CN106596582A - Automatic evaluation robot for book quality and control method thereof - Google Patents
Automatic evaluation robot for book quality and control method thereof Download PDFInfo
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- CN106596582A CN106596582A CN201611034393.3A CN201611034393A CN106596582A CN 106596582 A CN106596582 A CN 106596582A CN 201611034393 A CN201611034393 A CN 201611034393A CN 106596582 A CN106596582 A CN 106596582A
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- books
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- flipbook
- runner
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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Abstract
The invention belongs to the technical field of automatic control, and provides an automatic evaluation robot for book quality and a control method thereof. The automatic evaluation robot comprises a display screen, a camera, a pick-up head, an infrared distance measuring sensor and a machine arm, wherein the display screen, camera, pick-up head, infrared distance measuring sensor and machine arm are respectively electrically connected with a controller; the machine arm comprises a chassis, a supporting arm and a rotating wheel for page turning; the supporting arm comprises a first supporting arm, a second supporting arm and a third supporting arm; the first supporting arm is arranged on the chassis in a mode of being capable of horizontally sliding along a first axial line S1; the first supporting arm and second supporting arm are in rotating connection through a second transmission shaft; the second supporting arm and third supporting arm are in rotating connection through a third transmission shaft; and the third supporting arm drives the rotating wheel for page turning through an output shaft to rotate. The automatic evaluation robot for book quality and the control method thereof can automatically turn pages and automatically pick up images, and evaluate the book quality through the relevant information of acquired book images and price the book.
Description
Technical field
The invention belongs to automatic control technology field, and in particular to a kind of book quality is tested and assessed robot and controlling party automatically
Method.
Background technology
With the development of society, the knowledge quantity of the mankind is increasing, and the books of annual manufacture are also more and more, a book by
The bookbinding of multipage paper is formed, and paper is formed by the manufacturing of timber, and books are topmost paper consumption approach.Modern society is big
Power is advocated environmental protection, is economized on resources, and economizing on paper can just reduce papermaking, reduce the felling of trees, can just conserve forests, protect
Retaining ring border.
China possesses several ten million students, and textbook, the instruction after class book that student uses is often intact in graduation
It is lossless, also possess in our common resident masses hands seen seeing again in a large number, it is busy see or be not desired to see it is complete
Good books and magazines, putting occupation of land side at home also becomes burden.Environmental protection, energy saving, resource-sharing and develop a circular economy and be
At present the developing direction that our societies are advocated, then the second-hand book market of many " stall with goods spread out on the ground for sale " formulas, entity second-hand bookstores, online two write in one's own hand
Arise at the historic moment in shop.
Two personal letter be recycling as we oneself and society all brings benefit, but also bring puzzlement, Mai Zhuke
At will to fix a price by the hobby of self, the quality of second-hand book of testing and assessing without unified standard, also just ununified mark
Standard is fixed a price to second-hand book.
The content of the invention
For the deficiency of problem above, robot and control method the invention provides a kind of book quality is tested and assessed automatically,
Can automatic page turning, automatic camera, book quality is tested and assessed by the relevant information of acquired book image and to figure
Book is fixed a price.
For achieving the above object, book quality of the present invention is tested and assessed robot, including base and display station automatically, and base includes
Books monitor station and robotic arm erecting bed, display station is located at robotic arm erecting bed rear and perpendicular to robotic arm erecting bed and base
It is connected as a single entity, books monitor station is located at robotic arm erecting bed front and is in same plane, books detection with robotic arm erecting bed
Supporting baffle and right shell body that platform left side and right side are respectively equipped with perpendicular to books monitor station and are connected as a single entity with base, display station
Top is connected with IMAQ panel, and IMAQ panel is located at directly over books monitor station and parallel to books monitor station；
Controller is provided with display station, surface is provided with power knob after display station, display station front surface is embedded to be provided with
Display screen, the lower surface of IMAQ panel is provided with video camera, and right shell body is provided with camera in the face of the one side of supporting baffle
And infrared distance sensor, a groove is provided with the left of robotic arm erecting bed, robotic arm is installed in groove, the chassis of robotic arm
Upper surface is in same plane, display screen, power knob, video camera, camera, infrared distance sensor with robotic arm erecting bed
It is electrically connected with the controller respectively with robotic arm.
