CN106570983A - Second-hand book recycling and selling robot and control method thereof - Google Patents
Second-hand book recycling and selling robot and control method thereof Download PDFInfo
- Publication number
- CN106570983A CN106570983A CN201610979388.3A CN201610979388A CN106570983A CN 106570983 A CN106570983 A CN 106570983A CN 201610979388 A CN201610979388 A CN 201610979388A CN 106570983 A CN106570983 A CN 106570983A
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- Prior art keywords
- books
- book
- book lattice
- lattice
- control
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Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
- G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
- G07F7/069—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by box-like containers, e.g. videocassettes, books
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
Abstract
The invention provides a second-hand book recycling and selling robot and a control method thereof. The second-hand book recycling and selling robot comprises a housing, a book case and a display screen; the book case is installed at the bottom of the housing; the book case is provided with a strip-type book input slot for inputting books to the book case; the book case is also provided with a book storage device and a book moving device; the book storage device is used for storing books; the book moving device is provided with a clamping device which is used for moving books to the book storage device or taking books out of the book storage device; the display screen which is a touch screen is mounted in the front surface of the housing; the front surface of the housing is provided with a camera and a bar code scanning device; the robot also comprises a controller which is connected with the book moving device, the clamping device, the display screen, the camera and the bar code scanning device. The product of the invention can conveniently and quickly recycle and sell books so as to avoid waste of books and help dissemination of knowledge.
Description
Technical field
The present invention relates to books recovery technology field, and in particular to a kind of two personal letter is reclaimed sells robot and its controlling party
Method.
Background technology
Books are topmost paper consumption approach, economize on paper be conserve forests, the Optimal action of environmental protection.And
At present, on market books are more based on new book, and people are also more likely to buy new book, but after reading, books often by
Waste is shelved, or even is taken as waste disposal.
As existing two personal letters are reclaimed, shop is less, and most of people are unwilling that the cost time goes to sell two personal letters, lead
The waste of library resource is caused；And, new book it is expensive, groups of people selectively can only buy several to reduce expenses,
Or remaining is repurchased after abandoning remaining, so also it is unfavorable for transmission of knowledge.Therefore, how to realize conveniently
It is technical problem urgently to be resolved hurrily that books are reclaimed and sold.
The content of the invention
For defect of the prior art, the present invention provides a kind of two personal letters recovery and sells robot and its control method,
To realize that conveniently books reclaim and sell function, are effectively reduced the waste of library resource, beneficial to transmission of knowledge.
In a first aspect, the invention provides a kind of two personal letter reclaims sale robot, including housing, bookcase and display screen；
The bookcase is arranged on housing bottom, and bar shaped is provided with the bookcase sends a letter to hole, for throwing in books into bookcase；The book
Books in stock device is additionally provided with case and book apparatus are moved, the books in stock device is used to deposit books, is provided with the shifting book apparatus
Clamping device, the clamping device is for moving in books in stock device or book is taken out from books in stock device book；The display screen
Installed in housing front, the display screen is touch screen；The housing front is provided with photographic head and bar code scanner；Also include
Controller, the controller are connected with the shifting book apparatus, clamping device, display screen, photographic head and bar code scanner respectively.
In the present invention, bar code scanner for being scanned to the bar codes of two personal letters, for determining presell book
Information, is easy to be analyzed two personal letter unit take-back costs；Controller can carry out information transmission with the external world, determine the letter of presell book
Breath, and point out outward appearance of the user to two personal letters or the image of the internal correspondence page number to shoot, entered by the image to obtaining
Row analysis, and with reference to the information of presell book, trade-in information is generated on a display screen, if user can be carried out to the price satisfaction
Subsequent operation, it is dissatisfied also to close the trade with regard to this；Trade-in information satisfaction of the user to generating, you can book is thrown by sending a letter to hole
Put to bookcase, when books are thrown in bookcase, controller generates payment Quick Response Code on a display screen, and user can be led to
Overscanning Quick Response Code obtains the expense that books are reclaimed；Meanwhile, controller can control clamping device and clamp two personal letters, and control to move book
Device moves to book in books in stock device, and records the deposit position of books, and the information of the books can be stored in by controller
On the book list of book for sale, user can therefrom buy oneself books interested by consulting the book list.As can be seen here, the present invention
Graphical analyses can be carried out to two personal letters, and calculate books unit take-back cost, user can put into book in bookcase and by scanning two
Dimension code obtains recovery cost, thus completes the removal process of books；And, the present invention can carry out automatic accomodation to books, note
The deposit position of each books is recorded, when user wants to buy certain this books, controller can control shifting book apparatus arrival and deposit the figure
The position of book, and two personal letters being taken out from fixed book lattice using clamping device, and the book is moved to send a letter at hole, thus complete
The sale process of books.The product that the present invention is provided is placed in the region concentrated in residential block or other crowds, can be conveniently
Realize the recovery of books and sell, it is to avoid the waste of library resource, while be conducive to transmission of knowledge, while adopting in the present invention
With this structure of clamping device, the access requirement of books can be met simultaneously, take book without arranging in all of fixed book lattice
Structure, simplifies the structure inside bookcase, while also reducing cost.
