CN106426208B - Robot and its control method are sold in books recycling - Google Patents
Robot and its control method are sold in books recycling Download PDFInfo
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- CN106426208B CN106426208B CN201610979365.2A CN201610979365A CN106426208B CN 106426208 B CN106426208 B CN 106426208B CN 201610979365 A CN201610979365 A CN 201610979365A CN 106426208 B CN106426208 B CN 106426208B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
It is recycled the present invention provides a kind of books and sells robot and its control method, it includes shell, bookcase and display screen that wherein robot is sold in books recycling；What bookcase setting was provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching books into bookcase；It is additionally provided with books in stock device in the bookcase and moves book apparatus, the books in stock device is used to move to book in books in stock device or remove book out of books in stock device for storing books, the shifting book apparatus；The display screen is mounted on shell front, which is touch screen；The shell front is provided with camera and bar code scanner；It further include controller, which connect with the shifting book apparatus, display screen, camera and bar code scanner respectively.Product provided by the invention can conveniently realize the recycling and sale of books, avoid the waste of library resource, while be conducive to transmission of knowledge.
Description
Technical field
The present invention relates to books recovery technology fields, and in particular to a kind of books recycling sale robot and its controlling party
Method.
Background technique
Books are most important paper consumption approach, and saving is the Optimal action of environment of conserving forests, protect with paper.And
Currently, books in the market are mostly based on new book, people are also more likely to purchase new book, but after reading, books often by
Waste is shelved, or even is taken as waste disposal.
Since existing two personal letters recycling shop is less, most of people are unwilling that the time is spent to go to sell two personal letters, lead
The waste of library resource is caused；Moreover, the price of new book is more expensive, groups of people in order to reduce expenses, can only selectivity buy several,
Remaining is repurchased after either abandoning or remain, and is so also unfavorable for transmission of knowledge.Therefore, how to realize conveniently
Books recycling and sale are a technical problem to be solved urgently.
Summary of the invention
For the defects in the prior art, the present invention provides a kind of books recycling sale robot and its control method, with
It realizes conveniently books recycling and sells function, the waste of library resource can be effectively reduced, be conducive to transmission of knowledge.
Robot, including shell, bookcase and display screen are sold in a first aspect, recycling the present invention provides a kind of books；Institute
That states that bookcase setting is provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching books into bookcase；The bookcase
It is inside additionally provided with books in stock device and moves book apparatus, the books in stock device is for storing books, and the shifting book apparatus is for moving book
It is removed out of books in stock device in books in stock device or by book；The display screen is mounted on shell front, which is to touch
Screen；The shell front is provided with camera and bar code scanner；Further include controller, the controller respectively with the shifting book
Device, display screen, camera are connected with bar code scanner.
In the present invention, bar code scanner is used to be scanned the bar code of two personal letters, for determining presell book
Information, convenient for analyzing two personal letter unit take-back costs；Controller can carry out information transmitting with the external world, determine the letter of presell book
Breath, and user is prompted to shoot the appearance of two personal letters or the image of the internal corresponding page number, by the image to acquisition into
Row analysis, and the information of presell book is combined, trade-in information is generated on a display screen, if user can carry out the price satisfaction
Subsequent operation, it is dissatisfied to close the trade with regard to this；User is satisfied to the trade-in information of generation, can be thrown book by sending a letter to hole
It puts to bookcase, when books have been launched in bookcase, controller generates payment two dimensional code on a display screen, and user can lead to
Over-scan the expense that two dimensional code obtains books recycling；Meanwhile controller can control shifting book apparatus and move to book in books in stock device, and
The storage position of books is recorded, and controller can be by the information preservation of the books on the book list of book for sale, user can lead to
It crosses and consults the book list and therefrom buy oneself interested books.It can be seen that the present invention can carry out image analysis to two personal letters,
And books unit take-back cost is calculated, book can be put into bookcase and by scanning the two-dimensional code acquisition recovery cost, thus completed by user
The removal process of books；Moreover, the present invention can carry out automatic accomodation to books, the storage position of each books is recorded, user is worked as
When wanting to buy certain this books, controller can control the position for moving the book apparatus arrival storage books, and the book is moved to and is sent a letter to
At hole, the sale process of books is thus completed.Product provided by the invention is placed in the region that residential block or other crowds are concentrated,
The recycling and sale that can conveniently realize books, avoid the waste of library resource, while being conducive to transmission of knowledge.