Robotic arm include chassis, support arm and flipbook runner, the support arm include the first support arm, the second support arm and
3rd support arm, the first support arm can be arranged on chassis along what first axle S1 horizontally slipped, the first support arm and second
Brace is rotated by second driving shaft and connected, and the second support arm and the 3rd support arm are connected by the 3rd drive axis, and the 3rd
Support arm drives flipbook runner to rotate by output shaft.
Preferably, the supporting baffle right flank and books detection platform are in 60 ° of angles.
Preferably, the supporting baffle includes left front side shield and left back side shield.
Preferably, described image collection panel lower surface is also equipped with two respectively positioned at the light compensating lamp of video camera both sides,
Light compensating lamp is electrically connected with the controller.
Preferably, the chassis upper surface is provided with the oblong openings for support arm translation, and drive is provided with the chassis
Dynamic support arm prolongs the first drive mechanism of first axle S1 translations, and first drive mechanism is electric including the first motor and first
First gear and the first translation shaft perpendicular to the first motor output shaft bearing of trend that machine is rotated coaxially, first translation
Axle is provided with the translation tooth mutually stranded with first gear parallel to first axle S1 directions, and first translation shaft is supported with first
Arm is fixedly connected, and first motor is imparted power to the first translation shaft and driven by the first translation shaft by first gear
Support arm prolongs first axle S1 direction translationals；
The second drive mechanism for driving that the second support arm and the 3rd support arm are interlocked is provided with first support arm, it is described
The first bevel gear and first bevel gear that second drive mechanism is rotated including the second motor with the second motor coaxle is mutually stranded
Second bevel gear, perpendicular to the second motor output shaft bearing of trend and rotate coaxially with second bevel gear second driving shaft,
Parallel to the 3rd power transmission shaft of second driving shaft, the second motor will be dynamic by mutually stranded first bevel gear and second bevel gear
Power passes to second driving shaft and the 3rd power transmission shaft and drives the second support arm and the 3rd support arm to interlock；
It is provided with the 3rd drive mechanism for driving flipbook rotating disk to rotate in 3rd support arm, the 3rd drive mechanism includes the
Three motors, gearbox and output shaft, the 3rd drive mechanism imparts power to output shaft and by output shaft band by gearbox
Dynamic flipbook runner is rotated.
Preferably, first translation shaft and books detection platform are in 30 ° of angles, and the first translation shaft is in the first support arm
60 ° of angles are fixedly connected.
Preferably, the lowest point on the face of cylinder of the flipbook runner is embedded in and is provided with the sensing contact being electrically connected with the controller
Device, the face of cylinder of the flipbook runner is provided with symmetrical and symmetrical relative to feeler relative to center of circle place axis S2
Two flipbook teeth, flipbook tooth is circular arc away from one end of flipbook runner.
Book quality is tested and assessed the control method of robot automatically：
Step 1：Infrared distance sensor in right shell body is detected after books, and book quality is tested and assessed robot and control automatically
Method processed starts assessment work, and the camera in right shell body shoots book cover, and book cover image is sent to into long-range clothes
Business device；
Step 2：The lowest point of default flipbook runner is located at supporting baffle right flank with books detection platform intersecting lens just
Top, the first drive mechanism drives support arm to be moved to the left X, and the lowest point for making flipbook runner is located remotely from the books of supporting baffle
The surface of front cover upper edge；
Step 3：Second drive mechanism drives the second support arm and the 3rd support arm to interlock to adjust the height of flipbook runner,
The feeler of flipbook runner is touched after books, and the second support arm and the 3rd support arm stop operating；
Step 4：3rd drive mechanism drives flipbook runner to rotate, and starts to flip, and the first drive mechanism drives and supports
Arm is slowly moved to the left, and realization persistently flips, the shooting on the video camera and right shell body directly over books monitor station
Head shoots books, obtains page image and book cover image information in books, and is sent to remote server；
Step 5：According to the book cover image for obtaining, by image recognition technology, the ISBN codes and books of books are obtained
Relevant information, according to obtain book cover image and books in page image corresponding books original with remote server
Image information is contrasted, so as to realizing the test and appraisal to book quality and books being fixed a price.