Preferably, the books in stock device includes the bookshelf that multiple row is arranged side by side, and includes that per string bookshelf multilamellar fixes book lattice.
Books are deposited using this form, not only neat specification, and be easy to controller to count each books storage fixed in book lattice
Information, is easy to books storage and managenent.
Preferably, the shifting book apparatus also include lifting transverse device and mobile book lattice；The lifting transverse device includes
The guide rail being fixedly installed at the top of bookcase；The mobile book lattice are arranged on the bottom of lifting transverse device, and mobile book lattice with
Slewing equipment is provided between lifting transverse device, so that mobile book lattice being capable of horizontal rotation；The mobile book lattice are cuboid,
Its side relative with hole is sent a letter to is provided with opening；The clamping device is arranged on inside the mobile book lattice, the clamping device bag
Include connecting plate, train wheel bridge and lower plate；The lower plate is fixedly connected with connecting plate, and the upper surface of lower plate is sent a letter to described
The lower surface in hole is flushed；Clamp system is provided between the train wheel bridge and connecting plate, for adjusting the high and low position of train wheel bridge；
Connected using parallelogram articulated telescopic mechanism between the connecting plate and mobile book lattice；The lifting transverse device, revolution
Device, clamp system and parallelogram articulated telescopic mechanism are connected with the controller.
Mobile book lattice are set in bookcase, can be easy to books be moved in fixed book lattice and be deposited；Mobile book lattice are arranged on throwing
Book hole site, side corresponding with hole is sent a letter to are provided with opening, and the height of the upper surface of lower plate and the lower surface for sending a letter to hole is neat
It is flat, therefore user can be positioned between train wheel bridge and lower plate from the books for sending a letter to hole input, then controller can control clamping machine
Structure and the work of parallelogram articulated telescopic mechanism so that train wheel bridge moves downward to clamp two personal letters and be retracted to movement
Inside book lattice；Then, controller can control lifting transverse device work, and mobile book lattice are moved to the entrance of vacant fixed book lattice
Place, subsequent controller control slewing equipment work will rotate to the entry position of fixed book lattice at mobile book lattice opening, and control
Parallelogram articulated telescopic mechanism and clamp system work, books are pushed in corresponding fixed book lattice from mobile book lattice simultaneously
Release two is write in one's own hand, so as to complete the storage of books, it is to avoid books placements at random in bookcase；When needing to sell book, control
Device processed can control the movement book lattice and move to book to send a letter at hole, and book can be taken away by user.As can be seen here, move book apparatus to enter
The automatic books in stock of row and book is taken, be capable of achieving efficiently books and reclaim and sell, and by clamp system control train wheel bridge to books
It is clamped and discharges, can effectively prevent books from dropping during movement, improves the efficiency for moving book process, meanwhile, adopt
This structure is used, the access of books can be realized simultaneously, book structure is taken without separately arranging in fixed book lattice, saved solid
The space of agreement lattice, optimizes the structure of bookcase, while also reducing manufacture and later maintenance cost.
Preferably, pressure transducer is provided with the connecting plate, for detecting whether there are two personal letters to put into；The pressure
Sensor is connected with the controller.After books touch pressure transducer, pressure transducer transmits books to controller
Successful information is thrown in, controller generates payment Quick Response Code on a display screen, and user can obtain books by scanning Quick Response Code
The expense of recovery；Controller controls clamp system and books are retracted to mobile book by parallelogram articulated telescopic mechanism simultaneously
In lattice, by setting up pressure transducer, books can be grasped in time and throws in successful information, and control clamp system work in time
Make, save the time of books recovery, improve the efficiency of books recovery.
Preferably, described each two bottom sides for fixing book lattice are respectively arranged with boss, and the thickness of the boss is more than
The thickness of the lower plate；Friction burr is provided with the boss.After clamping device is stored in two personal letters in fixed book lattice, i.e.,
By parallelogram articulated telescopic, mechanism is withdrawn, be arranged between the boss of fixed book lattice two bottom sides can be formed one lead to
Road, the lower plate in order to clamping device withdraw, so as to send out in the presence of preventing frictional force of the books at which between lower plate
It is raw to slide；During books in stock, controller can control the porch that mobile book lattice are moved to lifting transverse device fixed book lattice, and under ensureing
The upper surface of clamping plate is flushed with the upper level of boss, and such books can be placed directly on boss, without by boss
Stop, and the thickness of boss should be at least identical with the thickness of lower plate, during further preventing clamping device from withdrawing, books exist
Occur to slide in the presence of its frictional force between lower plate；Also, friction burr is arranged on boss can increase books table
Frictional force between face and boss, further prevents books from sliding.
