CN108614489B - Logic control system for stereoscopic warehouse and building based on matrix algorithm - Google Patents
Logic control system for stereoscopic warehouse and building based on matrix algorithm Download PDFInfo
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Abstract
The invention discloses a logic control system for a stereoscopic warehouse and a building based on a matrix algorithm, which comprises a field layer, a monitoring layer and a management layer, wherein the field layer is a basic unit of the control system and consists of a sensor and an action execution unit, the field layer can control an end executor of field controlled equipment to complete the action of the basic unit and collect the switching value measured by the sensor, the monitoring layer can be used as a bridge for connecting the field layer and the management layer and consists of an MCU (microprogrammed control unit), a P L C or a PC (personal computer) to complete the monitoring of the field layer and the management of the management layer, the monitoring layer can receive and process the state information of the field layer and feed back the state information to the management layer, and simultaneously receives the instruction of the management layer and judges whether to execute the operation according to the state information of the field layer.
Description
Technical Field
The invention belongs to the technical field of stereoscopic warehouse and building automation equipment control, and particularly relates to a logic control system for a stereoscopic warehouse and a building based on a matrix algorithm.
Background
With the rapid development of scientific technologies such as communication technology, computer technology, detection technology, automatic control technology and the like, people apply the automatic control technology to aspects in life to solve various problems in life in a way of optimizing a management mode and improving efficiency.
In the prior art, there are several automatic control schemes for stereoscopic warehouses or buildings:
the low-cost automatic stereoscopic warehouse control system disclosed in the chinese utility model patent application publication CN201110287743.8 replaces the commonly used frequency converter and motor with the motor of the driving gear box and the motor driving circuit board of the driving motor. The motor driving circuit board is simple to manufacture and low in cost, and is used for driving the motor to rotate forward and backward and switching between two speeds. The motor for driving the gear box is characterized in that the gear box is added at the load end of the alternating current asynchronous motor to achieve the purposes of low rotating speed and high torque. Therefore, in a simpler control system of the small-sized automatic stereoscopic warehouse, the motor driving module can greatly reduce the cost, but can meet the functions of forward and reverse rotation and double-speed control of the motor. And the user defines the warehouse grid name by oneself, freely adds wireless transmitter, carries out wireless remote operation, compares with traditional automatic stereoscopic warehouse, has saved the converter to this motor drive circuit board replaces. The cost is greatly reduced, and the functions of positive and negative rotation and double-speed control of the motor are not lost.
The building automatic control system disclosed in the chinese utility model patent application publication specification CN201710925161.5 comprises a camera, a temperature sensor, a humidity sensor, a smoke sensor, an access control system, an air conditioning system, a spraying system, an alarm, a control terminal and a mobile terminal; camera, temperature sensor, humidity transducer, smoke transducer, access control system, air conditioning system, spraying system, alarm respectively fixed mounting in the part that each needs of building, and respectively with control terminal wireless connection, control terminal and mobile terminal wireless connection to realize automated control to the building, improved the automation level by a wide margin.
However, the above prior art is a flat management system, and has the disadvantages of complex structure, difficult control, high installation cost, high maintenance cost, and poor system stability.
Therefore, a more efficient control method is urgently needed for the stereoscopic warehouse and building management.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an intelligent management system of a unit integrated system with the same state variable group, which can efficiently achieve the required purpose in a matrix management mode.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a logic control system for stereoscopic warehouse and building based on matrix algorithm comprises a field layer, a monitoring layer and a management layer;
the field layer is a basic unit of the control system and consists of a sensor and an action execution unit, and can control the end effector of the field controlled equipment to complete the action of the basic unit and collect the switching value measured by the sensor;
the monitoring layer can be used as a bridge for connecting the field layer and the management layer and consists of an MCU (microprogrammed control Unit), a P L C or a PC (personal computer) to complete monitoring of the field layer and receive management of the management layer, and the monitoring layer can receive and process state information of the field layer and feed back the state information to the management layer, and simultaneously receive an instruction of the management layer and judge whether to execute the monitoring according to the state information of the field layer;
the management layer is composed of a man-machine terminal, receives a user instruction and displays feedback information of the monitoring layer through a friendly graphical interface, and can receive instruction information of the user and feedback information of the monitoring layer to realize coordination and information sharing among all parts of the system.
