技术领域Technical Field
本发明涉及到物流仓储技术领域，具体涉及一种基于RFID的无人机整车盘点装置及其控制系统。The present invention relates to the technical field of logistics warehousing, and in particular to an RFID-based drone vehicle inventory device and a control system thereof.
背景技术Background Art
整车仓储管理系统在汽车制造业扮演着越来越重要的角色，随着现代汽车制造业的快速发展以及对信息化的迫切需求，对于整车仓储作业的出库、入库管理等提出了更高的要求。The vehicle warehouse management system plays an increasingly important role in the automotive manufacturing industry. With the rapid development of the modern automotive manufacturing industry and the urgent need for informatization, higher requirements are placed on the outbound and inbound management of vehicle warehouse operations.
现代化的整车仓库储备，不仅仅是完成对整车进出的简单批次处理，还要对库内整车的种类、数量等信息做出清晰的数据库记录。以便在物流的各个环节得到准确的货品数据和供应链信息。Modern vehicle warehouse storage is not only about completing simple batch processing of vehicle in and out, but also about making clear database records of the types and quantities of vehicles in the warehouse, so as to obtain accurate product data and supply chain information in every link of logistics.
针对目前整车仓储中出现的诸多问题，如：进出库人工操作混乱、库存报告不及时、仓库货品属性不清晰、人工盘点耗时长、盘点不准确等，都急需一个基于信息化的整车仓储管理技术来进行彻底改造。In view of the many problems currently arising in vehicle warehousing, such as chaotic manual operations in and out of the warehouse, untimely inventory reports, unclear attributes of warehouse goods, time-consuming manual inventory counting, inaccurate inventory counting, etc., an information-based vehicle warehousing management technology is urgently needed for a thorough transformation.
目前，现在越来越多的自动化设备被运用于库存盘点中，有人开始尝试通过无人机搭载RFID读写器来盘点库存。然而，现有方式就是通过一种固定装置将RFID读写器固定到无人机上，为了更好的读取效果，一般需要将读写器正对货物RFID标签读取信息，而当读写器的角度与货物标签信息不正对时，目前的做法是通过遥控器控制无人机进行转动，来调整角度。At present, more and more automated equipment is being used in inventory counting, and some people have begun to try to use drones equipped with RFID readers to count inventory. However, the existing method is to fix the RFID reader to the drone through a fixing device. In order to achieve a better reading effect, the reader generally needs to face the RFID tag of the goods to read the information. When the angle of the reader is not directly aligned with the cargo tag information, the current practice is to control the drone to rotate through a remote control to adjust the angle.
其不足之处就是一旦角度不对，就需要通过旋转无人机角度，当旋转无人机时，需要将无人机停留在空中原地，这种方式极大的影响了盘点的作业效率。而且搭载的读写器需要在无人机起飞前点击开始读取，在整个盘点过程是一直读取的状态，无法远程控制读写器的开始和停止，浪费电量。The disadvantage is that if the angle is not right, the drone needs to be rotated. When rotating the drone, the drone needs to stay in the air, which greatly affects the efficiency of inventory counting. In addition, the reader needs to be clicked to start reading before the drone takes off. During the entire inventory counting process, it is always in the reading state, and the reader cannot be remotely controlled to start and stop, which wastes power.
发明内容Summary of the invention
针对现有技术的不足，本发明的目的是提供一种基于RFID的无人机整车盘点装置及其控制系统，RFID读写器可多角度旋转，在无人机角度不变的状态下，可自动快速改变读写器的角度，进行信息读取；可以远程控制读写器的读取过程，具备开始和停止功能，无人机在货位间飞行时可以停止读写器的读取，节省电量。In view of the shortcomings of the prior art, the purpose of the present invention is to provide an RFID-based drone vehicle inventory device and a control system thereof. The RFID reader-writer can rotate at multiple angles. When the angle of the drone remains unchanged, the angle of the reader-writer can be automatically and quickly changed to read information. The reading process of the reader-writer can be remotely controlled, and it has start and stop functions. The reader-writer can stop reading when the drone is flying between cargo spaces to save power.
