacity in parallel C15 and polar capacitor C14 ground connection；18th pin of described speech chip ISD1760 passes through polar capacitor C20 ground connection, institute's predicate 20th pin of sound chip I SD1760 passes through resistance R9 ground connection；21st pin and the power module of described speech chip ISD1760 (21) 5V voltage output end connects, and nonpolar electric capacity C21 in parallel and polar capacitor C22 ground connection；Described voice core 23rd pin of sheet ISD1760 connects with the 28th pin of described single-chip microcomputer STC89C52, the of described speech chip ISD1760 26 pins connect with the 27th pin of described single-chip microcomputer STC89C52；The positive pole of described speaker LS1 and described speech chip 15th pin of ISD1760 connects, and the negative pole of described speaker LS1 connects with the 13rd pin of described speech chip ISD1760.
4. according to based on RFID the small-sized stereo garage described in claim 1, it is characterised in that: described first motor (17) is step Entering motor, described first motor-drive circuit module (6) includes the motor drive ic U4 that model is L298N, and voltage stabilizing two Pole pipe D1, Zener diode D2, Zener diode D3, Zener diode D4, Zener diode D5, Zener diode D6, voltage stabilizing Diode D7 and Zener diode D8；6th pin of described motor drive ic U4 and the 11st pin all with power module (21) 5V voltage output end connect, the 9th pin of described motor drive ic U4 and the 5V voltage output end phase of power module (21) Connect, and polar capacitor C23 in parallel and nonpolar electric capacity C24 ground connection, the 4th pin of described motor drive ic U4 and electricity The 24V voltage output end of source module (21) connects, and nonpolar electric capacity C25 in parallel and polar capacitor C26 ground connection, described 1st pin, the 8th pin and the 15th equal ground connection of pin of motor drive ic U4；5th pin of described motor drive ic U4 with 21st pin of described single-chip microcomputer STC89C52 connects, the 7th pin of described motor drive ic U4 and described single-chip microcomputer 22nd pin of STC89C52 connects, the 10th pin of described motor drive ic U4 and the 23rd of described single-chip microcomputer STC89C52 the Pin connects, and the 12nd pin of described motor drive ic U4 connects with the 24th pin of described single-chip microcomputer STC89C52；Described One end of 2nd pin of motor drive ic U4 and the A phase coil of the first motor (17) connects, and with the sun of Zener diode D1 The negative electrode of pole and Zener diode D5 connects, and the negative electrode of described Zener diode D1 exports with the 24V voltage of power module (21) End connects, the plus earth of described Zener diode D5；3rd pin of described motor drive ic U4 and the first motor (17) The other end of A phase coil connects, and connects with the anode of Zener diode D2 and the negative electrode of Zener diode D6, described voltage stabilizing two The negative electrode of pole pipe D2 connects with the 24V voltage output end of power module (21), the plus earth of described Zener diode D6；Described One end of 13rd pin of motor drive ic U4 and the B phase coil of the first motor (17) connects, and with Zener diode D3's The negative electrode of anode and Zener diode D7 connects, and the negative electrode of described Zener diode D3 is defeated with the 24V voltage of power module (21) Go out end to connect, the plus earth of described Zener diode D7；14th pin of described motor drive ic U4 and the first motor (17) other end of B phase coil connects, and connects with the anode of Zener diode D4 and the negative electrode of Zener diode D8, described The negative electrode of Zener diode D4 connects with the 24V voltage output end of power module (21), and the anode of described Zener diode D8 connects Ground.
