CN106600823B - Robot and its control method are sold in two personal letter recycling of one kind - Google Patents
Robot and its control method are sold in two personal letter recycling of one kind Download PDFInfo
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- CN106600823B CN106600823B CN201610979387.9A CN201610979387A CN106600823B CN 106600823 B CN106600823 B CN 106600823B CN 201610979387 A CN201610979387 A CN 201610979387A CN 106600823 B CN106600823 B CN 106600823B
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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
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- 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
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- 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)
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- Coin-Freed Apparatuses For Hiring Articles (AREA)
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Abstract
The present invention provides two personal letter recycling of one kind selling robot and its control method, wherein it includes shell, bookcase and display screen that robot is sold in two personal letter recycling；The display screen is mounted on shell front, which is touch screen；The shell front is provided with camera and the first bar code scanner；What bookcase setting was provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching books into bookcase；It is additionally provided with books in stock device in the bookcase and moves book apparatus, the books in stock device is provided with clamping device for storing books in the shiftings book apparatus, which is used to book moving to books in stock device interior or take out out of books in stock device book；It is additionally provided with the second bar code scanner in the shifting book apparatus.The structure of product provided by the invention is simple, manufacturing cost it is relatively low, it can be achieved that books recycling and sale, while can ensure the recycling quality of two personal letters, avoid the waste of library resource, be conducive to transmission of knowledge.
Description
Technical field
The present invention relates to books recovery technology fields, and in particular to robot and its controlling party are sold in two personal letter recycling of one kind
Method.
Background technology
Books are most important paper consumption approach, economize on paper be conserve forests, the Optimal action of environmental protection.And
Currently, books in the market are mostly based on new book, people are also more likely to purchase new book, but after reading, books often by
Waste is shelved, or even is taken as waste disposal.
Since existing two personal letters recycling shop is less, most of people are unwilling that the time is spent to go to sell two personal letters, lead
The waste of library resource is caused；Moreover, new book is expensive, groups of people in order to reduce expenses, can only selectivity buy several,
Remaining is repurchased after either abandoning or remain, and is so also unfavorable for transmission of knowledge.Therefore, how to realize conveniently
Books are recycled and are sold, and ensure that the quality of books recycling is a technical problem to be solved urgently simultaneously.
Invention content
For the defects in the prior art, the present invention provides two personal letter recycling of one kind and selling robot and its control method,
To realize conveniently books recycling and sell function, the waste of library resource can be effectively reduced, transmission of knowledge is conducive to.
In a first aspect, the present invention provides two personal letter recycling of one kind selling robot, including shell, bookcase and display screen；
The display screen is mounted on shell front, which is touch screen；The shell front is provided with camera and the first bar code
Scanning means；What bookcase setting was provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching figure into bookcase
Book；It is additionally provided with books in stock device in the bookcase and moves book apparatus, the books in stock device is for storing books, the shifting book apparatus
It is inside provided with clamping device, which is used to move to book in books in stock device or by book and be taken out out of books in stock device；Institute
It states to move in book apparatus and is additionally provided with the second bar code scanner；Further include controller, the controller respectively with the shifting book apparatus,
Clamping device, display screen, camera, the first bar code scanner and the connection of the second bar code scanner.
In the present invention, the first bar code scanner is used to be scanned the bar code of two personal letters, for determining presell
The information of book, convenient for analyzing two personal letter unit take-back costs；Controller can be transmitted with the external world into row information, determine presell book
Information, and the image for the appearance or the internal corresponding page number for prompting user couple two to write in one's own hand is shot, and passes through the figure to acquisition
As being analyzed, and the information of presell book is combined, generate trade-in information on a display screen, if user is satisfied with the price
Subsequent operation is carried out, it is dissatisfied also to close the trade with regard to this；User is satisfied with the trade-in information of generation, you can will by sending a letter to hole
Book is thrown in bookcase, and the second bar code scanner in shifting book apparatus, which is arranged, to carry out rescan to the books, with true
Whether the books for recognizing input are consistent with the information of presell book, if inconsistent, control moves book apparatus and is pushed into send a letter to outside hole by books,
And user is prompted to be replaced；If consistent, controller generates payment Quick Response Code on a display screen, and user can pass through scanning
Quick Response Code obtains the expense of books recycling, meanwhile, controller can control clamping device and clamp two personal letters, and control moves book apparatus by book
It moves in books in stock device, and records the deposit position of books, and controller can be by the information preservation of the books in book for sale
On book list, user can therefrom buy oneself interested books by consulting the book list.It can be seen that the present invention can be to two
Personal letter carries out image analysis, and calculates books unit take-back cost, and book can be put into bookcase and be obtained by scanning the two-dimensional code by user
Thus recovery cost completes the removal process of books；Moreover, the present invention can carry out automatic accomodation to books, each books are recorded
Deposit position, when user want buy certain this books when, controller can control move book apparatus reach store the books position,
Two are write in one's own hand using clamping device and is taken out out of fixed book lattice, and the book is moved to and is sent a letter at hole, thus completes the sale of books
Process.Product provided by the invention is placed in the region that residential block or other crowds are concentrated, can conveniently realize books
Recycling and sale, avoid the waste of library resource, while being conducive to transmission of knowledge；The present invention adds the moving in book apparatus
Two bar code scanners, it can be ensured that the book of recycling is consistent with the information of presell book, can effectively prevent due to the maloperation of user
Caused by lose；Simultaneously the present invention in use this structure of clamping device, the access requirement of books can be met simultaneously, without
Setting takes book structure in all fixation book lattice, simplifies the structure inside bookcase, while also reducing cost.