Furthermore, n switching values of each basic unit sensor and each execution unit of the field layer can be collected to form a sub-matrix with n rows and n columns, all basic units (m in total) of the field layer form a sub-matrix with m rows and n columns, if the system has a plurality of field layers (l in total), a total matrix with l × m rows and n columns is formed, and monitoring and management of the system are realized in a matrix algorithm mode.
A lifting and horizontal moving type stereoscopic warehouse which can apply a logic control system based on a matrix algorithm comprises a parking space unit and a parking space unit;
the switching value of each parking space unit comprises: the system comprises three pairs of photoelectric sensors, a transverse moving limit switch, an upper limit switch, a lower limit switch, an upper limit switch, a chain loosening detection switch, an electromagnet action confirmation switch, a transverse moving motor driving circuit, an electromagnetic anti-falling hook driving circuit, and a lifting motor driving circuit, wherein the electromagnetic anti-falling hook driving circuit drives an electromagnetic anti-falling hook to act, and the lifting motor driving circuit drives a lifting motor;
all the switching values of the berth units are arranged according to the specified sequence so as to ensure that the same switching values of different berth units are in the same column in the matrix;
the states of the sensor and the execution unit of the berth unit are represented by switching values 0, 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to the actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally, a plurality of basic units of a plurality of field layers form a multidimensional matrix;
the monitoring layer detects the columns representing the sensor switching values in the array, if the columns detect whether a person exists in the vehicle, the person in the vehicle is represented by 1 in the matrix, otherwise, the person in the vehicle is represented by 0, the monitoring layer sums the columns, if the result is 0, no person or animal exists in the vehicle, otherwise, the person or animal exists in the vehicle, if the management layer sends a shifting instruction to the monitoring layer, and under the condition that the person or animal exists in the vehicle, the monitoring layer refuses the management layer instruction and feeds back related information to the management layer.
Furthermore, the three pairs of photoelectric sensors are respectively used for detecting the height and the length of the vehicle and whether a person or an animal exists in the vehicle.
A building automation device to which a matrix algorithm based logic control system is applicable, comprising switching amounts of rooms, each room switching amount comprising: the system comprises a monitoring system, a control system, an air conditioning system, a lighting system, a drainage system, an anti-theft alarm system, a closed circuit television monitoring system, an access control system, a temperature detector system and a smoke detector system;
all the switching values of each room form a sub-matrix with a row and n columns according to a specified sequence, all the rooms (m in total) of the field layer form a sub-matrix with m rows and n columns, and if a plurality of the rooms (l in total) form a total matrix with l × m rows and n columns;
all the switching values of each room are arranged according to the specified sequence so as to ensure that the same switching values of different rooms are in the same column in the matrix;
the states of the sensors and the execution units of each room are represented by switching values 0 and 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to an actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally a multi-dimensional matrix is formed by a plurality of basic units of a plurality of field layers;
the monitoring layer detects a column representing the switching value of the sensor in the array, wherein the switching value is divided into two parts, namely detection alarm and detection display, the detection alarm part is composed of an anti-theft alarm system, a temperature detector system and a smoke detector system, the detection result of the same switching value of all rooms is represented by a column of data of a matrix, the switching value is 0 to indicate that the rooms are in a normal state, if the sum of the switching values of all the detection alarm parts is 0, each room is in a safe state, otherwise, a safety alarm is sent out to remind related workers to investigate potential safety hazards;
the detection display part comprises a person, an air conditioning system, a lighting system, a drainage system, a closed circuit television monitoring system and an access control system, the detection results of the same switching value of all rooms are represented by a row of data of a matrix, all the detection results are collected and transmitted to a human-computer terminal, the detection results are friendly to display on a human-computer terminal interface, a worker can monitor in real time, and related systems of any room are controlled according to actual conditions.