Preferably, the books in stock device includes multiple row bookshelf arranged side by side, and each column bookshelf includes the fixed book lattice of multilayer.
Books are stored using this form, not only neat specification, but also count the storage of the books in each fixed book lattice convenient for controller
Information is convenient for books storage and managenent.
Preferably, the shifting book apparatus includes lifting transverse device and mobile book lattice；The lifting transverse device includes solid
Guide rail at the top of bookcase is set calmly；The bottom of lifting transverse device is arranged in the mobile book lattice, and in mobile book lattice and rises
It is provided with slewing equipment between drop traverse displacement unit, so that mobile book lattice being capable of horizontal rotation；The mobile book lattice are cuboid,
The side opposite with hole is sent a letter to is equipped with opening, and the side opposite with the opening is provided with the first push plate inside the movement book lattice,
It is connected between first push plate and mobile book lattice using the first parallelogram articulated telescopic mechanism, books is pushed into fixed book
In lattice；The lifting transverse device, slewing equipment and the first parallelogram articulated telescopic mechanism are connect with the controller.
Mobile book lattice are set in bookcase, can be stored convenient for moving to books in fixed book lattice；Mobile book lattice setting is being thrown
Book hole site, side corresponding with hole is sent a letter to is equipped with opening, therefore user can enter directly into shifting from the books that hole is put into are sent a letter to
In dynamic book lattice；Then, controller can control lifting transverse device work, and mobile book lattice are moved to the entrance of vacant fixation book lattice
Place, subsequent controller control slewing equipment work, mobile book lattice opening is rotated to the entry position of fixed book lattice, and controls
The work of first parallelogram articulated telescopic mechanism, using the first push plate, by books, the push-in out of mobile book lattice fixes book accordingly
In lattice, so as to complete the storage of books, books placement at random in bookcase is avoided；When needing to sell book, controller meeting
It controls the movement book lattice and moves to book and send a letter at hole, user can take book away.It can be seen that moving book apparatus can carry out automatically
Books in stock and take book, it can be achieved that efficiently books recycling and sell.
Preferably, it is provided with infrared detector at the top of the opening of the mobile book lattice, for detecting whether there are books
Investment；The infrared detector is connect with the controller.When infrared detector detects that book has been put into mobile book by user
After lattice, i.e., information is sent to controller, controller generates payment two dimensional code on a display screen, and user can be by scanning the two-dimensional code
Obtain the expense of books recycling；Controller starts to carry out subsequent shifting book process simultaneously.
Preferably, it is provided with the second push plate in each fixed book lattice, the corresponding fixation book of second push plate
It is connected between lattice using the second parallelogram articulated telescopic mechanism, the second parallelogram articulated telescopic mechanism is by controller
Control, books are pushed into mobile book lattice.When selling books, controller can determine the fixation of the storage of book for sale first
The position of book lattice, and control shifting book apparatus and move to the fixation book lattice inlet, then control second parallel four in fixed book lattice
Book is pushed into mobile book lattice by Bian Xing articulated telescopic mechanism by the second push plate, and is moved to books by shifting book apparatus and sent a letter to hole
Place, user can take book away, be achieved in the sale process of books；Using push plate and parallelogram articulated telescopic mechanism,
It can satisfy the demand for releasing books out of fixed book lattice, and its structure is simple, manufacturing cost is lower.
Preferably, the bookcase is additionally provided with chamber door, which is controlled by controller；It is provided on rear side of the shell micro-
Away from camera lens, which connect with the controller, for carrying out iris recognition to administrator, to confirm its identity.Control
Books in device meeting real-time monitoring bookcase store information, when the time that certain books are stored in bookcase reaching certain value, control
Device processed is transmitted information to administrator and is sold with notifying administrator to take out book using other channels, can be saved books and be returned
The books in stock space for selling robot is received, selling for two personal letters is also conducive to；Micro-lens obtains the iris image of administrator and transmission
Identification is analyzed it to controller, after the identity validation of administrator, controller controls chamber door and opens, administrator
Book is taken out, at this point, robot is sold in books recycling can restart to count the information that books are stored in fixed book lattice；Pass through
Iris identifying function is added, the safety of bookcase can be enhanced, prevent losing books.