Preferably, the books in stock device includes multiple row bookshelf arranged side by side, and each row bookshelf includes that multilayer fixes book lattice.
Books are stored using this form, not only neat specification, but also the storage of the books in each fixed book lattice is counted convenient for controller
Information is convenient for books storage and managenent.
Preferably, the shifting book apparatus further includes lifting transverse device and mobile book lattice；The lifting transverse device includes
The guide rail being fixed at the top of bookcase；The mobile book lattice are arranged in 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 opposite with hole is sent a letter to is equipped with opening；The clamping device is arranged inside the mobile book lattice, the clamping device packet
Include connecting plate, upper clamp plate and lower clamp plate；The lower clamp plate is fixedly connected with connecting plate, and the upper surface of lower clamp plate is sent a letter to described
The lower surface in hole flushes；It is provided with clamp system between the upper clamp plate and connecting plate, the high and low position for adjusting upper clamp plate；
It is 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 connect with the controller.
Mobile book lattice are set in bookcase, can be convenient for moving to books in fixed book lattice storing；Mobile book lattice setting is being thrown
Book hole site, side corresponding with hole is sent a letter to is equipped with opening, and the height of the upper surface of lower clamp plate and the lower surface for sending a letter to hole is neat
It is flat, therefore user can be between upper clamp plate and lower clamp 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 upper clamp plate is moved 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 fixation book lattice
Place, subsequent controller control slewing equipment work, mobile book lattice opening is rotated to the entry position of fixed book lattice, and controls
Parallelogram articulated telescopic mechanism and clamp system work, by books, push-in is fixed in book lattice simultaneously accordingly out of mobile book lattice
Two personal letter of release, so as to complete the storage of books, avoids books placement at random in bookcase；When needing to sell book, control
Device processed, which can control the movement book lattice and move to book, sends a letter at hole, and user can take book away.It can be into it can be seen that moving book apparatus
The automatic books in stock of row and book is taken, it can be achieved that efficiently books recycling and selling, and upper clamp plate is controlled to books by clamp system
It is clamped and discharges, books can be effectively prevent to fall in the process of moving, improve the efficiency for moving book process, meanwhile, it adopts
With this structure, the access of books is can be realized simultaneously, book structure is taken without being separately arranged in fixed book lattice, saves solid
The space of agreement lattice, optimizes the structure of bookcase, while also reducing manufacture and later maintenance cost.
Preferably, it is provided with pressure sensor on the connecting plate, for detecting whether there is two personal letters input；The pressure
Sensor is connect with the controller.After books touch pressure sensor, pressure sensor transmits books to controller
Successful information is launched, controller controls clamp system and books are retracted to mobile book by parallelogram articulated telescopic mechanism
In lattice, by adding pressure sensor, books can be grasped in time and launch successful information, and control clamp system work in time
Make, save the time of books recycling, improves the efficiency of books recycling.
Preferably, the two bottom sides of each fixed book lattice are respectively arranged with boss, and the thickness of the boss is more than
The thickness of the lower clamp plate；Friction burr is provided on the boss.After clamping device fixes two personal letter deposits in book lattice, i.e.,
By parallelogram articulated telescopic, mechanism is withdrawn, and one can be formed between the boss of fixed book lattice two bottom sides by, which being arranged, leads to
Road withdraws in order to the lower clamp plate of clamping device, to prevent books from being sent out under the action of its frictional force between lower clamp plate
Raw sliding；When books in stock, controller can control the inlet that mobile book lattice are moved to fixed book lattice by lifting transverse device, and under guarantee
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
Blocking, and the thickness of boss should be at least identical as the thickness of lower clamp plate, and when further preventing clamping device to withdraw, books exist
It is slided under the action of frictional force between lower clamp plate；Also, setting friction burr can increase books table on boss
Frictional force between face and boss, further prevents books to slide.
