CN106600823A - Used book recycling and selling robot and control method thereof - Google Patents
Used book recycling and selling robot and control method thereof Download PDFInfo
- Publication number
- CN106600823A CN106600823A CN201610979387.9A CN201610979387A CN106600823A CN 106600823 A CN106600823 A CN 106600823A CN 201610979387 A CN201610979387 A CN 201610979387A CN 106600823 A CN106600823 A CN 106600823A
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- books
- book
- book lattice
- lattice
- control
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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
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Coin-Freed Apparatuses For Hiring Articles (AREA)
Abstract
The invention provides a used book recycling and selling robot and a control method thereof. The used book recycling and selling robot comprises a shell, a book box and a display screen, the display screen is mounted on the front of the shell and is a touch screen, a camera and a first barcode scanning device is arranged on the front of the shell, the book box is arranged at the bottom of the shell, a bar-shaped book feeding hole is formed in the book box and used for putting books into the book box, a book storing device and a book moving device are arranged in the book box, the book storing device is used for storing books, a clamping device is arranged in the book moving device and used for moving the books into the book storing device or taking the books out of the same, and a second barcode scanning device is arranged in the book moving device. The used book recycling and selling robot is simple in structure, low in manufacturing cost and capable of realizing recycling and selling of books and guaranteeing recycling quality of used books, waste of book resources is avoided, and knowledge diffusion is facilitated.
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
Books are reclaimed and are sold, and while ensure that the quality that books are reclaimed is technical problem urgently to be resolved hurrily.
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 display screen is arranged on housing front, and the display screen is touch screen；The housing front is provided with photographic head and the first bar code
Scanning means；The bookcase is arranged on housing bottom, and bar shaped is provided with the bookcase sends a letter to hole, for figure is thrown in into bookcase
Book；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 apparatus
Clamping device is provided with inside, the clamping device is for moving in books in stock device or book is taken out from books in stock device book；Institute
State in shifting book apparatus and be additionally provided with the second bar code scanner；Also include controller, the controller respectively with it is described shifting book apparatus,
The connection of clamping device, display screen, photographic head, the first bar code scanner and the second bar code scanner.
In the present invention, the first bar code scanner for two personal letter bar codes be scanned, for determine presell
The information of book, is easy to be analyzed two personal letter unit take-back costs；Controller can carry out information transmission with the external world, determine presell book
Information, and point out outward appearances of the user to two personal letters or the image of the internal correspondence page number to shoot, by the figure to obtaining
As being analyzed, and with reference to the information of presell book, trade-in information is generated on a display screen, if user is satisfied with to the price
Subsequent operation is carried out, it is dissatisfied also to close the trade with regard to this；Trade-in information satisfaction of the user to generating, you can will by sending a letter to hole
Book is thrown in bookcase, and being arranged on the second bar code scanner moved in book apparatus can carry out rescan to the books, with true
Whether the books for recognizing input are consistent with the information of presell book, if inconsistent, books are pushed into by control shifting book apparatus sends a letter to outside hole,
And point out user to be changed；If consistent, controller generates payment Quick Response Code on a display screen, and user can be by scanning
Quick Response Code obtains the expense that books are reclaimed, meanwhile, controller can control clamping device and clamp two personal letters, and control moves book apparatus by book
Move in books in stock device, and record the deposit position of books, and the information of the books can be stored in book for sale by controller
On book list, user can therefrom buy oneself books interested by consulting the book list.As can be seen here, the present invention can be to two
Personal letter carries out graphical analyses, and calculates books unit take-back cost, and book can be put in bookcase and be obtained by scanning Quick Response Code by user
Recovery cost, thus completes the removal process of books；And, the present invention can carry out automatic accomodation to books, record each books
Deposit position, when user want buy certain this books when, controller can control move book apparatus reach deposit the books position,
Two personal letters are taken out from fixed book lattice using clamping device, and the book is moved to send a letter at hole, thus complete the sale of books
Process.The product that the present invention is provided is placed in the region concentrated in residential block or other crowds, can conveniently realize books
Reclaim and sell, it is to avoid the waste of library resource, while be conducive to transmission of knowledge；The present invention sets up the moving in book apparatus
Two bar code scanners, it can be ensured that the book of recovery is consistent with the information of presell book, effectively can prevent because of the maloperation of user and
The loss for causing；This structure of clamping device is simultaneously adopted in the present invention, the access requirement of books can be met simultaneously, without
Arrange in all of fixed book lattice and take book structure, simplify 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 controls clamp system and books are retracted to mobile book by parallelogram articulated telescopic mechanism