A mechanical stereoscopic warehouse and an automatic matrix type intelligent control method for buildings optimizes the original complicated and complicated cables into a small number of industrial buses so as to greatly reduce the number of cables on site;
1/3, the field bus control system only needs to lay cables on site as the common control system, so that the workload of field wiring during installation is reduced while the cost of cables is saved, and the maintenance is convenient;
cables outside the control cabinet are connected by adopting standard connectors, so that the field installation technical difficulty is greatly reduced, and the phenomenon that the whole three-dimensional storage control system cannot normally operate due to wiring mistakes and omissions caused by insufficient skill or carelessness of field installation personnel when a conventional control system is used is effectively avoided;
the transmission line with the shielding and anti-interference function is adopted for connecting each berth to the main control cabinet, so that the possibility of interference of input and output signals is greatly reduced, and the anti-interference capability and the stability of the whole mechanical storage equipment control system are improved.
(III) advantageous effects
Compared with the prior art, the invention provides a logic control system based on a matrix algorithm, which has the following beneficial effects:
the invention is a matrix management system, which has the characteristics different from the characteristics of a common flat management system, and the control system has superiority from design, installation, overhaul and maintenance to all over.
(1) The structure is clear and easy to control. The original flattened switching value is replaced by a matrix, so that information can be acquired efficiently, related units can be managed timely, and a certain matrix algorithm can be used for controlling the system and acquiring data efficiently according to actual requirements.
(2) The installation cost is reduced. The wiring of the matrix management system is very simple, a plurality of devices can be usually hung on a transmission line, and half to two thirds of isolators, terminal cabinets, I/O terminals, I/O clamping pieces and I/O cabinets can be reduced, so that the space of I/O devices and device chambers is saved, and the workload of connection design and joint calibration is greatly reduced. When field equipment is required to be added, a new cable is not required to be additionally arranged, and the field equipment can be connected to the original cable nearby.
(3) Maintenance overhead is saved. Because the matrix management system has the capabilities of self diagnosis and simple fault processing, and sends related diagnosis maintenance to the control terminal through digital communication, a user can inquire the operation of all equipment and diagnose maintenance information so as to analyze fault causes as early as possible and quickly eliminate faults, the time for shutdown caused by maintenance is shortened, and meanwhile, the maintenance workload is reduced because the system structure is simplified and the connection is simple.
(4) The reliability of the system is improved. As the matrixing management system adopts simple digital 0, 1 transmission signals, compared with the traditional 4-20mA analog signal transmission from the bottom layer field equipment to the control terminal, the matrixing management system fundamentally improves the accuracy of measurement and control and reduces transmission errors.
(5) The device has the advantages of simple installation and maintenance, simple and clear structure, high reliability, good stability, strong safety and low cost.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a flow chart of the present invention for determining berthing;
FIG. 3 is a schematic view of a parking matrix according to the present invention;
FIG. 4 is a schematic diagram showing the parking situation of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-4, a logic control system for stereoscopic warehouse and building based on matrix algorithm includes a field layer, a monitoring layer and a management layer;
the field layer is a basic unit of the control system and consists of a sensor and an action execution unit, and can control the end effector of the field controlled equipment to complete the action of the basic unit and collect the switching value measured by the sensor;
the monitoring layer can be used as a bridge for connecting the field layer and the management layer and consists of an MCU (microprogrammed control Unit), a P L C or a PC (personal computer) to complete monitoring of the field layer and receive management of the management layer, can receive and process state information of the field layer and feed the state information back to the management layer, and simultaneously receives an instruction of the management layer and judges whether to execute the instruction according to the state information of the field layer;
the management layer is composed of a man-machine terminal, receives user instructions and displays feedback information of the monitoring layer through a friendly graphical interface, and can receive instruction information of the user and feedback information of the monitoring layer to realize coordination and information sharing among all parts of the system.
Furthermore, n switching values of each basic unit sensor and each execution unit of the field layer can be collected to form a sub-matrix with n rows and n columns, all basic units (m in total) of the field layer form a sub-matrix with m rows and n columns, if the system has a plurality of field layers (l in total), a total matrix with l × m rows and n columns is formed, and monitoring and management of the system are realized in a matrix algorithm mode.
