CN105718975B - A kind of library intelligent robot 3D navigation restocking systems based on RFID technique - Google Patents
A kind of library intelligent robot 3D navigation restocking systems based on RFID technique Download PDFInfo
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Abstract
The library intelligent robot 3D navigation restocking systems based on RFID technique that the invention discloses a kind of, including book information read module, book information display module, shelving path-generating module, indoor positioning module, automatic get-on carriage module and data memory module, book information read module includes internal information read module and external information read module；Internal information read module reads the book RFID tag for waiting for restocking books, extracts book information by background data base server, includes on book information display module by book information；The indoor positioning module position of real-time display system in library on book information display module；Shelving path-generating module according to books should bookshelf location information and locating module location information generate inside set the restocking path of books in book list member and be shown on book information display module；The path that automatic get-on carriage module is generated according to shelving path-generating module carries out system to navigate to upper rack position.
Description
Technical field
The present invention relates to a kind of technical field of RFID, especially a kind of library intelligent robot 3D based on RFID technique
Navigation restocking system.
Background technology
Radio frequency identification, RFID (Radio Frequency Identification) technology, is a kind of communication technology,
Specific objective can be identified by radio signals and reads and writes related data, without being established between identifying system and specific objective
Mechanical or optical contact.Wireless radio-frequency is broadly divided into two kinds of technologies of high frequency and hyperfrequency.
Domestic Books manage system mainly using the technological means of " safe magnetic stripe+bar code ", this method at present
The existing defects in the practice process of taking care of books.RFID Radio Frequency Identification Technology can efficiently solve existing bar code books
The defect of way to manage, the technology use radio wave rather than light as the medium for carrying out information exchange with reader, Ke Yishi
The non-line of sight communication of existing RFID tag and reader.The advantages of RFID technique, mainly has：Non-contact reading, data storage capacity
Greatly, read or write speed is fast, Information Security is high, small easy encapsulation, identification distance is remote, service life is long, environmental suitability is high.
With the development of the times, automatic feeding people provide a great convenience, but in library environment, there are many more
Need manually carrying out for task, such as the restocking of books, it is necessary to consume many manual labors, be carried out using robot semi-automatic
Change restocking and greatly facilitate administrative staff, improves restocking efficiency.In addition, the utilization of threedimensional model display navigation, can allow pipe
The layout in the clearly entire library of reason person, brings many facilities.
Invention content
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of figure based on RFID technique
Book shop intelligent robot 3D navigation restocking systems, utilize book information in RFID radiofrequency signal automatic identification equipments, generate restocking
Path, indoor positioning and automatic get-on carriage function.
In order to solve the above-mentioned technical problem, the invention discloses a kind of library intelligent robot 3D based on RFID technique
Navigation restocking system, including book information read module, book information display module, shelving path-generating module, interior
Locating module, automatic get-on carriage module and data memory module,
The book information read module includes internal information read module and external information read module；Internal information is read
Modulus block includes that book list member and internal RFID antenna are set in inside, and external information read module includes External RFID antenna；It sets inside
Book list member waits for restocking books for storing；
The internal information read module reads the book RFID tag for waiting for restocking books by internal RFID antenna, and leads to
Background data base server extraction book information is crossed, includes the book information packet on book information display module by book information
Include books should bookshelf location information；
The indoor positioning module is used to read side bookshelf RFID tag or books by external information read module
RFID tag, and bookshelf information is extracted by background data base server and is used as current location information, show mould in book information
Current location of the real-time display system in library on block；
The books that the shelving path-generating module is used to be obtained according to internal information read module should book
The location information of rack position information and locating module generates inside and sets the restocking path of books in book list member and be shown in books letter
It ceases on display module；
The path that the automatic get-on carriage module is generated according to shelving path-generating module, navigates to system, makes
System is automatically moved into upper rack position according to restocking path.
The system comprises radio receiving transmitting module, the radio receiving transmitting module is used to connect background data base server, after
There is the information of all books and bookshelf in platform database server.