为达到上述目的，本发明采用的技术方案如下：To achieve the above object, the technical solution adopted by the present invention is as follows:
一种基于RFID的无人机整车盘点装置，其关键在于：包括RFID读写器与无人机，所述RFID读写器通过连接机构与无人机固定连接，所述连接机构包括连接法兰、挂架、旋转支架与安装板，所述连接法兰呈矩形板状结构，该连接法兰的一侧与所述无人机相连接，在该连接法兰的另一侧中心形成有安装凸台，在该安装凸台上固定有第一驱动电机，该第一驱动电机的输出轴与所述挂架的一端转动连接，所述挂架的另一端安装有第二驱动电机，该第二驱动电机的输出轴与所述旋转支架的一端转动连接，旋转支架的另一端通过第三驱动电机转动连接有所述安装板，该安装板安装有姿态采集器与所述RFID读写器，所述第一驱动电机的轴线、第二驱动电机的轴线以及第三驱动电机的轴线两两垂直。通过上述设置的第一驱动电机、第二驱动电机以及第三驱动电机，从而使得RFID读写器可以多角度（上、下、左、右）旋转，当读写器的角度与货物标签信息不正对时，在无人机角度不变的状态下，可通过控制三个驱动电机的角度，从而快速的改变读写器的角度，实现车辆信息的读取。A drone vehicle inventory device based on RFID, the key of which is: comprising an RFID reader and a drone, the RFID reader is fixedly connected to the drone through a connecting mechanism, the connecting mechanism comprises a connecting flange, a bracket, a rotating bracket and a mounting plate, the connecting flange is a rectangular plate structure, one side of the connecting flange is connected to the drone, a mounting boss is formed at the center of the other side of the connecting flange, a first drive motor is fixed on the mounting boss, the output shaft of the first drive motor is rotatably connected to one end of the bracket, a second drive motor is installed at the other end of the bracket, the output shaft of the second drive motor is rotatably connected to one end of the rotating bracket, the other end of the rotating bracket is rotatably connected to the mounting plate through a third drive motor, the mounting plate is installed with a posture collector and the RFID reader, and the axes of the first drive motor, the second drive motor and the third drive motor are perpendicular to each other. Through the above-mentioned first drive motor, second drive motor and third drive motor, the RFID reader can rotate at multiple angles (up, down, left and right). When the angle of the reader is not aligned with the cargo tag information, the angle of the drone remains unchanged by controlling the angles of the three drive motors, thereby quickly changing the angle of the reader to read the vehicle information.
进一步的，在所述连接法兰的四角分别开设有至少一个安装孔，该连接法兰通过安装孔内穿设的连接螺栓与所述无人机固定连接。Furthermore, at least one mounting hole is respectively provided at the four corners of the connecting flange, and the connecting flange is fixedly connected to the drone via connecting bolts passed through the mounting holes.
进一步的，所述连接法兰连接固定于所述无人机底部的中心，从而避免了对无人机重心的影响，从而保证了无人机的飞行姿态与飞行稳定性。Furthermore, the connecting flange is connected and fixed to the center of the bottom of the UAV, thereby avoiding the influence on the center of gravity of the UAV, thereby ensuring the flight attitude and flight stability of the UAV.
进一步的，所述挂架包括依次连接的连接头、弧形连接条与固定块，所述连接头所在平面与所述固定块所在平面相垂直，所述连接头与弧形连接条的宽度一直且均小于安装块，所述连接头用于与所述第一驱动电机相连接，所述固定块用于安装固定所述第二驱动电机。Furthermore, the bracket includes a connecting head, an arc-shaped connecting strip and a fixed block connected in sequence, the plane where the connecting head is located is perpendicular to the plane where the fixed block is located, the widths of the connecting head and the arc-shaped connecting strip are always smaller than the mounting block, the connecting head is used to connect to the first drive motor, and the fixed block is used to install and fix the second drive motor.
进一步的，所述旋转支架包括依次连接呈L字形的旋转连接部、弧形过渡部与固定部，所述旋转连接部用于与所述第二驱动电机转动连接，所述固定部用于安装固定所述第三驱动电机。Furthermore, the rotating bracket includes an L-shaped rotating connection part, an arc-shaped transition part and a fixing part which are connected in sequence, the rotating connection part is used for rotationally connecting with the second driving motor, and the fixing part is used for installing and fixing the third driving motor.
