CN106596582B - Book quality is tested and assessed robot and control method automatically - Google Patents
Book quality is tested and assessed robot and control method automatically Download PDFInfo
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- CN106596582B CN106596582B CN201611034393.3A CN201611034393A CN106596582B CN 106596582 B CN106596582 B CN 106596582B CN 201611034393 A CN201611034393 A CN 201611034393A CN 106596582 B CN106596582 B CN 106596582B
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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 automatic control technology fields, a kind of book quality is provided to test and assess automatically robot and control method, including display screen, video camera, camera, infrared distance sensor and robotic arm, display screen, video camera, camera, infrared distance sensor and robotic arm are electrically connected with the controller respectively.Robotic arm includes chassis, support arm and flipbook runner, the support arm includes the first support arm, the second support arm and third support arm, first support arm can be along the setting that first axle S1 horizontally slips on chassis, first support arm and the second support arm are rotatablely connected by second driving shaft, second support arm and third support arm are rotatablely connected by third transmission shaft, and third support arm drives flipbook runner to rotate by output shaft.Book quality of the present invention test and assess automatically robot and control method can automatic page turning, automatic camera, book quality test and assess and fix a price to books by the relevant information of acquired book image.
Description
Technical field
The invention belongs to automatic control technology fields, and in particular to a kind of book quality is tested and assessed robot and controlling party automatically
Method.
Background technique
With the development of society, the knowledge quantity of the mankind is increasing, the books manufactured every year are also more and more, a book by
Multipage paper is bound, and paper is manufactured by timber, and books are most important paper consumption approach.Modern society is big
Power promotion is environmentally protective, economizes on resources, and the felling that saving paper can reduce papermaking, reduce trees can be conserved forests, be protected
Retaining ring border.
China possesses several ten million students, and textbook that student uses, instruction after class book are often intact in graduation
It is lossless, also possess in our common resident masses' hands largely seen not needing seeing again, it is busy see or be not desired to see it is complete
Good books and magazines, putting land occupation side at home also becomes burden.It environmentally friendly, energy saving, resource-sharing and develops a circular economy and is
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
It comes into being in shop.
Two personal letters be recycling as we oneself and society all brings benefit, but also bring puzzlement, Mai Zhuke
At will to fix a price by self hobby, ununified standard is come the quality for second-hand book of testing and assessing, also just ununified mark
Standard is fixed a price to second-hand book.
Summary of the invention
Deficiency in view of the above problems is tested and assessed robot and control method automatically the present invention provides a kind of book quality,
Can automatic page turning, automatic camera, assessment is carried out to book quality by the relevant information of acquired book image and to figure
Book is fixed a price.
To achieve the above object, book quality of the present invention is tested and assessed robot automatically, including pedestal and display station, pedestal include
Books monitor station and robotic arm erecting bed, display station are located at robotic arm erecting bed rear and perpendicular to robotic arm erecting bed and pedestals
It is linked together, books monitor station is located in front of robotic arm erecting bed and is in same plane, books detection with robotic arm erecting bed
Platform left and right side is respectively equipped with perpendicular to books monitor station and the supporting baffle and right shell body that are linked together with pedestal, display station
Top is connected with Image Acquisition panel, and Image Acquisition panel is located at right above books monitor station and is parallel to books monitor station；
Controller is equipped in display station, display station rear surface is equipped with power knob, and the insertion of display station front surface is equipped with
Display screen, the lower surface of Image Acquisition panel are equipped with video camera, and right shell body is equipped with camera in face of supporting baffle on one side
And infrared distance sensor, robotic arm erecting bed left side are equipped with a groove, are equipped with robotic arm in groove, the chassis of robotic arm
Upper surface and robotic arm erecting bed are in same plane, display screen, power knob, video camera, camera, infrared distance sensor
It is electrically connected with the controller respectively with robotic arm.
Robotic arm includes chassis, support arm and flipbook runner, the support arm include the first support arm, the second support arm and
Third support arm, the first support arm can be along the settings that first axle S1 horizontally slips on chassis, the first support arm and second
Brace is rotatablely connected by second driving shaft, and the second support arm and third support arm are rotatablely connected by third transmission shaft, third
Support arm drives the rotation of flipbook runner by output shaft.