Second aspect, the present invention provides a kind of books recycle sell robot control method, including with the control
The remote server of device connection further includes that books removal process and books sell process；The books removal process includes as follows
Step：Analytical procedure, obtains the image information of books, and analyzes and generate books trade-in information；Payment step, obtains infrared acquisition
The information of device is launched in books into after mobile book lattice, generates payment two dimensional code on a display screen, and user can pass through scanning two dimension
Code obtains books recovery cost；Books in stock step determines the fixation of books to be stored firstly, obtaining the use information of fixed book lattice
Book case is set, and controls lifting transverse device and mobile book lattice are moved to fixed book lattice inlet；Secondly, control slewing equipment will move
Dynamic book lattice rotate horizontally 180 degree, and the opening for moving book lattice is rotated to the inlet of the fixation book lattice；Again, control the
Books are pushed into fixed book lattice by one parallelogram articulated telescopic mechanism by the first push plate；The books sell process packet
Include following steps：Gathering step, obtains the pre- information bought books of user's input, generates gathering two dimensional code, user on a display screen
It can be by scanning the two-dimensional code payment；Query steps determine according to the pre- information bought books that user inputs and store consolidating for the books
The location information of agreement lattice；Book step is moved, firstly, mobile book lattice are moved to the fixation that storage is bought books in advance by control lifting transverse device
The inlet of book lattice；Secondly, mobile book lattice are rotated horizontally 180 degree by control slewing equipment, the opening rotation of book lattice will be moved
Go to the inlet of the fixation book lattice；Again, the second parallelogram articulated telescopic mechanism controlled in the fixation book lattice passes through
Books are pushed into mobile book lattice by the second push plate；Finally, control lifting transverse device and slewing equipment move to mobile book lattice
It sends a letter at hole, and books are pushed out to by the first push plate and are sent a letter to outside hole by the first parallelogram articulated telescopic mechanism of control, are used
Family can take books away；Monitoring step counts the information of books storage in each fixed book lattice, is more than one when the resting period of books
When definite value, still unmanned purchase then sends information to remote server, to notify administrator to take out book；Book step is taken, obtains and divides
The iris image for analysing the administrator of micro-lens shooting, after the identity of administrator to be confirmed, control chamber door is opened, administrator
Book is taken away.
In the present invention, user can use camera and shoot to two personal letters, and controller obtains captured by camera
Book image, and determine according to the damaged degree of books the trade-in information of books, and shown on a display screen；If user
Book can be thrown in mobile book lattice by the price satisfaction by sending a letter to hole, the infrared detector being arranged in mobile book lattice will
The books detected launch successful signal and are sent to controller, and then controller generates payment two dimensional code on a display screen,
User can collect books recovery cost by scanning the two-dimensional code；Controller determines vacant according to the use information of fixed book lattice
Fixation book lattice position, and control lifting transverse device and mobile book lattice moved into the inlet of corresponding fixed book lattice, simultaneously
It controls slewing equipment and mobile book lattice is rotated horizontally into 180 degree, so that the entrance of the opening of mobile book lattice and fixed book lattice
Position is corresponding, and controls the work of the first parallelogram articulated telescopic mechanism, and book is pushed into fixed book lattice using the first push plate
It is interior；Controller can count the information that books are stored in each fixed book lattice, and show the book of storage books in bookcase on a display screen
Single, user can select to buy according to the interest of oneself, and when user, which determines, buys certain this books, controller can be on a display screen
Gathering two dimensional code is generated, user is by scanning two dimensional code payment, and then, controller can determine whether the pre- storage information bought books,
And control shifting book apparatus and move at corresponding fixed book lattice, book is pushed out to mobile book lattice by the second push plate controlled in fixed book lattice
It is interior, then the book is moved to by shifting book apparatus and sends a letter to hole, and the book is pushed out to and is sent a letter on the outside of hole, user can take book away,
Complete the process that books are sold；When the resting period reaches certain value still unmanned purchase to books in bookcase, controller is notified that
Administrator takes out corresponding book, to save the books in stock space of books recycling machine people, is also beneficial to the circulation of books, avoids books
The waste of resource；Micro-lens, which obtains the iris image of administrator and is sent to controller, analyzes it identification, works as management
After the identity validation of member, controller controls chamber door and opens, and administrator can take out book.
