CN108214494B - Book management method based on handheld auxiliary terminal of book management robot for messy shelves - Google Patents
Book management method based on handheld auxiliary terminal of book management robot for messy shelves Download PDFInfo
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- CN108214494B CN108214494B CN201810105505.2A CN201810105505A CN108214494B CN 108214494 B CN108214494 B CN 108214494B CN 201810105505 A CN201810105505 A CN 201810105505A CN 108214494 B CN108214494 B CN 108214494B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- 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
- G06K17/0022—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 arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
Abstract
The invention relates to a book management method based on a manual auxiliary terminal of a random shelf book management robot. The invention has the advantages that the existing hardware equipment and software system in the library are utilized, the robot is assisted to solve the problem of book homing in the library, the application range of the random shelf book management robot is expanded by adopting the handheld auxiliary terminal aiming at the defect that the library robot cannot operate in a narrow space, the book management function of the library robot is effectively supplemented, the robot is assisted to manage books in the library, the manual management cost of the library is reduced, the service quality and the automation level of the library are improved, and the problems of wrong shelves and random shelves of the library are solved.
Description
Technical Field
The invention relates to a method for identifying and searching books on a messy shelf based on an autonomous robot, in particular to a book management method based on a handheld auxiliary terminal of a messy shelf book management robot, and belongs to the technical field of library automation.
Background
According to the knowledge of the applicant, the book management is carried out by using the book management robot with the messy shelves, so that the work efficiency of a library can be improved. Through the retrieval discovery, chinese patent application with application number 2017103488260 discloses a indiscriminate frame books management system of autonomic robot, and this system utilizes the mode of indiscriminate frame books management robot management books, utilizes terminal technology to realize location and the seek to the books of wrong frame, and the location and the seek of indiscriminate frame books are accomplished to supplementary autonomic mobile robot, assists librarian to arrange the bookshelf fast, solves the wrong problem of putting up of library collection books.
However, due to the current development level of robot intelligence, the library robot cannot realize its normal book management function in some areas in the library that cannot be reached by autonomous movement. In addition, due to the problem of positioning accuracy, the robot needs to feed back the position information of the books after determining the books on the shelves, and the problem directly influences the use experience of the books on the shelves management robot.
Disclosure of Invention
The invention aims to: aiming at the defects in the prior art, the book management method based on the handheld auxiliary terminal of the book management robot with the messy shelves is provided, the user experience of the book management robot with the messy shelves can be improved, the manual management cost of a library is reduced, and the service quality of the library is improved.
In order to achieve the purpose, the invention provides a book management method based on a manual auxiliary terminal of a book management robot for a messy shelf. The method comprises the following steps:
the book scanning positioning method comprises the steps of fixing original bar codes of books to spine positions, pasting two-dimensional codes used for bookshelf scanning positioning at the appointed positions of each layer on a bookshelf, wherein the bar codes comprise book information, the two-dimensional codes comprise bookshelf positions, bookshelf layer numbers and the like, and the numbering sequence of the bookshelf positions and the layer numbers is consistent with the code scanning sequence of a follow-up robot and a handheld auxiliary terminal scanning gun.
In the step, aiming at the book management mode of the existing library, the original bar code of the book is copied and then is pasted on one side of the bottom end of the book spine, then all the bookshelves are numbered, the codes are coded according to the mode of bookshelf marks-library numbers-bookshelf numbers-layer numbers-initial marks, and the numbering sequence of the bar codes is consistent with the code scanning sequence of the scanning guns of the subsequent robot and the handheld auxiliary terminal. Different two-dimensional codes are compiled according to the positions of the bookshelves and the number of layers of the bookshelves, then the two-dimensional codes of the bookshelves are pasted on the edges of the bookshelves, and the two-dimensional codes of the bookshelves and the book bar codes are at the same horizontal height.
The second step, put all library books on the bookshelf according to traditional book number of asking for, then the position information of all library books is gathered to the management terminal control robot of the indiscriminate shelf books management system of autonomic robot, with hand-held type auxiliary terminal and robot communication connection, makes the two be under same LAN to the books position information data that the sharing robot established.