Preferably, the supporting baffle right side and books detection platform are in 60 ° of angles.
Preferably, the supporting baffle includes left front side baffle and left back side baffle.
Preferably, described image acquisition panel lower surface is also equipped with two light compensating lamps for being located at video camera two sides,
Light compensating lamp is electrically connected with the controller.
Preferably, the chassis upper surface is equipped with the oblong openings for being used to support arm translation, is equipped with and drives in the chassis
Dynamic support arm prolongs the first driving mechanism of first axle S1 translation, and first driving mechanism includes first motor and the first electricity
The first gear that machine rotates coaxially and the first translation shaft perpendicular to first motor output shaft extending direction, first translation
Axis is parallel to the direction first axle S1 and is equipped with the translation tooth being mutually twisted with first gear, first translation shaft and the first support
Arm is fixedly connected, and the first motor imparts power to the first translation shaft by first gear and driven by the first translation shaft
Support arm prolongs first axle S1 direction translational；
The second driving mechanism that the second support arm of driving and third support arm interlock is equipped in first support arm, it is described
Second driving mechanism includes that the second motor, the first bevel gear rotated with the second motor coaxle and first bevel gear are mutually twisted
Second bevel gear, perpendicular to the second motor output shaft extending direction and the second driving shaft rotated coaxially with second bevel gear,
It is parallel to the third transmission shaft of second driving shaft, the second motor will be moved by mutually twisted first bevel gear and second bevel gear
Power passes to second driving shaft and third transmission shaft and the second support arm and third support arm is driven to interlock；
It is equipped with the third driving mechanism of driving flipbook turntable rotation in the third support arm, third driving mechanism includes the
Three motors, gearbox and output shaft, third driving mechanism impart power to output shaft by gearbox and pass through output shaft band
Dynamic flipbook runner rotation.
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 insertion on the cylindrical surface of the flipbook runner is equipped with the sensing contact being electrically connected with the controller
Device, the cylindrical surface of the flipbook runner are equipped with symmetrical relative to axis S2 where the center of circle and symmetrical relative to contact sensor
Two flipbook teeth, the one end of flipbook tooth far from flipbook runner is arc-shaped.
Book quality is tested and assessed the control method of robot automatically:
Step 1: after the infrared distance sensor in right shell body detects books, 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 long-range clothes
Business device；
Step 2: the lowest point of default flipbook runner is being located at supporting baffle right side and books detection platform intersecting lens just
Top, the first driving mechanism driving support arm are moved to the left X, the lowest point of flipbook runner are made to be located remotely from the books of supporting baffle
The surface of cover upper edge；
Step 3: the second driving mechanism drives the second support arm and third support arm to interlock to adjust the height of flipbook runner,
After the contact sensor of flipbook runner touches books, the second support arm and third support arm stop operating；
Step 4: third driving mechanism drives the rotation of flipbook runner, starts to flip, the driving support of the first driving mechanism
Arm is slowly moved to the left, and realization persistently flips, the camera shooting on the video camera and right shell body right above books monitor station
Head shooting books, obtain page image and book cover image information in books, and be sent to remote server；
Step 5: the ISBN code and books of books are obtained by image recognition technology according to the book cover image of acquisition
Relevant information, according to page image in the book cover image and books of acquisition and the original corresponding books of remote server
Image information compares, to realize the assessment to book quality and fix a price to books.
Step 6: display screen shows the relevant information and price price of books.
Preferably, supporting baffle right side and books detection platform are in 60 ° of angles, and first translation shaft and books detect
Table top is in 30 ° of angles；The thickness h that books are measured by infrared distance measuring sensor obtains books according to image recognition technology
Width W, the then distance that support arm is moved to the left
Preferably, the assessment of the book quality includes books newness degree, books incompleteness degree and books tidiness
Assessment.
By above scheme it is found that book quality provided by the invention is tested and assessed automatically robot and control method, pass through machine
Flipbook runner on arm realizes the function of automatic page turning, and the phase of page in book cover and books is acquired by video camera and camera
Image information is closed, is tested and assessed according to the relevant information of acquired books to book quality, and then realizes the price to books.