A lifting and horizontal moving type stereoscopic warehouse which can apply a logic control system based on a matrix algorithm comprises a parking space unit and a parking space unit;
the switching value of each parking space unit comprises: the system comprises three pairs of photoelectric sensors, a transverse moving limit switch, an upper limit switch, a lower limit switch, an upper limit switch, a chain loosening detection switch, an electromagnet action confirmation switch, a transverse moving motor driving circuit, an electromagnetic anti-falling hook driving circuit, and a lifting motor driving circuit, wherein the electromagnetic anti-falling hook driving circuit drives an electromagnetic anti-falling hook to act, and the lifting motor driving circuit drives a lifting motor;
all the switching values of the berth units are arranged according to the specified sequence so as to ensure that the same switching values of different berth units are in the same column in the matrix;
the states of the sensor and the execution unit of the berth unit are represented by switching values 0, 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to the actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally, a plurality of basic units of a plurality of field layers form a multidimensional matrix;
the monitoring layer detects the columns representing the sensor switching values in the array, if the columns detect whether a person exists in the vehicle, the person in the vehicle is represented by 1 in the matrix, otherwise, the person in the vehicle is represented by 0, the monitoring layer sums the columns, if the result is 0, no person or animal exists in the vehicle, otherwise, the person or animal exists in the vehicle, if the management layer sends a shifting instruction to the monitoring layer, and under the condition that the person or animal exists in the vehicle, the monitoring layer refuses the management layer instruction and feeds back related information to the management layer.
Furthermore, the three pairs of photoelectric sensors are respectively used for detecting the height and the length of the vehicle and whether a person or an animal exists in the vehicle.
A building automation device to which a matrix algorithm based logic control system is applicable, comprising switching amounts of rooms, each room switching amount comprising: the system comprises a monitoring system, a control system, an air conditioning system, a lighting system, a drainage system, an anti-theft alarm system, a closed circuit television monitoring system, an access control system, a temperature detector system and a smoke detector system;
all the switching values of each room form a sub-matrix with a row and n columns according to a specified sequence, all the rooms (m in total) of the field layer form a sub-matrix with m rows and n columns, and if a plurality of the rooms (l in total) form a total matrix with l × m rows and n columns;
all the switching values of each room are arranged according to the specified sequence so as to ensure that the same switching values of different rooms are in the same column in the matrix;
the states of the sensors and the execution units of each room are represented by switching values 0 and 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to an actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally a multi-dimensional matrix is formed by a plurality of basic units of a plurality of field layers;
the monitoring layer detects a column representing the switching value of the sensor in the array, wherein the switching value is divided into two parts, namely detection alarm and detection display, the detection alarm part is composed of an anti-theft alarm system, a temperature detector system and a smoke detector system, the detection result of the same switching value of all rooms is represented by a column of data of a matrix, the switching value is 0 to indicate that the rooms are in a normal state, if the sum of the switching values of all the detection alarm parts is 0, each room is in a safe state, otherwise, a safety alarm is sent out to remind related workers to investigate potential safety hazards;
the detection display part comprises a person, an air conditioning system, a lighting system, a drainage system, a closed circuit television monitoring system and an access control system, the detection results of the same switching value of all rooms are represented by a row of data of a matrix, all the detection results are collected and transmitted to a human-computer terminal, the detection results are friendly to display on a human-computer terminal interface, a worker can monitor in real time, and related systems of any room are controlled according to actual conditions.
All the switching values of the basic units form a sub-matrix with a row and n columns according to a specified sequence, all the basic units (m in total) of the field layer form a sub-matrix with a row and n columns, and if a plurality of field layers (l in total) form a total matrix with a row and n columns of l ×.
The states of the sensors and the execution units of the basic units are represented by switching values 0 and 1, the switching values are transmitted through the RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to an actual situation, each signal line represents one switching value, the switching values are transmitted to the monitoring layer in a one-dimensional row matrix mode, and finally a multi-dimensional matrix is formed by a plurality of basic units of a plurality of field layers.