Preferably, the bookcase is additionally provided with chamber door, which is controlled by controller；It is provided on rear side of the shell micro-
Away from camera lens, which connect with the controller, for carrying out iris recognition to administrator, to confirm its identity.Control
Device can monitor the storage information of the books in bookcase, when the time that certain books are stored in bookcase reaching certain value, control in real time
Device processed is transmitted information to administrator and is sold using other channels with notifying administrator to take out book, and two personal letters can be saved
The books in stock space of robot is sold in recycling, is also conducive to selling for two personal letters；Micro-lens obtains the iris image and biography of administrator
It send to controller and analyzes it identification, after the identity validation of administrator, controller controls chamber door and opens, and administrator is
Book can be taken out, at this point, two personal letter recycling sell robot and can restart to count the information that books are stored in fixed book lattice；
By adding iris identifying function, the safety of bookcase can be enhanced, prevent losing books.
Second aspect, the present invention provides it is a kind of two personal letter recycling sell robot control method, including with the control
The remote server of device connection processed further includes that books removal process and books sell process；The books removal process includes such as
Lower step：Analytical procedure, obtains the image information of books, and analyzes and generate books trade-in information；Preparation process, control parallel four
Bian Xing articulated telescopics mechanism works, and clamping device is moved to the opening of mobile book lattice；Clamping step obtains pressure sensor
Information is launched in books into after mobile book lattice, control clamp system work so that and upper clamp plate moves 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, continued to execute
Otherwise step of paying the bill controls parallelogram articulated telescopic mechanism and clamp system work, books is pushed out to and are sent a letter to outside hole,
And prompt user takes away and replaces books on a display screen；It pays the bill step, generates payment Quick Response Code on a display screen, user can be with
Books recovery cost is obtained by scanning the two-dimensional code；The books are sold process and are included the following 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 the two-dimensional code payment；Inquiry step
Suddenly, according to the pre- information bought books input by user, the location information for the fixation book lattice for storing the books is determined；Book step is moved, it is first
First, mobile book lattice are moved to the inlet for the fixation book lattice that storage is bought books in advance by control lifting transverse device；Secondly, control revolution dress
It sets and mobile book lattice is rotated horizontally into 180 degree, the opening for moving book lattice is rotated to the inlet of the fixation book lattice；Again,
Clamping device is pushed into the fixation book lattice by control parallelogram articulated telescopic mechanism, and controls clamp system work, is made
It obtains upper clamp plate to move downward to clamp two personal letters, while controlling parallelogram articulated telescopic mechanism and two personal letters are retracted to movement
In book lattice；Finally, control lifting transverse device and slewing equipment, which move to mobile book lattice, sends a letter at hole, and controls 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, statistics are each solid
The information that books are stored in agreement lattice, when the resting period of books being more than certain value, still unmanned purchase, then to remote server
Information is sent, to notify administrator to take out book；Book step is taken, the iris figure of the administrator of analysis micro-lens shooting is obtained
Picture, after the identity of administrator to be confirmed, control chamber door is opened, and administrator can take book away.
In the present invention, user can be write in one's own hand using camera pair two and be shot, and controller obtains captured by camera
Book image, and determine according to the damaged degree of books the trade-in information of books, and shown on a display screen；If user
Book can be thrown to by sending a letter to hole between upper clamp plate and lower clamp plate by the price satisfaction, the pressure being arranged on connecting plate passes
The books detected are launched successful signal and are sent to controller by sensor, and controller controls clamp system and parallelogram hinge
Two personal letters are retracted in mobile book lattice by connection mechanism, 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 and is pushed into send a letter to outside hole by the book if the two information is inconsistent, and user is prompted to give more
It changes；If the two information is consistent, payment Quick Response Code is generated on a display screen, and user can collect books by scanning the two-dimensional code
Recovery cost；Controller determines the position of vacant fixation book lattice, and control lift-sliding according to the use information of fixed book lattice
Mobile book lattice are moved to the inlet of corresponding fixed book lattice by device, while being controlled slewing equipment and being rotated horizontally mobile book lattice
180 degree, so that the opening of mobile book lattice is corresponding with the fixed entry position of book lattice, and it is hinged to control parallelogram
Telescoping mechanism and clamp system work, by books, two personal letters are fixed in book lattice and discharged to push-in accordingly out of mobile book lattice, from
And complete the storage process of books；Controller can count the information that books are stored in each fixed book lattice, and show on a display screen
Show that the book list of storage books in bookcase, user can select to buy according to the interest of oneself, certain this books is 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 then, controller can be true
The fixed pre- storage information bought books, and control shifting book apparatus and move at corresponding fixed book lattice, control parallelogram articulated telescopic
Mechanism and clamp system move to books in mobile book lattice, then move to the book by shifting book apparatus and send a letter to hole, and the book is pushed away
Go out to sending a letter on the outside of hole, user can take book away, complete the process that books are sold；When the resting period reaches books in bookcase
Certain value still unmanned purchase when, controller is notified that administrator takes out corresponding book, to save the books in stock of books recycling machine people
Space is also beneficial to the circulation of books, avoids the waste of library resource；Micro-lens obtains the iris image of administrator and transmission
Identification is analyzed it to controller, after the identity validation of administrator, controller controls chamber door and opens, administrator
Book is taken out.