Detailed description of the invention
It, below will be in specific embodiment or description of the prior art in order to illustrate more clearly of technical solution of the present invention
Required attached drawing is briefly described.In all the appended drawings, similar element or part are generally by similar attached drawing mark
Note mark.In attached drawing, each element or part might not be drawn 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 is the right view structure chart of the present embodiment；
Fig. 4 is the structure chart of robotic arm in the present embodiment；
Fig. 5 is the connection structure diagram 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 the right view structure chart of flipbook runner in the present embodiment；
Fig. 8 is the calculating schematic diagram that flipbook runner is moved to the left distance X in the present embodiment.
Appended drawing reference:
1- pedestal, 2- display station, 3- supporting baffle, the left front side baffle of 31-, the left back side baffle of 32-, 4- right shell body, 5- figure
As acquisition panel, 6- controller, 7- display screen, 8- infrared distance sensor, 9- camera, 10- robotic arm, 11- video camera,
The chassis 101-, the first support arm of 102-, the second support arm of 103-, 104- third support arm, 105- flipbook runner, 106- first drive
Motivation structure, the first translation shaft of 107-, the second driving mechanism of 108-, 109- second driving shaft, 110- third transmission shaft, 111- third
Driving mechanism, 112- output shaft, 113- contact sensor, 114- flipbook tooth
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for clearer
Ground illustrates product of the invention, therefore is intended only as example, and not intended to limit the protection scope of the present invention.
Embodiment:
As shown in FIG. 1 to FIG. 8, the present invention provides a kind of book quality and tests and assesses automatically robot, including pedestal 1 and display station
2, pedestal 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 linked together with pedestal 1, and books monitor station is located in front of robotic arm erecting bed and is in same with robotic arm erecting bed
Plane, books monitor station left and right side are respectively equipped with perpendicular to books monitor station and the supporting baffle 3 that is linked together with pedestal
With right shell body 4, display station top is connected with Image Acquisition panel 5, and Image Acquisition panel 5 is located at right above books monitor station and flat
Row is in books monitor station；
Controller 6 is equipped in display station 2,2 rear surface of display station is equipped with power knob, the insertion installation of display station front surface
There is display screen 7, the lower surface of Image Acquisition panel 5 is equipped with video camera 11, and right shell body 4 is installed in face of the one side of supporting baffle 3
There are camera 9 and infrared distance sensor 8, a groove is equipped on the left of robotic arm erecting bed, robotic arm 10, machine are installed in 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 with controller 6 respectively.
Robotic arm 10 include chassis 101, support arm and flipbook runner 105, the support arm include the first support arm 102,
Second support arm 103 and third support arm 104, the first support arm 102 can be along the settings that first axle S1 horizontally slips on chassis
On 101, the first support arm 102 and the second support arm 103 are rotatablely connected by second driving shaft 109, the second support arm 103 and the
Three support arms 104 are rotatablely connected by third transmission shaft 110, and third support arm 104 drives flipbook runner by output shaft 112
105 rotations.
Controller 6 has wireless transmission mould for handling relevant data and image information in the present embodiment in controller 6
Block, for being communicated with remote server；Video camera 11, camera 9 and infrared distance sensor 8 are information collecting device,
For shooting page image in book cover image and books, infrared distance sensor 8, which is used to detect, is for video camera 11 and camera
The no thickness for having book and measuring books；Robotic arm 10 is flipbook device, is used for automatic page turning.
Flipbook runner 105 flips for convenience in the present embodiment, erects books and places, as shown in Figure 1, by books
Spine is placed on downward on 3 right side of supporting baffle, and in order to allow books to erect, placement is steady, does not slide, and the supporting baffle 3 is right
Side and books detection platform are in 60 ° of angles.In order not to allow supporting baffle 3 to contact flipbook runner 105, prevent supporting baffle 3 from hindering
Hindering the rotation of flipbook runner 105, the supporting baffle 3 includes left front side baffle 31 and left back side baffle 32, and flipbook runner 105
On perpendicular between left front side baffle 31 and left back side baffle 32.