Step 6：Display screen shows the relevant information of books and price price.
Preferably, supporting baffle right flank and books detection platform are in 60 ° of angles, and first translation shaft is detected with books
Table top is in 30 ° of angles；The thickness h of books is measured by infrared distance measuring sensor, books are obtained according to image recognition technology
Width W, the then distance that support arm is moved to the left
Preferably, the test and appraisal of the book quality include books newness degree, books incompleteness degree and books tidiness
Test and appraisal.
From such scheme, the book quality that the present invention is provided is tested and assessed robot and control method automatically, by machine
Flipbook runner on arm realizes the function of automatic page turning, and by video camera and camera the phase of page in book cover and books is gathered
Image information is closed, book quality is tested and assessed according to the relevant information of acquired books, and then realize the price to books.
Description of the drawings
In order to be illustrated more clearly that technical scheme, below will be in specific embodiment or description of the prior art
The required accompanying drawing for using is briefly described.In all of the figs, similar element or part are typically by similar accompanying drawing mark
Note mark.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the Facad structure figure for putting the present embodiment under book-like state；
Fig. 2 is the Facad structure figure of the present embodiment during flipbook；
Fig. 3 regards structure chart for the right side of the present embodiment；
Fig. 4 is the structure chart of robotic arm in the present embodiment；
Fig. 5 is the attachment structure figure of the first support arm and the first translation shaft in the present embodiment；
Fig. 6 is the Facad structure figure of flipbook runner in the present embodiment；
Fig. 7 is that the right side of flipbook runner in the present embodiment regards structure chart；
Fig. 8 is that flipbook runner is moved to the left the calculating schematic diagram apart from X in the present embodiment.
Reference：
1- bases, 2- display stations, 3- supporting baffles, the left front side shields of 31-, the left back side shields of 32-, 4- right shell bodies, 5- figures
As collection panel, 6- controllers, 7- display screens, 8- infrared distance sensors, 9- cameras, 10- robotic arms, 11- video cameras,
101- chassis, the support arms of 102- first, the support arms of 103- second, the support arms of 104- the 3rd, 105- flipbook runners, 106- first drive
Motivation structure, the translation shafts of 107- first, the drive mechanisms of 108- second, 109- second driving shafts, the power transmission shafts of 110- the 3rd, 111- the 3rd
Drive mechanism, 112- output shafts, 113- feelers, 114- flipbook teeth
Specific embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing.Following examples are only used for clearer
The product of the ground explanation present invention, therefore example is intended only as, and can not be limited the scope of the invention with this.
Embodiment：
As shown in Fig. 1～Fig. 8, the present invention provides a kind of book quality and tests and assesses automatically robot, including base 1 and display station
2, base 1 includes books monitor station and robotic arm erecting bed, and display station 2 is located at robotic arm erecting bed rear and perpendicular to robotic arm
Erecting bed is connected as a single entity with base 1, and books monitor station is located at robotic arm erecting bed front and with robotic arm erecting bed in same
Plane, the supporting baffle 3 that books monitor station left side and right side are respectively equipped with perpendicular to books monitor station and are connected as a single entity with base
With right shell body 4, display station top is connected with IMAQ panel 5, and IMAQ panel 5 is located at directly over books monitor station and flat
Row is in books monitor station；
Controller 6 is provided with display station 2, surface is provided with power knob after display station 2, display station front surface is embedded to be installed
The lower surface for having display screen 7, IMAQ panel 5 is provided with video camera 11, and right shell body 4 is installed in the face of the one side of supporting baffle 3
There are camera 9 and infrared distance sensor 8, robotic arm erecting bed left side is provided with a groove, robotic arm 10, machine are provided with groove
The upper surface on the chassis 101 of device arm 10 and robotic arm erecting bed are in same plane, display screen 7, power knob, video camera 11,
Camera 9, infrared distance sensor 8 and robotic arm 10 are electrically connected respectively with controller 6.