进一步的，所述旋转连接部、弧形过渡部与固定部的宽度一致，且所述旋转连接部的长度小于所述固定部。Furthermore, the widths of the rotating connection portion, the arc-shaped transition portion and the fixed portion are consistent, and the length of the rotating connection portion is shorter than that of the fixed portion.
进一步的，所述安装板包括相互垂直的连接段与安装部，所述连接段用于与所述第三驱动电机相连接，所述安装部用于安装固定所述RFID读写器。Furthermore, the mounting plate includes a connecting section and a mounting portion which are perpendicular to each other, the connecting section is used to be connected to the third driving motor, and the mounting portion is used to install and fix the RFID reader.
根据上述的基于RFID的无人机整车盘点装置，本方案还提出了关于该盘点装置的控制系统，包括无人机控制系统、盘点处理器、RFID驱动模块、第一电机驱动模块、第二电机驱动模块与第三电机驱动模块；According to the above-mentioned RFID-based drone vehicle inventory device, this solution also proposes a control system for the inventory device, including a drone control system, an inventory processor, an RFID drive module, a first motor drive module, a second motor drive module and a third motor drive module;
所述无人机控制系统，用于接收和执行地面设备发送的盘点指令和飞行路线信息，依据盘点指令控制无人机按设定的路线巡航对整车仓库进行盘点，并把盘点数据返回给地面设备；The UAV control system is used to receive and execute the inventory command and flight route information sent by the ground equipment, control the UAV to cruise along the set route to inventory the vehicle warehouse according to the inventory command, and return the inventory data to the ground equipment;
所述盘点处理器，用于解析无人机控制系统传输的控制指令，在盘点过程中对所述姿态采集器采集的RFID读写器当前运动姿态进行解算，同时发出控制信号至RFID驱动模块、第一电机驱动模块、第二电机驱动模块与第三电机驱动模块，控制所述RFID读写器、所述第一驱动电机、第二驱动电机与第三驱动电机工作状态，并把盘点数据上传至无人机控制系统；The inventory processor is used to parse the control instructions transmitted by the drone control system, calculate the current motion posture of the RFID reader/writer collected by the posture collector during the inventory process, and send control signals to the RFID drive module, the first motor drive module, the second motor drive module and the third motor drive module to control the working states of the RFID reader/writer, the first drive motor, the second drive motor and the third drive motor, and upload the inventory data to the drone control system;
所述RFID读写器，通过发射无线电讯号读取位于车体内部的RFID卡数据，并上传至所述盘点处理器。The RFID reader/writer reads the RFID card data located inside the vehicle body by transmitting radio signals and uploads the data to the inventory processor.
进一步的，所述无人机控制系统设置有控制器、无线通信模块、串口通讯模块、飞控模块与定位模块，Furthermore, the drone control system is provided with a controller, a wireless communication module, a serial communication module, a flight control module and a positioning module.
所述控制器，用于接收和执行地面设备发送的盘点指令和飞行路线信息，依据指令控制无人机按设定的路线巡航对整车仓库进行盘点，并把盘点数据返回给地面设备；The controller is used to receive and execute the inventory command and flight route information sent by the ground equipment, control the UAV to cruise along the set route to inventory the vehicle warehouse according to the command, and return the inventory data to the ground equipment;
所述无线通信模块，用于所述控制器与地面设备之间的通讯连接；The wireless communication module is used for communication connection between the controller and ground equipment;
所述串口通讯模块，用于实现所述盘点处理器与控制器之间的通讯连接；The serial communication module is used to realize the communication connection between the inventory processor and the controller;
所述飞控模块，用于稳定无人机飞行姿态，并能控制无人机自主或者半自主飞行；The flight control module is used to stabilize the flight attitude of the UAV and can control the UAV to fly autonomously or semi-autonomously;
所述定位模块，用于接收控制器发送的控制信号，发射定位信号，将定位信息返回给控制器；The positioning module is used to receive the control signal sent by the controller, transmit the positioning signal, and return the positioning information to the controller;
进一步的，所述姿态采集器采集的RFID读写器当前运动姿态包括角速度和加速度。Furthermore, the current motion posture of the RFID reader/writer collected by the posture collector includes angular velocity and acceleration.