The internal information read module reads the book RFID tag for waiting for restocking books by internal RFID antenna, and leads to
Background data base server extraction book information is crossed, includes being walked including following on book information display module by book information
Suddenly：
Step 1-1 sets the book RFID tag that restocking books are waited in book list member using internal RFID antenna reading inside,
In the book RFID tag read, rejecting does not meet book RFID tag EPC (Electronic Product Code, product
Electronic code) coding rule book RFID tag, and obtain and wait for that restocking books set location information in book list member in inside；
Step 1-2 extracts books ID number, after being connected by radio receiving transmitting module from No. EPC of book RFID tag
Platform database server, inquires corresponding book information from background data base server, and book information includes books place
Bookshelf location information；
Step 1-3 sets the void of book list member and needed restocking books on book information display module inside simulation generation
Quasi- image；
Step 1-4, the 1-1 that repeated the above steps every two seconds~step 1-3 processes, and refresh book information display module
Interface.
The shelving path-generating module generates inside and sets the restocking path of books in book list member and be shown in books
Include the following steps in information display module：
External RFID antenna is directed at bookshelf by step 2-1, reads bookshelf RFID tag and book RFID on bookshelf nearby
Label；
Step 2-2 reads step 2-1 according to the different coding of bookshelf RFID tag and book RFID tag rule
Bookshelf RFID tag and book RFID tag carry out sorted generalization be shelf label and book labels；
Step 2-3 takes RSSI (Received Signal Strength if bookshelf RIFD number of tags is not zero
Indication receives the intensity instruction of signal) the maximum bookshelf RIFD labels of signal value, extract its bookshelf ID number, from backstage
The bookshelf position where this label is inquired in database server, using this bookshelf as the current location of system, executes step
2-4；
If bookshelf RIFD number of tags is zero, book RFID tag number is also zero, then is carried in book information display module
Current location cannot be judged by showing, can not generate restocking path；
If bookshelf RIFD number of tags is zero, book RFID tag number is not zero, and is extracted from each book RFID tag
Books ID number inquires its bookshelf position from background data base server, if all books numbers inquired have half with
On belong to one of bookshelf, this bookshelf is just judged as to the position of current system, step 2-4 is executed, otherwise in book information
Prompt can not obtain current location in display module；
Step 2-4, using system current location as first address, the books bookshelf location information that step 1-2 is obtained as
Input generates a shelving path with nearest neighbor interpolation；
Step 2-5 is that the bookshelf position in each path makes road sign model, believes in books according to shelving path
The virtual page number of load library configuration and display in display module are ceased, is carried on each road sign model and indicates that this bookshelf restocking is suitable
The number of sequence, and navigational arrows are made according to the path between two bookshelves, dynamic mobile is recycled in virtual page number.
The indoor positioning module current location of real-time display system in library on book information display module
Include the following steps：
External RFID antenna is directed at bookshelf by step 3-1, and system is according to current location and the next position judgment to be gone
Advance or retreats；
Step 3-2, during traveling, External RFID antenna reads side bookshelf RFID tag, rejects non-bookshelf
The information of RFID tag；
Step 3-3 extracts the maximum bookshelf RFID tag of RSSI signals from the bookshelf RFID tag read, according to this mark
Label inquiry background data base server obtains corresponding bookshelf information, and system is in library in update book information display module
Position in the virtual page number of layout.
The automatic get-on carriage module navigates to system, makes system according to the supreme rack position packet of restocking path self-navigation
Include following steps：
External RFID antenna is directed at bookshelf by step 4-1, and system is according to current location and the next position judgment to be gone
Advance or retreats；
Step 4-2, system judge whether the place bookshelf of current location should set book comprising inside during traveling
Books in unit if it is, being automatically stopped, and show that this books needs the prompt of restocking on book information display module
Otherwise information continues on.
The book information display module includes touch display screen.
The data memory module includes local storage unit.The data of storage include the information and bookshelf information of books.