Robotic arm 10 includes chassis 101, support arm and flipbook runner 105, the support arm include the first support arm 102,
Second support arm 103 and the 3rd support arm 104, the first support arm 102 can be arranged on chassis along what first axle S1 horizontally slipped
On 101, the first support arm 102 and the second support arm 103 rotate connection by second driving shaft 109, the second support arm 103 and the
Three support arms 104 rotate connection by the 3rd power transmission shaft 110, and the 3rd support arm 104 drives flipbook runner by output shaft 112
105 rotate.
Controller 6 is used to process the data and image information of correlation in the present embodiment, and in controller 6 mould is wirelessly transferred
Block, for being communicated with remote server；Video camera 11, camera 9 and infrared distance sensor 8 are information collecting device,
Video camera 11 and camera are used to shoot page image in book cover image and books, and infrared distance sensor 8 is for detection
The no thickness for having book and measuring books；Robotic arm 10 is flipbook device, for automatic page turning.
For convenience flipbook runner 105 flips in the present embodiment, erects books and places, as shown in figure 1, by books
Spine is placed on down on the right flank of supporting baffle 3, in order to allow books to erect to place it is steady, do not slide, the supporting baffle 3 is right
Side is in 60 ° of angles with books detection platform.In order to not allow supporting baffle 3 to contact flipbook runner 105, prevent supporting baffle 3 from hindering
The rotation of flipbook runner 105, the supporting baffle 3 is hindered to include left front side shield 31 and left back side shield 32, flipbook runner 105
On perpendicular between left front side shield 31 and left back side shield 32.
As shown in figure 1, described image collection panel lower surface is also equipped with two respectively positioned at the benefit of the both sides of video camera 11
Light lamp, light compensating lamp is electrically connected with controller 6, provides auxiliary in the case of light condition is lacked when the effect of light compensating lamp is to shoot
Light is helped, to obtain rational picture material, makes the books associated picture effect of shooting more preferable.
As shown in figure 4, the upper surface of the chassis 101 is provided with the oblong openings for support arm translation, the chassis 101
The first drive mechanism 106 for driving support arm to prolong first axle S1 translations is inside provided with, first drive mechanism 106 includes first
First gear and the first translation shaft perpendicular to the first motor output shaft bearing of trend that motor and the first motor coaxle are rotated
107, first translation shaft 107 is provided with the translation tooth mutually stranded with first gear parallel to first axle S1 directions, described
First translation shaft 107 is fixedly connected with the first support arm 102, and first motor imparts power to first by first gear
Translation shaft 107 simultaneously drives support arm to prolong first axle S1 direction translationals by the first translation shaft 107；
The second driving for driving the second support arm 103 and the 3rd support arm 104 to interlock is provided with first support arm 102
Mechanism 108, second drive mechanism 108 includes the first bevel gear and first that the second motor and the second motor coaxle are rotated
The mutually stranded second bevel gear of bevel gear, rotate coaxially perpendicular to the second motor output shaft bearing of trend and with second bevel gear
Second driving shaft 109, parallel to the 3rd power transmission shaft 110 of second driving shaft, the second motor is by the first mutually stranded cone
Gear and second bevel gear impart power to the power transmission shaft 110 of second driving shaft 109 and the 3rd and drive the He of the second support arm 103
3rd support arm 104 is interlocked；
The 3rd drive mechanism 111 for driving flipbook rotating disk 105 to rotate is provided with 3rd support arm 104, the 3rd drives
Mechanism 111 includes the 3rd motor, gearbox and output shaft 112, and the 3rd drive mechanism imparts power to output by gearbox
Axle 112 simultaneously drives flipbook runner 105 to rotate by output shaft 112.
As shown in figure 5, first translation shaft 107 is horizontal by 30 ° of angles, the first translation shaft 107 and first is supported
Arm 102 is fixedly connected in 60 ° of angles.First translation shaft 107 places shape perpendicular to the right flank place plane of supporting baffle 3 in books
Under state, the first translation shaft 107 is moved parallel to books upper side place plane, the first translation shaft 107 along first axle S1 or so
It is dynamic to drive flipbook runner 105 to move left and right parallel to books upper side.
