CN107140057A - Library book is made an inventory AGV dollies - Google Patents
Library book is made an inventory AGV dollies Download PDFInfo
- Publication number
- CN107140057A CN107140057A CN201710370177.4A CN201710370177A CN107140057A CN 107140057 A CN107140057 A CN 107140057A CN 201710370177 A CN201710370177 A CN 201710370177A CN 107140057 A CN107140057 A CN 107140057A
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- China
- Prior art keywords
- bookshelf
- control
- navigation
- control panel
- wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000001514 detection method Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07G—REGISTERING THE RECEIPT OF CASH, VALUABLES, OR TOKENS
- G07G1/00—Cash registers
- G07G1/0036—Checkout procedures
- G07G1/0045—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader
- G07G1/009—Checkout procedures with a code reader for reading of an identifying code of the article to be registered, e.g. barcode reader or radio-frequency identity [RFID] reader the reader being an RFID reader
Abstract
The present invention proposes a kind of library book and made an inventory AGV dollies, and by RFID reader, the automatic information for reading books and bookshelf realizes that nobody makes an inventory automatically；By setting magnetic navigation sensor, magnetic stripe navigation sensor control panel and magnetic stripe, the public passage traveling that navigation causes it along library bookshelf is carried out to AGV dollies；By setting Mecanum wheel, navigation industrial control host, drive and control of electric machine plate and driving logic control panel, control AGV dollies are turned to；By setting laser range sensor and laser ranging control panel, navigation is carried out to AGV dollies it is travelled along the branched bottom between the bookshelf of both sides；By setting encoder, control AGV dollies switch between the passage between the public passage and both sides bookshelf of library bookshelf to be turned to.
Description
Technical field
Made an inventory equipment the present invention relates to books, more particularly to a kind of library book is made an inventory AGV dollies.
Background technology
Traditional libraries use " safe magnetic stripe+bar code ", i.e., the safety assurance of books, bar code are used as using safe magnetic stripe
The books in library are managed as the way to manage of the identity card of books.In recent years, REID (RFID) into
To apply most technology of Internet of things in library management.As disclosed in the patent application of Application No. 201210592400.7
" library movable point inspection car and its library search, make an inventory, whole frame method " and Patent No. 201320857182.5 is special
" Intelligent bookshelf based on RFID technique " disclosed in profit etc..
Chinese patent 201210117253.8 provide a kind of unattended full-automatic book management system, its by
Linear guiding device, guiding tunnel car is walked in the passage between library bookshelf, and is provided with tunnel car, and books are entered
Row is captured and put.Although above technology can realize books in stock, take book, also book, the transmission of book basket and the automation mechanized operation conveyed,
It is that nobody that do not refer to books clearly makes an inventory.
The content of the invention
In view of this, the present invention, which is proposed, a kind of can realize that nobody library book made an inventory of books is made an inventory AGV dollies.
The technical proposal of the invention is realized in this way：Made an inventory AGV dollies the invention provides a kind of library book, its
Including chassis, wheel, motor and server, wheel is rotatably connected on chassis, and motor is arranged on chassis and passed with wheel
Dynamic connection, it includes an expansion link, and RFID reader, and expansion link is vertically set on chassis, and top is fixed with RFID
Reader, wherein,
RFID reader, reads books and FRID label information on bookshelf and passes to RFID reader；
Server, is connected with RFID reader signal, the information that storage RFID reader is read.
On the basis of above technical scheme, it is preferred that also including navigation industrial control host, drive and control of electric machine plate and driving
Logic control panel, the wheel is Mecanum wheel,
Navigation industrial control host, carries out calculating processing and outbound course control instruction to data signal, passes sequentially through driving and patrol
Control panel, drive and control of electric machine plate adjustment wheel is collected to turn to；
Logic control panel is driven, direction control command is changed into direction controlling electric signal；
Drive and control of electric machine plate, receives direction controlling electric signal and drives wheel to turn to.