Preferably, the bookcase is additionally provided with chamber door, and the chamber door is by controller control；It is provided with rear side of the housing micro-
Away from camera lens, the micro-lenss are connected with the controller, for carrying out iris identification to manager, to confirm its identity.Control
Books storage information in device meeting real-time monitoring bookcase, when the time that some books are deposited in bookcase reaches certain value, control
Device processed to notify that book is taken out by manager, is sold using other channels, can be saved two personal letters i.e. to manager's transmission information
The books in stock space for selling robot is reclaimed, also selling beneficial to two personal letters；Micro-lenss obtain the iris image of manager and pass
Deliver to controller and identification is analyzed to which, after the identity validation of manager, controller controls chamber door unlatching, and manager is
Book can be taken out, now, two personal letters reclaim the information that restart to count books storage in fixed book lattice by selling robot；
The safety of bookcase by setting up iris identifying function, can be strengthened, losing books are prevented.
Second aspect, the invention provides it is a kind of two personal letter reclaim sell robot control method, including with the control
The remote server of device connection processed, also sells process including books removal process and books；The books removal process include as
Lower step：Analytical procedure, obtains the image information of books, and analyzes generation books trade-in information；Preparation process, control parallel four
Bian Xing articulated telescopics mechanism works, and clamping device is moved at the opening of mobile book lattice；Payment step, obtains pressure transducer
Information, throws in into after mobile book lattice in books, generates payment Quick Response Code on a display screen, and user can be obtained by scanning Quick Response Code
Obtain books recovery cost；Clamping step, obtains the information of pressure transducer, throws in into after mobile book lattice in books, and control is clamped
Mechanism works so that train wheel bridge is moved downward, and to clamp two personal letters, and controls the work of parallelogram linkwork, by two
Personal letter is retracted in mobile book lattice；Books in stock step, first, obtains the use information of fixed book lattice, determines consolidating for books to be stored
Agreement case is put, and controls lifting transverse device mobile book lattice are moved to fixed book lattice porch；Secondly, control slewing equipment will
Mobile book lattice horizontal rotation 180 degree, will rotate to the porch of the fixation book lattice at the opening of mobile book lattice；Again, control
Parallelogram articulated telescopic mechanism is moved to books in fixed book lattice by clamping device；Finally, clamp system work is controlled,
So that train wheel bridge is moved upwards, to discharge two personal letters, and control parallelogram articulated telescopic mechanism clamping device is retracted to
In mobile book lattice；The books are sold process and are comprised the steps：Gathering step, obtains the pre- information bought books of user input,
Gathering Quick Response Code is generated on a display screen, and user can be by scanning Quick Response Code payment；Query steps, according to the pre- of user input
The information bought books, it is determined that depositing the positional information of the fixed book lattice of the books；Book step is moved, first, lifting transverse device is controlled
Mobile book lattice are moved to into the porch of the fixed book lattice that storage is bought books in advance；Secondly, mobile book lattice level is revolved by control slewing equipment
Turnback, will rotate to the porch of the fixation book lattice at the opening of mobile book lattice；Again, control parallelogram to be hinged
Telescoping mechanism is pushed into clamping device in the fixation book lattice, and control clamp system work so that train wheel bridge move downward with
Clamp two to write in one's own hand, while control parallelogram articulated telescopic mechanism two personal letters are retracted in mobile book lattice；Finally, control rises
Mobile book lattice are moved to by drop Traverse Displacement Unit and slewing equipment sends a letter at hole, and controls parallelogram articulated telescopic mechanism and clamping
Books are pushed out to and are sent a letter to outside hole by mechanism, and user can take books away；Monitoring step, counts books storage in each fixed book lattice
Information, when the resting period of books certain value is exceeded, still unmanned purchase, then send information to remote server, to notify pipe
Book is taken out by reason person；Book step is taken, the iris image of the manager that analysis micro-lenss shoot, the body of manager to be confirmed is obtained
After part, control chamber door is opened, and book can be taken away by manager.