As shown in Figure 6 and Figure 7, embedded being provided with of the lowest point on the face of cylinder of the flipbook runner 105 is electrically connected with controller 6
The feeler 113 for connecing, the face of cylinder of the flipbook runner 105 is provided with symmetrical and relative relative to center of circle place axis S2
In two symmetrical flipbook teeth 114 of feeler 113, flipbook tooth 114 is circular arc away from one end of flipbook runner 105.
When adjusting the height and position of flipbook runner 105, feeler 113 is used to judge whether flipbook runner 105 contacts with books, turns over
Book runner 105 is adjusted downward to and then stops the height for adjusting flipbook runner 105 when contacting with books；Flipbook tooth 114 is used to flip,
In order to prevent flipbook tooth 114 damage page, the flipbook tooth 114 away from flipbook runner 105 one end be circular arc, flipbook runner
105 rotate under certain speed, and two flipbook teeth 114 are made for frivolous plastic sheet.
Book quality is tested and assessed the control method of robot automatically：
Step 1：Infrared distance sensor 8 in right shell body 4 is detected after books, book quality test and assess automatically robot and
Control method starts assessment work, and the camera 9 in right shell body 4 shoots book cover, and book cover image is sent to far
Journey server；
Step 2：The lowest point of default flipbook runner 105 is located at the right flank of supporting baffle 3 and books detection platform intersecting lens
Surface, the first drive mechanism 106 drive support arm be moved to the left X, the lowest point for making flipbook runner 105 is located remotely from support
The surface of the book cover upper edge of baffle plate 3；
Step 3：Second drive mechanism 108 drives the second support arm 103 and the 3rd support arm 104 to interlock to adjust flipbook turn
The height of wheel 105, the feeler 113 of flipbook runner 105 touched after books, the second support arm 103 and the 3rd support arm
104 stop operating；
Step 4：3rd drive mechanism 111 drives flipbook runner 105 to rotate, and starts to flip, the first drive mechanism 106
Support arm is driven slowly to be moved to the left, realization persistently flips, the video camera 11 and right gear directly over books monitor station
Camera 9 on plate 4 shoots books, obtains page image and book cover image information in books, and is sent to remote server；
Step 5：According to the book cover image for obtaining, by image processing techniques, the ISBN codes and books of books are obtained
Relevant information, according to obtain book cover image and books in page image corresponding books original with remote server
Image information is contrasted, so as to realizing the test and appraisal to book quality and books being fixed a price.
Step 6：Display screen 7 shows the relevant information of books and price price.
In the present embodiment, the right flank of supporting baffle 3 and books detection platform are in 60 ° of angles, first translation shaft 108 with
Books detection platform is in 30 ° of angles；The thickness h of books is measured by infrared distance measuring sensor 8, is obtained according to image recognition technology
The width W of books is taken, as shown in figure 8, the distance that then support arm is moved to the left
In the present embodiment, under books laying state, the image information of front cover after books is obtained by camera 9, books are turned over
After the completion of readding, the image information of front cover before books, during books are stirred, video camera 11 and camera are obtained by video camera 11
Page is random in books captured by 9, embodies the randomness of page image in detection books, by the book image letter for obtaining
Breath is tested and assessed to book quality and books is fixed a price.
The test and appraisal of the book quality include the test and appraisal of books newness degree, books incompleteness degree and books tidiness.Root
The relevant information of books, the such as title of books, author, number of pages, publication time, according to the bibliogony time are obtained according to ISB codes
Come the newness degree of books of testing and assessing, the time-Publication Year of bibliogony year=now, second-hand book newness degree discount rate
For α；
According to page image in book external appearances image and books come the residual defect degree of books of testing and assessing and books tidiness, by figure
As technology of identification, the identification and the identification to stain to paper edge, the original area of a paper, incomplete area can be drawn
With the area of stain, the discount rate by the incomplete degree and tidiness that calculate whole second-hand book is β；
It is orientated according to market value, even if second-hand article is brand-new to be also intended to as before what is had a greatly reduced quality, if books is second-hand
Discount rate is θ.
The present price of books is set as A, the original cost of books is A0, then books present price：
A=α × β × θ × A0, wherein α is newness degree discount rate, and β is damaged degree and tidiness discount rate, and θ is two
Hand discount rate.