Basic principle of lifting and horizontal moving type stereoscopic warehouse shifting algorithm:
taking three-layer three-row stereoscopic warehouse as an example, one switching value of each parking space unit represents one row of the matrix, and all switching values of all parking space units form a total matrix. The management layer receives a total matrix formed by the monitoring layer detecting the states of the parking units in real time, and then reads a specific column of the total matrix to form a new sub-matrix according to needs (for example, a 3x3 parking space matrix shown in fig. 3 is formed by recovering data of a column of 'whether there is a car switching value' extracted from the total matrix). The management layer judges the safety state and whether the parking space still exists according to the restored relevant sub-matrix data, and therefore whether the parking can be carried out or not is determined. If the parking positions still exist, the target parking positions where the vehicles and objects are stored can be determined through the flow chart algorithm shown in the attached figure 2 (the scheme of finding the optimal vehicle storage position follows the principle that the high position is stored first, then the low position is stored, and then the two sides are stored first and then the middle is stored).
Whether each berth unit in the berth matrix has a vehicle is represented by the switching value 0/1, 0 represents no vehicle, 1 represents a vehicle, the total number of the berth units is 2^9-3=509, and if two conditions that the berth conditions are opposite from left to right are regarded as the same type, namely, the berth lifting and transverse moving method database is written without dividing the left and right, and only dividing the middle and two sides, the number of the berth lifting and transverse moving method database is actually more than 300. For each independent situation, the optimal parking moving method is set in advance. When the vehicle is parked under the condition that the target parking space is determined, only the corresponding vehicle moving process is read from the vehicle moving database to operate.
Similarly, when the vehicle is taken out, the target parking space is determined firstly, and then the corresponding moving method is read from the moving method database according to the parking space matrix to carry out moving-out operation.
A mechanical stereoscopic warehouse and an automatic matrix type intelligent control method for buildings optimizes the original complicated and complicated cables into a small number of industrial buses so as to greatly reduce the number of cables on site;
1/3, the field bus control system only needs to lay cables on site as the common control system, so that the workload of field wiring during installation is reduced while the cost of cables is saved, and the maintenance is convenient;
cables outside the control cabinet are connected by adopting standard connectors, so that the field installation technical difficulty is greatly reduced, and the phenomenon that the whole three-dimensional storage control system cannot normally operate due to wiring mistakes and omissions caused by insufficient skill or carelessness of field installation personnel when a conventional control system is used is effectively avoided;
the transmission line with the shielding and anti-interference function is adopted for connecting each berth to the main control cabinet, so that the possibility of interference of input and output signals is greatly reduced, and the anti-interference capability and the stability of the whole mechanical storage equipment control system are improved.
Take building automation as an example:
the switching value of each room includes: the system comprises a door, an air conditioning system, a lighting system, a drainage system, an anti-theft alarm system, a closed circuit television monitoring system, an access control system, a temperature detector system, a smoke detector system and the like.
All the switching values of each room form a matrix A with a row and n columns according to a specified sequence, all the rooms (m in total) of the field layer form a matrix B with a row and n columns, and if a plurality of the field layers (l in total) form a matrix C with a row and n columns of l × m.
The states of the sensors and the execution units of each room are represented by switching values 0 and 1, the switching values are transmitted through the RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to actual conditions, each signal line represents one switching value, the switching values are transmitted to the monitoring layer in a one-dimensional row matrix mode, and finally, a multi-dimensional matrix is formed by a plurality of basic units of a plurality of field layers. The monitoring layer detects the columns representing the switching values of the sensors in the array, the switching values are divided into two parts, detection alarm and detection display are carried out, the detection alarm part is composed of an anti-theft alarm system, a temperature detector system, a smoke detector system and the like, the detection results of the same switching values of all rooms are represented by a column of data of a matrix, the switching values are 0 to indicate that the rooms are in a normal state, if the sum of the switching values of all the detection alarm parts is 0, each room is in a safe state, otherwise, a safety alarm is sent out to remind related workers to investigate potential safety hazards. The detection display part comprises whether a person exists, an air conditioning system, a lighting system, a drainage system, a closed circuit television monitoring system, an access control system and the like, detection results of the same switching value of all rooms are represented by a row of data of a matrix, all the detection results are collected and transmitted to a human-computer terminal, friendly display is achieved on a human-computer terminal interface, a worker can monitor in real time, and related systems of any room are controlled according to actual conditions.