In the present invention, user can be shot to two personal letters using photographic head, and controller is obtained captured by photographic head
Book image, and the trade-in information of books is determined according to the damaged degree of books, and shown on a display screen；If user
Book can be thrown between train wheel bridge and lower plate by the price satisfaction by sending a letter to hole, the pressure being arranged on connecting plate is passed
The books for detecting are thrown in successful signal and are sent to controller by sensor, and then controller generates payment two on a display screen
Dimension code, user can collect books recovery cost by scanning Quick Response Code；Use information of the controller according to fixed book lattice, it is determined that
The position of vacant fixed book lattice, and the porch that mobile book lattice are moved to lifting transverse device corresponding fixed book lattice is controlled,
While control slewing equipment is by mobile book lattice horizontal rotation 180 degree, so that at the opening of mobile book lattice and fixing book lattice
Entry position is corresponding, and controls parallelogram articulated telescopic mechanism and clamp system work, by books from mobile book lattice
Push in corresponding fixed book lattice and discharge two personal letters, so as to complete the storage process of books；Controller can count each fixation
The information of books storage in book lattice, and shows the book list that books are deposited in bookcase on a display screen, user can according to oneself
Interest selects purchase, and when user determines buys certain this books, controller can generate gathering Quick Response Code, Yong Hutong on a display screen
Over-scan the Quick Response Code to pay the bill, subsequently, controller can determine whether the pre- storage information bought books, and control shifting book apparatus and move to accordingly
At fixed book lattice, control parallelogram articulated telescopic mechanism and clamp system move to books in mobile book lattice, then by shifting book
The book is moved to and is sent a letter at hole by device, and the book is pushed out to sends a letter on the outside of hole, and book can be taken away by user, completes books sale
Process；When books in bookcase the resting period reach certain value still unmanned purchase when, controller is notified that manager will be corresponding
Book takes out, and to save the books in stock space of books recycling machine people, is also beneficial to the circulation of books, it is to avoid the waste of library resource；
Micro-lenss obtain the iris image of manager and are sent to controller and identification is analyzed to which, when the identity validation of manager
Afterwards, controller controls chamber door unlatching, and book can be taken out by manager.
Preferably, the analytical procedure comprises the steps：Step one, points out scanning input books bar code；Step 2,
Read bar code and be uploaded to remote server, generate presell letter breath；Step 3, points out to shoot books appearance images；Step
Four, obtain the book external appearances image of photographic head shooting and be uploaded to remote server；Step 5, it is random to generate 3-5 page number letter
Cease and point out to shoot correspondence page number image；Step 6, obtains the corresponding page number image that photographic head shoots；Step 7, analysis are obtained
Appearance images and correspondence page number image, generate trade-in information.By the appearance images for the obtaining books page number corresponding with inside
Image, can be with the damaged degree of comprehensive analysis books, so as to provide the trade-in information of proper reality.
Preferably, the analytical procedure also includes being arranged on the judgement step after step 4, whether judges appearance images
It is consistent with presell letter breath, if it is, execution step five；Otherwise, step one is repeated to step 4.By setting up judgement
Step, by the appearance images of books and remote server according to bar code generating into presell letter breath contrasted, prevent
The books of shooting cease inconsistent situation with presell letter, it is ensured that the quality that two personal letters are reclaimed.
Description of the drawings
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to concrete
Needed for embodiment or description of the prior art, accompanying drawing to be used is briefly described.In all of the figs, similar element
Or part is typically identified by similar reference.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is that two personal letter of the present invention reclaims the positive structure schematic for selling robot；
Fig. 2 is that two personal letter of the present invention reclaims the side structure schematic diagram for selling robot；
Fig. 3 is that two personal letter of the present invention reclaims the structure schematic diagram for selling robot；
Fig. 4 is the A-A profiles in Fig. 1；
Fig. 5 is the B-B profiles in Fig. 2；
Fig. 6 is the structured flowchart that two personal letter of the present invention reclaims the control method for selling robot；
Fig. 7 is the books recycling step flow chart that two personal letter of the present invention reclaims the control method for selling robot；
Fig. 8 is that the books that two personal letter of the present invention reclaims the control method for selling robot sell flow chart of steps；
Fig. 9 is the stream of the analytical procedure that the books that two personal letter of the present invention reclaims the control method for selling robot are reclaimed
Cheng Tu.
Reference：
1- housings；2- bookcases；3- display screens；4- photographic head；5- bar code scanners；6- moves book apparatus；7- micro-lenss；
8- controllers；9- remote servers；
21- sends a letter to hole；22- bookshelves；23- chamber doors；61- lifting transverse devices；62- slewing equipments；63- moves book lattice；64-
Clamping device；65- parallelogram articulated telescopics mechanism；
221- fixes book lattice；222- boss；611- guide rails；641- train wheel bridges；642- lower plates；643- connecting plates；644-
Clamp system；645- pressure transducers.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and the protection model of the present invention can not be limited with this
Enclose.
In a first aspect, as shown in figures 1 to 6, present embodiments provide a kind of two personal letter and reclaim sale robot, including housing 1
With controller 8, the bottom of housing 1 is provided with bookcase 2, and bar shaped is provided with bookcase 2 sends a letter to hole 21, for throwing into bookcase 2
Put books；Display screen 3, photographic head 4 and the bar code scanner 5 being connected with controller 8 is provided with the front of housing 1, wherein
Display screen 3 is touch screen, in order to user operation；Wherein, bar code scanner 5 for two personal letter bar codes sweep
Retouch, for determining the information of presell book, be easy to be analyzed two personal letter unit take-back costs；Controller 8 can be carried out with the external world
Information transmission, determines the information of presell book, and points out outward appearance of the user to two personal letters or the image of the internal correspondence page number to carry out
Shoot, be analyzed by the image to obtaining, and with reference to the information of presell book, trade-in information generated on display screen 3, if
User can carry out subsequent operation to the price satisfaction, dissatisfied also to close the trade with regard to this.