Finally it should be noted that：Above example only to illustrate technical scheme, rather than a limitation；Although
The present invention has been described in detail with reference to foregoing embodiments, it will be understood by those within the art that：It is still
Technical scheme described in foregoing embodiments is modified, and is either carried out equivalent to which part or all technical characteristic and is replaced
Change；And these modifications or replacement, do not make the model of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution
Enclose, it all should cover in the middle of the claim of the present invention and the scope of specification.
Claims (10)
1. book quality is tested and assessed robot, including base and display station automatically, it is characterised in that：
Base includes books monitor station and robotic arm erecting bed, and display station is located at robotic arm erecting bed rear and perpendicular to robotic arm
Erecting bed is connected as a single entity with base, and books monitor station is located at robotic arm erecting bed front and with robotic arm erecting bed in same flat
Face, supporting baffle and the right side that books monitor station left side and right side are respectively equipped with perpendicular to books monitor station and are connected as a single entity with base
Baffle plate, display station top is connected with IMAQ panel, and IMAQ panel is located at directly over books monitor station and parallel to figure
Book monitor station；
Controller is provided with display station, surface is provided with power knob after display station, display station front surface is embedded to be provided with display
Screen, the lower surface of IMAQ panel is provided with video camera, and right shell body is provided with camera and red in the face of the one side of supporting baffle
Outer distance measuring sensor, robotic arm erecting bed left side is provided with a groove, and robotic arm, the upper table on the chassis of robotic arm are provided with groove
Face is in same plane, display screen, power knob, video camera, camera, infrared distance sensor and machine with robotic arm erecting bed
Device arm is electrically connected with the controller respectively.
Robotic arm includes chassis, support arm and flipbook runner, and the support arm includes the first support arm, the second support arm and the 3rd
Support arm, the first support arm can be arranged on chassis along what first axle S1 horizontally slipped, the first support arm and the second support arm
Rotated by second driving shaft and connected, the second support arm and the 3rd support arm are connected by the 3rd drive axis, the 3rd supports
Arm drives flipbook runner to rotate by output shaft.
2. book quality according to claim 1 is tested and assessed robot automatically, it is characterised in that：The supporting baffle right flank
It is in 60 ° of angles with books detection platform.
3. book quality according to claim 2 is tested and assessed robot automatically, it is characterised in that：The supporting baffle includes a left side
Front side baffle plate and left back side shield.
4. book quality according to claim 1 is tested and assessed robot automatically, it is characterised in that：Under described image collection panel
Surface is also equipped with two respectively positioned at the light compensating lamp of video camera both sides, and light compensating lamp is electrically connected with the controller.
5. book quality according to claim 1 is tested and assessed robot automatically, it is characterised in that：
The chassis upper surface is provided with the oblong openings for support arm translation, driving support arm is provided with the chassis and prolongs the
First drive mechanism of one axis S1 translations, first drive mechanism includes what the first motor and the first motor coaxle were rotated
First gear and the first translation shaft perpendicular to the first motor output shaft bearing of trend, first translation shaft is parallel to first
Axis S1 directions are provided with the translation tooth mutually stranded with first gear, and first translation shaft is fixedly connected with the first support arm,
First motor imparts power to the first translation shaft and drives support arm to prolong the by the first translation shaft by first gear
One axis S1 direction translationals；
It is provided with the second drive mechanism for driving the second support arm and the 3rd support arm to interlock in first support arm, described second
Drive mechanism includes mutually stranded second of the first bevel gear that rotates with the second motor coaxle of the second motor and first bevel gear
Bevel gear, perpendicular to the second motor output shaft bearing of trend and with the second driving shaft that second bevel gear is rotated coaxially, parallel
In the 3rd power transmission shaft of second driving shaft, the second motor is passed power by mutually stranded first bevel gear and second bevel gear
Pass second driving shaft and the 3rd power transmission shaft and drive the second support arm and the 3rd support arm to interlock；
The 3rd drive mechanism for driving flipbook rotating disk to rotate is provided with 3rd support arm, the 3rd drive mechanism includes that the 3rd is electric
Machine, gearbox and output shaft, the 3rd drive mechanism is imparted power to output shaft and is driven by output shaft turn over by gearbox
Book runner is rotated.