The building automation displays the basic unit information on a man-machine interface supporting platform through a matrixing management system, and a central monitoring and management interface of the whole building is established. Through a visual and uniform graphical window interface based on a WEB browsing mode, managers can conveniently and quickly monitor, control and centrally and uniformly manage all basic units in the building in real time, so that the operation efficiency of the system is improved.
As shown in fig. 1, a matrix-type intelligent management system for unit integrated systems having the same state variable groups comprises:
the field layer, namely each basic unit, is formed by various sensors and action execution units (the basic units can communicate with each other to achieve the purpose of interlocking protection), and the main task is to control the end effector of the field controlled equipment to finish the action of the basic units and collect the switching value measured by the sensors;
the monitoring layer is used as a bridge for connecting the field layer and the management layer, is composed of an MCU (microprogrammed control Unit), a P L C (personal computer) or a PC (personal computer), and the like, completes monitoring on the field layer and receives management of the management layer, and has the main tasks of receiving and processing state information of the field layer, feeding the state information back to the management layer, receiving an instruction of the management layer and judging whether to execute the instruction according to the state information of the field layer;
the management layer is composed of a human-computer terminal, receives a user instruction and displays feedback information of the monitoring layer by a friendly graphical interface, and mainly has the task of receiving instruction information of a user and feedback information of the monitoring layer to realize coordination and information sharing among all parts of the system;
when the stereoscopic warehouse has three layers and three columns, one switching value of each berthing unit represents one column of the matrix, and all switching values of all berthing units form the total matrix. The management layer receives a total matrix formed by the monitoring layer detecting the states of the parking units in real time, and then reads a specific column of the total matrix to form a new sub-matrix according to needs (for example, a 3x3 parking matrix shown in fig. 3 is restored by data of a column of 'whether there is a vehicle switching value' extracted from the total matrix). The management layer judges the safety state and whether the parking space still exists according to the restored relevant sub-matrix data, and therefore whether the parking can be carried out or not is determined. If there are still parking spaces, the target parking space where the vehicle object needs to be stored can be determined through the algorithm shown in fig. 2 (the scheme of finding the optimal parking position follows the principle of firstly storing high places, then storing low places, and firstly storing two sides and then storing the middle).
Whether each berth unit in the berth matrix has a vehicle or not is represented by the switching value 0/1, 0 represents no vehicle, 1 represents a vehicle, the total number of the situations is 2^9-3=509, and if the two situations that the berth situation is opposite from the left to the right are regarded as the same type, namely the berth transversely-moving method database is written without dividing the left and the right, and only dividing the middle and two sides (such as a matrix a and a matrix A, a matrix B and a matrix B shown in figure 4 are regarded as one situation), the number of the situations is only 300 actually. For each independent situation, the optimal parking moving method is set in advance. When the vehicle is parked under the condition that the target parking space is determined, the corresponding vehicle taking process is read from the moving method database.
Similarly, when the vehicle is taken out, the target parking space is determined firstly, and then the corresponding moving method is read from the moving method database according to the parking space matrix to carry out moving-out operation.
The specific transfer method operation is as follows:
as stated above, only two cases of moving out of the middle and both sides are considered, and only the case of moving out of the centrally located berth is exemplified here:
as shown in the above flowchart 4, where represents the target parking space to be moved out, X represents that the parking space information is arbitrary, 0 represents that there is no car in the parking space, 1 represents that there is a car in the parking space, and the arrow in the table represents the car-sending operation that the warehouse should perform in the case of the parking space shown in the table. (the moving-in algorithm determines that the first and second floors in the warehouse always have at least one empty berth, and the left-right symmetrical algorithm basically has the same principle to directly assume that the empty berths of the first floor and the second floor are always on the right side as shown in the table);
and when the parking system executes a vehicle taking instruction, inquiring the form to execute corresponding vehicle taking operation according to the moved target parking space information input by the management layer and the field layer parking space information acquired by the monitoring layer.
