CN205574838U

CN205574838U - Industrial waste real -time protection method handling device that leaves warehouse

Info

Publication number: CN205574838U
Application number: CN201620137967.9U
Authority: CN
Inventors: 张晶; 陈相睿; 范洪博
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2016-02-24
Filing date: 2016-02-24
Publication date: 2016-09-14
Anticipated expiration: 2026-02-24

Abstract

The utility model relates to an industrial waste real -time protection method handling device that leaves warehouse belongs to embedded safe control field. The utility model discloses an entrance guard's part, PC subtotal railcar part, the entrance guard is partially through the some communication of WIFI and PC, PC part through WIFI and the some communication of railcar. The utility model discloses simple structure, the management is convenient, has improved the efficiency of leaving warehouse, can reduce contact human and industrial waste, can prevent business turn over storehouses such as people without fixed duties, can also ensure that the human body avoids industrial waste's in the storehouse injury.

Description

A kind of real-time embedded Handling device of trade waste outbound

Technical field

This utility model relates to a kind of real-time embedded Handling device of trade waste outbound, belongs to embedded-type security control field.

Background technology

Along with industrial development, industrial solid castoff quantity increases day by day, and the especially industrial discharge amount such as metallurgy, thermal power generation is maximum.Industrial solid castoff is divided into two classes: general industry solid waste and dangerous solid waste.The methods such as the method wherein processing these garbages is of all kinds, and major part industrial waste still saves as master with passive heap, industrial solid castoff employing landfill, chemical conversion, the microbial treatments that part is harmful are disposed；It is true that some industrial solid castoff is through suitable PROCESS FOR TREATMENT, the industrial original or energy can be become, it is achieved resource conversion.Owing to most trade waste is harmful, now, be temporarily stored in storehouse can realize, through suitable PROCESS FOR TREATMENT, the problem that the industrial solid castoff of resource conversion exists for this outbound.If people enters to ransack required trade waste, will be injured to a certain extent, also be expended the time.Just it is prevented from human body at a kind of real-time embedded Handling device of trade waste outbound of storehouse application to come to harm, moreover it is possible to improve outbound efficiency.This trade waste outbound real-time embedded Handling device simple in construction, time saving and energy saving, the turnover storehouses such as people without fixed duties can be prevented, moreover it is possible to ensure that human body is from the injury of trade waste in storehouse.

Summary of the invention

This utility model provides a kind of real-time embedded Handling device of trade waste outbound, for the problem solving trade waste outbound.

The technical solution of the utility model is: a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Described gate inhibition's part 8 is communicated by WIFI with PC part 13, PC part 13 is communicated with railcar part 27 by WIFI；

Described gate inhibition's part 8 includes fingerprint collecting device 1, buzzer circuit 2, FPM10A module 3, single chip control module I 4, WIFI module I 5, control circuit of unblanking 6, LCD33；Described single chip control module I 4 includes single-chip microcomputer U1, self-lock switch S1, resistance R1, crystal oscillator X1, electric capacity C1, C2, C3；

Wherein fingerprint collecting device 1 is connected with FPM10A module 3；WIFI module I 5 is connected with single-chip microcomputer U1；Self-lock switch S1 one end is connected by R1 with VCC and is connect 8 feet of single-chip microcomputer U1, self-lock switch S1 other end ground connection；1 foot of FPM10A module 3 meets VCC, 2 foot ground connection, and 3 feet, 4 feet connect 10 feet of single-chip microcomputer U1,11 feet respectively, and 5 feet are unsettled；18 feet of single-chip microcomputer U1,19 feet connect the two ends of crystal oscillator X1 respectively；The two ends of crystal oscillator X1, simultaneously wire ground between electric capacity C2, C3 it is attempted by after electric capacity C2, C3 series connection；The 20 foot ground connection of single-chip microcomputer U1；Buzzer circuit 2 is connected with 14 feet of single-chip microcomputer U1；Control circuit of unblanking 6 is connected with 12,13 feet of single-chip microcomputer U1；One end of electric capacity C1 is connected with VCC, other end ground connection；31 feet and 40 feet of single-chip microcomputer U1 all meet VCC；1 foot and 16 foot ground connection, 2 feet and 15 feet of LCD33 connect+5V voltage, and 7 feet to 14 feet 21 to 28 being connected with single-chip microcomputer U1 respectively, 4,5,6 feet are connected with 15,16,17 feet of single-chip microcomputer U1 respectively；

Described PC part 13 includes WIFI module II 9, single chip control module II 10, MAX232 module 11, PC12；Described single chip control module II 10 includes single-chip microcomputer U2, electric capacity C4, C5, C6, crystal oscillator X2；Wherein WIFI module II 9 is connected with single-chip microcomputer U2；MAX232 module 11 meets single-chip microcomputer U2；18 feet of single-chip microcomputer U2,19 feet connect the two ends of crystal oscillator X2 respectively；The two ends of crystal oscillator X2, simultaneously wire ground between electric capacity C5, C6 it is attempted by after electric capacity C5, C6 series connection；The 20 foot ground connection of single-chip microcomputer U2；One end of electric capacity C4 is connected with VCC, other end ground connection；31 feet and 40 feet of single-chip microcomputer U2 all meet VCC；MAX232 module 11 is connected by RS232 with PC12；