6. book quality according to claim 5 is tested and assessed robot automatically, it is characterised in that：First translation shaft and figure
Book detection platform is in 30 ° of angles, and the first translation shaft is fixedly connected with the first support arm in 60 ° of angles.
7. book quality according to claim 5 is tested and assessed robot automatically, it is characterised in that：The cylinder of the flipbook runner
The lowest point in face is embedded in and is provided with the feeler being electrically connected with the controller, and the face of cylinder of the flipbook runner is provided with relatively
It is symmetrical and relative to two symmetrical flipbook teeth of feeler in center of circle place axis S2, flipbook tooth away from flipbook runner one
Hold as circular arc.
8. book quality as claimed in claim 7 is tested and assessed the control method of robot automatically, it is characterised in that：
Step 1：Infrared distance sensor in right shell body is detected after books, and book quality is tested and assessed robot and controlling party automatically
Method starts assessment work, and the camera in right shell body shoots book cover, and book cover image is sent to into remote server；
Step 2：The lowest point of default flipbook runner is located at the surface of supporting baffle right flank and books detection platform intersecting lens,
First drive mechanism drives support arm to be moved to the left X, and the lowest point for making flipbook runner is located remotely from the book cover of supporting baffle
The surface of upper edge；
Step 3：Second drive mechanism drives the second support arm and the 3rd support arm to interlock to adjust the height of flipbook runner, flipbook
The feeler of runner is touched after books, and the second support arm and the 3rd support arm stop operating；
Step 4：3rd drive mechanism drives flipbook runner to rotate, and starts to flip, and the first drive mechanism drives support arm to delay
Slowly it is moved to the left, realization persistently flips, the camera on the video camera and right shell body directly over books monitor station is clapped
Books are taken the photograph, page image and book cover image information in books is obtained, and is sent to remote server；
Step 5：According to the book cover image for obtaining, by image recognition technology, the ISBN codes of books and the phase of books are obtained
Pass information, according to page image corresponding book image original with remote server in the book cover image and books for obtaining
Information is contrasted, so as to realizing the test and appraisal to book quality and books being fixed a price.
Step 6：Display screen shows the relevant information of books and price price.
9. book quality according to claim 8 is tested and assessed the control method of robot automatically, it is characterised in that：Supporting baffle
Right flank is in 60 ° of angles with books detection platform, and first translation shaft is in 30 ° of angles with books detection platform；By infrared
Line distance measuring sensor measures the thickness h of books, and according to image recognition technology the width W of books is obtained, then support arm is moved to the left
Distance
10. book quality according to claim 8 is tested and assessed the control method of robot automatically, it is characterised in that：The figure
The test and appraisal of book quality include the test and appraisal of books newness degree, books incompleteness degree and books tidiness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611034393.3A CN106596582B (en) | 2016-11-23 | 2016-11-23 | Book quality is tested and assessed robot and control method automatically |
Applications Claiming Priority (1)
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| CN107463114A (en) * | 2017-08-04 | 2017-12-12 | 京东方科技集团股份有限公司 | Books management method and system based on bookshelf |
| CN108256658A (en) * | 2018-03-16 | 2018-07-06 | 方宏坚 | A kind of intelligence secondhand book recovery method and device |
| CN117475562A (en) * | 2023-12-27 | 2024-01-30 | 深圳市华图测控系统有限公司 | Intelligent book archiving management method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107463114A (en) * | 2017-08-04 | 2017-12-12 | 京东方科技集团股份有限公司 | Books management method and system based on bookshelf |
| CN108256658A (en) * | 2018-03-16 | 2018-07-06 | 方宏坚 | A kind of intelligence secondhand book recovery method and device |
| CN108256658B (en) * | 2018-03-16 | 2023-06-23 | 方宏坚 | Intelligent old book recycling method and device |
| CN117475562A (en) * | 2023-12-27 | 2024-01-30 | 深圳市华图测控系统有限公司 | Intelligent book archiving management method and system |
| CN117475562B (en) * | 2023-12-27 | 2024-03-15 | 深圳市华图测控系统有限公司 | Intelligent book archiving management method and system |
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| Publication number | Publication date |
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| CN106596582B (en) | 2019-04-09 |
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