Preferably, the analytical procedure includes the following steps：Step 1 prompts scanning input books bar code；Step 2,
It reads bar code and is uploaded to remote server, generate presell letter breath；Step 3 prompts shooting books appearance images；Step
Four, it obtains the book external appearances image of camera shooting and is uploaded to remote server；Step 5, it is random to generate 3-5 page number letter
It ceases and prompts to shoot corresponding page number image；Step 6 obtains the correspondence page number image of camera shooting；Step 7, analysis obtain
Appearance images and corresponding page number image, generate trade-in information.Pass through the appearance images for obtaining books and the internal corresponding page number
Image, can be with the damaged degree of comprehensive analysis books, to provide proper actual trade-in information.
Preferably, the analytical procedure further includes the judgment step being arranged after step 4, whether judges appearance images
It is consistent with presell letter breath, if it is, executing step 5；Otherwise, step 1 is repeated to step 4.Judged by adding
Step, by the appearance images of books and remote server according to bar code generating at presell letter breath compare, prevent
The books of shooting cease inconsistent situation with presell letter, ensure the quality of two personal letter recycling.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described.In all the appended drawings, similar element
Or part is generally identified by similar reference numeral.In attached drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is the positive structure schematic that robot is sold in a kind of two personal letters recycling of the present invention；
Fig. 2 is the side structure schematic diagram that robot is sold in a kind of two personal letters recycling of the present invention；
Fig. 3 is the structure schematic diagram that robot is sold in a kind of two personal letters recycling of the present invention；
Fig. 4 is the A-A sectional views in Fig. 1；
Fig. 5 is the B-B sectional views in Fig. 2；
Fig. 6 is the structure diagram for the control method that robot is sold in a kind of two personal letters recycling of the present invention；
Fig. 7 is the books recycling step flow for the control method that robot is sold in a kind of two personal letters recycling of the present invention
Figure；
Fig. 8 is that the books for the control method that robot is sold in a kind of two personal letters recycling of the present invention sell steps flow chart
Figure；
Fig. 9 is the analytical procedure of the books recycling for the control method that robot is sold in a kind of two personal letters recycling of the present invention
Flow chart.
Reference numeral：
1- shells；2- bookcases；3- display screens；4- cameras；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- upper clamp plates；642- lower clamp plates；643- connecting plates；644-
Clamp system；645- pressure sensors.
Specific implementation mode
The embodiment of technical solution of the present invention is described in detail below in conjunction with attached drawing.Following embodiment is only used for
Clearly illustrate technical scheme of the present invention, therefore be only used as example, and the protection model of the present invention cannot be limited with this
It encloses.
In a first aspect, as shown in figures 1 to 6, present embodiments provide two personal letter recycling of one kind and selling robot, including shell 1
The bottom of controller 8, shell 1 is provided with bookcase 2, bar shaped is provided on bookcase 2 sends a letter to hole 21, for being thrown into bookcase 2
Put books；The front of shell 1 is provided with the display screen 3 being connect with controller 8, camera 4 and the first bar code scanner 5,
Wherein display screen 3 is touch screen, in order to user's operation；Wherein, the first bar code scanner 5 is used for the bar code to two personal letters
It is scanned, for determining the information of presell book, convenient for analyzing two personal letter unit take-back costs；Controller 8 can with it is outer
Boundary is transmitted into row information, determines the information of presell book, and the figure for the appearance or the internal corresponding page number for prompting user couple two to write in one's own hand
As being shot, is analyzed by the image to acquisition, and combine the information of presell book, generate on display screen 3 and believe at a discount
Breath, it is dissatisfied also to close the trade with regard to this if user can carry out subsequent operation to the price satisfaction.