It is further preferred that also including magnetic navigation sensor, magnetic stripe and magnetic stripe navigation sensor control panel, the magnetic stripe is set
Put on the public passage of library bookshelf,
Magnetic navigation sensor, is fixed on chassis, and magnetic stripe magnetic field intensity signal is detected in real time and passes through magnetic stripe navigation sensing
Device control panel passes to navigation industrial control host；
Magnetic stripe navigation sensor control panel, controls the opening and closing of magnetic navigation sensor, and magnetic-field intensity of magnetic stripe is believed
Number it is converted into data signal；
Industrial control host of navigating is according to magnetic-field intensity of magnetic stripe range of signal set in advance, by driving logic control panel, electricity
Machine drive control plate adjustment wheel is turned to so that public passage traveling of the chassis along library bookshelf.
It is further preferred that also include laser range sensor and laser ranging control panel, wherein,
Laser range sensor, is fixedly installed on chassis front and back sides, and the distance signal of detection chassis and both sides bookshelf is simultaneously
Navigation industrial control host is passed to by laser ranging control panel；
Laser ranging control panel, controls the opening and closing of laser range sensor, and distance signal is converted into numeral
Signal；
Industrial control host of navigating is according to distance range set in advance, by driving logic control panel, drive and control of electric machine plate
Adjust wheel to turn to so that chassis is travelled along the branched bottom between the bookshelf of both sides, and chassis and the distance controlling of both sides bookshelf
In distance range set in advance.
Still more preferably, in addition to gyroscope, be connected with navigation industrial control host signal, the angular acceleration on detection chassis
And navigation industrial control host is passed to, navigation industrial control host is according to steering angle set in advance, by driving logic control panel, electricity
Machine drive control plate adjustment wheel turns to corresponding angle.
It is further preferred that also including encoder, detection wheel rotates the number of turns and passes to navigation industrial control host, work of navigating
Control main frame and number of turns calculating operating range is rotated according to wheel, and by driving logic control after preset travel distance is being reached
Plate, drive and control of electric machine plate adjustment wheel are turned to.
On the basis of above technical scheme, it is preferred that the RFID tag is arranged on books, FRID label information bag
Include International Standard Book Number ISBN or title；RFID tag is arranged on each layer of bookshelf, and FRID label information is included where bookshelf
Zone number, bookshelf numbering and bookshelf layer numbering.
The library book AGV dollies of making an inventory of the present invention have the advantages that relative to prior art：
(1) by RFID reader, the automatic information for reading books and bookshelf realizes that nobody makes an inventory automatically；
(2) by setting magnetic navigation sensor, magnetic stripe navigation sensor control panel and magnetic stripe, AGV dollies are navigated
So that its public passage traveling along library bookshelf；
(3) by setting Mecanum wheel, navigation industrial control host, drive and control of electric machine plate and driving logic control panel, control
AGV dollies processed are turned to；
(4) by setting laser range sensor and laser ranging control panel, navigation is carried out to AGV dollies and causes it along two
Branched bottom traveling between the bookshelf of side；
(5) by setting encoder, control AGV dollies are logical between the public passage and both sides bookshelf of library bookshelf
Switch between road and turn to.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the floor plan in existing library；
Fig. 2 is that library book of the present invention is made an inventory AGV vehicle structures；
Fig. 3 is that library book of the present invention is made an inventory AGV dolly chassis annexation block diagrams.
Embodiment
Below in conjunction with the accompanying drawing in embodiment of the present invention, the technical scheme in embodiment of the present invention is carried out clear
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole realities
Apply mode.Based on the embodiment in the present invention, those of ordinary skill in the art institute under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of protection of the invention.
The arrangement in current library is as shown in figure 1, bookshelf is arranged successively, bookshelf higher slice arrangement books.It is arranged in parallel
Branched bottom is provided between bookshelf, public passage is provided between the bookshelf being arranged side by side, public passage leads to each branch
Road is interconnected, and public passage is relatively wide passage, for passing through, and branched bottom is the passage of relative narrower, for looking into
Read books.Specifically, RFID tag is arranged on books, FRID label information includes International Standard Book Number ISBN or title；
RFID tag is arranged on each layer of bookshelf, and FRID label information includes bookshelf region numbering, bookshelf numbering and bookshelf layer
Numbering.It is every on bookshelf by reading in this way, by reading the FRID label information on books, you can find corresponding books
One layer of FRID label information, you can find the bookshelf region numbering, bookshelf numbering and bookshelf layer numbering of books storage.