本发明的显著效果是：主要由无人机、连接机构、RFID读写器与姿态采集器构成，其中连接机构安装在无人机下方，RFID读写器固定于连接机构的末端处，姿态采集器安装在RFID读写器的位置或者安装于RFID读写器上，在盘点过程中，姿态采集器内置的三轴陀螺仪和三轴加速度计可有效采集RFID读写器当前运动角速度和加速度，盘点处理器内置的程序可计算出RFID读写器当前姿态，并发出指令自动控制控制所述RFID读写器、所述第一驱动电机、第二驱动电机与第三驱动电机的工作状态，从而在无人机角度不变的状态下，可通过控制三个驱动电机的角度，快速的改变读写器的角度，实现车辆信息的读取；而且可在无人机于货位间飞行时停止读写器的读取，节省电量。The remarkable effect of the present invention is that it is mainly composed of a drone, a connecting mechanism, an RFID reader and a posture collector, wherein the connecting mechanism is installed under the drone, the RFID reader is fixed at the end of the connecting mechanism, and the posture collector is installed at the position of the RFID reader or on the RFID reader. During the inventory process, the three-axis gyroscope and the three-axis accelerometer built into the posture collector can effectively collect the current motion angular velocity and acceleration of the RFID reader, and the program built into the inventory processor can calculate the current posture of the RFID reader, and issue instructions to automatically control the working status of the RFID reader, the first drive motor, the second drive motor and the third drive motor, so that when the angle of the drone remains unchanged, the angle of the reader can be quickly changed by controlling the angles of the three drive motors to realize the reading of vehicle information; and the reading of the reader can be stopped when the drone flies between cargo spaces to save power.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明一个视角的结构示意图；FIG1 is a schematic structural diagram of the present invention from one viewing angle;
图2是本发明另一个视角的结构示意图；FIG2 is a schematic structural diagram of the present invention from another perspective;
图3是本发明的俯视图；Fig. 3 is a top view of the present invention;
图4是连接机构一个视角的结构示意图；FIG4 is a schematic structural diagram of a connecting mechanism from one viewing angle;
图5是连接机构另一个视角的结构示意图；FIG5 is a schematic structural diagram of the connecting mechanism from another perspective;
图6是控制系统的电路框图；FIG6 is a circuit block diagram of a control system;
图7是盘点处理器的电路原理图；FIG7 is a circuit schematic diagram of an inventory processor;
图8是第一电机驱动模块的电路原理图；FIG8 is a circuit diagram of a first motor drive module;
图9是姿态采集器的电路原理图；FIG9 is a circuit diagram of a posture collector;
图10是RFID驱动模块的电路原理图；FIG10 is a circuit diagram of an RFID driver module;
图11是电源模块的电路原理图。FIG11 is a circuit diagram of the power module.
具体实施方式DETAILED DESCRIPTION
下面结合附图对本发明的具体实施方式以及工作原理作进一步详细说明。The specific implementation manner and working principle of the present invention are further described in detail below with reference to the accompanying drawings.