Book apparatus 6 is moved in being internally provided with for bookcase 2, which is disposed with lift-sliding dress from top to bottom
Set 61, slewing equipment 62 and mobile book lattice 63, wherein lifting transverse device 61 includes the guide rail for being fixed at 2 top of bookcase
611, mobile book lattice 63 are cuboid, and 21 position of hole is being sent a letter in setting, and the side opposite with hole 21 is sent a letter to is equipped with opening, this is opened
It is provided with the second bar code scanner 66 at mouthful, for carrying out rescan to the books in the mobile book lattice of input 63, with verification
Whether the book is consistent with the information of presell book；Be internally provided with clamping device 64 in mobile book lattice 63, including upper clamp plate 641, under
Clamping plate 642 and connecting plate 643, wherein lower clamp plate 642 are fixedly connected with connecting plate 643, and the upper surface of lower clamp plate 642 and are sent a letter to
The lower surface height in hole 21 flushes, and clamp system 644 is provided between upper clamp plate 641 and connecting plate 642, for adjusting upper clamp plate
641 high and low position is equipped with pressure sensor 645 on connecting plate 643, for detecting whether two personal letters are located at upper clamp plate 641
Between lower clamp plate 642, connected using parallelogram articulated telescopic mechanism 65 between above-mentioned connecting plate 643 and mobile book lattice 63
It connects.Above-mentioned lifting transverse device 61, slewing equipment 62, parallelogram articulated telescopic mechanism 65, clamp system 644 and pressure pass
Sensor 645 is connect with controller 8.The inside of bookcase 2 is additionally provided with multiple row bookshelf 22 arranged side by side, and each row bookshelf 22 wraps
It includes multilayer and fixes book lattice 221, be respectively equipped with boss 222 in the two bottom sides of each fixed book lattice 221, the thickness of the boss 222
More than the thickness of above-mentioned lower clamp plate 642, friction burr is provided on boss 222, to increase rubbing between books and boss 222
Power is wiped, prevents books from sliding；Controller 8 counts the storage information of the books in each fixed book lattice 221, stores and manages in order to books
Reason.
After pressure sensor 645 detects that book is put into mobile book lattice 63 by user, controller 8 can control clamping machine
Structure 644 and parallelogram articulated telescopic mechanism 65 work so that upper clamp plate 641 is moved downward to clamp two personal letters and be received
Be back to inside mobile book lattice 63, subsequent second bar code scanner 66 can carry out the book rescan, and with the letter of presell book
Breath carries out contrast verification and is pushed into send a letter to outside hole 21 by the book, and user is prompted to be replaced if the two information is inconsistent；
If the two information is consistent, payment Quick Response Code is generated on display screen 3, user can collect books time by scanning the two-dimensional code
Charge；Then, controller 8 can control the work of lifting transverse device 61, and mobile book lattice 63 are moved to vacant fixation book lattice 221
Inlet, and control the work of slewing equipment 62, mobile 63 opening of book lattice rotated to the entry position of fixed book lattice 221,
It controls parallelogram articulated telescopic mechanism 65 and clamp system 644 works, push-in is corresponding out of mobile book lattice 63 by books
In fixed book lattice 221 and two personal letters are discharged, so as to complete the storage of books, avoid books placement at random in bookcase.
Controller 8 is understood the information of the books of the recycling of statistics, is shown in the form of book list on display screen 3, when
User want purchase wherein certain this book when, controller 8 i.e. on display screen 3 generate gathering Quick Response Code, user by scan this two
Tie up code payment；After payment, controller 8 controls lifting transverse device 61 and works, and mobile book lattice 63 are moved to storage user buys books in advance
Fixation book lattice 221 inlet, subsequent controller 8 controls slewing equipment 62 and works, will mobile 63 opening of book lattice rotate to
The entry position of the fixation book lattice 221, and parallelogram articulated telescopic mechanism 65 and the work of clamp system 644 are controlled, it will scheme
Book is taken out out of fixed book lattice 221 to mobile book lattice 63；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 sent a letter to buying books to be pushed out in advance outside hole 21, and user can take its away and want the books of purchase.