Book apparatus 6 are moved in being internally provided with for bookcase 2, the shifting book apparatus 6 are disposed with lift-sliding dress from top to bottom
61, slewing equipment 62 and mobile book lattice 63 are put, wherein, lifting transverse device 61 includes being fixedly installed on the guide rail at the top of bookcase 2
611, mobile book lattice 63 are cuboid, are arranged on and send a letter to 21 position of hole, and its side relative with hole 21 is sent a letter to is provided with opening；Moving
Dynamic book lattice 63 are internally provided with clamping device 64, including train wheel bridge 641, lower plate 642 and connecting plate 643, wherein lower plate 642
It is fixedly connected with connecting plate 643, and the upper surface of lower plate 642 is highly flushed with the lower surface for sending a letter to hole 21,641 He of train wheel bridge
Clamp system 644 is provided between connecting plate 642, for adjusting the high and low position of train wheel bridge 641, is provided with connecting plate 643
Whether pressure transducer 645, be located between train wheel bridge 641 and lower plate 642 for two personal letter of detection, above-mentioned connecting plate 643 with
Connected using parallelogram articulated telescopic mechanism 65 between mobile book lattice 63.Above-mentioned lifting transverse device 61, slewing equipment 62,
Parallelogram articulated telescopic mechanism 65, clamp system 644 and pressure transducer 645 are connected with controller 8.Bookcase 2 it is interior
Portion is additionally provided with the bookshelf 22 that multiple row is arranged side by side, and includes that multilamellar fixes book lattice 221 per string bookshelf 22, in each fixation book lattice
221 two bottom sides are respectively equipped with boss 222, and the thickness of the boss 222 is more than the thickness of above-mentioned lower plate 642, in boss 222
On be provided with friction burr, to increase the frictional force between books and boss 222, prevent books from sliding；Controller 8 counts each
Books storage information in fixed book lattice 221, in order to books storage and managenent.
After pressure transducer 645 detects user, and book is put into mobile book lattice 63, i.e., send to controller 8 and believe
Breath, controller 8 generate payment Quick Response Code i.e. on display screen 3, and user can pass through to scan the expense that Quick Response Code acquisition books are reclaimed；
Meanwhile, controller 8 can control clamp system 644 and parallelogram articulated telescopic mechanism 65 works so that train wheel bridge 641 is downward
Move to clamp two personal letters and be retracted to inside mobile book lattice 63；Then, controller 8 can control 61 work of lifting transverse device
Make, mobile book lattice 63 are moved to into the porch of vacant fixed book lattice 221, the control slewing equipment 62 of subsequent controller 8 works, will
Rotate to the entry position of fixed book lattice 221 at mobile 63 opening of book lattice, and control 65 He of parallelogram articulated telescopic mechanism
Clamp system 644 works, and books are pushed in corresponding fixed book lattice 221 from mobile book lattice 63 and two personal letters are discharged, so as to
Complete the storage of books, it is to avoid books placements at random in bookcase.
Controller 8 information of the books of the recovery of statistics can be shown on display screen 3 in the form of book list, when with
When wherein certain this book is wanted to buy in family, controller 8 generates gathering Quick Response Code i.e. on display screen 3, and user is by scanning the two dimension
Code payment；After payment, the control lifting transverse device 61 of controller 8 works, and mobile book lattice 63 are moved to what storage user bought books in advance
The porch of fixed book lattice 221, the control slewing equipment 62 of subsequent controller 8 work, and will rotate to this at mobile 63 opening of book lattice
The entry position of fixed book lattice 221, and control parallelogram articulated telescopic mechanism 65 and clamp system 644 works, by books
It is taken out in mobile book lattice 63 from fixed book lattice 221；Finally, controller 8 is by controlling lifting transverse device 61 and revolution dress
Put 62 mobile book lattice 63 are moved to and sent a letter at hole 21, and control 644 work of parallelogram articulated telescopic mechanism 65 and clamp system
Make, bought books in advance to be pushed out to and sent a letter to outside hole 21, user can take the books which wants to buy away.
The back of bookcase 2 is provided with chamber door 23, the chamber door 23 is controlled by controller 8, and the rear side in housing 1 is provided with
The micro-lenss 7 being connected with controller 8；Books storage information in the meeting real-time monitoring of controller 8 bookcase 2, when some books exist
When in bookcase 2, the time of storage reaches certain value, i.e. to manager's transmission information, micro-lenss 7 obtain manager's to controller 8
Iris image is simultaneously sent to controller identification is analyzed to which, and after the identity validation of manager, controller controls chamber door
23 open, and book can be taken out by manager, and now, two personal letters reclaim sale robot and can restart to count fixed book lattice
The information of books storage in 221；The safety of bookcase by setting up iris identifying function, can be strengthened, losing books are prevented.