Book information includes the level number and figure of bookshelf id information, books where books ID number, books title, books author, books again
The position number of book；Bookshelf information includes the ID number of bookshelf, bookshelf group number, bookshelf row number and bookshelf line number.If what is read is
Book RFID tag just extracts books ID number from label, to found out in data memory module corresponding book information and
Books bookshelf id information, if the bookshelf location information where searching books, just finds out specifically according to the id information of bookshelf
The position of bookshelf；If what is read is bookshelf RFID tag, the id information of bookshelf is just extracted from label, and mould is stored to data
The more specific location information of bookshelf is found out in block.
Advantageous effect：This library intelligent robot 3D navigation restocking systems based on RFID technique, may be implemented fast
Speed identification restocking book information, saves the time that librarian identifies books；A restocking road is generated for the books of restocking
Diameter, and 3D models real-time display current location in a model is established, it facilitates librarian and finds the bookshelf for wanting restocking, avoid
It can not know present position or confirm the trouble of restocking bookshelf position difficulty；Automatic get-on carriage is carried out using robot,
It allows robot to automatically proceed to rack position and prompts listings, alleviate the workload of administrator, and improve restocking
Accuracy, there is mistake in when bookshelf information for preventing administrator's manual confirmation book.The present invention is by intelligent robot 3D restockings system
System applies to library restocking field, facilitates librarian's restocking to operate, improves the efficiency of shelving.
Description of the drawings
The present invention is done with reference to the accompanying drawings and detailed description and is further illustrated, of the invention is above-mentioned
And/or otherwise advantage will become apparent.
Fig. 1 is the schematic diagram of library's intelligent robot.
Fig. 2 is the flow chart of library intelligent robot 3D navigation restocking system allomeric functions.
Fig. 3 is the flow chart of the books function on automatic identification robot Book rest.
Fig. 4 is the flow chart for generating restocking path function.
Fig. 5 is the flow chart of robot indoor positioning and navigation feature.
Specific implementation mode：
The library intelligent robot 3D navigation restocking systems based on RFID technique that the invention discloses a kind of, including books
Information reading module, book information display module, shelving path-generating module, indoor positioning module, automatic get-on carriage module
And data memory module,
The book information read module includes internal information read module and external information read module；Internal information is read
Modulus block includes that book list member and internal RFID antenna are set in inside, and external information read module includes External RFID antenna；It sets inside
Book list member waits for restocking books for storing；
The internal information read module reads the book RFID tag for waiting for restocking books by internal RFID antenna, and leads to
Background data base server extraction book information is crossed, includes the book information packet on book information display module by book information
Include books should bookshelf location information；
The indoor positioning module is used to read side bookshelf RFID tag or books by external information read module
RFID tag, and bookshelf information is extracted by background data base server and is used as current location information, show mould in book information
Current location of the real-time display system in library on block；
The books that the shelving path-generating module is used to be obtained according to internal information read module should book
The location information of rack position information and locating module generates inside and sets the restocking path of books in book list member and be shown in books letter
It ceases on display module；
The path that the automatic get-on carriage module is generated according to shelving path-generating module, navigates to system, makes
System is automatically moved into upper rack position according to restocking path.
The system comprises radio receiving transmitting module, the radio receiving transmitting module is used to connect background data base server, after
There is the information of all books and bookshelf in platform database server.
The internal information read module reads the book RFID tag for waiting for restocking books by internal RFID antenna, and leads to
Background data base server extraction book information is crossed, includes being walked including following on book information display module by book information
Suddenly：
Step 1-1 sets the book RFID tag that restocking books are waited in book list member using internal RFID antenna reading inside,
In the book RFID tag read, rejecting does not meet book RFID tag EPC (Electronic Product Code, product
Electronic code) coding rule book RFID tag, and obtain and wait for that restocking books set location information in book list member in inside；
Step 1-2 extracts books ID number, after being connected by radio receiving transmitting module from No. EPC of book RFID tag
Platform database server, inquires corresponding book information from background data base server, and book information includes books place
Bookshelf location information；
Step 1-3 sets the void of book list member and needed restocking books on book information display module inside simulation generation
Quasi- image；
Step 1-4, the 1-1 that repeated the above steps every two seconds~step 1-3 processes, and refresh book information display module
Interface.