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；Clamping step, obtains pressure transducer
Information, throws in into after mobile book lattice in books, control clamp system work so that train wheel bridge is moved downward, to clamp two personal letters,
And the work of parallelogram linkwork is controlled, two personal letters are retracted in mobile book lattice；Verification step, obtains the second bar code
The information of scanning means, confirms whether the books in input bookcase are consistent with the information of presell book, if unanimously, continue executing with
Payment step, otherwise, control parallelogram articulated telescopic mechanism and clamp system work, and books are pushed out to and are sent a letter to outside hole,
And point out user to take away and change books on a display screen；Payment step, generates payment Quick Response Code on a display screen, and user can be with
Books recovery cost is obtained by scanning Quick Response Code；The books are sold process and are comprised the steps：Gathering step, obtains user
The pre- information bought books of input, generates gathering Quick Response Code on a display screen, and user can be by scanning Quick Response Code payment；Inquiry step
Suddenly, the pre- information bought books according to user input, it is determined that depositing the positional information of the fixed book lattice of the books；Book step is moved, it is first
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, control revolution dress
Put 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 pushed into clamping device in the fixation book lattice, and controls clamp system work, makes
Obtain train wheel bridge to move downward to clamp two personal letters, while controlling parallelogram articulated telescopic mechanism is retracted to movement by two personal letters
In 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 control parallelogram
Books are pushed out to by articulated telescopic mechanism and clamp system sends a letter to outside hole, and user can take books away；Monitoring step, counts each solid
The information of books storage in agreement lattice, when the resting period of books certain value is exceeded, still unmanned purchase, then to remote server
Transmission information, to notify that book is taken out by manager；Book step is taken, the iris figure of the manager that analysis micro-lenss shoot is obtained
Picture, after the identity of manager to be confirmed, 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, controller control clamp system and parallelogram hinge by sensor
Connection mechanism is retracted to two personal letters in mobile book lattice, and rescan, and and presell are carried out to the book by the second bar code scanner
The information of book carries out contrast verification, if the two information is inconsistent, the book is pushed into and is sent a letter to outside hole, and points out user to give more
Change；If the two information is consistent, payment Quick Response Code is generated on a display screen, user can collect books by scanning Quick Response Code
Recovery cost；Controller determines the position of vacant fixed book lattice, and controls lift-sliding according to the use information of fixed book lattice
Mobile book lattice are moved to device the porch of corresponding fixed book lattice, while controlling slewing equipment by mobile book lattice horizontal rotation
180 degree, so that corresponding with the entry position of fixation book lattice at the opening of mobile book lattice, and control parallelogram and is hinged
Telescoping mechanism and clamp system work, books are pushed in corresponding fixed book lattice from mobile book lattice and two personal letters are discharged, from
And complete the storage process of books；Controller can count the information of books storage in each fixed book lattice, and show on a display screen
Show the book list of storage books in bookcase, user can select to buy according to the interest of oneself, certain this books be bought when user determines
When, controller can generate gathering Quick Response Code on a display screen, and user is paid the bill by scanning the Quick Response Code, and subsequently, controller can be true
Determine the pre- storage information bought books, and control shifting book apparatus to move at corresponding fixed book lattice, control parallelogram articulated telescopic
Mechanism and clamp system move to books in mobile book lattice, then are moved to the book and sent a letter to hole by book apparatus are moved, and the book is pushed away
Go out to sending a letter on the outside of hole, book can be taken away by user, complete the process of books sale；When books, in bookcase, the resting period reaches
Certain value still unmanned purchase when, controller is notified that corresponding book is taken out by manager, to save the books in stock of books recycling machine people
Space, 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 transmit
Identification is analyzed to which to controller, after the identity validation of manager, controller controls chamber door unlatching, manager
Book is taken out.
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 a kind of two personal letter of the present invention reclaims the positive structure schematic for selling robot；
Fig. 2 is that a kind of two personal letter of the present invention reclaims the side structure schematic diagram for selling robot；
Fig. 3 is that a kind of 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 a kind of two personal letter of the present invention reclaims the control method for selling robot；
Fig. 7 is the books recycling step flow process that a kind of two personal letter of the present invention reclaims the control method for selling robot
Figure；
Fig. 8 is that the books that a kind of two personal letter of the present invention reclaims the control method for selling robot sell steps flow chart
Figure；
Fig. 9 is that a kind of two personal letter of the present invention reclaims the analytical procedure that the books of the control method for selling robot are reclaimed
Flow chart.