5. according to based on RFID the small-sized stereo garage described in claim 1, it is characterised in that: described second motor (18) is step Entering motor, described second motor-drive circuit module (7) includes the motor drive ic U5 that model is L298N, and voltage stabilizing two Pole pipe 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 of described motor drive ic U5 and the 11st pin all with power supply mould The 5V voltage output end of block (21) connects, and the 9th pin of described motor drive ic U5 is defeated with the 5V voltage of power module (21) Go out end to connect, and polar capacitor C27 in parallel and nonpolar electric capacity C28 ground connection, the 4th of described motor drive ic U5 is drawn Foot connects with the 24V voltage output end of power module (21), and nonpolar electric capacity C29 and polar capacitor C30 in parallel connects Ground, the 1st pin, the 8th pin and the 15th equal ground connection of pin of described motor drive ic U5；The of described motor drive ic U5 5 pins connect with the 25th pin of described single-chip microcomputer STC89C52, the 7th pin of described motor drive ic U5 and described monolithic 26th pin of machine STC89C52 connects, the of the 10th pin of described motor drive ic U5 and described single-chip microcomputer STC89C52 10 pins connect, and the 12nd pin of described motor drive ic U5 connects with the 11st pin of described single-chip microcomputer STC89C52；Institute The one end stating the 2nd pin of motor drive ic U5 and the A phase coil of the second motor (18) connects, and with Zener diode D9's The negative electrode of anode and Zener diode D13 connects, and the negative electrode of described Zener diode D9 is defeated with the 24V voltage of power module (21) Go out end to connect, the plus earth of described Zener diode D13；3rd pin of described motor drive ic U5 and the second motor (18) other end of A phase coil connects, and connects with the anode of Zener diode D10 and the negative electrode of Zener diode D14, institute The 24V voltage output end of the negative electrode and power module (21) of stating Zener diode D10 connects, the sun of described Zener diode D14 Pole ground connection；One end of 13rd pin of described motor drive ic U5 and the B phase coil of the second motor (18) connects, and and voltage stabilizing The anode of diode D11 and the negative electrode of Zener diode D15 connect, the negative electrode of described Zener diode D11 and power module (21) 24V voltage output end connects, the plus earth of described Zener diode D15；The 14th of described motor drive ic U5 The other end of the B phase coil of pin and the second motor (18) connects, and with the anode of Zener diode D12 and Zener diode The negative electrode of D16 connects, and the negative electrode of described Zener diode D12 connects with the 24V voltage output end of power module (21), described surely The plus earth of pressure diode D16.
6. according to based on RFID the small-sized stereo garage described in claim 1, it is characterised in that: described 3rd motor (19) is step Entering motor, described 3rd motor-drive circuit module (8) includes the motor drive ic U6 that model is L298N, and voltage stabilizing two Pole pipe 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 of described motor drive ic U4 and the 11st pin are all with electric The 5V voltage output end of source module (21) connects, and the 9th pin of described motor drive ic U6 is electric with the 5V of power module (21) Pressure outfan connects, and polar capacitor C31 in parallel and nonpolar electric capacity C32 ground connection, described motor drive ic U6's 4th pin connects with the 24V voltage output end of power module (21), and nonpolar electric capacity C33 in parallel and polar capacitor C34 ground connection, the 1st pin, the 8th pin and the 15th equal ground connection of pin of described motor drive ic U6；Described motor drive ic 5th pin of U6 connects with the 12nd pin of described single-chip microcomputer STC89C52, the 7th pin and the institute of described motor drive ic U6 The 13rd pin stating single-chip microcomputer STC89C52 connects, the 10th pin of described motor drive ic U6 and described single-chip microcomputer 14th pin of STC89C52 connects, the 12nd pin of described motor drive ic U6 and the 15th of described single-chip microcomputer STC89C52 the Pin connects；One end of 2nd pin of described motor drive ic U6 and the A phase coil of the 3rd motor (19) connects, and with surely The anode of pressure diode D17 and the negative electrode of Zener diode D21 connect, the negative electrode of described Zener diode D17 and power module (21) 24V voltage output end connects, the plus earth of described Zener diode D21；The 3rd of described motor drive ic U6 is drawn The other end of the A phase coil of foot and the 3rd motor (19) connects, and with the anode of Zener diode D18 and Zener diode D22 Negative electrode connect, the negative electrode of described Zener diode D18 connects with the 24V voltage output end of power module (21), described voltage stabilizing The plus earth of diode D22；13rd pin of described motor drive ic U6 and one end of the B phase coil of the 3rd motor (19) Connect, 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 Connect with the 24V voltage output end of power module (21), the plus earth of described Zener diode D23；Described motor drives core The other end of the 14th pin of sheet U6 and the B phase coil of the 3rd motor (19) connects, and with the anode of Zener diode D20 and steady The negative electrode of pressure diode D24 connects, the 24V voltage output end phase of the negative electrode of described Zener diode D20 and power module (21) Connect, the plus earth of described Zener diode D24.