The shelving path-generating module generates inside and sets the restocking path of books in book list member and be shown in books
Include the following steps in information display module：
External RFID antenna is directed at bookshelf by step 2-1, reads bookshelf RFID tag and book RFID on bookshelf nearby
Label；
Step 2-2 reads step 2-1 according to the different coding of bookshelf RFID tag and book RFID tag rule
Bookshelf RFID tag and book RFID tag carry out sorted generalization be shelf label and book labels；
Step 2-3 takes RSSI (Received Signal Strength if bookshelf RIFD number of tags is not zero
Indication receives the intensity instruction of signal) the maximum bookshelf RIFD labels of signal value, extract its bookshelf ID number, from backstage
The bookshelf position where this label is inquired in database server, using this bookshelf as the current location of system, executes step
2-4；
If bookshelf RIFD number of tags is zero, book RFID tag number is also zero, then is carried in book information display module
Current location cannot be judged by showing, can not generate restocking path；
If bookshelf RIFD number of tags is zero, book RFID tag number is not zero, and is extracted from each book RFID tag
Books ID number inquires its bookshelf position from background data base server, if all books numbers inquired have half with
On belong to one of bookshelf, this bookshelf is just judged as to the position of current system, step 2-4 is executed, otherwise in book information
Prompt can not obtain current location in display module；
Step 2-4, using system current location as first address, the books bookshelf location information that step 1-2 is obtained as
Input generates a shelving path with nearest neighbor interpolation；
Step 2-5 is that the bookshelf position in each path makes road sign model, believes in books according to shelving path
The virtual page number of load library configuration and display in display module are ceased, is carried on each road sign model and indicates that this bookshelf restocking is suitable
The number of sequence, and navigational arrows are made according to the path between two bookshelves, dynamic mobile is recycled in virtual page number.
The indoor positioning module current location of real-time display system in library on book information display module
Include the following steps：
External RFID antenna is directed at bookshelf by step 3-1, and system is according to current location and the next position judgment to be gone
Advance or retreats；
Step 3-2, during traveling, External RFID antenna reads side bookshelf RFID tag, rejects non-bookshelf
The information of RFID tag；
Step 3-3 extracts the maximum bookshelf RFID tag of RSSI signals from the bookshelf RFID tag read, according to this mark
Label inquiry background data base server obtains corresponding bookshelf information, and system is in library in update book information display module
Position in the virtual page number of layout.
The automatic get-on carriage module navigates to system, makes system according to the supreme rack position packet of restocking path self-navigation
Include following steps：
External RFID antenna is directed at bookshelf by step 4-1, and system is according to current location and the next position judgment to be gone
Advance or retreats；
Step 4-2, system judge whether the place bookshelf of current location should set book comprising inside during traveling
Books in unit if it is, being automatically stopped, and show that this books needs the prompt of restocking on book information display module
Otherwise information continues on.
The book information display module includes touch display screen.
The data memory module includes local storage unit.The data of storage include the information and bookshelf information of books.
Book information includes the level number and figure of bookshelf id information, books where books ID number, books title, books author, books again
The position number of book；Bookshelf information includes the ID number of bookshelf, bookshelf group number, bookshelf row number and bookshelf line number.If what is read is
Book RFID tag just extracts books ID number from label, to found out in data memory module corresponding book information and
Books bookshelf id information, if the bookshelf location information where searching books, just finds out specifically according to the id information of bookshelf
The position of bookshelf；If what is read is bookshelf RFID tag, the id information of bookshelf is just extracted from label, and mould is stored to data
The more specific location information of bookshelf is found out in block.