Preferably, the analytical procedure includes the following steps：Step 1 prompts scanning input books bar code；Step 2,
It reads bar code and is uploaded to remote server, generate presell letter breath；Step 3 prompts shooting books appearance images；Step
Four, it obtains the book external appearances image of camera shooting and is uploaded to remote server；Step 5, it is random to generate 3-5 page number letter
It ceases and prompts to shoot corresponding page number image；Step 6 obtains the correspondence page number image of camera shooting；Step 7, analysis obtain
Appearance images and corresponding page number image, generate trade-in information.Pass through the appearance images of the acquisition books page number corresponding with inside
Image, can be with the damaged degree of comprehensive analysis books, to provide proper actual trade-in information.
Preferably, the analytical procedure further includes the judgment step after step 4 is arranged in, and whether judges appearance images
It is consistent with presell letter breath, if it is, executing step 5；Otherwise, step 1 is repeated to step 4.By adding judgement
Step, by the appearance images of books and remote server according to bar code generating at presell letter breath compare, prevent
The books and presell letter of shooting cease inconsistent situation, guarantee the quality of two personal letter recycling.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar appended drawing reference.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the positive structure schematic that robot is sold in books of the present invention recycling；
Fig. 2 is the side structure schematic diagram that robot is sold in books of the present invention recycling；
Fig. 3 is the structure schematic diagram that robot is sold in books of the present invention recycling；
Fig. 4 is the A-A sectional view in Fig. 1；
Fig. 5 is the B-B sectional view in Fig. 2；
Fig. 6 is the structural block diagram for the control method that robot is sold in books of the present invention recycling；
Fig. 7 is the books recycling step flow chart for the control method that robot is sold in books of the present invention recycling；
Fig. 8 is that the books for the control method that robot is sold in books of the present invention recycling sell flow chart of steps；
Fig. 9 is the process of the analytical procedure of the books recycling for the control method that robot is sold in books of the present invention recycling
Figure.
Appended drawing reference：
1- shell；2- bookcase；3- display screen；4- camera；5- bar code scanner；6- moves book apparatus；7- micro-lens；
8- controller；9- remote server；
21- sends a letter to hole；22- bookshelf；23- chamber door；61- lifting transverse device；62- slewing equipment；63- moves book lattice；64-
Infrared detector；The first push plate of 65-；66- the first parallelogram articulated telescopic mechanism；
221- fixes book lattice；The second push plate of 222-；223- the second parallelogram articulated telescopic mechanism；611- guide rail.
Specific embodiment
It is described in detail below in conjunction with embodiment of the attached drawing to technical solution of the present invention.Following embodiment is only used for
Clearly illustrate technical solution of the present invention, therefore be only used as example, and cannot be used as a limitation and limit protection model of the invention
It encloses.
In a first aspect, as shown in figures 1 to 6, present embodiments providing a kind of books recycling sale robot, including 1 He of shell
Controller 8, the bottom of shell 1 are provided with bookcase 2, and bar shaped is provided on bookcase 2 sends a letter to hole 21, for launching into bookcase 2
Books；The display screen 3, camera 4 and bar code scanner 5 connecting with controller 8 are provided in the front of shell 1, wherein showing
Display screen 3 is touch screen, in order to user's operation；Wherein, bar code scanner 5 is used to be scanned the bar code of two personal letters,
Analyzed convenient for writing in one's own hand unit take-back costs to two for determining the information of presell book；Controller 8 can carry out information with the external world
Transmitting, determines the information of presell book, and user is prompted to shoot the appearance of two personal letters or the image of the internal corresponding page number,
By analyzing the image of acquisition, and the information of presell book is combined, trade-in information is generated on display screen 3, if user
Subsequent operation can be carried out to the price satisfaction, it is dissatisfied to close the trade with regard to this.