Described railcar part 27 includes voltage regulating device 16, accumulator 17, memory module 18, WIFI module III 20, MCU module 21, control relay circuit 22, pressure sensor module 23, manipulator 24, direct current generator I 25, direct current generator II 26, radio frequency identification module 28, described MCU module 21 includes MCU, resistance R2, R3, R4, R5, button KEY1, electric capacity C7, C8, C9, C10, C11, reserve battery VBAT, light emitting diode D0, crystal oscillator X3, X4, BOOT circuit；Wherein radio frequency identification module 28 is connected with 29,30 feet of MCU；Accumulator 17 for power supply is connected with the voltage regulating device 16 for pressure regulation, in memory module 18 the 1 of SD card, 5,7,2 feet are connected with 33,34,35,36 feet of MCU respectively；WIFI module III 20 is connected with MCU；Control relay circuit 22 is connected with 51 feet of MCU；Pressure sensor module 23 is connected with 8 feet of MCU；Manipulator 24 is connected with MCU；1 foot of MCU is connected with light emitting diode D0 negative electrode, and the anode of light emitting diode D0 is connected with the positive pole of reserve battery VBAT, the minus earth of reserve battery VBAT；Resistance R2 mono-terminates VCC, and the other end is connected with one end of electric capacity C7, the other end ground connection of electric capacity C7；Button KEY1 is connected in parallel on electric capacity C7, and goes between resistance R2 and electric capacity C7 and be connected on 7 feet of MCU；60 feet of MCU are connected with one end of resistance R3, and the other end of resistance R3 is connected with 3 feet of BOOT circuit；28 feet of MCU are connected with one end of resistance R4, and the other end of resistance R4 is connected with 4 feet of BOOT circuit；1 foot of BOOT circuit and 2 feet are connected and connect 5 feet of VCC, BOOT circuit and 6 feet are connected and ground connection；3 feet of MCU and 4 feet are coupled with the two ends of crystal oscillator X4, after electric capacity C10 and electric capacity C11 series connection and on crystal oscillator X4, and from wire ground between electric capacity C10 and electric capacity C11；5 feet of MCU and 6 feet are coupled with the two ends of resistance R5, crystal oscillator X3 on resistance R5, after electric capacity C8 and electric capacity C9 series connection and on resistance R5, and from wire ground between electric capacity C8 and electric capacity C9, control relay circuit 22 is connected with direct current generator I 25, direct current generator II 26.

Described buzzer circuit 2 includes resistance R12, NPN audion Q5, buzzer Speak1；Wherein the colelctor electrode of audion Q5 connects 5V voltage, and base stage is connected by the P3.4 mouth of resistance R12 and single-chip microcomputer U1, and emitter stage connects one end of buzzer Speak1, the other end ground connection of buzzer Speak1；

Described WIFI module I 5 includes NRF24L01 chip, electric capacity C12, C13, C14, C15, C16, C17, C18, C19, C20, resistance R6, R7, crystal oscillator X5, inductance L1, L2, L3, antenna；Wherein electric capacity C12, C13 mono-terminates VDD, other end ground connection；The 1 of NRF24L01 chip, 2,3,4,5,6 feet be connected with 1,2,3,4,5,6 feet of single-chip microcomputer U1 respectively, 7 feet of NRF24L01 chip, 15 feet, 18 feet are connected and connect VDD；8 feet of NRF24L01 chip and 14 feet are connected and ground connection；9 feet of NRF24L01 chip and 10 feet two ends with crystal oscillator X5 respectively are connected, and resistance R7 is in parallel with crystal oscillator X5；Electric capacity C19 ground connection is passed through in one end of resistance R7, and the other end passes through electric capacity C20 ground connection；One end of electric capacity C17 is connected with 11 feet of NRF24L01 chip, other end ground connection；One end of electric capacity C18 is connected with 11 feet of NRF24L01 chip, other end ground connection；12 feet of NRF24L01 chip are connected by 13 feet of inductance L2 and NRF24L01 chip and are connected by 11 feet of inductance L3 and NRF24L01 chip；One end of inductance L1 is connected with 13 feet of NRF24L01 chip, and the other end is connected with one end of electric capacity C15；The other end of electric capacity C15 is by electric capacity C16 ground connection and connects antenna；16 feet of NRF24L01 chip are connected and ground connection by 17 feet of resistance R6 and NRF24L01 chip, 20 feet；One end of electric capacity C14 is connected with 19 feet of NRF24L01 chip, other end ground connection；Described WIFI module I 5, WIFI module II 9, WIFI module III 20 structure are identical；

Described control circuit 6 of unblanking includes resistance R8, R9, R10, R11, NPN audion Q1, Q2, PNP triode Q3, Q4, direct current generator III 7；Wherein one end of resistance R8 is connected with NPN audion Q1 base stage, and the resistance R8 other end is connected with resistance R9, and the other end of resistance R9 is connected with the base stage of PNP triode Q3, connects the P3.2 mouth of single-chip microcomputer U1 from lead-in wire between resistance R8 and resistance R9；The emitter stage of NPN audion Q1 is connected with the emitter stage of PNP triode Q3；The colelctor electrode of NPN audion Q1 is connected with the colelctor electrode of NPN audion Q2 and connects 5V voltage；The colelctor electrode of PNP triode Q3 is connected and ground connection with the colelctor electrode of PNP triode Q4；The emitter stage of PNP triode Q2 is connected with the emitter stage of PNP triode Q4；Between the emitter stage of NPN audion Q1, Q3 and between PNP triode Q2, Q4 emitter stage, lead-in wire connects direct current generator III 7 respectively；One end of resistance R10 is connected with NPN audion Q2 base stage, and the other end is connected with resistance R11 one end, and the other end of resistance R11 is connected with the base stage of PNP triode Q4, connects the P3.3 mouth of single-chip microcomputer U1 from lead-in wire between resistance R10 and resistance R11.

Described MAX232 module 11 includes MAX232 chip, electric capacity C21, C22, C23, C24, C25, RS232；Wherein 1 foot of MAX232 chip is connected by 3 feet of electric capacity C22 and MAX232 chip；Electric capacity C21 one end is connected with 2 feet of MAX232 chip, and another terminates 5V voltage；4 feet of MAX232 chip are connected by 5 feet of electric capacity C24 and MAX232 chip；6 feet of MAX232 chip pass through electric capacity C25 ground connection；11 feet of MAX232 chip and 12 feet connect P3.1 and the P3.0 mouth of single-chip microcomputer U2 respectively；13 feet of MAX232 chip and 14 feet connect 3 feet and 2 feet of RS232 respectively；15 foot ground connection of MAX232 chip；16 feet of MAX232 chip connect 5V voltage and by electric capacity C23 ground connection；The 5 foot ground connection of RS232.