Second aspect, as Figure 6-9, present embodiments provides a kind of two personal letter and reclaims the controlling party for selling robot
Method, including books removal process and books sale process, wherein, books removal process comprises the steps：
Step S1：The image information of books is obtained, and analyzes generation books trade-in information；
Step S2：Control parallelogram articulated telescopic mechanism 65 works, and clamping device 64 is moved to mobile book lattice 63
At opening；
Step S3：The information of pressure transducer 645 is obtained, is thrown in into after mobile book lattice 63 in books, it is raw on display screen 3
Into payment Quick Response Code, user can obtain books recovery cost by scanning Quick Response Code；
Step S4：The information of pressure transducer 645 is obtained, is thrown in into after mobile book lattice 63 in books, is controlled clamp system
644 work so that train wheel bridge 641 is moved downward, to clamp two personal letters；
Step S5：Control parallelogram linkwork 65 works, and two personal letters are retracted in mobile book lattice 63；
Step S6：The use information of fixed book lattice 221 is obtained, fixed 221 position of book lattice of books to be stored is determined；
Step S7：Mobile book lattice 63 are moved to fixed 221 porch of book lattice by control lifting transverse device 61；
Step S8：Mobile book lattice 63 are horizontally rotated 180 degree by control slewing equipment 62, at the opening of mobile book lattice 63
Rotate to the porch of fixed book lattice 221；
Step S9：Books are moved to fixed book lattice by clamping device 64 by control parallelogram articulated telescopic mechanism 65
In 221；
Step S10：Control clamp system 644 works so that train wheel bridge 641 is moved upwards, to discharge two personal letters, and is controlled
Parallelogram articulated telescopic mechanism 65 is retracted to clamping device 64 in mobile book lattice 63.
Books are sold process and are comprised the steps：
Step S11：The pre- information bought books of user input is obtained, gathering Quick Response Code is generated on display screen 3, user can be with
By scanning Quick Response Code payment；
Step S12：According to the pre- information bought books of user input, it is determined that depositing the position of the fixed book lattice 221 of the books
Information；
Step S13：Mobile book lattice 63 are moved to entering for fixed book lattice 221 that storage is bought books in advance by control lifting transverse device 61
At mouthful；
Step S14：Mobile book lattice 63 are horizontally rotated 180 degree by control slewing equipment 62, by the opening of mobile book lattice 63
The porch of place's rotation to the fixation book lattice 221；
Step S15：Clamping device 64 is pushed into the fixation book lattice 221 by control parallelogram articulated telescopic mechanism 65
It is interior；
Step S16：Control clamp system 644 works so that train wheel bridge 641 moves downward to clamp two personal letters, same to time control
Parallelogram articulated telescopic mechanism processed 65 is retracted to two personal letters in mobile book lattice 63；
Step S17：Mobile book lattice 63 are moved to by control lifting transverse device 61 and slewing equipment 62 sends a letter at hole 21；
Step S18：Books are pushed out to and send a letter to hole 21 by control parallelogram articulated telescopic mechanism 65 and clamp system 644
Outward, user can take books away；
Step S19：The information of books storage in each fixed book lattice 221 is counted, exceedes certain value when the resting period of books
When, still unmanned purchase, then send information to remote server 9, to notify that book is taken out by manager；
Step S20：The iris image of the manager that analysis micro-lenss 7 shoot is obtained, with the identity of authentic administrator；
Step S21：After the identity of manager to be confirmed, control chamber door 23 is opened, and book can be taken away by manager.
Wherein, step S1 is specifically divided into following steps again：
Step S101：Prompting user enters books and reclaims interface；
Step S102：Prompting scanning input books bar code；
Step S103：Read bar code and be uploaded to remote server 9, generate presell letter breath；
Step S104：Prompting user shoots books appearance images；
Step S105：Obtain the book external appearances image of the shooting of photographic head 4 and be uploaded to remote server 9；
Step S106：Judge whether appearance images are consistent with presell letter breath, if it is, execution step S107；Otherwise,
Step S102 is repeated to step S105；
Step S107：3-5 page number information is generated at random and points out to shoot correspondence page number image；
Step S108：Obtain the corresponding page number image that photographic head 4 shoots；
Step S109：According to the appearance images and correspondence page number image that obtain, trade-in information is generated.
By above-mentioned steps, it is possible to achieve the recovery of two personal letters and sell function, books can be caused in certain area
Circulation, beneficial to transmission of knowledge, and when in bookcase 2 books long-time fail to sell when, manager can be drawn off,
Go to other two personal letter selling spots to be sold, it is to avoid the waste of library resource.