It is internally provided with multiple row bookshelf 22 arranged side by side in bookcase 2, each column bookshelf 22 includes the fixed book lattice of multilayer
221, controller 8 counts the storage information of the books in each fixed book lattice 221, in order to books storage and managenent.The inside of bookcase 2
It is additionally provided with and moves book apparatus 6, which is disposed with lifting transverse device 61, slewing equipment 62 from top to bottom and moves
Dynamic book lattice 63, wherein lifting transverse device 61 includes the guide rail 611 for being fixed at 2 top of bookcase, and mobile book lattice 63 are rectangular
Body, setting sending a letter to 21 position of hole, the side opposite with hole 21 is sent a letter to be equipped with opening, therefore user from send a letter to hole 21 put into
Books can enter directly into mobile book lattice 63, and 63 inside of movement book lattice is provided with first with the opposite side that is open
Push plate 65 is connected between first push plate 65 and mobile book lattice 6 using the first parallelogram articulated telescopic mechanism 66；In mobile book
Infrared detector 64 is provided at the top of the opening of lattice 63, for detecting whether there is books investment.Above-mentioned lift-sliding dress
61, slewing equipment 62, the first parallelogram articulated telescopic mechanism 66 and infrared detector 64 is set to connect with controller 8.
After infrared detector 64 detects that book is put into mobile book lattice 63 by user, i.e., information is sent to controller 8,
Controller 8 generates payment two dimensional code on display screen 3, and user can obtain the expense of books recycling by scanning the two-dimensional code；Together
When, controller 8 can control the work of lifting transverse device 61, mobile book lattice 63 are moved to the inlet of vacant fixation book lattice 221,
Subsequent controller 8 controls slewing equipment 62 and works, and mobile 63 opening of book lattice is rotated to the entry position of fixed book lattice 221,
And the work of the first parallelogram articulated telescopic mechanism 66 is controlled, books are pushed into out of mobile book lattice 63 using the first push plate 65
In corresponding fixed book lattice 221, so as to complete the storage of books, books placement at random in bookcase is avoided.
In addition, being provided with the second push plate 222 in each fixed book lattice 221, which passes through second parallel four
Bian Xing articulated telescopic mechanism 223 is connect with the fixation book lattice 221 where it；Controller 8 can be by the letter of the books of the recycling of statistics
Breath is shown that, when user wants purchase wherein certain this book, controller 8 is being shown on display screen 3 in the form of book list
Gathering two dimensional code is generated on screen 3, user is by scanning two dimensional code payment；After payment, controller 8 controls lifting transverse device 61
Mobile book lattice 63 are moved to the inlet for the fixation book lattice 221 that storage user buys books in advance, the subsequent control of controller 8 revolution by work
Device 62 works, and mobile 63 opening of book lattice is rotated to the entry position of the fixation book lattice 221, and control the fixation book lattice
The second parallelogram articulated telescopic mechanism 223 work in 221, will be bought books in advance using the second push plate 222 and is pushed into mobile book
In lattice 63；Finally, controller 8, which is moved to mobile book lattice 63 by control lifting transverse device 61 and slewing equipment 62, sends a letter to hole 21
Place, and the work of the first parallelogram articulated telescopic mechanism 66 is controlled, it is sent a letter to buying books to be pushed out in advance outside hole 21, user is i.e. desirable
Walk its books for wanting purchase.
The back of bookcase 2 is provided with chamber door 23, which is controlled by controller 8, and is provided in the rear side of shell 1
The micro-lens 7 being connect with controller 8；Books in the meeting real-time monitoring bookcase 2 of controller 8 store information, when certain books exist
When the time stored in bookcase 2 reaches certain value, controller 8 transmits information to administrator, and micro-lens 7 obtains administrator's
Iris image is simultaneously sent to controller and analyzes it identification, and after the identity validation of administrator, controller controls chamber door
23 open, and administrator can take out book, at this point, robot is sold in books recycling can restart to count fixed book lattice 221
The information of interior books storage；By adding iris identifying function, the safety of bookcase can be enhanced, prevent losing books.
Second aspect present embodiments provides a kind of control method of books recycling sale robot as Figure 6-9,
Process is sold including books removal process and books, wherein books removal process includes the following steps：
Step S1：The image information of books is obtained, and analyzes and generates books trade-in information；
Step S2：The information for obtaining infrared detector 64 is launched in books into after mobile book lattice 63, raw on display screen 3
At payment two dimensional code, user can obtain books recovery cost by scanning the two-dimensional code；
Step S3：The use information for obtaining fixed book lattice 221, determines 221 position of fixation book lattice of books to be stored；
Step S4：Mobile book lattice 63 are moved to fixed 221 inlet of book lattice by control lifting transverse device 61；
Step S5：It controls slewing equipment 62 and mobile book lattice 63 is rotated horizontally into 180 degree, the opening of book lattice 63 will be moved
It rotates to the inlet of fixed book lattice 221；
Step S6：It controls the first parallelogram articulated telescopic mechanism 66 and books is pushed by fixation by the first push plate 65
In book lattice 221.