Described memory module 18 includes SD card, resistance R13, R14, R15, R16, electric capacity C26；Wherein resistance R13 one end is connected with 1 foot of SD card, and another terminates VCC；Resistance R14 one end is connected with 2 feet of SD card, and another terminates VCC；Resistance R15 one end is connected with 5 feet of SD card, and another terminates VCC；Resistance R16 one end is connected with 7 feet of SD card, and another terminates VCC；3 foot ground connection of SD card；4 feet of SD card meet VCC；The one termination VCC of electric capacity C26, other end ground connection；6 foot ground connection of SD card；

Described control relay circuit 22 includes resistance R29, R30, NPN audion Q6, diode D1, relay K 1, two-way switch S2, interface socket CON1；Wherein resistance R29 one end is connected with the base stage of NPN audion Q6,51 feet of another termination MCU；The grounded emitter of NPN audion Q6, the anode of diode D1 is received on the colelctor electrode of NPN audion Q6, diode D1 negative electrode connects VCC power supply, relay K 1 and diode D1 parallel join, 1 foot of interface socket CON1 meets two-way switch S2,2 feet of interface socket CON1 connect direct current generator I 25, direct current generator II 26, and resistance R30 is connected with direct current generator I 25, direct current generator II 26；

Described pressure sensor module 23 includes pressure transducer 51, in the same direction amplifier A1, A2, differential subtracting amplifier A3, resistance R17, R18, R19, R20, R21, R22, R23；Wherein 4 feet of pressure transducer 51 connect+5V voltage, 2 foot ground connection, and 1 foot connects 3 feet of A1, and 3 feet connect 3 feet of A2；Resistance R17 one end is connected with 2 feet of amplifier A1 in the same direction, and the other end is connected with 2 feet of amplifier A2 in the same direction；Resistance R18 one end is connected with 2 feet of amplifier A1 in the same direction, and the other end is connected with 1 foot of amplifier A1 in the same direction；Resistance R19 one end is connected with 2 feet of amplifier A2 in the same direction, and the other end is connected with 1 foot of amplifier A2 in the same direction；Resistance R20 one end is connected with 1 foot of amplifier A1 in the same direction, and the other end is connected with 2 feet of differential subtracting amplifier A3；Resistance R22 one end is connected with 1 foot of amplifier A2 in the same direction, and the other end is connected with 3 feet of differential subtracting amplifier A3；Resistance R23 one end is connected with 3 feet of differential subtracting amplifier A3, other end ground connection；Resistance R21 one end is connected with 2 feet of differential subtracting amplifier A3, and the other end is connected with 1 foot of differential subtracting amplifier A3；1 foot of differential subtracting amplifier A3 connects 8 feet of MCU and is connected；

Described manipulator 24 includes mechanical hand, dolly, lifting shaft sleeve 36, 3rd slide block 40, lifting shaft 46, track 54, described mechanical hand includes double sided slider bar 29, slide rail base 30, handgrip removable drive part 31, 1st slide block 32, arm I 34, handle component 35, 1st rotary drive device 37, horizontal slide drive part 38, arm II 39, arm IV 41, rotary shaft 42, 2nd slide block 43, horizontal sliding bar 44, arm III 45, described dolly includes rotatable part 47, 2nd rotary drive device 48, base 49, elastic pressuring plate 50, loading base 52, lift actuator part 53；Wherein double sided slider bar 29 is arranged on slide rail base 30；Slide rail base 30 is fixed by screws on arm II 39；Handgrip removable drive part 31 is placed in slide rail base 30；1st slide block 32 is placed on double sided slider bar 29；Arm I 34 is connected by screw and the 1st slide block 32；Handle component 35 is fixed by screws on arm I 34；1st rotary drive device 37, horizontal slide drive part 38 are placed in arm III 45；Arm II 39 is connected with the 2nd slide block 43；3rd slide block 40 is connected with arm IV 41 and is placed on lifting shaft 46；Arm IV 41 is connected with arm III 45 by rotary shaft 42；2nd slide block 43 is connected with horizontal sliding bar 44；Lifting shaft sleeve 36, lifting shaft 46 are all connected with rotatable part 47, then are connected with base 49；Elastic pressuring plate 50 is individually fixed in the groove both sides of loading base 52, in order to fixing object；It is anterior that loading base 52 is placed in dolly；Lift actuator part the 53, the 2nd rotary drive device 48 is placed among base 49；Dolly is placed on track 54；1st rotary drive device the 37, the 2nd rotary drive device 48, handgrip removable drive part 31, horizontal slide drive part 38, lift actuator part 53 are all connected with MCU；Electronic tag 56 is respectively placed under track 54 and is affixed on specific store case 55；

Described radio frequency identification module 28 includes CLRC632 module I 14, CLRC632 module II 15, single chip control module III 19；Described single chip control module III 19 includes single-chip microcomputer U3, electric capacity C27, C28, C29, crystal oscillator X6；Wherein CLRC632 module I 14, CLRC632 module II 15 are respectively placed in bottom mechanical hand position, middle foremost and dolly；CLRC632 module I 14, CLRC632 module II 15 are connected with single-chip microcomputer U3 respectively；The 10 of single-chip microcomputer U3,11 feet are connected with 29,30 feet of MCU respectively；18 feet of single-chip microcomputer U3 and 19 feet are connected on the two ends of crystal oscillator X6 respectively, are connected in parallel on crystal oscillator X6, from wire ground between electric capacity C28 and electric capacity C29 after electric capacity C28 and electric capacity C29 series connection；The 20 foot ground connection of single-chip microcomputer U3；31 feet and 40 feet of single-chip microcomputer U3 meet VCC；The one termination VCC of electric capacity C27, other end ground connection.