Finally it should be noted that：Various embodiments above only to illustrate technical scheme, rather than a limitation；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that：Its according to
So the technical scheme described in foregoing embodiments can be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme, which all should be covered in the middle of the scope of the claim and description of the present invention.
Claims (9)
1. a kind of two personal letter is reclaimed and sells robot, it is characterised in that：
Including housing, bookcase and display screen；
The bookcase is arranged on housing bottom, and bar shaped is provided with the bookcase sends a letter to hole, for throwing in books into bookcase；
Books in stock device is additionally provided with the bookcase and book apparatus are moved, the books in stock device is used to deposit books, the shifting book dress
Clamping device is provided with putting, the clamping device is for moving in books in stock device or book is taken out from books in stock device book；
The display screen is arranged on housing front, and the display screen is touch screen；
The housing front is provided with photographic head and bar code scanner；
Also include controller, the controller moves book apparatus, clamping device, display screen, photographic head and bar code scan with described respectively
Device connects.
2. two personal letter according to claim 1 is reclaimed and sells robot, it is characterised in that：
The books in stock device includes the bookshelf that multiple row is arranged side by side, and includes that per string bookshelf multilamellar fixes book lattice.
3. two personal letter according to claim 2 is reclaimed and sells robot, it is characterised in that：
The shifting book apparatus also include lifting transverse device and mobile book lattice；
The lifting transverse device includes being fixedly installed on the guide rail at the top of bookcase；
The mobile book lattice are arranged on the bottom of lifting transverse device, and are 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 its side relative with hole is sent a letter to is provided with opening；
The clamping device is arranged on inside the mobile book lattice, and the clamping device includes connecting plate, train wheel bridge and lower plate；
The lower plate is fixedly connected with connecting plate, and the upper surface of lower plate is flushed with the lower surface for sending a letter to hole；
Clamp system is provided between the train wheel bridge and connecting plate, for adjusting the high and low position of train wheel bridge；
Connected using parallelogram articulated telescopic mechanism between the connecting plate and mobile book lattice；
The lifting transverse device, slewing equipment, clamp system and parallelogram articulated telescopic mechanism with the controller
Connection.
4. two personal letter according to claim 3 is reclaimed and sells robot, it is characterised in that：
Pressure transducer is provided with the connecting plate, for detecting whether there are two personal letters to put into；
The pressure transducer is connected with the controller.
5. two personal letter according to claim 4 is reclaimed and sells robot, it is characterised in that：
Described each two bottom sides for fixing book lattice are respectively arranged with boss, and the thickness of the boss more than the lower plate
Thickness；
Friction burr is provided with the boss.
6. two personal letter according to claim 5 is reclaimed and sells robot, it is characterised in that：
The bookcase is additionally provided with chamber door, and the chamber door is by controller control；
Micro-lenss are provided with rear side of the housing, the micro-lenss are connected with the controller, for carrying out to manager
Iris identification, to confirm its identity.
7. two personal letters as described in claim 1-6 any one reclaim the control method for selling robot, it is characterised in that：
Including the remote server being connected with the controller, also process is sold including books removal process and books；
The books removal process comprises the steps：
Analytical procedure：The image information of books is obtained, and analyzes generation books trade-in information；
Preparation process：The work of control parallelogram articulated telescopic mechanism, clamping device is moved at the opening of mobile book lattice；
Payment step：The information of pressure transducer is obtained, is thrown in into after mobile book lattice in books, generate payment two on a display screen
Dimension code, user can obtain books recovery cost by scanning Quick Response Code；
Clamping step：The information of pressure transducer is obtained, is thrown in into after mobile book lattice in books, control clamp system work makes
Obtain train wheel bridge to move downward, to clamp two personal letters, and control the work of parallelogram linkwork, two personal letters are retracted to into shifting
In dynamic book lattice；
Books in stock step：First, the use information of fixed book lattice is obtained, is determined that the fixed book case of books to be stored is put, and is controlled
Mobile book lattice are moved to fixed book lattice porch by lifting transverse device；Secondly, mobile book lattice are horizontally rotated by control slewing equipment
180 degree, will rotate to the porch of the fixation book lattice at the opening of mobile book lattice；Again, control parallelogram is hinged and stretches
Contracting mechanism is moved to books in fixed book lattice by clamping device；Finally, control clamp system work so that train wheel bridge is transported upwards
It is dynamic, to discharge two personal letters, and control parallelogram articulated telescopic mechanism clamping device is retracted in mobile book lattice；
The books are sold process and are comprised the steps：
Gathering step：The pre- information bought books of user input is obtained, gathering Quick Response Code is generated on a display screen, user can pass through
Scanning Quick Response Code payment；
Query steps：According to the pre- information bought books of user input, it is determined that depositing the positional information of the fixed book lattice of the books；
Move book step：First, control the porch that mobile book lattice are moved to lifting transverse device the fixed book lattice that storage is bought books in advance；
Secondly, mobile book lattice horizontal rotation 180 degree will be rotated to the fixation book lattice at the opening of mobile book lattice by control slewing equipment
Porch；Again, control parallelogram articulated telescopic mechanism clamping device is pushed in the fixation book lattice, and control folder
Tight mechanism's work so that train wheel bridge is moved downward to clamp two personal letters, while controlling parallelogram articulated telescopic mechanism by two
Personal letter is retracted in mobile book lattice；Finally, mobile book lattice are moved to and are sent a letter at hole by control lifting transverse device and slewing equipment, and
Books are pushed out to and are sent a letter to outside hole by control parallelogram articulated telescopic mechanism and clamp system, and user can take books away；
Monitoring step：Count the information of the storage of books in each fixed book lattice, when the resting period of books certain value is exceeded, still without
People buys, then send information to remote server, to notify that book is taken out by manager；
Take book step：Obtain the iris image of the manager that analysis micro-lenss shoot, after the identity of manager to be confirmed, control
Chamber door is opened, and book can be taken away by manager.