Books are sold process and are included the following steps：
Step S7：The pre- information bought books for obtaining user's input generates gathering two dimensional code on display screen 3, and user can be with
By scanning the two-dimensional code payment；
Step S8：According to the pre- information bought books that user inputs, the position letter for storing the fixation book lattice 221 of the books is determined
Breath；
Step S9：Mobile book lattice 63 are moved to and store entering for the fixation book lattice 221 bought books in advance by control lifting transverse device 61
At mouthful；
Step S10：It controls slewing equipment 62 and mobile book lattice 63 is rotated horizontally into 180 degree, the opening of book lattice 63 will be moved
Place is rotated to the inlet of the fixation book lattice 221；
Step S11：The the second parallelogram articulated telescopic mechanism 223 controlled in the fixation book lattice 221 is pushed away by second
Books are pushed into mobile book lattice 63 by plate 222；
Step S12：Control lifting transverse device 61 and slewing equipment 62, which move to mobile book lattice 63, sends a letter at hole 21；
Step S13：It controls the first parallelogram articulated telescopic mechanism 66 and books is pushed out to by throwing by the first push plate 65
Outside book hole 21, user can take books away；
Step S14：The information that books are stored in each fixed book lattice 221 is counted, is more than certain value when the resting period of books
When, still unmanned purchase then sends information to remote server 9, to notify administrator to take out book；
Step S15：The iris image for the administrator that analysis micro-lens 7 is shot is obtained, with the identity of authentic administrator；
Step S16：After the identity of administrator to be confirmed, control chamber door 23 is opened, and administrator can take book away.
Wherein, step S1 is specifically divided into following steps again：
Step S101：Prompt user enters books recycling interface；
Step S102：Prompt scanning input books bar code；
Step S103：It reads bar code and is uploaded to remote server 9, generate presell letter breath；
Step S104：User is prompted to shoot books appearance images；
Step S105：It obtains the book external appearances image that camera 4 is shot and is uploaded to remote server 9；
Step S106：Judge whether appearance images are consistent with presell letter breath, if so, thening follow the steps S107；Otherwise,
Step S102 is repeated to step S105；
Step S107：3-5 page number information is generated at random and prompts to shoot corresponding page number image；
Step S108：Obtain the correspondence page number image that camera 4 is shot；
Step S109：According to the appearance images of acquisition and corresponding page number image, trade-in information is generated.
Through the above steps, user can use camera 4 and shoot to two personal letters, and controller 8 obtains 4 institute of camera
The book image of shooting, and determine according to the damaged degree of books the trade-in information of books, and shown on display screen 3；
If user can be by book by sending a letter in the mobile book lattice 63 that hole 21 is thrown in bookcase 2 to the price satisfaction, setting is being moved
The books that the infrared detector 64 at dynamic 63 top of book lattice will test launch successful signal and are sent to controller 8, then control
Device 8 generates payment two dimensional code on display screen 3, and user can collect books recovery cost by scanning the two-dimensional code；Controller 8
According to the use information of fixed book lattice 221, the position of vacant fixation book lattice 221 is determined, and controlling lifting transverse device 61 will
Mobile book lattice 63 move to the inlet of corresponding fixed book lattice 221, while controlling slewing equipment 62 and revolving mobile 63 level of book lattice
Turnback, so that the opening of mobile book lattice 63 is corresponding with the fixed entry position of book lattice 221, and it is flat to control first
Row quadrangle articulated telescopic mechanism 66 works, and book is pushed into fixed book lattice 221 using the first push plate 65.
Controller 8 can count the information that books are stored in each fixed book lattice 221, and 2 memory of bookcase is shown on display screen 3
The book list of books is put, user can select to buy according to the interest of oneself, when user, which determines, buys certain this books, controller 8
Gathering two dimensional code can be generated on display screen 3, user is by scanning two dimensional code payment, and then, controller 8 can determine whether the forward purchasing
The storage information of book, and control shifting book apparatus 6 and move at corresponding fixed book lattice 221, control the second push plate in fixed book lattice 221
222 are pushed out to book in mobile book lattice 63, then move to the book by shifting book apparatus 6 and send a letter to hole 21, and the book is pushed out to throwing
21 outside of book hole, user can take book away.