CLRC632 module I 14 includes CLRC632 chip, crystal oscillator X7, electric capacity C30, C31, C32, C33, C34, C35, C36, C37, C38, C39, C40, C41, C42, C43, C44, C45, C46, resistance R24, R25, R26, R27, R28, button KEY2, inductance L4, L5, L6, L7；Wherein the 13 of CLRC632 chip, 22,24,21 feet are connected with 1,2,3,4 feet of single-chip microcomputer U3 respectively；1 foot of CLRC632 chip is connected by electric capacity C30 ground connection and the one end with crystal oscillator X7；32 feet of CLRC632 chip are connected with the other end of crystal oscillator X7 and by electric capacity C31 ground connection；6 feet of CLRC632 chip connect VCC voltage；8 feet of CLRC632 chip, 9 feet, 12 feet are connected and ground connection；Electric capacity C34 mono-terminates VCC, other end ground connection；10 feet of CLRC632 chip, 11 feet are connected and meet VCC；23 foot ground connection of CLRC632 chip；25 feet of CLRC632 chip connect VCC voltage；26 feet of CLRC632 chip connect VCC voltage；28 foot ground connection of CLRC632 chip；Electric capacity C33 mono-terminates 25 feet of CLRC632 chip, 28 feet of another termination CLRC632 chip；29 feet of CLRC632 chip are connected by resistance R24 and CLRC632 chip 30 foot；30 feet of the one termination CLRC632 chip of electric capacity C32, other end ground connection；31 feet of CLRC632 chip are connected with 9 feet of single-chip microcomputer U3；Electric capacity C35 mono-terminates VCC, and the other end passes through resistance R25 ground connection；Button KEY2 is connected in parallel on electric capacity C35, and connects 31 feet of CLRC632 chip from lead-in wire between electric capacity C35 and resistance R25；Electric capacity C36, C37 one end is connected with one end of inductance L4, other end ground connection；Electric capacity C39, C40 one end is connected with one end of electric capacity C38, other end ground connection；Inductance L6 one end is connected by one end of resistance R26 and electric capacity C38, other end ground connection；The other end of electric capacity C38 is connected with one end of inductance L4；The other end of inductance L4 is connected with 5 feet of CLRC632 chip；Electric capacity C41, C42 one end is connected with one end of inductance L5, other end ground connection；Electric capacity C44, C45 one end is connected with one end of electric capacity C43, other end ground connection；Inductance L7 one end is connected by one end of resistance R27 and electric capacity C43, other end ground connection；The other end of electric capacity C43 is connected with one end of inductance L5；The another end of inductance L5 is connected with 7 feet of CLRC632 chip；One end of the one terminating resistor R28 of electric capacity C46, one end of another termination capacitor C38；The other end of resistance R28 is connected with 29 feet of CLRC632 chip；Described CLRC632 module I 14 is identical with CLRC632 module II 15 structure.

Wherein, single-chip microcomputer model can be AT89S52；The model of MCU can be: STM32F103R8T6.

Operation principle of the present utility model is:

Gate inhibition's part 8: first judged the level height of 8 feet by single chip control module I 4, if low level then typing fingerprint, on the contrary fingerprint recognition；When fingerprint collecting device collects fingerprint, data carry out fingerprint matching process from the incoming single chip control module of RX foot I 4 of the TX foot of FPM10A module 3 to single chip control module I 4, if fingerprint matching is unsuccessful, then by P3.4 is put 1, the signal of telecommunication flows to the base stage of NPN audion Q5 by resistance R12, being flowed to emitter stage by base stage again and receive ground by buzzer Speak1, buzzer sends sound.After time delay 3s, single chip control module I 4 is re-entered by LCD prompting；Otherwise, the P3.1 of single chip control module I 4 puts 1, now audion Q1 and Q4 conducting, and audion Q2, Q3 end, and forward current makes direct current generator III 7 rotate forward, then unblanks；After door is opened, the P3.2 of single chip control module I 4 puts 1, now audion Q2 and Q3 conducting, Q1 and Q4 ends, and reverse current is to make direct current generator III 7 invert, and is discharged by lock.The record every time opened the door is sent in WIFI module I 5 (owing to AT series monolithic does not has SPI interface by SPI interface simultaneously, so using P1.1 to P1.4 to simulate SPI interface), antenna part is passed to again by TX1, TX2 of WIFI module I 5, convert electrical signals to wireless signal send, received by the antenna of the WIFI module II 9 of single chip control module II 10 again, wireless signal is converted to the signal of telecommunication, sends in single chip control module II 10.Owing to the signal level of single-chip microcomputer and the standard of RS232 are different, so to carry out level conversion through MAX232 chip, then will incoming for data PC12 store, in order to check the record of turnover.

PC part 13: by the positional information of computer search to the electronic tag of the article needing outbound, confirm outbound, data are passed to carry out level conversion in MAX232 chip be Transistor-Transistor Logic level by this computer-chronograph by RS232, then enter single chip control module II 10 from RX oral instructions.Data are passed to WIFI module II 9 by SPI interface (SPI interface of single chip control module II 10 is simulated by P1.1, P1.2, P1.3, P1.4) by single chip control module II 10, antenna part is passed to again by TX1, TX2 of WIFI module II 9, convert electrical signals to wireless signal send, received by the antenna of the WIFI module III 20 of MCU module 21 again, wireless signal is converted to the signal of telecommunication, sends in MCU module 21 and process.