Embodiment
The library intelligent robot 3D navigation restocking systems based on RFID technique that present embodiment discloses a kind of, including figure
Book information reading module, book information display module 1, shelving path-generating module, indoor positioning module, automatic get-on carriage mould
Block, data memory module and radio receiving transmitting module, as shown in Figure 1, the robot include main frame and touch display screen,
Reader, robot Book rest and robot side lifting gear, robot behind Book rest include upper layer Book rest 2 and lower layer
Book rest 3, upper layer and lower layer Book rest place two RFID antennas (antenna is invisible in Fig. 1), upper layer Book rest antenna respectively
Corresponding 3, No. 4 RFID antennas, lower layer's Book rest antenna correspond to 5, No. 6 RFID antennas, 1,2 are equipped on robot side lifting gear
Number RFID antenna, main frame and reader are connected by a cable.As shown in Fig. 2, the library based on RFID technique
Intelligent robot 3D navigation restocking system allomeric functions mainly comprise the steps of：
Step 1-1, will the books of restocking be put on two layers of Book rest of robot behind；
Step 1-2 starts the 3D restocking systems in robot main frame, can connect and read automatically while opening system
Read device；
Step 1-3 opens the Books scanning page, clicks beginning scan button and starts to scan the books in Book rest；
Step 1-4, books making model scan for every show every book according to books in the level number of Book rest
Model clicks each stratification bookshelf of robot model in the Books scanning page, shows that book is set by this layer of robot in model side
The table of all book informations on frame；
Step 1-5 opens library configuration's page, utilizes the bookshelf on bookshelf beside the antenna scanning of robot side
RFID tag and book RFID tag obtain the position where current robot, according to the bookshelf of current location and restocking books
One restocking path of location information optimization；
Each bookshelf position in restocking path is made a road sign label, according to path order with number by step 1-6
It indicates, the corresponding position in library configuration's page is shown；
Step 1-7 clicks and starts the navigation button, allows robot according to the supreme rack position of restocking path self-navigation, automatically
Stop and pop up the prompting frame of restocking book information table；
Step 1-8, administrator takes out the books that the prompting frame on Book rest prompts according to the restocking book information of prompt puts
It sets in the correct position of bookshelf；
Step 1-9, the 1-7 that repeats the above steps~step 1-8 processes are until all books are all by restocking；
As shown in figure 3, the library intelligent robot 3D navigation restocking systems based on RFID technique pass through following steps reality
The function of existing automatic identification books：
Step 2-1, will the books of restocking be put on two layers of Book rest of robot behind；
Step 2-2, using book RFID tag in the antenna scanning Book rest on Book rest, setting reading label before scanning
Mask be " 00 ", with 0 beginning label represent book labels.Unlatching 3,4,5, No. 6 antennas are needed simultaneously, disable 1, No. 2 day
Line；
Step 2-3 judges that the label read is according to the coding rule of the good book RFID tag EPC of earlier set
No is book RFID tag, rejects the label for not meeting book RFID tag EPC coding rules, is recorded while reading label
The antenna end slogan of Books is judged as this books on the upper layer of Book rest, if mark if label port numbers are 3,4
It is 5,6 to sign port numbers, then lower layer of the books in Book rest.If a books read by upper and lower antenna simultaneously, take
Level number of the level number as this this books where maximum that day wire size of RSSI value.The EPC of book RFID tag in this
Number coding rule it is as follows：
0BCXXXXXXXX000000000
0：Indicate that the type of label is book RFID tag
B：The lending state of book
0：Expression is not lent
1：Indicate lending
2：Indicate inaccurate public use
C：Indicate length, the code length of books is 8 at present
XXXXX：It indicates books ID number, is obtained by the bar code of books
00000：Because of RFID coding requirements, insufficient double byte needs to carry out zero padding operation；
Step 2-4 extracts the ID number of books according to book RFID tag EPC information coding rules from No. EPC；
Step 2-5 inquires the essential information and figure of books from background data base server according to the books ID number extracted
The bookshelf location information of book, the essential information of books include books title, books coding；
Step 2-6, the books scanned for every make books model；
Step 2-7, the books obtained according to step 1-3 are in the position of Book rest, in the corresponding Book rest of robot model
Upper display books.If books are judged as on the upper layer of Book rest, correspondingly, in robot model Book rest it is upper
Layer shows that this books model is just shown in lower layer if it is lower layer；
Step 2-8, click robot model every layer can all show the table for including this layer of all book informations by model
Lattice；
Step 2-9, the 1-2 that repeated the above steps every two seconds~step 1-8 processes.