When the resting period reaches certain value still unmanned purchase to books in bookcase 2, controller 8 is notified that administrator by phase
Should book take out, to save the books in stock space of books recycling machine people, be also beneficial to the circulation of books, avoid the wave of library resource
Take；Micro-lens 7, which obtains the iris image of administrator and is sent to controller 8, analyzes it identification, when the body of administrator
After part confirmation, controller 8 controls chamber door 23 and opens, and administrator can take out book.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (7)
1. robot is sold in a kind of books recycling, it is characterised in that：
Including shell, bookcase and display screen；
What bookcase setting was provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching books into bookcase；
It is additionally provided with books in stock device in the bookcase and moves book apparatus, the books in stock device is for storing books, the shifting book dress
It sets for being moved to book in books in stock device or removing book out of books in stock device；
The display screen is mounted on shell front, which is touch screen；
The shell front is provided with camera and bar code scanner；
It further include controller, which connect with the shifting book apparatus, display screen, camera and bar code scanner respectively；
The books in stock device includes multiple row bookshelf arranged side by side, and each column bookshelf includes the fixed book lattice of multilayer；
The shifting book apparatus includes lifting transverse device and mobile book lattice；
The lifting transverse device includes the guide rail being fixed at the top of bookcase；
The bottom of lifting transverse device is arranged in the mobile book lattice, and is provided between mobile book lattice and lifting transverse device
Slewing equipment, so that mobile book lattice being capable of horizontal rotation；
The mobile book lattice are cuboid, and the side opposite with hole is sent a letter to is equipped with opening, are opened inside the movement book lattice with described
The opposite side of mouth is provided with the first push plate, uses the first parallelogram articulated telescopic between first push plate and mobile book lattice
Books are pushed into fixed book lattice by mechanism connection；
The lifting transverse device, slewing equipment and the first parallelogram articulated telescopic mechanism are connect with the controller.
2. robot is sold in books recycling according to claim 1, it is characterised in that：
It is provided with infrared detector at the top of the opening of the mobile book lattice, for detecting whether there is books investment；
The infrared detector is connect with the controller.
3. robot is sold in books recycling according to claim 2, it is characterised in that：
It is provided with the second push plate in each fixed book lattice, using the between the corresponding fixation book lattice of second push plate
The connection of two parallelogram articulated telescopic mechanisms, the second parallelogram articulated telescopic mechanism are controlled by controller, will be schemed
Book is pushed into mobile book lattice.
4. robot is sold in books recycling according to claim 3, it is characterised in that：
The bookcase is additionally provided with chamber door, which is controlled by controller；
It is provided with micro-lens on rear side of the shell, which connect with the controller, for carrying out to administrator
Iris recognition, to confirm its identity.
5. the control method that robot is sold in the books recycling as described in claim 1-4 any one, it is characterised in that：
It further include that books removal process and books sell process including the remote server being connect with the controller；
The books removal process includes the following steps：
Analytical procedure：The image information of books is obtained, and analyzes and generates books trade-in information；
Payment step：The information for obtaining infrared detector launches into after mobile book lattice in books, generates payment two on a display screen
Code is tieed up, user can obtain books recovery cost by scanning the two-dimensional code；
Books in stock step：Firstly, obtaining the use information of fixed book lattice, determine that the fixation book case of books to be stored is set, and control
Mobile book lattice are moved to fixed book lattice inlet by lifting transverse device；Secondly, control slewing equipment rotates horizontally mobile book lattice
180 degree rotates the opening for moving book lattice to the inlet of the fixation book lattice；Again, the first parallelogram of control hinge
It connects telescoping mechanism and books is pushed into fixed book lattice by the first push plate；
The books are sold process and are included the following steps：
Gathering step：The pre- information bought books of user's input is obtained, generates gathering two dimensional code on a display screen, user can pass through
Scan the two-dimensional code payment；
Query steps：According to the pre- information bought books that user inputs, the location information for storing the fixation book lattice of the books is determined；
Move book step：Firstly, mobile book lattice are moved to the inlet for the fixation book lattice that storage is bought books in advance by control lifting transverse device；
Secondly, mobile book lattice are rotated horizontally 180 degree by control slewing equipment, the opening for moving book lattice is rotated to the fixation book lattice
Inlet；Again, it controls the second parallelogram articulated telescopic mechanism in the fixation book lattice and passes through the second push plate for books
It is pushed into mobile book lattice；Finally, mobile book lattice are moved to and sent a letter at hole by control lifting transverse device and slewing equipment, and control
Books are pushed out to by the first parallelogram articulated telescopic mechanism by the first push plate sends a letter to outside hole, and user can take books away；
Monitoring step：Count the information that books in each fixed book lattice are stored, when the resting period of books being more than certain value, still without
People's purchase, then send information to remote server, to notify administrator to take out book；
Take book step：The iris image for obtaining the administrator of analysis micro-lens shooting, after the identity of administrator to be confirmed, control
Chamber door is opened, and administrator can take book away.