Railcar part 27: the WIFI module III 20 on dolly receives the wireless signal from PC12, antenna be converted into the signal of telecommunication, by SPI interface by incoming for signal of telecommunication MCU module 21.After MCU module 21 receives order, 51 feet being put 1, the signal of telecommunication passes to the base stage of audion Q6 by resistance R29, makes the switch S2 of control relay circuit 22 close, and drives direct current generator I 25, direct current generator II 26 to rotate forward, and dolly starts.Electronic tag 56 on the middle cloth of the specific store case 55 of each shelf and the track 54 of right opposite, (information of these electronic tags 56 is stored in SD card) dolly can first identify the electronic tag beyond shelf before not entering shelf, carry out information matches, it is confirmed whether it is corresponding shelf, if, then perform deceleration instruction, otherwise continue to walk；Dolly slows down after recognizing corresponding shelf electronic labeling information until stopping after electronic tag in the range of recognizing corresponding article position.Now, MCU module 21 controls robot movement, being identified the electronic tag 56 of specific store case 55 on shelf, after the match is successful, mechanical hand is to extension a certain distance, then it is raised above by elevating lever, again mechanical hand is retracted, drop to loading base, acquirement thing is placed on loading base, it is fixed by the elastic pressuring plate 50 of both sides, mechanical hand return to primitive age position.When article are placed on loading base 52, pressure transducer 51 is under pressure, the resistance of the strain original paper in pressure transducer 51 changes, a pair arm resistance of electric bridge becomes big Δ R, and another Δ R that arm resistance is diminished, electric bridge disequilibrium, the most just there are 1 foot from pressure transducer 51 and 3 feet, two signals of output, Single-end output U0(U0 double-width grinding become over the ground by the differential subtracting amplifier of measuring and amplifying circuit is directly proportional to the pressure), U0 passes in the analog-digital converter within MCU module 21 by 8 feet of MCU module 21, analogue signal is converted into digital signal.STM32F103R8T6 chip after receiving pressure signal, time delay 20s, then be Control direct current generator I 25, direct current generator II 26 rotate forward, dolly start, return to initial position.

The beneficial effects of the utility model are: simple in construction, convenient management, improve outbound efficiency, it is possible to reduce human body contacts with trade waste, can prevent the turnover storehouses such as people without fixed duties, moreover it is possible to ensure that human body is from the injury of trade waste in storehouse.

Accompanying drawing explanation

Fig. 1 is that structure of the present utility model connects block diagram；

Fig. 2 is gate inhibition's part of module connection figure of the present utility model；

Fig. 3 is buzzer circuit schematic diagram of the present utility model；

Fig. 4 is WIFI module circuit theory diagrams of the present utility model；

Fig. 5 is control circuit schematic diagram of unblanking of the present utility model；

Fig. 6 is PC part of module connection figure of the present utility model；

Fig. 7 is MAX232 modular circuit schematic diagram of the present utility model；

Fig. 8 is railcar part of module connection figure of the present utility model；

Fig. 9 is memory module circuit theory diagrams of the present utility model；

Figure 10 is control relay circuit schematic diagram of the present utility model；

Figure 11 is Modular circuit of pressure sensor schematic diagram of the present utility model；

Figure 12 is manipulator structure connection diagram of the present utility model；

Figure 13 is the top view of dotted line frame in this utility model Figure 12；

Figure 14 is radio frequency identification module circuit theory diagrams of the present utility model；

Figure 15 is CLRC632 modular circuit schematic diagram of the present utility model；

Figure 16 is track schematic diagram of the present utility model；

Figure 17 is specific store case schematic diagram of the present utility model；

Figure 18 is specific store case schematic side view of the present utility model；

nullFigure is respectively numbered: 1-fingerprint collecting device，2-buzzer circuit，3-FPM10A module，4-single chip control module I，5-WIFI module I，6-unblanks control circuit，7-direct current generator III，8-gate inhibition's part，9-WIFI module II，10-single chip control module II，11-MAX232 module，12-PC，13-PC part，14-CLRC632 module I，15-CLRC632 module II，16-voltage regulating device，17-accumulator，18-memory module，19-single chip control module III，20-WIFI module III，21-MCU module，22-control relay circuit，23-pressure sensor module，24-manipulator，25-direct current generator I，26-direct current generator II，27-railcar part，28-radio frequency identification module，29-double sided slider bar，30-slide rail base，31-handgrip moves driver part，32-the 1st slide block，33-LCD，34-arm I，35-handle component，36-lifting shaft sleeve，37-the 1st rotary drive device，38-horizontal slide drive part，39-arm II，40-the 3rd slide block，41-arm IV，42-rotary shaft，43-the 2nd slide block，44-horizontal sliding bar，45-arm III，46-lifting shaft，47-rotatable part，48-the 2nd rotary drive device，49-base，50-elastic pressuring plate，51-pressure transducer，52-loading base，53-lift actuator part，54-track，55-specific store case，56-electronic tag.

Detailed description of the invention

Embodiment 1: as shown in Fig. 1-18, a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Embodiment 2: as shown in Fig. 1-18, a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Embodiment 3: as shown in Fig. 1-18, a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Embodiment 4: as shown in Fig. 1-18, a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Embodiment 5: as shown in Fig. 1-18, a kind of real-time embedded Handling device of trade waste outbound, including gate inhibition's part 8, PC part 13 and railcar part 27；

Above in conjunction with accompanying drawing, detailed description of the invention of the present utility model is explained in detail, but this utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible on the premise of without departing from this utility model objective, various changes can be made.

Claims

1. the real-time embedded Handling device of trade waste outbound, it is characterised in that: include gate inhibition's part (8), PC part (13) and railcar part (27)；

Described gate inhibition part (8) is communicated by WIFI with PC part (13), PC part (13) is communicated with railcar part (27) by WIFI；

Described gate inhibition part (8) includes fingerprint collecting device (1), buzzer circuit (2), FPM10A module (3), single chip control module I (4), WIFI module I (5), control circuit of unblanking (6), LCD(33)；Described single chip control module I (4) includes single-chip microcomputer U1, self-lock switch S1, resistance R1, crystal oscillator X1, electric capacity C1, C2, C3；