如图1~图3所示，一种基于RFID的无人机整车盘点装置，包括RFID读写器1、无人机2、连接机构3，所述无人机2包括起落架21、十字形架构的四旋翼机构22与无人机控制系统，所述起落架21固定于四旋翼机构22底部的中心，在该起落架21与四旋翼机构22之间形成用于装设无人机控制系统的安装腔23，在所述安装腔上方的四旋翼机构22上还固定有天线24；所述连接机构3包括连接法兰31、挂架32、旋转支架33与安装板34，所述连接法兰31呈矩形板状结构，该连接法兰31的一侧与所述无人机2的相连接，在该连接法兰31的另一侧中心形成有安装凸台35，在该安装凸台35上固定有第一驱动电机36，该第一驱动电机36的输出轴与所述挂架32的一端转动连接，所述挂架32的另一端安装有第二驱动电机37，该第二驱动电机37的输出轴与所述旋转支架33的一端转动连接，旋转支架33的另一端通过第三驱动电机38转动连接有所述安装板34，该安装板34安装有姿态采集器39与所述RFID读写器1，所述第一驱动电机36的轴线、第二驱动电机37的轴线以及第三驱动电机38的轴线两两垂直。As shown in Figures 1 to 3, an RFID-based UAV vehicle inventory device includes an RFID reader/writer 1, a UAV 2, and a connecting mechanism 3. The UAV 2 includes a landing gear 21, a four-rotor mechanism 22 with a cross-shaped structure, and a UAV control system. The landing gear 21 is fixed to the center of the bottom of the four-rotor mechanism 22, and an installation cavity 23 for installing the UAV control system is formed between the landing gear 21 and the four-rotor mechanism 22. An antenna 24 is also fixed on the four-rotor mechanism 22 above the installation cavity; the connecting mechanism 3 includes a connecting flange 31, a bracket 32, a rotating bracket 33 and a mounting plate 34. The connecting flange 31 is a rectangular plate-shaped structure, and one side of the connecting flange 31 is connected to the UAV. The human-machine 2 is connected, and a mounting boss 35 is formed at the center of the other side of the connecting flange 31, and a first drive motor 36 is fixed on the mounting boss 35, and the output shaft of the first drive motor 36 is rotatably connected to one end of the bracket 32, and a second drive motor 37 is installed at the other end of the bracket 32, and the output shaft of the second drive motor 37 is rotatably connected to one end of the rotating bracket 33, and the other end of the rotating bracket 33 is rotatably connected to the mounting plate 34 through the third drive motor 38, and the mounting plate 34 is installed with a posture collector 39 and the RFID reader 1, and the axis of the first drive motor 36, the axis of the second drive motor 37 and the axis of the third drive motor 38 are perpendicular to each other.
如图4与图5所示，在所述连接法兰31的四角分别开设有至少一个安装孔，该连接法兰31通过安装孔内穿设的连接螺栓与所述无人机2固定连接，所述连接法兰31连接固定于所述无人机2底部的中心。As shown in Figures 4 and 5, at least one mounting hole is respectively opened at the four corners of the connecting flange 31. The connecting flange 31 is fixedly connected to the drone 2 through connecting bolts passed through the mounting holes. The connecting flange 31 is connected and fixed to the center of the bottom of the drone 2.
如图4与图5所示，所述挂架32包括依次连接的连接头32a、弧形连接条32d与固定块32c，所述连接头32a所在平面与所述固定块32c所在平面相垂直，所述连接头32a与弧形连接条32b的宽度一直且均小于固定块32c，所述连接头32a用于与所述第一驱动电机36相连接，所述固定块32c用于安装固定所述第二驱动电机37。As shown in Figures 4 and 5, the bracket 32 includes a connecting head 32a, an arc-shaped connecting strip 32d and a fixed block 32c connected in sequence. The plane where the connecting head 32a is located is perpendicular to the plane where the fixed block 32c is located. The widths of the connecting head 32a and the arc-shaped connecting strip 32b are consistent and are both smaller than the fixed block 32c. The connecting head 32a is used to connect to the first drive motor 36, and the fixed block 32c is used to install and fix the second drive motor 37.
如图4与图5所示，所述旋转支架33包括依次连接呈L字形的旋转连接部33a、弧形过渡部33b与固定部33c，所述旋转连接部33a用于与所述第二驱动电机37转动连接，所述固定部33c用于安装固定所述第三驱动电机38。所述旋转连接部33a、弧形过渡部33b与固定部33c的宽度一致，且所述旋转连接部33a的长度小于所述固定部33c。As shown in Fig. 4 and Fig. 5, the rotating bracket 33 includes a rotating connecting portion 33a, an arc-shaped transition portion 33b and a fixing portion 33c which are sequentially connected in an L shape, the rotating connecting portion 33a is used for rotationally connecting with the second driving motor 37, and the fixing portion 33c is used for installing and fixing the third driving motor 38. The widths of the rotating connecting portion 33a, the arc-shaped transition portion 33b and the fixing portion 33c are consistent, and the length of the rotating connecting portion 33a is less than that of the fixing portion 33c.
如图4与图5所示，所述安装板34包括相互垂直的连接段34a与安装部34b，所述连接段34a用于与所述第三驱动电机38相连接，所述安装部34b用于安装固定所述RFID读写器1。As shown in FIG. 4 and FIG. 5 , the mounting plate 34 includes a connecting section 34 a and a mounting portion 34 b which are perpendicular to each other. The connecting section 34 a is used to connect to the third driving motor 38 , and the mounting portion 34 b is used to install and fix the RFID reader 1 .