Denote A as the target dock to be moved out, representing the element 32 to be moved out when A takes 1; when A takes 0, it represents the element 22 is removed. B is represented as the berth information of element 22, representing that element 22 has a car when B takes 1; when B takes 0, the representative element 22 has no cars. Representing C as the berth information of the element 12, and representing that the element 12 has a vehicle when C takes 1; when C takes 0, the representative element 12 has no vehicle.
Representing the MN as the current berthage to be moved, representing the move element 22 when the MN takes 00; when MN takes 01, it represents mobile element 32; when MN takes 10, it represents mobile element 12.
Representing F as a moving algorithm of the current berth, and representing that the current berth moves downwards when F takes 1; when F takes 0, it represents that the current berth moves to both sides.
According to the above description, table 1 lists the state quantity correspondence of all cases when moving out of the intermediate space:
simplified by carnot diagram:
when considering shifting out of a two-sided berth, the idea is the same as the above method.
The electric elements presented in the article are all electrically connected with an external main controller and 220V mains supply, the main controller can be a computer or other conventional known devices for controlling, the related modules referred to in the article are all hardware system modules or functional modules combining a computer software program or a protocol and hardware in the prior art, and the computer software program or the protocol referred to by the functional modules is a technology known by persons skilled in the art per se and is not an improvement of the system; the improvement of the system is the interaction relation or the connection relation among all the modules, namely the integral structure of the system is improved, so as to solve the corresponding technical problems to be solved by the system.
In summary, the logic control system based on the matrix algorithm has the advantages of simple installation and maintenance, simple and clear structure, high reliability, good stability, strong safety and low cost.
It is noted that in the present disclosure, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacted with the first and second features, or indirectly contacted with the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. A logic control system for stereoscopic warehouse and building based on matrix algorithm, comprising a field layer, a monitoring layer and a management layer, characterized in that:
the field layer is a basic unit of the control system and consists of a sensor and an action execution unit, and can control the end effector of the field controlled equipment to complete the action of the basic unit and collect the switching value measured by the sensor;
the monitoring layer can be used as a bridge for connecting the field layer and the management layer and consists of an MCU (microprogrammed control Unit), a P L C or a PC (personal computer) to complete monitoring of the field layer and receive management of the management layer, and the monitoring layer can receive and process state information of the field layer and feed back the state information to the management layer, and simultaneously receive an instruction of the management layer and judge whether to execute the monitoring according to the state information of the field layer;
the management layer is composed of a man-machine terminal, receives a user instruction and displays feedback information of the monitoring layer through a friendly graphical interface, and can receive instruction information of the user and feedback information of the monitoring layer to realize coordination and information sharing among all parts of the system;
the total n switching values of each basic unit sensor and the execution unit of a field layer can be collected to form a sub-matrix with a row and n columns, then m sub-matrices with m rows and n columns are formed by all basic units of the field layer, if the system has a plurality of field layers, a total matrix with l × m rows and n columns is formed, and the monitoring and management of the system are realized in a matrix algorithm mode;
the stereoscopic warehouse is a lifting and transverse moving type stereoscopic warehouse and comprises a parking space unit and a parking space unit;
the switching value of each parking space unit comprises: the system comprises three pairs of photoelectric sensors, a transverse moving limit switch, an upper limit switch, a lower limit switch, an upper limit switch, a chain loosening detection switch, an electromagnet action confirmation switch, a transverse moving motor driving circuit, an electromagnetic anti-falling hook driving circuit and a lifting motor driving circuit, wherein the transverse moving motor driving circuit drives a transverse moving motor to act, the electromagnetic anti-falling hook driving circuit drives an electromagnetic anti-falling hook to act, and the lifting motor driving circuit drives a lifting motor;
all the switching values of the berth units are arranged according to the specified sequence so as to ensure that the same switching values of different berth units are in the same column in the matrix;
the states of the sensor and the execution unit of the berth unit are represented by switching values 0, 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to the actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally, a plurality of basic units of a plurality of field layers form a multidimensional matrix;
the monitoring layer detects the columns representing the sensor switching values in the array, if the vehicle is detected to be whether people exist, the people in the vehicle are represented by 1 in the matrix, otherwise, the columns are represented by 0, the monitoring layer sums the columns, if the result is 0, no people or animals exist in the vehicle, otherwise, people or animals exist in the vehicle, the management layer sends a shifting instruction to the monitoring layer, and under the condition that people or animals exist in the vehicle, the monitoring layer refuses the management layer instruction and feeds back related information to the management layer;
whether each berth unit in the berth matrix has a vehicle is represented by a switching value 0/1, 0 represents no vehicle, 1 represents a vehicle, and if the two opposite berth conditions are regarded as the same type, namely, the berth lifting and transverse moving method database is written without dividing the left and right, and only dividing the middle and two sides; setting an optimal vehicle parking moving method for each independent condition in advance; when the vehicle is parked under the condition that the target parking space is determined, the corresponding vehicle taking process is read from the moving method database.