As shown in Figure 1, described image acquisition panel lower surface is also equipped with two benefits for being located at 11 two sides of video camera
Light lamp, light compensating lamp are electrically connected with controller 6, are provided when the effect of light compensating lamp is to shoot when lacking light condition auxiliary
Light is helped, to obtain reasonable picture material, keeps the books associated picture effect of shooting more preferable.
As shown in figure 4,101 upper surface of chassis is equipped with the oblong openings for being used to support arm translation, the chassis 101
Interior the first driving mechanism 106 for being equipped with driving support arm and prolonging first axle S1 translation, first driving mechanism 106 includes first
Motor, the first gear rotated coaxially with first motor and the first translation shaft perpendicular to first motor output shaft extending direction
107, first translation shaft 107 is parallel to the direction first axle S1 and is equipped with the translation tooth being mutually twisted with first gear, described
First translation shaft 107 is fixedly connected with the first support arm 102, and the first motor imparts power to first by first gear
Translation shaft 107 simultaneously drives support arm to prolong first axle S1 direction translational by the first translation shaft 107；
The second driving that the second support arm 103 of driving and third support arm 104 interlock is equipped in first support arm 102
Mechanism 108, second driving mechanism 108 include the second motor, the first bevel gear and first with the rotation of the second motor coaxle
Second bevel gear that bevel gear is mutually twisted is rotated coaxially perpendicular to the second motor output shaft extending direction and with second bevel gear
Second driving shaft 109, be parallel to the third transmission shaft 110 of second driving shaft, the second motor passes through the first mutually twisted cone
Gear and second bevel gear impart power to second driving shaft 109 and third transmission shaft 110 and drive 103 He of the second support arm
Third support arm 104 interlocks；
The third driving mechanism 111 that driving flipbook turntable 105 rotates, third driving are equipped in the third support arm 104
Mechanism 111 includes third motor, gearbox and output shaft 112, and third driving mechanism imparts power to output by gearbox
Axis 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 the first support
Arm 102 is fixedly connected in 60 ° of angles.First translation shaft 107 places shape perpendicular to plane where 3 right side of supporting baffle, in books
Under state, the first translation shaft 107 is parallel to plane where books upper side, and the first translation shaft 107 is moved along first axle S1 or so
Dynamic drive flipbook runner 105 is parallel to books upper side and moves left and right.
As shown in Figure 6 and Figure 7, the lowest point insertion on the cylindrical surface of the flipbook runner 105 is equipped with is electrically connected with controller 6
The contact sensor 113 connect, the cylindrical surface of the flipbook runner 105 are equipped with symmetrical and opposite relative to axis S2 where the center of circle
In 113 symmetrical two flipbook teeth 114 of contact sensor, the one end of flipbook tooth 114 far from flipbook runner 105 is arc-shaped.?
When adjusting the height and position of flipbook runner 105, contact sensor 113 is turned over for judging whether flipbook runner 105 contacts with books
Book runner 105 is adjusted downward to the height for then stopping adjusting flipbook runner 105 with books when contacting；Flipbook tooth 114 is used to flip,
Flipbook tooth 114 damages page in order to prevent, and the one end of the flipbook tooth 114 far from flipbook runner 105 is arc-shaped, flipbook runner
105 rotate under certain speed, and two flipbook teeth 114 are that frivolous plastic sheet is made into.
Book quality is tested and assessed the control method of robot automatically:
Step 1: after the infrared distance sensor 8 in right shell body 4 detects 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 3 right side of supporting baffle and books detection platform intersecting lens
Surface, the first driving mechanism 106 driving support arm be moved to the left X, so that the lowest point of flipbook runner 105 is located remotely from support
The surface of the book cover upper edge of baffle 3；
Step 3: the second driving mechanism 108 drives the second support arm 103 and third support arm 104 to interlock to adjust flipbook and turn
The height of wheel 105, after the contact sensor 113 of flipbook runner 105 touches books, the second support arm 103 and third support arm
104 stop operating；
Step 4: third driving mechanism 111 drives flipbook runner 105 to rotate, and starts to flip, the first driving mechanism 106
Driving support arm is slowly moved to the left, and realization persistently flips, video camera 11 and right gear right above books monitor station
Camera 9 on plate 4 shoots books, obtains page image and book cover image information in books, and be sent to remote server；
Step 5: the ISBN code and books of books are obtained by image processing techniques according to the book cover image of acquisition
Relevant information, according to page image in the book cover image and books of acquisition and the original corresponding books of remote server
Image information compares, to realize the assessment to book quality and fix a price to books.