The AGV dollies as shown in Fig. 2 the library book of the present invention is made an inventory, it includes chassis 1, wheel 2, motor 3 and service
Device 4.
Dynamical system is mainly made up of wheel 2, motor 3：
Wheel 2 is rotatably connected on chassis 1, specifically, the wheel 2 uses Mecanum wheel；
Motor 3 is arranged on chassis 1 and is connected with wheel 2, is that wheel 2 provides driving force.
As shown in figure 3, heading control loop includes navigation industrial control host 9, drive and control of electric machine plate 10 and driving logic control
Making sheet 11：
Navigation industrial control host 9, carries out calculating processing and outbound course control instruction to data signal, passes sequentially through driving and patrol
Control panel 11, the adjustment wheel 2 of drive and control of electric machine plate 10 is collected to turn to；
Logic control panel 11 is driven, direction control command is changed into direction controlling electric signal；
Drive and control of electric machine plate 10, receives direction controlling electric signal and drives wheel 2 to turn to.
Sensor section, on the one hand needs to read and stores the FRID label information on books and bookshelf, mainly by RFID
Reader 6 and server 4 are completed：
RFID reader 6, reads books and FRID label information on bookshelf and passes to server 4.Specifically, also wrapping
Expansion link 5 is included, expansion link 5 is vertically set on chassis 1, and RFID reader 6 is fixed at top, in this way, by controlling expansion link 5
It is flexible up and down, the FRID label information on the books and bookshelf on different layers bookshelf is read respectively；
Server 4, is connected with the signal of RFID reader 6, the information that storage RFID reader 6 is read.Typically with rear end number
Connected according to storehouse, storehouse is updated the data according to the FRID label information on the books and bookshelf of reading in real time, realize function of making an inventory.
Sensor section, second aspect needs the public passage traveling for controlling AGV dollies along library bookshelf.Therefore, its
Also include magnetic navigation sensor 7, magnetic stripe navigation sensor control panel 8, magnetic stripe, the magnetic stripe is arranged on the public of library bookshelf
On passage, in this way, by presetting magnetic-field intensity of magnetic stripe range of signal, control AGV dollies lead to along the public of library bookshelf
Road is travelled.
Magnetic navigation sensor 7, is fixed on chassis 1, and magnetic stripe magnetic field intensity signal is detected in real time and passes through magnetic stripe navigation biography
Sensor control panel 8 passes to navigation industrial control host 9；
Magnetic stripe navigation sensor control panel 8, controls the opening and closing of magnetic navigation sensor 7, and by magnetic-field intensity of magnetic stripe
Signal is converted into data signal；
Industrial control host 9 of navigating according to magnetic-field intensity of magnetic stripe range of signal set in advance, by drive logic control panel 11,
The adjustment wheel 2 of drive and control of electric machine plate 10 is turned to so that public passage traveling of the chassis 1 along library bookshelf.
Sensor section, the third aspect, branched bottom traveling of the control AGV dollies along library bookshelf.Therefore, it is also wrapped
Include laser range sensor 12 and laser ranging control panel 13.
Laser range sensor 12, is fixedly installed on the front and back sides of chassis 1, and detection chassis 1 and the distance of both sides bookshelf are believed
Number and by laser ranging control panel 13 pass to navigation industrial control host 9；
Laser ranging control panel 13, controls the opening and closing of laser range sensor 12, and distance signal is converted into
Data signal；
Industrial control host 9 of navigating is according to distance range set in advance, by driving logic control panel 11, drive and control of electric machine
The adjustment wheel 2 of plate 10 is turned to so that chassis 1 is travelled along the branched bottom between the bookshelf of both sides, and chassis 1 and both sides bookshelf away from
From control in distance range set in advance.