Reference：
1- housings；2- bookcases；3- display screens；4- photographic head；The first bar code scanners of 5-；6- moves book apparatus；7- microspurs
Camera lens；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；The second bar code scanners of 66-；
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 first 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, the first bar code scanner 5 is for the bar code to two personal letters
It is scanned, for determining the information of presell book, is easy to be analyzed two personal letter unit take-back costs；Controller 8 can with it is outer
Boundary carries out information transmission, determines the information of presell book, and points out the figure of outward appearance of the user to two personal letters or the internal correspondence page number
As being shot, it is analyzed by the image to obtaining, and with reference to the information of presell book, generates on display screen 3 and believe at a discount
Breath, it is 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, and this is opened
The second bar code scanner 66 is provided with mouthful, for rescan being carried out to the books in input movement book lattice 63, to verify
Whether the book is consistent with the information of presell book；Clamping device 64 is internally provided with mobile book lattice 63, including train wheel bridge 641, under
Clamping plate 642 and connecting plate 643, wherein lower plate 642 are fixedly connected with connecting plate 643, and the upper surface of lower plate 642 and are sent a letter to
The lower surface in hole 21 is highly flushed, and clamp system 644 is provided between train wheel bridge 641 and connecting plate 642, for adjusting train wheel bridge
641 high and low position, is provided with pressure transducer 645 on connecting plate 643, whether is located at train wheel bridge 641 for two personal letter of detection
And lower plate 642 between, connected using parallelogram articulated telescopic mechanism 65 between above-mentioned connecting plate 643 and mobile book lattice 63
Connect.Above-mentioned lifting transverse device 61, slewing equipment 62, parallelogram articulated telescopic mechanism 65, clamp system 644 and pressure are passed
Sensor 645 is connected with controller 8.The inside of bookcase 2 is additionally provided with the bookshelf 22 that multiple row is arranged side by side, and wraps per string bookshelf 22
Include multilamellar and fix book lattice 221, boss 222 is respectively equipped with the two bottom sides of each fixation book lattice 221, the thickness of the boss 222
More than the thickness of above-mentioned lower plate 642, friction burr is provided with boss 222, to increase rubbing between books and boss 222
Power is wiped, prevents books from sliding；Controller 8 counts books storage information that each is fixed in book lattice 221, manages in order to books storage
Reason.
After pressure transducer 645 detects user, and book is put into mobile book lattice 63, controller 8 can control clamping machine
Structure 644 and parallelogram articulated telescopic mechanism 65 work so that train wheel bridge 641 moves downward to clamp two personal letters and received
It is back to inside mobile book lattice 63, subsequent second bar code scanner 66 can carry out rescan, and the letter with presell book to the book
Breath carries out contrast verification, if the two information is inconsistent, the book is pushed into and is sent a letter to outside hole 21, and point out user to be changed；
If the two information is consistent, payment Quick Response Code is generated on display screen 3, user can collect books time by scanning Quick Response Code
Fee；Then, controller 8 can control lifting transverse device 61 and work, and mobile book lattice 63 are moved to vacant fixed book lattice 221
Porch, and control slewing equipment 62 and work, will rotate to the entry position of fixed book lattice 221 at mobile 63 opening of book lattice,
Control parallelogram articulated telescopic mechanism 65 and clamp system 644 work, and books are pushed from mobile book lattice 63 corresponding
In fixed book lattice 221 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 is understood the information of the books of the recovery of statistics, is shown on display screen 3 in the form of book list, when
User want purchase wherein certain this book when, controller 8 generates i.e. on display screen 3 gathering Quick Response Code, user by scanning this two
Dimension code payment；After payment, the control lifting transverse device 61 of controller 8 works, and mobile book lattice 63 is moved to storage user and is bought books in advance
Fixed book lattice 221 porch, the control slewing equipment 62 of subsequent controller 8 works, will rotate at mobile 63 opening of book lattice to
The entry position of the fixation book lattice 221, and control parallelogram articulated telescopic mechanism 65 and clamp system 644 works, will figure
Book 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
Mobile book lattice 63 are moved to and are sent a letter at hole 21 by device 62, and control parallelogram articulated telescopic mechanism 65 and clamp system 644
Work, is bought books in advance to be pushed out to and is sent a letter to outside hole 21, and 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：
Obtain the information of the second bar code scanner, confirm the information of books in input bookcase and presell book whether one
Cause, if unanimously, continue executing with payment step, otherwise, control parallelogram articulated telescopic mechanism and clamp system work,