根据上述的基于RFID的无人机整车盘点装置的结构，本例还提出了该盘点装置的控制系统，包括无人机控制系统、盘点处理器、RFID驱动模块、第一电机驱动模块、第二电机驱动模块与第三电机驱动模块；According to the structure of the above-mentioned RFID-based drone vehicle inventory device, this example also proposes a control system of the inventory device, including a drone control system, an inventory processor, an RFID drive module, a first motor drive module, a second motor drive module and a third motor drive module;
所述无人机控制系统，用于接收和执行地面设备发送的盘点指令和飞行路线信息，依据盘点指令控制无人机2按设定的路线巡航对整车仓库进行盘点，并把盘点数据返回给地面设备；The UAV control system is used to receive and execute the inventory command and flight route information sent by the ground equipment, control the UAV 2 to cruise along the set route to inventory the vehicle warehouse according to the inventory command, and return the inventory data to the ground equipment;
所述盘点处理器，用于解析无人机控制系统传输的控制指令，在盘点过程中对所述姿态采集器39采集的RFID读写器1当前运动姿态进行解算，同时发出控制信号至RFID驱动模块、第一电机驱动模块、第二电机驱动模块与第三电机驱动模块，控制所述RFID读写器1、所述第一驱动电机36、第二驱动电机37与第三驱动电机38工作状态，并把盘点数据上传至无人机控制系统；The inventory processor is used to parse the control instructions transmitted by the drone control system, and calculate the current motion posture of the RFID reader 1 collected by the posture collector 39 during the inventory process, and send control signals to the RFID drive module, the first motor drive module, the second motor drive module and the third motor drive module to control the working states of the RFID reader 1, the first drive motor 36, the second drive motor 37 and the third drive motor 38, and upload the inventory data to the drone control system;
所述RFID读写器1，通过发射无线电讯号读取位于车体内部的RFID卡数据，并上传至所述盘点处理器。The RFID reader/writer 1 reads the RFID card data located inside the vehicle body by transmitting radio signals and uploads the data to the inventory processor.
本实施例中，所述盘点处理器优选为STM32F103C8Tx单片机U1，如图7所示，负责I2C通信接收姿态采集器39上传的数据并根据数据进行姿态解算；解析无人机控制系统传输的控制指令；通过PWM信号控制各电机运转；通过CAN总线通信接收RFID读写器上传的数据并转发给无人机控制系统。In this embodiment, the inventory processor is preferably an STM32F103C8Tx microcontroller U1, as shown in Figure 7, which is responsible for receiving data uploaded by the attitude collector 39 through I2C communication and performing attitude calculation based on the data; parsing the control instructions transmitted by the drone control system; controlling the operation of each motor through PWM signals; receiving data uploaded by the RFID reader through CAN bus communication and forwarding it to the drone control system.
本例中，为了简化电路结构，降低实现成本，并方便后期维护，所述第一电机驱动模块、第二电机驱动模块以及第三电机驱动模块的电路结构一致，为便于说明，以第一电机驱动模块为例：所述第一电机驱动模块包括三个TC4452驱动芯片U3、U5、U7，以对第一驱动电机36的工作状态进行控制，该驱动芯片具有输出电流大、反应灵敏等特点。电机转速通过PWM控制，具有系统的响应速度和稳定精度等指标比较好，系统的调速范围宽，使用元件少、线路简单等优点。所述第一驱动电机36、第二驱动电机37、第三驱动电机38均选用结构紧凑、反应灵敏的BGM4108无刷云台电机。In this example, in order to simplify the circuit structure, reduce the implementation cost, and facilitate later maintenance, the circuit structures of the first motor drive module, the second motor drive module, and the third motor drive module are consistent. For ease of explanation, the first motor drive module is taken as an example: the first motor drive module includes three TC4452 driver chips U3, U5, and U7 to control the working state of the first drive motor 36. The driver chip has the characteristics of large output current and sensitive response. The motor speed is controlled by PWM, and has the advantages of better system response speed and stable accuracy, a wide speed regulation range, fewer components, and simple circuits. The first drive motor 36, the second drive motor 37, and the third drive motor 38 all use the compact and sensitive BGM4108 brushless pan-tilt motor.