Sensor section, fourth aspect, control AGV dollies turn to switching between public passage and branched bottom.Therefore,
It also includes encoder 11, is arranged on wheel 2, and detection wheel 2 rotates the number of turns and passes to navigation industrial control host 9, work of navigating
Control main frame 9 and number of turns calculating operating range is rotated according to wheel 2, and by driving logic control after preset travel distance is being reached
Plate 11, the adjustment wheel of drive and control of electric machine plate 10 are turned to.Therefore, by measuring switching point between public passage and branched bottom
Distance, sets AGV dolly operating ranges, you can realize that AGV dollies turn to switching between public passage and branched bottom.
Sensor section, the 5th aspect, control AGV dollies turn around and turned in branched bottom.In addition to gyro therefore,
Instrument 14, is connected with the navigation signal of industrial control host 9, detects the angular acceleration on chassis 1 and passes to navigation industrial control host 9, work of navigating
Main frame 9 is controlled according to steering angle set in advance, by driving logic control panel 11, drive and control of electric machine plate 10 to adjust wheel 2
Turn to corresponding angle.In steering procedure, by gyroscope 14, whether monitoring steering angle reaches predetermined angular in real time, because turning to
When, AGV dollies may depart from the scope that magnetic navigation sensor 7 is guided and laser range sensor 12 is guided, gyroscope 14
AGV dollies can be allowed to keep correct course posture when freely turning to, to ensure that it correctly enters next passage.Such as
This, laser range sensor 12 coordinates jointly with gyroscope 14, is respectively completed AGV dollies side bookshelf and figure in branched bottom
The reading of the FRID label information of book, turns around, then completes the FRID label information of opposite side bookshelf and books in branched bottom
Read.
The better embodiment of the present invention is the foregoing is only, is not intended to limit the invention, it is all the present invention's
Within spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (7)
- The AGV dollies 1. a kind of library book is made an inventory, it includes chassis (1), wheel (2), motor (3) and server (4), wheel (2) it is rotatably connected on chassis (1), motor (3) is arranged on chassis (1) and is connected with wheel (2), and its feature exists In：It includes an expansion link (5), and RFID reader (6), and expansion link (5) is vertically set on chassis (1), and top is solid Surely there is RFID reader (6), wherein,RFID reader (6), reads books and FRID label information on bookshelf and passes to RFID reader (6)；Server (4), is connected with RFID reader (6) signal, the information that storage RFID reader (6) is read.
- The AGV dollies 2. library book as claimed in claim 1 is made an inventory, it is characterised in that：Also include navigation industrial control host (9), drive and control of electric machine plate (10) and driving logic control panel (11), the wheel (2) is Mecanum wheel,Industrial control host of navigating (9), carries out calculating processing and outbound course control instruction to data signal, passes sequentially through driving logic Control panel (11), drive and control of electric machine plate (10) adjustment wheel (2) are turned to；Logic control panel (11) is driven, direction control command is changed into direction controlling electric signal；Drive and control of electric machine plate (10), receives direction controlling electric signal and drives wheel (2) to turn to.
- The AGV dollies 3. library book as claimed in claim 2 is made an inventory, it is characterised in that：Also include magnetic navigation sensor (7), magnetic stripe and magnetic stripe navigation sensor control panel (8), the magnetic stripe are arranged on the public passage of library bookshelf,Magnetic navigation sensor (7), is fixed on chassis (1), and magnetic stripe magnetic field intensity signal is detected in real time and passes through magnetic stripe navigation biography Sensor control panel (8) passes to navigation industrial control host (9)；Magnetic stripe navigation sensor control panel (8), the opening and closing of control magnetic navigation sensor (7), and by magnetic-field intensity of magnetic stripe Signal is converted into data signal；Industrial control host of navigating (9) according to magnetic-field intensity of magnetic stripe range of signal set in advance, by drive logic control panel (11), Drive and control of electric machine plate (10) adjustment wheel (2) is turned to so that the public passage traveling of chassis (1) along library bookshelf.