Books are pushed out to and are sent a letter to outside hole, and point out user to take away and change books on a display screen；Payment step, is given birth on a display screen
Into payment Quick Response Code, user can obtain books recovery cost by scanning Quick Response Code；
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 in books, is controlled clamp system 644
Work so that train wheel bridge 641 is moved downward, to clamp two personal letters；
Step S4：Control parallelogram linkwork 65 works, and two personal letters are retracted in mobile book lattice 63；
Step S5：Obtain the information of the books rescan of the second bar code scanner 66；
Step S6：Judge whether the books for putting into are consistent with the information of presell book, if unanimously, execution step S7 is no
Then execution step S12-S13；
Step S7：Payment Quick Response Code is generated on display screen 3, user can be taken by scanning Quick Response Code and obtaining books and reclaim
With；
Step S8：The use information of fixed book lattice 221 is obtained, fixed 221 position of book lattice of books to be stored is determined；
Step S9：Mobile book lattice 63 are moved to fixed 221 porch of book lattice by control lifting transverse device 61；
Step S10：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 fixed book lattice 221；
Step S11：Books are moved to fixed book lattice by clamping device 64 by control parallelogram articulated telescopic mechanism 65
In 221, while control clamp system 644 working so that train wheel bridge 641 is moved upwards, to discharge two personal letters, is then controlled parallel
Tetragon articulated telescopic mechanism 65 is retracted to clamping device 64 in mobile book lattice 63；
Step S12：Control parallelogram articulated telescopic mechanism 65 and clamp system 644 work, and books are pushed out to throwing
Outside book hole 21；
Step S13：On display screen 3, point out user to take away and change books.
Books are sold process and are comprised the steps：
Step S14：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 S15：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 S16：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 S17：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 S18：Clamping device 64 is pushed into the fixation book lattice 221 by control parallelogram articulated telescopic mechanism 65
It is interior；
Step S19：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 S20：Mobile book lattice 63 are moved to by control lifting transverse device 61 and slewing equipment 62 sends a letter at hole 21；
Step S21：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 S22：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 S23：The iris image of the manager that analysis micro-lenss 7 shoot is obtained, with the identity of authentic administrator；
Step S24：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 sale function, and the recovery matter of two personal letters can be ensured
Amount, circulation of the books in certain area can be caused, beneficial to transmission of knowledge, and when in bookcase 2 books long-time not
When can sell, manager can be drawn off, and go to other two personal letter selling spots and sold, it is to avoid the wave of library resource
Take.
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 display screen is arranged on housing front, and the display screen is touch screen；
The housing front is provided with photographic head and the first bar code scanner；
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 second bar code scanner is additionally provided with the shifting book apparatus；
Also include controller, the controller is swept with the shifting book apparatus, clamping device, display screen, photographic head, the first bar code respectively
Imaging apparatus and the connection of the second bar code scanner.
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. a kind of two personal letter as described in claim 1-6 any one reclaims the control method for selling robot, and its feature exists
In：
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；
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；
Verification step：The information of the second bar code scanner is obtained, confirms that the books in input bookcase with the information of presell book are
It is no consistent, if unanimously, payment step is continued executing with, otherwise, control parallelogram articulated telescopic mechanism and clamp system
Work, books is pushed out to and is sent a letter to outside hole, and points out user to take away and change books on a display screen；
Payment step：Payment Quick Response Code is generated on a display screen, and user can obtain books recovery cost by scanning Quick Response Code；
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 |
|---|---|---|---|
| CN201610979387.9A CN106600823B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in two personal letter recycling of one kind |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610979387.9A CN106600823B (en) | 2016-11-07 | 2016-11-07 | Robot and its control method are sold in two personal letter recycling of one kind |
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| CN106600823B CN106600823B (en) | 2018-11-06 |
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| CN106600823B (en) | 2018-11-06 |
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Effective date of registration: 20201013 Address after: No.88 Pingwu Road, WuJie Town, Tongzhou District, Nantong City, Jiangsu Province, 226000 Patentee after: Nantong Meilai Industrial Intelligent Technology Co., Ltd Address before: The industrial park of Dazu County, Chongqing city in 400900 Patentee before: CHONGQING SUNFLOWER ROBOT Co.,Ltd. |
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