Step 6: display screen 7 shows the relevant information and price price of books.
In the present embodiment, 3 right side of supporting baffle 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 that books are 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 placement status, the image information of cover after books is obtained by camera 9, books turn over
After the completion of readding, the image information of books front cover, during books stir, 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, is believed by the book image of acquisition
Breath carries out assessment to book quality and fixes a price to books.
The assessment of the book quality includes the assessment of books newness degree, books incompleteness degree and books tidiness.Root
The relevant information of books, such as the title of books, author, number of pages, publication time are obtained according to ISB code, according to the bibliogony time
Come the newness degree for 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, pass through figure
As identification technology, the identification to paper edge and the identification to stain can obtain the original area of a paper, incomplete area
With the area of stain, the discount rate by incomplete degree and tidiness that whole second-hand book is calculated is β；
It is orientated according to market value, as before is also intended to have a greatly reduced quality even if second-hand article is brand-new, 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, θ bis-
Hand discount rate.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it is still
Technical solution documented by foregoing embodiments is modified, or is equally replaced to some or all of the technical features
It changes；And these are modified or replaceed, the model for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses, should all cover within the scope of the claims and the description of the invention.
Claims (9)
- The robot 1. book quality is tested and assessed automatically, including pedestal and display station, it is characterised in that:Pedestal 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 linked together with pedestal, and books monitor station is located in front of robotic arm erecting bed and is in same flat with robotic arm erecting bed Face, books monitor station left and right side are respectively equipped with perpendicular to books monitor station and the supporting baffle being linked together with pedestal and the right side Baffle, display station top are connected with Image Acquisition panel, and Image Acquisition panel is located at right above books monitor station and is parallel to figure Book monitor station；Controller is equipped in display station, display station rear surface is equipped with power knob, and the insertion of display station front surface is equipped with display Screen, the lower surface of Image Acquisition panel are equipped with video camera, and right shell body is equipped with camera and red in face of supporting baffle on one side Outer distance measuring sensor, robotic arm erecting bed left side are equipped with a groove, are equipped with robotic arm, the upper table on the chassis of robotic arm in groove Face and robotic arm erecting bed are in same plane, display screen, power knob, video camera, camera, infrared distance sensor and machine 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 third Support arm, the first support arm can be along the settings that first axle S1 horizontally slips on chassis, the first support arm and the second support arm It is rotatablely connected by second driving shaft, the second support arm and third support arm are rotatablely connected by third transmission shaft, third support Arm drives the rotation of flipbook runner by output shaft；The chassis upper surface is equipped with the oblong openings for being used to support arm translation, is equipped in the chassis and support arm is driven to prolong the First driving mechanism of one axis S1 translation, first driving mechanism include that first motor and first motor rotate coaxially First gear and the first translation shaft perpendicular to first motor output shaft extending direction, first translation shaft be parallel to first The direction axis S1 is equipped with the translation tooth being mutually twisted with first gear, and first translation shaft is fixedly connected with the first support arm, The first motor imparts power to the first translation shaft by first gear and drives support arm to prolong the by the first translation shaft One axis S1 direction translational；The second driving mechanism interlocked in first support arm equipped with the second support arm of driving and third support arm, described second Driving mechanism includes second that the second motor, the first bevel gear rotated with the second motor coaxle and first bevel gear are mutually twisted Bevel gear, perpendicular to the second motor output shaft extending direction and with second driving shaft that second bevel gear rotates coaxially, parallel In the third transmission shaft of second driving shaft, the second motor is passed power by mutually twisted first bevel gear and second bevel gear It passs second driving shaft and third transmission shaft and the second support arm and third support arm is driven to interlock；The third driving mechanism of driving flipbook turntable rotation is equipped in the third support arm, third driving mechanism includes third electricity Machine, gearbox and output shaft, third driving mechanism impart power to output shaft by gearbox and are turned over by output shaft drive The rotation of book runner.