6. the control method that robot is sold in books recycling according to claim 5, it is characterised in that：
The analytical procedure includes the following steps：
Step 1：Prompt scanning input books bar code；
Step 2：It reads bar code and is uploaded to remote server, generate presell letter breath；
Step 3：Prompt shooting books appearance images；
Step 4：It obtains the book external appearances image of camera shooting and is uploaded to remote server；
Step 5：3-5 page number information is generated at random and prompts to shoot corresponding page number image；
Step 6：Obtain the correspondence page number image of camera shooting；
Step 7：The appearance images obtained and corresponding page number image are analyzed, trade-in information is generated.
7. the control method that robot is sold in books recycling according to claim 6, it is characterised in that：
The analytical procedure further includes the judgment step after step 4 is arranged in：Judge whether appearance images cease with presell letter
Unanimously, if it is, executing step 5；Otherwise, step 1 is repeated to step 4.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610979365.2A CN106426208B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in books recycling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610979365.2A CN106426208B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in books recycling |
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| CN106426208B true CN106426208B (en) | 2018-11-16 |
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| CN107067546A (en) * | 2017-03-30 | 2017-08-18 | 淮阴工学院 | Teaching material cyclic utilization system based on intelligence circulation bookcase |
| CN107767547A (en) * | 2017-10-12 | 2018-03-06 | 九江学院 | A kind of Cellphone Accessories are received and sell equipment automatically |
| CN108320405A (en) * | 2018-04-10 | 2018-07-24 | 攀枝花学院 | Unmanned second-hand book transaction cabinet-type air conditioner and method of commerce under line based on Quick Response Code |
| CN109063851A (en) * | 2018-07-30 | 2018-12-21 | 深圳市丰巢科技有限公司 | A kind of article intelligent classification recovery method and intelligent cabinet based on intelligent cabinet |
| CN110192723A (en) * | 2019-06-26 | 2019-09-03 | 南京医科大学 | A kind of control system for blind person's wardrobe |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4026473B2 (en) * | 2002-10-31 | 2007-12-26 | 富士電機リテイルシステムズ株式会社 | Product sales display case |
| CN102034319A (en) * | 2009-09-25 | 2011-04-27 | 深圳市俊波软件有限公司 | Self-service book borrowing and returning machine |
| CN203562044U (en) * | 2013-10-14 | 2014-04-23 | 谢茂财 | Automatic book selling machine |
| CN205080671U (en) * | 2015-09-18 | 2016-03-09 | 北京清大智博科技有限公司 | Block library |
| CN105354919B (en) * | 2015-12-03 | 2024-02-23 | 杭州步展科技有限公司 | Intelligent second-hand book recycling machine |
| CN205788463U (en) * | 2016-05-13 | 2016-12-07 | 北京师范大学珠海分校 | A kind of self-service tax bookcase based on bar code |
| CN105825580B (en) * | 2016-05-20 | 2018-08-31 | 江苏海事职业技术学院 | A kind of books recycling system |
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Effective date of registration: 20201013 Address after: No.88 Pingwu Road, WuJie Town, Tongzhou District, Nantong City, Jiangsu Province, 226000 Patentee after: Nantong Meilai Industrial Intelligent Technology Co., Ltd Address before: The industrial park of Dazu County, Chongqing city in 400900 Patentee before: CHONGQING SUNFLOWER ROBOT Co.,Ltd. |
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