参见附图9，所述姿态采集器选用为MPU6050姿态采集模块U14。MPU6050姿态采集模块U14是一款整合性6轴运动处理组件，配合外围电路组成RFID读写器姿态传感器模块，其内置的三轴陀螺仪和三轴加速度计可有效采集RFID读写器当前运动角速度和加速度，以便于盘点处理器结合程序可计算出RFID读写器当前姿态。Referring to Figure 9, the attitude collector is selected as the MPU6050 attitude acquisition module U14. The MPU6050 attitude acquisition module U14 is an integrated 6-axis motion processing component, which cooperates with the peripheral circuit to form the RFID reader attitude sensor module. Its built-in three-axis gyroscope and three-axis accelerometer can effectively collect the current angular velocity and acceleration of the RFID reader, so that the inventory processor can calculate the current attitude of the RFID reader in combination with the program.
参见附图10，所述RFID驱动模块包括继电器KS1，该继电器KS1的线圈绕组的一端与所述盘点处理器U1的高电平输出端相连，另一端接地，继电器KS1的开关部分接入RFID读写器的电源电路中，当盘点处理器发出高电平控制信号时，继电器KS1的开关部分闭合，RFID读写器得电开始工作，进行车辆信息读取。Referring to Figure 10, the RFID driving module includes a relay KS1, one end of the coil winding of the relay KS1 is connected to the high-level output end of the inventory processor U1, and the other end is grounded. The switch part of the relay KS1 is connected to the power supply circuit of the RFID reader. When the inventory processor sends a high-level control signal, the switch part of the relay KS1 is closed, and the RFID reader is powered on and starts working to read vehicle information.
最后，在本例中，所述无人机控制系统设置有控制器、无线通信模块、串口通讯模块、飞控模块、定位模块与电源模块，具体如图6所示，其中：Finally, in this example, the drone control system is provided with a controller, a wireless communication module, a serial communication module, a flight control module, a positioning module and a power module, as shown in FIG6 , wherein:
所述控制器，用于接收和执行地面设备发送的盘点指令和飞行路线信息，依据指令控制无人机2按设定的路线巡航对整车仓库进行盘点，并把盘点数据返回给地面设备；The controller is used to receive and execute the inventory command and flight route information sent by the ground equipment, control the UAV 2 to cruise along the set route to inventory the vehicle warehouse according to the command, and return the inventory data to the ground equipment;
所述无线通信模块，用于所述控制器与地面设备之间的通讯连接；The wireless communication module is used for communication connection between the controller and ground equipment;
所述串口通讯模块，用于实现所述盘点处理器与控制器之间的通讯连接；The serial communication module is used to realize the communication connection between the inventory processor and the controller;
所述飞控模块，用于稳定无人机2飞行姿态，并能控制无人机2自主或者半自主飞行；The flight control module is used to stabilize the flight attitude of the UAV 2 and can control the UAV 2 to fly autonomously or semi-autonomously;
所述定位模块，用于接收控制器发送的控制信号，发射定位信号，将定位信息返回给控制器；The positioning module is used to receive the control signal sent by the controller, transmit the positioning signal, and return the positioning information to the controller;
所述姿态采集器39采集的RFID读写器1当前运动姿态包括角速度和加速度。The current motion posture of the RFID reader/writer 1 collected by the posture collector 39 includes angular velocity and acceleration.