The back of bookcase 2 is provided with chamber door 23, which is controlled by controller 8, and is provided in the rear side of shell 1
The micro-lens 7 being connect with controller 8；The books that controller 8 can in real time monitor in bookcase 2 store information, when certain books exist
When the time stored in bookcase 2 reaches certain value, controller 8 transmits information to administrator, and micro-lens 7 obtains administrator's
Iris image is simultaneously sent to controller and analyzes it identification, and after the identity validation of administrator, controller controls chamber door
23 open, and administrator can take out book, at this point, two personal letter recycling sell robot and can restart to count fixed book lattice
The information that books are stored in 221；By adding iris identifying function, the safety of bookcase can be enhanced, prevent losing books.
Second aspect present embodiments provides a kind of controlling party of two personal letters recycling sale robot as Figure 6-9
Method, including books removal process and books sell process, wherein books removal process includes the following steps：
Obtain the information of the second bar code scanner, confirm books in input bookcase and presell book information whether one
It causes, if unanimously, continuing to execute payment step, otherwise, controls parallelogram articulated telescopic mechanism and clamp system work,
Books are pushed out to and are sent a letter to outside hole, and prompt user takes away and replaces books on a display screen；Payment step, gives birth on a display screen
At payment Quick Response Code, user can obtain books recovery cost by scanning the two-dimensional code；
Step S1：The image information of books is obtained, and analyzes and generates books trade-in information；
Step S2：It controls parallelogram articulated telescopic mechanism 65 to work, clamping device 64 is moved into mobile book lattice 63
Opening；
Step S3：The information for obtaining pressure sensor 645 launches into after mobile book lattice in books, controls clamp system 644
Work so that upper clamp plate 641 moves downward, to clamp two personal letters；
Step S4：It controls parallelogram linkwork 65 to work, two personal letters is 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 of input are consistent with the information of presell book, it is no if unanimously, thening follow the steps S7
Then follow the steps S12-S13；
Step S7：Payment Quick Response Code is generated on display screen 3, user can obtain books recycling expense by scanning the two-dimensional code
With；
Step S8：The use information for obtaining fixed book lattice 221, determines 221 position of fixation book lattice of books to be stored；
Step S9：Mobile book lattice 63 are moved to fixed 221 inlet of book lattice by control lifting transverse device 61；
Step S10：It controls slewing equipment 62 and mobile book lattice 63 is rotated horizontally into 180 degree, the opening of book lattice 63 will be moved
Place is rotated to the inlet of fixed book lattice 221；
Step S11：Books are moved to fixed book lattice by control parallelogram articulated telescopic mechanism 65 by clamping device 64
In 221, while controlling the work of clamp system 644 so that upper clamp plate 641 moves upwards, and with two personal letter of release, then controls parallel
Clamping device 64 is retracted in mobile book lattice 63 by quadrangle articulated telescopic mechanism 65；
Step S12：It controls parallelogram articulated telescopic mechanism 65 and clamp system 644 works, books are pushed out to throwing
Outside book hole 21；
Step S13：User is prompted to take away and replace books on display screen 3.
Books are sold process and are included the following steps：
Step S14：The pre- information bought books input by user is obtained, gathering Quick Response Code is generated on display screen 3, user can be with
By scanning the two-dimensional code payment；
Step S15：According to the pre- information bought books input by user, the position for the fixation book lattice 221 for storing the books is determined
Information；
Step S16：Mobile book lattice 63 are moved to and store entering for the fixation book lattice 221 bought books in advance by control lifting transverse device 61
At mouthful；
Step S17：It controls slewing equipment 62 and mobile book lattice 63 is rotated horizontally into 180 degree, the opening of book lattice 63 will be moved
Place is rotated to the inlet of the fixation book lattice 221；
Step S18：Clamping device 64 is pushed into the fixation book lattice 221 by control parallelogram articulated telescopic mechanism 65
It is interior；
Step S19：It controls clamp system 644 to work so that upper clamp plate 641 is moved downward to clamp two personal letters, same to time control
Two personal letters are retracted in mobile book lattice 63 by parallelogram articulated telescopic processed mechanism 65；
Step S20：Control lifting transverse device 61 and slewing equipment 62, which move to mobile book lattice 63, 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
Outside, user can take books away；
Step S22：The information that books are stored in each fixed book lattice 221 is counted, is more than certain value when the resting period of books
When, still unmanned purchase then sends information, to notify administrator to take out book to remote server 9；
Step S23：The iris image for obtaining the administrator that analysis micro-lens 7 is shot, with the identity of authentic administrator；
Step S24：After the identity of administrator to be confirmed, control chamber door 23 is opened, and administrator can take book away.