Wherein fingerprint collecting device (1) is connected with FPM10A module (3)；WIFI module I (5) is connected with single-chip microcomputer U1；Self-lock switch S1 one end is connected by R1 with VCC and is connect 8 feet of single-chip microcomputer U1, self-lock switch S1 other end ground connection；1 foot of FPM10A module (3) meets VCC, 2 foot ground connection, and 3 feet, 4 feet connect 10 feet of single-chip microcomputer U1,11 feet respectively, and 5 feet are unsettled；18 feet of single-chip microcomputer U1,19 feet connect the two ends of crystal oscillator X1 respectively；The two ends of crystal oscillator X1, simultaneously wire ground between electric capacity C2, C3 it is attempted by after electric capacity C2, C3 series connection；The 20 foot ground connection of single-chip microcomputer U1；Buzzer circuit (2) is connected with 14 feet of single-chip microcomputer U1；Control circuit of unblanking (6) is connected with 12,13 feet of single-chip microcomputer U1；One end of electric capacity C1 is connected with VCC, other end ground connection；31 feet and 40 feet of single-chip microcomputer U1 all meet VCC；LCD(33) 1 foot and 16 foot ground connection, 2 feet and 15 feet connect+5V voltage, and 7 feet to 14 feet 21 to 28 being connected with single-chip microcomputer U1 respectively, 4,5,6 feet are connected with 15,16,17 feet of single-chip microcomputer U1 respectively；

Described PC part (13) includes WIFI module II (9), single chip control module II (10), MAX232 module (11), PC(12)；Described single chip control module II (10) includes single-chip microcomputer U2, electric capacity C4, C5, C6, crystal oscillator X2；Wherein WIFI module II (9) is connected with single-chip microcomputer U2；MAX232 module (11) meets single-chip microcomputer U2；18 feet of single-chip microcomputer U2,19 feet connect the two ends of crystal oscillator X2 respectively；The two ends of crystal oscillator X2, simultaneously wire ground between electric capacity C5, C6 it is attempted by after electric capacity C5, C6 series connection；The 20 foot ground connection of single-chip microcomputer U2；One end of electric capacity C4 is connected with VCC, other end ground connection；31 feet and 40 feet of single-chip microcomputer U2 all meet VCC；MAX232 module (11) passes through RS232 with PC(12) it is connected；

Described railcar part (27) includes voltage regulating device (16), accumulator (17), memory module (18), WIFI module III (20), MCU module (21), control relay circuit (22), pressure sensor module (23), manipulator (24), direct current generator I (25), direct current generator II (26), radio frequency identification module (28), described MCU module (21) includes MCU, resistance R2, R3, R4, R5, button KEY1, electric capacity C7, C8, C9, C10, C11, reserve battery VBAT, light emitting diode D0, crystal oscillator X3, X4, BOOT circuit；Wherein radio frequency identification module (28) is connected with 29,30 feet of MCU；Accumulator (17) for power supply is connected with the voltage regulating device (16) for pressure regulation, in memory module (18) the 1 of SD card, 5,7,2 feet are connected with 33,34,35,36 feet of MCU respectively；WIFI module III (20) is connected with MCU；Control relay circuit (22) is connected with 51 feet of MCU；Pressure sensor module (23) is connected with 8 feet of MCU；Manipulator (24) is connected with MCU；1 foot of MCU is connected with light emitting diode D0 negative electrode, and the anode of light emitting diode D0 is connected with the positive pole of reserve battery VBAT, the minus earth of reserve battery VBAT；Resistance R2 mono-terminates VCC, and the other end is connected with one end of electric capacity C7, the other end ground connection of electric capacity C7；Button KEY1 is connected in parallel on electric capacity C7, and goes between resistance R2 and electric capacity C7 and be connected on 7 feet of MCU；60 feet of MCU are connected with one end of resistance R3, and the other end of resistance R3 is connected with 3 feet of BOOT circuit；28 feet of MCU are connected with one end of resistance R4, and the other end of resistance R4 is connected with 4 feet of BOOT circuit；1 foot of BOOT circuit and 2 feet are connected and connect 5 feet of VCC, BOOT circuit and 6 feet are connected and ground connection；3 feet of MCU and 4 feet are coupled with the two ends of crystal oscillator X4, after electric capacity C10 and electric capacity C11 series connection and on crystal oscillator X4, and from wire ground between electric capacity C10 and electric capacity C11；5 feet of MCU and 6 feet are coupled with the two ends of resistance R5, crystal oscillator X3 on resistance R5, after electric capacity C8 and electric capacity C9 series connection and on resistance R5, and from wire ground between electric capacity C8 and electric capacity C9, control relay circuit (22) is connected with direct current generator I (25), direct current generator II (26).

The real-time embedded Handling device of trade waste outbound the most according to claim 1, it is characterised in that: described buzzer circuit (2) includes resistance R12, NPN audion Q5, buzzer Speak1；Wherein the colelctor electrode of audion Q5 connects 5V voltage, and base stage is connected by the P3.4 mouth of resistance R12 and single-chip microcomputer U1, and emitter stage connects one end of buzzer Speak1, the other end ground connection of buzzer Speak1；

Described WIFI module I (5) includes NRF24L01 chip, electric capacity C12, C13, C14, C15, C16, C17, C18, C19, C20, resistance R6, R7, crystal oscillator X5, inductance L1, L2, L3, antenna；Wherein electric capacity C12, C13 mono-terminates VDD, other end ground connection；The 1 of NRF24L01 chip, 2,3,4,5,6 feet be connected with 1,2,3,4,5,6 feet of single-chip microcomputer U1 respectively, 7 feet of NRF24L01 chip, 15 feet, 18 feet are connected and connect VDD；8 feet of NRF24L01 chip and 14 feet are connected and ground connection；9 feet of NRF24L01 chip and 10 feet two ends with crystal oscillator X5 respectively are connected, and resistance R7 is in parallel with crystal oscillator X5；Electric capacity C19 ground connection is passed through in one end of resistance R7, and the other end passes through electric capacity C20 ground connection；One end of electric capacity C17 is connected with 11 feet of NRF24L01 chip, other end ground connection；One end of electric capacity C18 is connected with 11 feet of NRF24L01 chip, other end ground connection；12 feet of NRF24L01 chip are connected by 13 feet of inductance L2 and NRF24L01 chip and are connected by 11 feet of inductance L3 and NRF24L01 chip；One end of inductance L1 is connected with 13 feet of NRF24L01 chip, and the other end is connected with one end of electric capacity C15；The other end of electric capacity C15 is by electric capacity C16 ground connection and connects antenna；16 feet of NRF24L01 chip are connected and ground connection by 17 feet of resistance R6 and NRF24L01 chip, 20 feet；One end of electric capacity C14 is connected with 19 feet of NRF24L01 chip, other end ground connection；Described WIFI module I (5), WIFI module II (9), WIFI module III (20) structure are identical；