- The AGV dollies 4. library book as claimed in claim 2 is made an inventory, it is characterised in that：Also include laser range sensor (12) and laser ranging control panel (13), wherein,Laser range sensor (12), is fixedly installed on chassis (1) front and back sides, detection chassis (1) and the distance of both sides bookshelf Signal simultaneously passes to navigation industrial control host (9) by laser ranging control panel (13)；Laser ranging control panel (13), the opening and closing of control laser range sensor (12), and distance signal is converted into Data signal；Industrial control host of navigating (9) is according to distance range set in advance, by driving logic control panel (11), drive and control of electric machine Plate (10) adjustment wheel (2) is turned to so that chassis (1) is travelled along the branched bottom between the bookshelf of both sides, and chassis (1) and both sides The distance controlling of bookshelf is in distance range set in advance.
- The AGV dollies 5. library book as claimed in claim 4 is made an inventory, it is characterised in that：Also include gyroscope (14), with leading Industrial control host (9) signal that navigates is connected, and detects that the angular acceleration of chassis (1) simultaneously passes to navigation industrial control host (9), navigate industry control master Machine (9) is according to steering angle set in advance, by driving logic control panel (11), drive and control of electric machine plate (10) to adjust wheel (2) corresponding angle is turned to.
- The AGV dollies 6. library book as claimed in claim 2 is made an inventory, it is characterised in that：Also include encoder (14), detection Wheel (2) rotates the number of turns and passes to navigation industrial control host (9), and navigation industrial control host (9) rotates the number of turns according to wheel (2) and calculated Operating range, and by driving logic control panel (11), drive and control of electric machine plate (10) to adjust after preset travel distance is reached Whole wheel (2) turns to.
- The AGV dollies 7. library book as claimed in claim 1 is made an inventory, it is characterised in that：The RFID tag is arranged on figure On book, FRID label information includes International Standard Book Number ISBN or title；RFID tag is arranged on each layer of bookshelf, RFID marks Signing information includes bookshelf region numbering, bookshelf numbering and bookshelf layer numbering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370177.4A CN107140057A (en) | 2017-05-23 | 2017-05-23 | Library book is made an inventory AGV dollies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710370177.4A CN107140057A (en) | 2017-05-23 | 2017-05-23 | Library book is made an inventory AGV dollies |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107140057A true CN107140057A (en) | 2017-09-08 |
Family
ID=59779058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710370177.4A Pending CN107140057A (en) | 2017-05-23 | 2017-05-23 | Library book is made an inventory AGV dollies |
Country Status (1)
| Country | Link |
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| CN (1) | CN107140057A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551493A (en) * | 2018-11-30 | 2019-04-02 | 佛山科学技术学院 | A kind of intelligence is made an inventory robot |
| CN109770602A (en) * | 2019-01-04 | 2019-05-21 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | A kind of intelligent positioning tracking thing to sit on applied to library |
| CN111358198A (en) * | 2020-03-12 | 2020-07-03 | 华北水利水电大学 | Book arrangement device suitable for library's double-sided bookshelf |
| CN112580756A (en) * | 2019-09-30 | 2021-03-30 | 上海史必诺物流设备有限公司 | RFID code scanning and counting disc point system applied to shuttle type goods shelf |
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| CN106314594A (en) * | 2016-08-26 | 2017-01-11 | 南京理工大学 | Storage and transfer robot used for modern logistics industry |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551493A (en) * | 2018-11-30 | 2019-04-02 | 佛山科学技术学院 | A kind of intelligence is made an inventory robot |
| CN109770602A (en) * | 2019-01-04 | 2019-05-21 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | A kind of intelligent positioning tracking thing to sit on applied to library |
| CN112580756A (en) * | 2019-09-30 | 2021-03-30 | 上海史必诺物流设备有限公司 | RFID code scanning and counting disc point system applied to shuttle type goods shelf |
| CN111358198A (en) * | 2020-03-12 | 2020-07-03 | 华北水利水电大学 | Book arrangement device suitable for library's double-sided bookshelf |
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Application publication date: 20170908 |
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