As shown in figure 4, the library intelligent robot 3D navigation restocking systems based on RFID technique pass through following steps reality
Now generate the function of guidance path：
Step 3-1 opens library configuration's page in touch display screen, point after the process for completing above-mentioned Books scanning
Coordinates measurement button is hit, the bookshelf RFID tag posted in advance on bookshelf beside the 1 of robot side, No. 2 antenna scanning is utilized
And book RFID tag.The mask of label need not be set before scanning, open 1, No. 2 antenna, disable 3,4,5, No. 6 antennas；
Step 3-2, bookshelf RFID tag are to be attached on bookshelf in advance, and the height of No. 1 or No. 2 antenna is adjusted to book
No. EPC coding rule setting of the height and position of frame RFID tag, bookshelf RFID tag is as follows：
1BCXXXXX000000000000
1：Indicate that the type of label is bookshelf RFID tag
B：Reserved place
C：Indicate length, the code length of books is 5 at present
XXXXX：Indicate bookshelf ID number
00000：Because of RFID coding requirements, insufficient double byte needs to carry out zero padding operation；
Step 3-3 classifies the label read, and No. EPC is book labels more than 8 with 0 beginning and length,
More than 5 it is shelf label with 1 beginning length；
Step 3-4 takes that maximum label of RSSI signal values, extracts it if bookshelf RIFD number of tags is not zero
Bookshelf ID number, to the bookshelf position inquired in background data base server where this label, using this bookshelf as robot
Current location；
Step 3-5 will see whether book RFID tag number is zero if bookshelf RIFD number of tags is zero, if
Book RFID tag is not read, then prompt cannot judge current location, can not generate restocking path.Otherwise just from each figure
Books ID number is extracted in book RFID tag, its bookshelf position is found through background data base server, if all figures inquired
Book number has more than half to belong to one of bookshelf, this bookshelf is just judged as to the position of current robot, otherwise prompts nothing
Method obtains current location；
Step 3-6, if above-mentioned steps 2-4 or 2-5 process obtains robot current location, using nearest neighbor interpolation,
A restocking path is generated using the bookshelf information of restocking books.Nearest neighbor interpolation is exactly to calculate all positions and a upper position
The distance set selects position wherein nearest from a upper position as next position.The calculation of distance is as follows：
Two bookshelves are in same row:
S=(col1-col2) × shelflength, wherein s indicate that two bookshelf distances, col1 indicate the row of other bookshelves
Number, col2 indicates that the row number of a bookshelf, shelflength indicate the length of a bookshelf；
Two bookshelves are not in same row：
It turns round from the left side：
S=(col2+col1) * shelflength+ (row1-row2) * shelfwidth+e
It turns round from the right：
S=(2n- (col2+col1)) * shelflength+ (row1-row2) * shelfwidth+e, wherein s indicate two
A bookshelf distance, col1 indicate that the row number of other bookshelves, col2 indicate that the row number of a bookshelf, shelflength indicate one
The length of a bookshelf, row1 indicate that the line number of other bookshelves, row2 indicate that the line number of a bookshelf, shelfwidth indicate one
The width of a bookshelf, n represent the bookshelf number of a line, and e indicates the cost turned round；
Using current location as the initial bookshelf position to be calculated, counted successively according to the method for two bookshelf distance of above-mentioned calculating
Next upper rack position is calculated, with one restocking path of this optimization.