8. two personal letter according to claim 7 reclaims the control method for selling robot, it is characterised in that：
The analytical procedure comprises the steps：
Step one：Prompting scanning input books bar code；
Step 2：Read bar code and be uploaded to remote server, generate presell letter breath；
Step 3：Prompting shoots books appearance images；
Step 4：Obtain the book external appearances image of photographic head shooting and be uploaded to remote server；
Step 5：3-5 page number information is generated at random and points out to shoot correspondence page number image；
Step 6：Obtain the corresponding page number image that photographic head shoots；
Step 7：Appearance images and correspondence page number image that analysis is obtained, generate trade-in information.
9. two personal letter according to claim 8 reclaims the control method for selling robot, it is characterised in that：
The analytical procedure also includes being arranged on the judgement step after step 4：Judge whether appearance images are ceased with presell letter
Unanimously, if it is, execution step five；Otherwise, step one is repeated to step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610979388.3A CN106570983B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in two personal letter recycling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979388.3A CN106570983B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in two personal letter recycling |
Publications (2)
| Publication Number | Publication Date |
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| CN106570983A true CN106570983A (en) | 2017-04-19 |
| CN106570983B CN106570983B (en) | 2018-11-06 |
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| CN201610979388.3A Active CN106570983B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in two personal letter recycling |
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| CN107358282A (en) * | 2017-08-21 | 2017-11-17 | 遵义师范学院 | Two personal letter express boxes and its system, method of work with identification tracking function |
| CN107668966A (en) * | 2017-10-30 | 2018-02-09 | 高子茜 | A kind of space can type recombined intelligent bookshelf and operating method |
| CN108711229A (en) * | 2018-03-30 | 2018-10-26 | 广东工贸职业技术学院 | A kind of second-hand books shared system and method based on RFID technique |
| CN109272370A (en) * | 2017-07-17 | 2019-01-25 | 淮安明创信息科技有限公司 | The books transaction system that sorts and method of commerce |
| CN109830050A (en) * | 2019-02-26 | 2019-05-31 | 汕头市智美科技有限公司 | A kind of self-aided terminal, it is a kind of it is self-service go out pallet piling up method and a kind of self-aid system |
| CN110111483A (en) * | 2019-04-24 | 2019-08-09 | 江苏大学 | Integrative machine is sold in a kind of second-hand books reverse logistic recycling of intelligence and books recycle method for selling |
| CN110176098A (en) * | 2019-05-23 | 2019-08-27 | 三峡大学 | Self-service books recycling vending machine and its application method |
| CN110902198A (en) * | 2019-11-26 | 2020-03-24 | 邳州高新区城市矿产研究院有限公司 | Old book recovery unit |
| CN111540140A (en) * | 2020-04-21 | 2020-08-14 | 郑州工业应用技术学院 | Unattended self-service library |
| CN114550367A (en) * | 2022-02-23 | 2022-05-27 | 上海电机学院 | Single cabinet type two-hand book recycling and selling all-in-one machine |
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| CN110176098A (en) * | 2019-05-23 | 2019-08-27 | 三峡大学 | Self-service books recycling vending machine and its application method |
| CN110902198A (en) * | 2019-11-26 | 2020-03-24 | 邳州高新区城市矿产研究院有限公司 | Old book recovery unit |
| CN111540140B (en) * | 2020-04-21 | 2021-09-03 | 郑州工业应用技术学院 | Unattended self-service library |
| CN111540140A (en) * | 2020-04-21 | 2020-08-14 | 郑州工业应用技术学院 | Unattended self-service library |
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| CN106570983B (en) | 2018-11-06 |
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Effective date of registration: 20201010 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. |