如图11所示，所述电源模块包括型号为LM2596HV-ADJ的电压调节器U12与型号为AMS1117-3.3的正向低压降稳压器U13，其中电压调节器U12的电压输入端VIN 经保险F1连接至外接直流电源，电压调节器U12的使能端ON/OFF串接电阻R27后接地，电压调节器U12的电压输出端VOUT经电感L1、保险F2与电感L2后输出第一工作电源VCC-5，电压调节器U12的反馈端FB 与电感L1、保险F2公共端相连，电压调节器U12的电压输入端VIN 还经并联的电容C40与电容C41接地；As shown in FIG11 , the power supply module includes a voltage regulator U12 of model LM2596HV-ADJ and a forward low-dropout regulator U13 of model AMS1117-3.3, wherein the voltage input terminal VIN of the voltage regulator U12 is connected to an external DC power supply via a fuse F1, the enable terminal ON/OFF of the voltage regulator U12 is connected in series with a resistor R27 and then grounded, the voltage output terminal VOUT of the voltage regulator U12 outputs a first working power supply VCC-5 via an inductor L1, a fuse F2 and an inductor L2, the feedback terminal FB of the voltage regulator U12 is connected to a common terminal of the inductor L1 and the fuse F2, and the voltage input terminal VIN of the voltage regulator U12 is also grounded via a capacitor C40 and a capacitor C41 connected in parallel;
所述正向低压降稳压器U13的电压输入端VIN串接电阻R28后与第一工作电源VCC-5相连，正向低压降稳压器U13的电压输出端VOUT经电感L3输出3.3V的第二工作电源VCC-3.3，正向低压降稳压器U13的电压输入端VIN还经电阻C44接地，正向低压降稳压器U13的电压输出端VOUT还经并联的电容C45与C46接地。The voltage input terminal VIN of the forward low dropout regulator U13 is connected in series with the resistor R28 and then connected to the first working power supply VCC-5. The voltage output terminal VOUT of the forward low dropout regulator U13 outputs a 3.3V second working power supply VCC-3.3 via the inductor L3. The voltage input terminal VIN of the forward low dropout regulator U13 is also grounded via the resistor C44. The voltage output terminal VOUT of the forward low dropout regulator U13 is also grounded via the capacitors C45 and C46 connected in parallel.
通过上述的电源模块能够为系统中各个模块提供相应的工作电源，从而保证系统的正常运行。The above-mentioned power supply module can provide corresponding working power to each module in the system, thereby ensuring the normal operation of the system.
在盘点过程中，姿态采集器39内置的三轴陀螺仪和三轴加速度计可有效采集RFID读写器1当前运动角速度和加速度，盘点处理器内置的程序可计算出RFID读写器1当前姿态，并发出指令至RFID驱动模块、所述第一电机驱动模块、第二电机驱动模块以及第三电机驱动模块、从而实现自动控制控制所述RFID读写器、所述第一驱动电机36、第二驱动电机37与第三驱动电机38的工作状态，具体的，所述RFID驱动模块用于控制RFID读写器的通断电，以实现在无人机于货位间飞行时停止读写器的读取，节省电量；所述第一电机驱动模块、第二电机驱动模块以及第三电机驱动模块用以分别控制第一驱动电机36、第二驱动电机37与第三驱动电机38的转动角度，使得挂架32、旋转支架33与安装板34的相对位置发生改变，从而使得无人机角度不变的状态下，可通过控制三个驱动电机的角度，快速的改变读写器的角度，实现车辆信息的读取。During the inventory process, the three-axis gyroscope and three-axis accelerometer built into the attitude collector 39 can effectively collect the current angular velocity and acceleration of the RFID reader 1. The program built into the inventory processor can calculate the current attitude of the RFID reader 1 and send instructions to the RFID drive module, the first motor drive module, the second motor drive module and the third motor drive module, so as to automatically control the working status of the RFID reader, the first drive motor 36, the second drive motor 37 and the third drive motor 38. Specifically, the RFID drive module is used to control the power on and off of the RFID reader to stop the reader from reading when the drone flies between cargo spaces, thereby saving power; the first motor drive module, the second motor drive module and the third motor drive module are used to control the rotation angles of the first drive motor 36, the second drive motor 37 and the third drive motor 38 respectively, so that the relative positions of the bracket 32, the rotating bracket 33 and the mounting plate 34 are changed, so that when the angle of the drone remains unchanged, the angle of the reader can be quickly changed by controlling the angles of the three drive motors to realize the reading of vehicle information.
以上对本发明所提供的技术方案进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。The technical solution provided by the present invention is described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in a number of ways, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.
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| CN201811384883.5ACN109250072B (en) | 2018-11-20 | 2018-11-20 | Unmanned aerial vehicle whole vehicle checking device based on RFID |
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| CN201811384883.5ACN109250072B (en) | 2018-11-20 | 2018-11-20 | Unmanned aerial vehicle whole vehicle checking device based on RFID |
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