Wherein, step S1 is specifically divided into following steps again：
Step S101：Prompt user enters books recycling interface；
Step S102：Prompt scanning input books bar code；
Step S103：It reads bar code and is uploaded to remote server 9, generate presell letter breath；
Step S104：User is prompted to shoot books appearance images；
Step S105：It obtains the book external appearances image that camera 4 is shot and is uploaded to remote server 9；
Step S106：Judge whether appearance images are consistent with presell letter breath, if so, thening follow the steps S107；Otherwise,
Step S102 is repeated to step S105；
Step S107：3-5 page number information is generated at random and prompts to shoot corresponding page number image；
Step S108：Obtain the correspondence page number image that camera 4 is shot；
Step S109：According to the appearance images of acquisition and corresponding page number image, trade-in information is generated.
Through the above steps, the recycling of two personal letters may be implemented and sell function, and can ensure the recycling matter of two personal letters
Amount, can make circulation of the books in certain area, be conducive to transmission of knowledge, and work as the books long-time in bookcase 2 not
When can sell, administrator can be drawn off, and go to other two personal letters selling spot and sold, avoid the wave of library resource
Take.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover in the claim of the present invention and the range of specification.
Claims (7)
1. robot is sold in two personal letter recycling of one kind, it is characterised in that：
Including shell, bookcase and display screen；
The display screen is mounted on shell front, which is touch screen；
The shell front is provided with camera and the first bar code scanner；
What bookcase setting was provided with bar shaped on housing bottom, the bookcase sends a letter to hole, for launching books into bookcase；
It is additionally provided with books in stock device in the bookcase and moves book apparatus, the books in stock device is for storing books, the shifting book dress
Clamping device is provided in setting, which is used to move to book in books in stock device or by book and be taken out out of books in stock device；
It is additionally provided with the second bar code scanner in the shifting book apparatus；
Further include controller, which sweeps with the shifting book apparatus, clamping device, display screen, camera, the first bar code respectively
Imaging apparatus and the connection of the second bar code scanner；
The books in stock device includes multiple row bookshelf arranged side by side, and each row bookshelf includes that multilayer fixes book lattice；
The shifting book apparatus further includes lifting transverse device and mobile book lattice；
The lifting transverse device includes the guide rail being fixed at the top of bookcase；
The mobile book lattice are arranged in 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 the side opposite with hole is sent a letter to is equipped with opening；
The clamping device is arranged inside the mobile book lattice, which includes connecting plate, upper clamp plate and lower clamp plate；
The lower clamp plate is fixedly connected with connecting plate, and the upper surface of lower clamp plate is flushed with the lower surface for sending a letter to hole；
It is provided with clamp system between the upper clamp plate and connecting plate, the high and low position for adjusting upper clamp plate；
It is 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.
2. robot is sold in two personal letters recycling according to claim 1, it is characterised in that：
It is provided with pressure sensor on the connecting plate, for detecting whether there is two personal letters input；
The pressure sensor is connect with the controller.
3. robot is sold in two personal letters recycling according to claim 2, it is characterised in that：
The two bottom sides of each fixed book lattice are respectively arranged with boss, and the thickness of the boss is more than the lower clamp plate
Thickness；
Friction burr is provided on the boss.
4. robot is sold in two personal letters recycling according to claim 3, it is characterised in that：
The bookcase is additionally provided with chamber door, which is controlled by controller；
It is provided with micro-lens on rear side of the shell, which connect with the controller, for being carried out to administrator
Iris recognition, to confirm its identity.