- The robot 2. book quality according to claim 1 is tested and assessed automatically, it is characterised in that: the supporting baffle right side It is in 60 ° of angles with books detection platform.
- The robot 3. book quality according to claim 2 is tested and assessed automatically, it is characterised in that: the supporting baffle includes a left side Front side baffle and left back side baffle.
- The robot 4. book quality according to claim 1 is tested and assessed automatically, it is characterised in that: described image acquires under panel Surface is also equipped with two light compensating lamps for being located at video camera two sides, and light compensating lamp is electrically connected with the controller.
- The robot 5. book quality according to claim 1 is tested and assessed 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.
- The robot 6. book quality according to claim 1 is tested and assessed automatically, it is characterised in that: the cylinder of the flipbook runner The lowest point insertion in face is equipped with the contact sensor being electrically connected with the controller, and the cylindrical surface of the flipbook runner is equipped with opposite Axis S2 is symmetrical and relative to the symmetrical two flipbook teeth of contact sensor where the center of circle, flipbook tooth far from flipbook runner one End is arc-shaped.
- The control method of robot 7. book quality as claimed in claim 6 is tested and assessed automatically, it is characterised in that:Step 1: after the infrared distance sensor in right shell body detects books, 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 remote server；Step 2: the lowest point of default flipbook runner is located at the surface of supporting baffle right side Yu books detection platform intersecting lens, First driving mechanism driving support arm is moved to the left X, and the lowest point of flipbook runner is made to be located remotely from the book cover of supporting baffle The surface of upper edge；Step 3: the second driving mechanism drives the second support arm and third support arm to interlock to adjust the height of flipbook runner, flipbook After the contact sensor of runner touches books, the second support arm and third support arm stop operating；Step 4: third driving mechanism drives the rotation of flipbook runner, starts to flip, and the first driving mechanism drives support arm slow Slowly it is moved to the left, realization persistently flips, and the camera on the video camera and right shell body right above books monitor station is clapped Books are taken the photograph, obtain page image and book cover image information in books, and be sent to remote server；Step 5: the ISBN code of books and the phase of books are obtained by image recognition technology according to the book cover image of acquisition Information is closed, according to page image in the book cover image and books of acquisition and the original corresponding book image of remote server Information compares, to realize the assessment to book quality and fix a price to books；Step 6: display screen shows the relevant information and price price of books.
- The control method of robot 8. book quality according to claim 7 is tested and assessed automatically, it is characterised in that: supporting baffle Right side and books detection platform are in 60 ° of angles, and first translation shaft and books detection platform are in 30 ° of angles；By infrared Line distance measuring sensor measures the thickness h of books, the width W of books is obtained according to image recognition technology, then support arm is moved to the left Distance
- The control method of robot 9. book quality according to claim 7 is tested and assessed automatically, it is characterised in that: the books The assessment of quality includes the assessment 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)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106596582A CN106596582A (en) | 2017-04-26 |
| CN106596582B true CN106596582B (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611034393.3A Active CN106596582B (en) | 2016-11-23 | 2016-11-23 | Book quality is tested and assessed robot and control method automatically |
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| CN107463114B (en) * | 2017-08-04 | 2021-01-15 | 京东方科技集团股份有限公司 | Bookshelf-based book management method and system |
| CN108256658B (en) * | 2018-03-16 | 2023-06-23 | 方宏坚 | Intelligent old book recycling method and device |
| 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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| WO2004025410A2 (en) * | 2002-09-10 | 2004-03-25 | Kirtas Technologies, Inc. | Automated page turning apparatus to assist in viewing pages of a document |
| JP2005205820A (en) * | 2004-01-26 | 2005-08-04 | Toppan Printing Co Ltd | Method and device for detecting unstitched printed sheet in saddle stitching bookbinding |
| US8134759B2 (en) * | 2008-11-19 | 2012-03-13 | Kuwait University | Method and apparatus for capturing the image of bound documents such as books using digital camera |
| CN105120126B (en) * | 2015-09-29 | 2018-04-24 | 合肥视睿科技有限公司 | A kind of full-automatic flipbook scanner |
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