7. the method that the cargo storage of small-sized stereo garage as claimed in claim 1 is controlled, it is characterised in that the party Method comprises the following steps:
Step one, when there being n part goods to be deposited, in a rfid card store the RFID label tag sequence number of n part goods, weight, Volume and frequency of access, constitute RFID and always block；The information being stored in described RFID always blocks is entered by described rfid circuit (5) Row reads and exports to micro controller module (1)；Wherein, the value of n is positive integer；
Step 2, described micro controller module (1) determine formula Q according to cargo storage priorityi=a1Mi+a2Vi+a3fiDetermine N part goods deposit priority Q1、Q2、…、Qn, and n part goods is deposited priority Q1、Q2、…、QnArrange from big to small Row, determine the RFID label tag sequence number of n part goods and the one-to-one relationship depositing priority；Wherein, QiIt is i-th goods Deposit priority, MiIt is the weight of i-th goods, ViIt is the volume of i-th goods, fiIt is the frequency of access of i-th goods, i's Value is the positive integer of 1～n；a1+a2+a3=1, a1The threshold constant of weight and 0.26 < a for goods1< 0.35, a2For goods The threshold constant of volume and 0.15 < a2< 0.24, a3The threshold constant of frequency of access and 0.45 < a for goods3<0.5；
Step 3, first, described micro controller module (1) is read by RS-232 telecommunication circuit (22) and is stored in host computer (2) the empty goods yard numbering on the multi-layered storage rack (15) in, and described empty goods yard numbering is arranged from small to large；Then, institute State micro controller module (1) and number, in empty goods yard, the empty goods yard being arranged in front according to depositing the preceding cargo storage of priority arrangement On principle determine the one-to-one relationship depositing priority and empty goods yard numbering of n part goods；Wherein, described multi-layered storage rack (15) each goods yard on is provided with a numbering, and the value of described numbering is positive integer, and the rule that arranges of described numbering is From the bottom open numbering of multi-layered storage rack (15), number gradually from the inner side of the lateral multi-layered storage rack (15) of multi-layered storage rack (15) Increase, be gradually increased from the high-rise numbering of the low layer of multi-layered storage rack (15) to multi-layered storage rack (15)；
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 One a pair that deposits priority and empty goods yard numbering of the n part goods determined in the one-to-one relationship of priority and step 3 Should be related to, determine the RFID label tag sequence number of n part goods and the one-to-one relationship of empty goods yard numbering；
N part goods is deposited one by one by step 5, described micro controller module (1) according to procedure below: first, when depositing After the container (14) of the goods put is placed on pallet fork (16), described rfid circuit (5) is posted in this container to being stored in (14) information in the RFID label tag on end face (9) is read out and exports to micro controller module (1)；It is stored in this RFID mark The information in (9) of signing includes RFID label tag sequence number, weight, volume and the frequency of access of this part goods；Then, described microcontroller The weight of this part goods is compared by module (1) with weight threshold, and is compared with volume threshold by the volume of this part goods Right, have in the weight of this part goods is more than the volume of weight threshold and this part goods two decision conditions more than volume threshold Setting up or two when all setting up for one, described micro controller module (1) controls voice playing circuit (3) and plays this goods and be unsatisfactory for The audio alert signal of storage requirement, reminds this goods of staff to be unsatisfactory for storage requirement, need to carry out depositing of next part goods Put；When the volume that the weight of this part goods is not more than weight threshold and this part goods is not more than volume threshold, described microcontroller The RFID label tag sequence number of the n part goods that device module (1) is determined in step 4 according to the RFID label tag sequence number of this goods is with empty The one-to-one relationship kind of goods yard numbering finds the empty goods yard numbering that this goods is deposited on multi-layered storage rack (15), and according to this sky Goods yard numbering output drives electricity to the first motor-drive circuit module (6), the second motor-drive circuit module (7) and the 3rd motor The control signal of road module (8), is driven the first motor (17) to drive container (14) at X by the first motor-drive circuit module (6) Move on direction of principal axis, the second motor-drive circuit module (7) drive the second motor (18) to drive container (14) in the Y-axis direction Motion, is driven the 3rd motor (19) to drive container (14) to move in the Z-axis direction by the 3rd motor-drive circuit module (8), will This cargo storage is on corresponding goods yard；Then, the empty goods yard numbering that this goods is occupied by described micro controller module (1) is logical Cross RS-232 telecommunication circuit (22) and be sent to host computer (2), host computer (2) according to its information updating received its The empty goods yard number information of storage.
The most in accordance with the method for claim 7, it is characterised in that: a described in step 21、a2、a3Value 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.
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