Because the handheld auxiliary terminal and the autonomous mobile robot are connected under the same network, the robot transmits the control command, the database operation command, the collected book bar code information and other contents to the database of the management terminal through the network, and the management terminal feeds back the related information to the handheld auxiliary terminal. And the information interaction between the handheld auxiliary terminal and the autonomous mobile robot is realized through network communication, and a database with book position information is shared.
And thirdly, manually confirming the region which the robot cannot reach according to a region grid map displayed on the management terminal, starting a global scanning mode of the handheld auxiliary terminal in the region which the robot cannot reach, scanning the two-dimensional codes of the bookshelf in the region by using a scanning gun of the auxiliary terminal, inputting the position and layer number information of the bookshelf, scanning the bar codes of all books on the bookshelf, combining the two to generate book position information, and sending the book position information to a database of the management terminal for storage.
When the bookshelf is in a region where the robot cannot reach, the bookshelf is specially marked when being coded so as to be convenient for defining the bookshelf when being decoded.
And fourthly, the handheld auxiliary terminal can search the disordered books in the region where the robot arrives and the region where the robot cannot arrive, when the handheld auxiliary terminal is used for searching the disordered books, a scanning gun of the handheld auxiliary terminal scans the bookshelf and all the books on the bookshelf, bookshelf information and information of all the books on the bookshelf are obtained, the bookshelf information obtained by scanning and the information of all the books on the bookshelf are compared with original book position information in a database, whether the disordered books exist or not is judged, if the disordered books exist, the information of the disordered books is displayed and alarmed at the handheld auxiliary terminal, a librarian returns the disordered books according to the displayed information, and if the disordered books do not exist, the next bookshelf is scanned.
When seeking the indiscriminate shelf, dislocation books, librarian scans the two-dimensional code of every layer of bookshelf and the bar code of books on every layer of bookshelf, obtain bookshelf information (including bookshelf position and the number of piles) and all books information on this bookshelf, compare original books position information in the database, whether belong to this layer of bookshelf with the books of judging the scanning, if do not belong to this layer of bookshelf just judge this books and belong to indiscriminate shelf books, hand-held type auxiliary terminal reports to the police immediately when discovering indiscriminate shelf books, librarian can in time take off indiscriminate shelf books.
The code scanning technology is combined with the embedded system platform design to obtain a handheld auxiliary terminal, the handheld auxiliary terminal is used as an auxiliary device of the book management robot for the messy shelf, firstly, the book and bookshelf coding rule of the book management system for the messy shelf of the autonomous mobile robot is utilized, a code scanning gun on the handheld auxiliary terminal scans a bar code on a book spine to obtain book information, secondly, the handheld auxiliary terminal and the robot can realize communication in the same local area network, the handheld auxiliary terminal can collect original book position information by using the robot, and the handheld terminal solves the problem that a part of a robot in a library with a specific terrain cannot autonomously navigate to certain positions; then, the robot can simultaneously draw a two-dimensional navigation map when scanning the book bar codes on the whole bookshelf, and after manually determining an area which cannot be reached by the robot, the hand-held auxiliary terminal is utilized to complete book information input in the area so as to complete a book position information database; and finally, after finding the books on the messy shelves, the robot sends the information to the handheld auxiliary terminal, and the auxiliary terminal is used for scanning the peripheral bookshelves or the books to assist in quickly positioning the books on the messy shelves.
Preferably, there is also a step a between the first step and the second step: and a management terminal of the book management system for the messy shelves of the autonomous robot controls the robot to scan the library and establish a navigation map of the library.
Preferably, in the second step, the management terminal plans a moving path capable of covering all the bookshelves for the robot, starts a global scanning mode of the robot, controls the robot to reach the two-dimensional code position of the bookshelves, acquires information of the bookshelves and all books on the bookshelves by using a scanning gun of the robot, generates position information of the books by combining the current position of the robot and the layer height of the bookshelves, and sends the position information of the books to a database of the management terminal for storage. Therefore, a book information database is established according to the bookshelf and the book information acquired by the robot and the handheld auxiliary terminal.