Described control circuit of unblanking (6) includes resistance R8, R9, R10, R11, NPN audion Q1, Q2, PNP triode Q3, Q4, direct current generator III (7)；Wherein one end of resistance R8 is connected with NPN audion Q1 base stage, and the resistance R8 other end is connected with resistance R9, and the other end of resistance R9 is connected with the base stage of PNP triode Q3, connects the P3.2 mouth of single-chip microcomputer U1 from lead-in wire between resistance R8 and resistance R9；The emitter stage of NPN audion Q1 is connected with the emitter stage of PNP triode Q3；The colelctor electrode of NPN audion Q1 is connected with the colelctor electrode of NPN audion Q2 and connects 5V voltage；The colelctor electrode of PNP triode Q3 is connected and ground connection with the colelctor electrode of PNP triode Q4；The emitter stage of PNP triode Q2 is connected with the emitter stage of PNP triode Q4；Between the emitter stage of NPN audion Q1, Q3 and between PNP triode Q2, Q4 emitter stage, lead-in wire connects direct current generator III (7) respectively；One end of resistance R10 is connected with NPN audion Q2 base stage, and the other end is connected with resistance R11 one end, and the other end of resistance R11 is connected with the base stage of PNP triode Q4, connects the P3.3 mouth of single-chip microcomputer U1 from lead-in wire between resistance R10 and resistance R11.

The real-time embedded Handling device of trade waste outbound the most according to claim 1, it is characterised in that: described MAX232 module (11) includes MAX232 chip, electric capacity C21, C22, C23, C24, C25, RS232；Wherein 1 foot of MAX232 chip is connected by 3 feet of electric capacity C22 and MAX232 chip；Electric capacity C21 one end is connected with 2 feet of MAX232 chip, and another terminates 5V voltage；4 feet of MAX232 chip are connected by 5 feet of electric capacity C24 and MAX232 chip；6 feet of MAX232 chip pass through electric capacity C25 ground connection；11 feet of MAX232 chip and 12 feet connect P3.1 and the P3.0 mouth of single-chip microcomputer U2 respectively；13 feet of MAX232 chip and 14 feet connect 3 feet and 2 feet of RS232 respectively；15 foot ground connection of MAX232 chip；16 feet of MAX232 chip connect 5V voltage and by electric capacity C23 ground connection；The 5 foot ground connection of RS232.

The real-time embedded Handling device of trade waste outbound the most according to claim 1, it is characterised in that: described memory module (18) includes SD card, resistance R13, R14, R15, R16, electric capacity C26；Wherein resistance R13 one end is connected with 1 foot of SD card, and another terminates VCC；Resistance R14 one end is connected with 2 feet of SD card, and another terminates VCC；Resistance R15 one end is connected with 5 feet of SD card, and another terminates VCC；Resistance R16 one end is connected with 7 feet of SD card, and another terminates VCC；3 foot ground connection of SD card；4 feet of SD card meet VCC；The one termination VCC of electric capacity C26, other end ground connection；6 foot ground connection of SD card；

Described control relay circuit (22) includes resistance R29, R30, NPN audion Q6, diode D1, relay K 1, two-way switch S2, interface socket CON1；Wherein resistance R29 one end is connected with the base stage of NPN audion Q6,51 feet of another termination MCU；The grounded emitter of NPN audion Q6, the anode of diode D1 is received on the colelctor electrode of NPN audion Q6, diode D1 negative electrode connects VCC power supply, relay K 1 and diode D1 parallel join, 1 foot of interface socket CON1 meets two-way switch S2,2 feet of interface socket CON1 connect direct current generator I (25), direct current generator II (26), and resistance R30 is connected with direct current generator I (25), direct current generator II (26)；

Described pressure sensor module (23) includes pressure transducer (51), amplifier A1, A2 in the same direction, differential subtracting amplifier A3, resistance R17, R18, R19, R20, R21, R22, R23；Wherein 4 feet of pressure transducer (51) connect+5V voltage, 2 foot ground connection, and 1 foot connects 3 feet of A1, and 3 feet connect 3 feet of A2；Resistance R17 one end is connected with 2 feet of amplifier A1 in the same direction, and the other end is connected with 2 feet of amplifier A2 in the same direction；Resistance R18 one end is connected with 2 feet of amplifier A1 in the same direction, and the other end is connected with 1 foot of amplifier A1 in the same direction；Resistance R19 one end is connected with 2 feet of amplifier A2 in the same direction, and the other end is connected with 1 foot of amplifier A2 in the same direction；Resistance R20 one end is connected with 1 foot of amplifier A1 in the same direction, and the other end is connected with 2 feet of differential subtracting amplifier A3；Resistance R22 one end is connected with 1 foot of amplifier A2 in the same direction, and the other end is connected with 3 feet of differential subtracting amplifier A3；Resistance R23 one end is connected with 3 feet of differential subtracting amplifier A3, other end ground connection；Resistance R21 one end is connected with 2 feet of differential subtracting amplifier A3, and the other end is connected with 1 foot of differential subtracting amplifier A3；1 foot of differential subtracting amplifier A3 connects 8 feet of MCU and is connected；