2. The logic control system for stereoscopic warehouse and building based on matrix algorithm of claim 1 wherein: and the three pairs of photoelectric sensors of the parking space unit are respectively used for detecting the height and the length of a vehicle and whether a person or an animal exists in the vehicle.
3. The logic control system for stereoscopic warehouse and building based on matrix algorithm of claim 1 wherein: the building automatic control system comprises the switching values of rooms, wherein the switching value of each room comprises: the system comprises a monitoring system, a control system, an air conditioning system, a lighting system, a drainage system, an anti-theft alarm system, a closed circuit television monitoring system, an access control system, a temperature detector system and a smoke detector system;
all the switching values of each room form a sub-matrix with n rows and n columns according to a specified sequence, m sub-matrices with m rows and n columns are formed in all the rooms of the field layer, and if there are a plurality of field layers, a total matrix with l × m rows and n columns is formed;
all the switching values of each room are arranged according to the specified sequence so as to ensure that the same switching values of different rooms are in the same column in the matrix;
the states of the sensors and the execution units of each room are represented by switching values 0 and 1, the switching values are transmitted through RS485 according to a specified sequence, the number of signal lines of the RS485 is determined according to an actual situation, each signal line represents one switching value, the switching values are transmitted to a monitoring layer in a one-dimensional row matrix form, and finally a multi-dimensional matrix is formed by a plurality of basic units of a plurality of field layers;
the monitoring layer detects a column representing the switching value of the sensor in the array, wherein the switching value is divided into two parts, namely detection alarm and detection display, the detection alarm part is composed of an anti-theft alarm system, a temperature detector system and a smoke detector system, the detection result of the same switching value of all rooms is represented by a column of data of a matrix, the switching value is 0 to indicate that the rooms are in a normal state, if the sum of the switching values of all the detection alarm parts is 0, each room is in a safe state, otherwise, a safety alarm is sent out to remind related workers to investigate potential safety hazards;
the detection display part comprises a person, an air conditioning system, a lighting system, a drainage system, a closed circuit television monitoring system and an access control system, the detection results of the same switching value of all rooms are represented by a row of data of a matrix, all the detection results are collected and transmitted to a human-computer terminal, the detection results are friendly to display on a human-computer terminal interface, a worker can monitor in real time, and related systems of any room are controlled according to actual conditions.
4. The matrix algorithm based logic control system for stereoscopic warehouses and buildings according to claim 1, characterized in that: the original complicated and complicated cable lines are optimized into industrial buses with small quantity, so that the quantity of the cables on site is greatly reduced;
1/3, the field bus control system only needs to lay cables on site as the common control system, so that the workload of field wiring during installation is reduced while the cost of cables is saved, and the maintenance is convenient;
cables outside the control cabinet are connected by adopting standard connectors, so that the field installation technical difficulty is greatly reduced, and the phenomenon that the whole three-dimensional storage control system cannot normally operate due to wiring mistakes and omissions caused by insufficient skill or carelessness of field installation personnel when a conventional control system is used is effectively avoided;
the transmission line with the shielding and anti-interference function is adopted for connecting each berth to the main control cabinet, so that the possibility of interference of input and output signals is greatly reduced, and the anti-interference capability and the stability of a logic control system for a stereoscopic warehouse and a building based on a matrix algorithm are improved.
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