5. the control method of robot is sold in a kind of two personal letters recycling as described in claim 1-4 any one, feature exists
In：
Include the remote server being connect with the controller, further includes that books removal process and books sell process；
The books removal process includes the following steps：
Analytical procedure：The image information of books is obtained, and analyzes and generates books trade-in information；
Preparation process：The work of parallelogram articulated telescopic mechanism is controlled, clamping device is moved to the opening of mobile book lattice；
Clamping step：The information for obtaining pressure sensor is launched in books into after mobile book lattice, and control clamp system work makes
It obtains upper clamp plate to move downward, to clamp two personal letters, and controls the work of parallelogram linkwork, two personal letters are retracted to shifting
In dynamic book lattice；
Verification step：The information of the second bar code scanner is obtained, confirms that the information of books and presell book in input bookcase is
It is no consistent, if unanimously, continuing to execute 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 prompt user takes away and replaces 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 the two-dimensional code；
Books in stock step：First, the use information for obtaining fixed book lattice, determines that the fixation book case of books to be stored is set, and control
Mobile book lattice are moved to fixed book lattice inlet by lifting transverse device；Secondly, control slewing equipment rotates horizontally mobile book lattice
180 degree rotates the opening for moving book lattice to the inlet of the fixation book lattice；Again, control parallelogram is hingedly stretched
Contracting mechanism is moved to books in fixed book lattice by clamping device；Finally, control clamp system work so that upper clamp plate is transported upwards
It is dynamic, with two personal letter of release, and controls parallelogram articulated telescopic mechanism and clamping device is retracted in mobile book lattice；
The books are sold process and are included the following steps：
Gathering step：The pre- information bought books input by user is obtained, generates gathering Quick Response Code on a display screen, user can pass through
Scan the two-dimensional code payment；
Query steps：According to the pre- information bought books input by user, the location information for the fixation book lattice for storing the books is determined；
Move book step：First, mobile book lattice are moved to the inlet for the fixation book lattice that storage is bought books in advance by control lifting transverse device；
Secondly, mobile book lattice are rotated horizontally 180 degree by control slewing equipment, and the opening for moving book lattice is rotated to the fixation book lattice
Inlet；Again, clamping device is pushed into the fixation book lattice by control parallelogram articulated telescopic mechanism, and controls folder
Tight mechanism work so that upper clamp plate 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, control lifting transverse device and slewing equipment, which move to mobile book lattice, sends a letter at hole, and
Books are pushed out to and send 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 that books in each fixed book lattice are stored, when the resting period of books being more than certain value, still without
People buys, then information is sent to remote server, to notify administrator to take out book；
Take book step：The iris image for obtaining the administrator of analysis micro-lens shooting, after the identity of administrator to be confirmed, control
Chamber door is opened, and administrator can take book away.
6. the control method of robot is sold in two personal letters recycling according to claim 5, it is characterised in that：
The analytical procedure includes the following steps：
Step 1：Prompt scanning input books bar code；
Step 2：It reads bar code and is uploaded to remote server, generate presell letter breath；
Step 3：Prompt shooting books appearance images；
Step 4：It obtains the book external appearances image of camera shooting and is uploaded to remote server；
Step 5：3-5 page number information is generated at random and prompts to shoot corresponding page number image；
Step 6：Obtain the correspondence page number image of camera shooting；
Step 7：The appearance images obtained and corresponding page number image are analyzed, trade-in information is generated.
7. the control method of robot is sold in two personal letters recycling according to claim 6, it is characterised in that：
The analytical procedure further includes the judgment step being arranged after step 4：Judge whether appearance images cease with presell letter
Unanimously, if it is, executing step 5；Otherwise, step 1 is repeated to step 4.
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| Application Number | Priority Date | Filing Date | Title |
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| 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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|---|---|---|---|
| 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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| CN107358276B (en) * | 2017-07-04 | 2021-07-09 | 深圳正品创想科技有限公司 | Commodity scanning method and system for unmanned sales counter |
| CN107358282B (en) * | 2017-08-21 | 2023-07-28 | 遵义师范学院 | Two-hand book express box with identification and tracking functions, system and working method thereof |
| CN108256658B (en) * | 2018-03-16 | 2023-06-23 | 方宏坚 | Intelligent old book recycling method and device |
| CN110415428B (en) * | 2019-08-26 | 2024-04-26 | 上海理工大学 | Second hand book replacement machine and system supporting multilingual system |
| CN111540140B (en) * | 2020-04-21 | 2021-09-03 | 郑州工业应用技术学院 | Unattended self-service library |
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| CN101908251B (en) * | 2009-06-05 | 2012-10-10 | 东莞市树煜智能图书设备科技有限公司 | Full-automatic library service station and operation method thereof |
| CN102034319A (en) * | 2009-09-25 | 2011-04-27 | 深圳市俊波软件有限公司 | Self-service book borrowing and returning machine |
| TWI456512B (en) * | 2011-07-14 | 2014-10-11 | Claridy Solutions Inc | Radio frequency identification technology applied to automatic returning equipment |
| CN103208158B (en) * | 2013-03-20 | 2015-12-02 | 北京理工大学 | Full-automatic storage and borrow stack room |
| CN104665288B (en) * | 2013-11-28 | 2016-05-25 | 重庆交通大学 | Swinging Intelligent bookshelf |
| CN105730950B (en) * | 2014-12-10 | 2019-06-21 | 阿里巴巴集团控股有限公司 | A kind of Intelligent cargo cabinet and the delivery system based on Intelligent cargo cabinet |
| CN105354919B (en) * | 2015-12-03 | 2024-02-23 | 杭州步展科技有限公司 | Intelligent second-hand book recycling machine |
| CN105583813B (en) * | 2016-02-01 | 2017-12-05 | 宁波朝平智能科技有限公司 | Archives rotary grasping mechanism |
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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. |