nullDescribed manipulator (24) includes mechanical hand、Dolly、Lifting shaft sleeve (36)、3rd slide block (40)、Lifting shaft (46)、Track (54)，Described mechanical hand includes double sided slider bar (29)、Slide rail base (30)、Handgrip removable drive part (31)、1st slide block (32)、Arm I (34)、Handle component (35)、1st rotary drive device (37)、Horizontal slide drive part (38)、Arm II (39)、Arm IV (41)、Rotary shaft (42)、2nd slide block (43)、Horizontal sliding bar (44)、Arm III (45)，Described dolly includes rotatable part (47)、2nd rotary drive device (48)、Base (49)、Elastic pressuring plate (50)、Loading base (52)、Lift actuator part (53)；Wherein double sided slider bar (29) is arranged on slide rail base (30)；Slide rail base (30) is fixed by screws on arm II (39)；Handgrip removable drive part (31) is placed in slide rail base (30)；1st slide block (32) is placed on double sided slider bar (29)；Arm I (34) is connected by screw and the 1st slide block (32)；Handle component (35) is fixed by screws on arm I (34)；1st rotary drive device (37), horizontal slide drive part (38) are placed in arm III (45)；Arm II (39) is connected with the 2nd slide block (43)；3rd slide block (40) is connected with arm IV (41) and is placed on lifting shaft (46)；Arm IV (41) is connected with arm III (45) by rotary shaft (42)；2nd slide block (43) is connected with horizontal sliding bar (44)；Lifting shaft sleeve (36), lifting shaft (46) are all connected with rotatable part (47), then are connected with base (49)；Elastic pressuring plate (50) is individually fixed in the groove both sides of loading base (52), in order to fixing object；It is anterior that loading base (52) is placed in dolly；Lift actuator part (53), the 2nd rotary drive device (48) are placed among base (49)；Dolly is placed on track (54)；1st rotary drive device (37), the 2nd rotary drive device (48), handgrip removable drive part (31), horizontal slide drive part (38), lift actuator part (53) are all connected with MCU；Electronic tag (56) is respectively placed under track (54) and is affixed on specific store case (55)；

Described radio frequency identification module (28) includes CLRC632 module I (14), CLRC632 module II (15), single chip control module III (19)；Described single chip control module III (19) includes single-chip microcomputer U3, electric capacity C27, C28, C29, crystal oscillator X6；Wherein CLRC632 module I (14), CLRC632 module II (15) are respectively placed in bottom mechanical hand position, middle foremost and dolly；CLRC632 module I (14), CLRC632 module II (15) are connected with single-chip microcomputer U3 respectively；The 10 of single-chip microcomputer U3,11 feet are connected with 29,30 feet of MCU respectively；18 feet of single-chip microcomputer U3 and 19 feet are connected on the two ends of crystal oscillator X6 respectively, are connected in parallel on crystal oscillator X6, from wire ground between electric capacity C28 and electric capacity C29 after electric capacity C28 and electric capacity C29 series connection；The 20 foot ground connection of single-chip microcomputer U3；31 feet and 40 feet of single-chip microcomputer U3 meet VCC；The one termination VCC of electric capacity C27, other end ground connection.

The real-time embedded Handling device of trade waste outbound the most according to claim 4, it is characterized in that: CLRC632 module I (14) includes CLRC632 chip, crystal oscillator X7, electric capacity C30, C31, C32, C33, C34, C35, C36, C37, C38, C39, C40, C41, C42, C43, C44, C45, C46, resistance R24, R25, R26, R27, R28, button KEY2, inductance L4, L5, L6, L7；Wherein the 13 of CLRC632 chip, 22,24,21 feet are connected with 1,2,3,4 feet of single-chip microcomputer U3 respectively；1 foot of CLRC632 chip is connected by electric capacity C30 ground connection and the one end with crystal oscillator X7；32 feet of CLRC632 chip are connected with the other end of crystal oscillator X7 and by electric capacity C31 ground connection；6 feet of CLRC632 chip connect VCC voltage；8 feet of CLRC632 chip, 9 feet, 12 feet are connected and ground connection；Electric capacity C34 mono-terminates VCC, other end ground connection；10 feet of CLRC632 chip, 11 feet are connected and meet VCC；23 foot ground connection of CLRC632 chip；25 feet of CLRC632 chip connect VCC voltage；26 feet of CLRC632 chip connect VCC voltage；28 foot ground connection of CLRC632 chip；Electric capacity C33 mono-terminates 25 feet of CLRC632 chip, 28 feet of another termination CLRC632 chip；29 feet of CLRC632 chip are connected by resistance R24 and CLRC632 chip 30 foot；30 feet of the one termination CLRC632 chip of electric capacity C32, other end ground connection；31 feet of CLRC632 chip are connected with 9 feet of single-chip microcomputer U3；Electric capacity C35 mono-terminates VCC, and the other end passes through resistance R25 ground connection；Button KEY2 is connected in parallel on electric capacity C35, and connects 31 feet of CLRC632 chip from lead-in wire between electric capacity C35 and resistance R25；Electric capacity C36, C37 one end is connected with one end of inductance L4, other end ground connection；Electric capacity C39, C40 one end is connected with one end of electric capacity C38, other end ground connection；Inductance L6 one end is connected by one end of resistance R26 and electric capacity C38, other end ground connection；The other end of electric capacity C38 is connected with one end of inductance L4；The other end of inductance L4 is connected with 5 feet of CLRC632 chip；Electric capacity C41, C42 one end is connected with one end of inductance L5, other end ground connection；Electric capacity C44, C45 one end is connected with one end of electric capacity C43, other end ground connection；Inductance L7 one end is connected by one end of resistance R27 and electric capacity C43, other end ground connection；The other end of electric capacity C43 is connected with one end of inductance L5；The another end of inductance L5 is connected with 7 feet of CLRC632 chip；One end of the one terminating resistor R28 of electric capacity C46, one end of another termination capacitor C38；The other end of resistance R28 is connected with 29 feet of CLRC632 chip；Described CLRC632 module I (14) is identical with CLRC632 module II (15) structure.