Step 3-7 is that the bookshelf position in each path makes road sign model, is touching according to obtained restocking path
Corresponding position in the display screen library configuration page is shown, with the number for indicating this bookshelf restocking sequence on each road sign model
Word, and navigational arrows are made according to the path between two bookshelves, dynamic mobile is recycled in the page；
As shown in figure 5, the library intelligent robot 3D navigation restocking systems based on RFID technique pass through following steps reality
The function of existing robot self-navigation：
Step 5-1 opens library configuration's page, clicks and starts the navigation button；
Step 5-2 is marked using the bookshelf RFID posted in advance on bookshelf beside the 1 of robot side, No. 2 antenna scanning
Label.The mask for needing that label is arranged before scanning is " 10 ", and non-bookshelf RFID tag is rejected with this.Open 1, No. 2 antenna, disabling
3,4,5, No. 6 antennas；
Step 5-3 chooses the maximum label of RSSI signal values, extraction bookshelf ID in the bookshelf RFID tag read
Number, bookshelf that label represents is found as current location, and in library's cloth of touch display screen from background data base server
The position of robot is updated in office's page；
Step 5-4 inquires the books of current location restocking whether in need, machine if having from the result of Books scanning
People is automatically stopped, and pops up a prompting frame, which includes the list for all books for needing restocking this moment, including books mark
Topic, book number, books position on the shelf and books are in the position of robot Book rest；
Step 5-5, librarian take out the books for wanting restocking according to prompt from the corresponding position of robot Book rest,
Carry out artificial restocking operation；
Step 5-6, after the restocking of current location, the 5-2 that repeats the above steps~step 5-5 processes continues click and starts
Navigation, allows robot to go to next position automatically, if the equal restocking of all books finishes, terminates restocking operation.
The present invention provides a kind of the library intelligent robot 3D navigation restocking systems based on RFID technique, specific implementation
There are many method and approach of the technical solution, the above is only a preferred embodiment of the present invention, it is noted that for this skill
For the those of ordinary skill in art field, various improvements and modifications may be made without departing from the principle of the present invention,
These improvements and modifications also should be regarded as protection scope of the present invention.Each component part being not known in the present embodiment can be used existing
Technology is realized.
Claims (1)
- The restocking system 1. a kind of library intelligent robot 3D based on RFID technique navigates, which is characterized in that believe including books Cease read module, book information display module, shelving path-generating module, indoor positioning module, automatic get-on carriage module and Data memory module,The book information read module includes internal information read module and external information read module；Internal information reads mould Block includes that book list member and internal RFID antenna are set in inside, and external information read module includes External RFID antenna；Set book list in inside Member waits for restocking books for storing；The internal information read module is read by internal RFID antenna and waits for the book RFID tags of restocking books, and after passing through Platform database server extracts book information, includes on book information display module by book information, book information includes figure Book should bookshelf location information；The indoor positioning module is used to read side bookshelf RFID tag or book RFID by external information read module Label, and bookshelf information is extracted by background data base server and is used as current location information, on book information display module Current location of the real-time display system in library；The books that the shelving path-generating module is used to be obtained according to internal information read module should bookshelf position Confidence ceases and the current location information of indoor positioning module, generates inside and sets the restocking path of books in book list member and be shown in figure In book information display module；The path that the automatic get-on carriage module is generated according to shelving path-generating module, navigates to system, makes system The supporting body at place is automatically moved into upper rack position according to restocking path；The system comprises radio receiving transmitting module, the radio receiving transmitting module is for connecting background data base server, rear number of units According to the information for having all books and bookshelf in the server of library；The internal information read module is read by internal RFID antenna and waits for the book RFID tags of restocking books, and after passing through Platform database server extracts book information, includes including the following steps on book information display module by book information：Step 1-1 is set the book RFID tag for waiting for restocking books in book list member using internal RFID antenna reading inside, read To book RFID tag in, reject and do not meet the book RFID tags of book RFID tag EPC coding rules, and waited for Frame books set the location information in book list member in inside；Step 1-2 extracts books ID number, number of units after being connected by radio receiving transmitting module from No. EPC of book RFID tag According to library server, corresponding book information is inquired from background data base server, book information includes the book where books Rack position information；Step 1-3 sets the virtual graph of book list member and needed restocking books on book information display module inside simulation generation Picture；Step 1-4, the 1-1 that repeated the above steps every two seconds~step 1-3 processes, and refresh the boundary of book information display module Face；The shelving path-generating module generates inside and sets the restocking path of books in book list member and be shown in book information Include the following steps on display module：External RFID antenna is directed at bookshelf by step 2-1, reads bookshelf RFID tag and book RFID mark on bookshelf nearby Label；Step 2-2, according to the different coding of bookshelf RFID tag and book RFID tag rule, the book that step 2-1 is read It is shelf label and book labels that frame RFID tag and book RFID tag, which carry out sorted generalization,；Step 2-3 takes the maximum bookshelf RIFD labels of RSSI signal values, extracts it if bookshelf RIFD number of tags is not zero Bookshelf ID number, the bookshelf position where inquiring this label in background data base server, working as using this bookshelf as system Front position executes step 2-4；If bookshelf RIFD number of tags is zero, book RFID tag number is also zero, then is prompted not in book information display module It can judge current location, restocking path can not be generated；If bookshelf RIFD number of tags is zero, book RFID tag number is not zero, and books are extracted from each book RFID tag ID number inquires its bookshelf position from background data base server, if all books numbers inquired have more than half category In one of bookshelf, this bookshelf is just judged as to the position of current system, step 2-4 is executed, is otherwise shown in book information Prompt can not obtain current location in module；Step 2-4, using system current location as first address, the books bookshelf location information that step 1-2 is obtained as input, A shelving path is generated with nearest neighbor interpolation；Step 2-5 is that the bookshelf position in each path makes road sign model according to shelving path, aobvious in book information Show virtual page number and the display for loading library configuration in module, is carried on each road sign model and indicate this bookshelf restocking sequence Number, and navigational arrows are made according to the path between two bookshelves, dynamic mobile is recycled in virtual page number；The indoor positioning module current location of real-time display system in library on book information display module includes Following steps：External RFID antenna is directed at bookshelf by step 3-1, and system is advanced according to current location and the next position judgment to be gone Or it retreats；Step 3-2, during traveling, External RFID antenna reads side bookshelf RFID tag, rejects non-bookshelf RFID marks The information of label；Step 3-3 extracts the maximum bookshelf RFID tag of RSSI signals from the bookshelf RFID tag read, is looked into according to this label Background data base server is ask, corresponding bookshelf information is obtained, system is in library configuration in update book information display module Virtual page number in position；The automatic get-on carriage module navigates to system, makes system according to the supreme rack position of restocking path self-navigation including such as Lower step：External RFID antenna is directed at bookshelf by step 4-1, and system is advanced according to current location and the next position judgment to be gone Or it retreats；Step 4-2, system judge whether the place bookshelf of current location should set book list member comprising inside during traveling Interior books if it is, being automatically stopped, and show that this books needs the prompt of restocking to believe on book information display module Breath, otherwise continues on；The book information display module includes touch display screen；The data memory module includes local storage unit, and the data of storage include the information and bookshelf information of books.
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| CN107423788A (en) * | 2017-07-28 | 2017-12-01 | 安徽华博胜讯信息科技股份有限公司 | Library book positioning induction installation based on RFID |
| CN107808182B (en) * | 2017-10-24 | 2022-04-29 | 厦门信昇达物联科技股份有限公司 | Book shelf |
| CN108549278A (en) * | 2018-03-29 | 2018-09-18 | 湖南城市学院 | A kind of library service robot applied to library |
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| CN111080935B (en) * | 2019-12-22 | 2021-08-20 | 江西金虎保险设备集团有限公司 | Self-service book borrowing system with navigation function |
| CN111953792B (en) * | 2020-08-18 | 2022-07-08 | 安徽师范大学 | Intelligent management system and method for library books |
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| CN114363818B (en) * | 2021-12-10 | 2023-12-01 | 科大讯飞股份有限公司 | Object searching equipment, object searching method and self-help searching system |
| CN114779997B (en) * | 2022-04-27 | 2023-07-28 | 南京晓庄学院 | Man-machine interaction system based on library robot and interaction method thereof |
| CN114859916B (en) * | 2022-05-09 | 2023-04-28 | 南京晓庄学院 | Navigation system and navigation method based on library robot |
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