Preferably, in the third step, the navigation map obtained in the step a is rasterized to obtain an area grid map, and the area grid map is observed by manual comparison with the real environment to find out an area which cannot be reached by the robot.
The global scanning mode of the handheld auxiliary terminal is started in an area which cannot be reached by the robot, the handheld auxiliary terminal is used for scanning two-dimensional codes of different layers of a bookshelf to acquire bookshelf position and layer number information, then bar codes on the books are scanned to generate position information of the books, the position information of the books is recorded as (X, Y and H), wherein X, Y is the position information of the bookshelf, and H is the number of the scanned layers of the bookshelf.
The method of the invention also comprises the following steps:
and fifthly, when the handheld auxiliary terminal is used for inquiring the disordered books of the appointed bookshelf, scanning guns of the handheld auxiliary terminal scan the two-dimensional codes of the current bookshelf and the bar codes of all books on the bookshelf to obtain the bookshelf position information and the book information of the current bookshelf, then the information and the positions of the disordered books are found out by comparing the information and the book information with the database, the information of the disordered books is displayed on the handheld auxiliary terminal, and a librarian finishes the homing of the disordered books according to the display information.
When the handheld auxiliary terminal scans the bookshelf, the handheld auxiliary terminal communicates with the management terminal to acquire the information of the books on the messy shelves of the current bookshelf, and a librarian finishes searching for the books on the wrong shelves according to the information prompted by the handheld auxiliary terminal.
And sixthly, when a new book is added, pasting a bar code containing book information on a spine, then placing the new book on a specified bookshelf according to the book searching number, starting the handheld auxiliary terminal to scan the two-dimensional code of the bookshelf where the new book is added, obtaining the position information of the new book, and sending the position information of the new book to the database so as to update the position information of the original book.
When a new book is added, firstly, a bar code is pasted on the spine of the new book according to the method in the first step, the book is placed on the appointed bookshelf according to the book searching number, then, the two-dimensional code of the bookshelf is scanned on the handheld auxiliary terminal according to the method in the third step, the position information of the new book is obtained, and then, the bar code of the new book is scanned to update the position information in the database.
Preferably, said fifth step is preceded by the step B of: the method comprises the steps of manually judging whether a designated bookshelf is located in an area which cannot be reached by a robot, inquiring disordered books of the designated bookshelf by adopting a handheld auxiliary terminal if the designated bookshelf is located in the area which cannot be reached by the robot, inquiring disordered books of the designated bookshelf by adopting the robot if the designated bookshelf is not located in the area which cannot be reached by the robot, scanning the bookshelf and the books on the bookshelf after the robot moves to the designated bookshelf according to a planned path to obtain bookshelf information and information of all books on the bookshelf, comparing the bookshelf information and the information of all books on the bookshelf with original book position information in a database, determining whether the scanned books belong to the current bookshelf, continuing to scan the next book if the scanned books belong to the current bookshelf, sharing the information of the disordered books on the.
Preferably, the scanning gun is connected with the query module and is used for transmitting the bar code number obtained by scanning the code to the query module; the touch screen is connected with the query module and is used for displaying the book information of the current code scanning; and the query module is connected with a management terminal of the book management system for the messy shelves of the autonomous robot through the wireless communication module.
The invention has the advantages that the existing hardware equipment and software system in the library are utilized, the robot is assisted to solve the problem of book homing in the library, the application range of the random shelf book management robot is expanded by adopting the handheld auxiliary terminal aiming at the defect that the library robot cannot operate in a narrow space, the book management function of the library robot is effectively supplemented, the robot is assisted to manage books in the library, the manual management cost of the library is reduced, the service quality and the automation level of the library are improved, and the problems of wrong shelves and random shelves of the library are solved.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a system diagram of the present invention.
Fig. 2 is a block diagram of the present invention.
Fig. 3 is an information flow diagram of the present invention.
FIG. 4 is a schematic view of two-dimensional book shelf codes and book bar codes in the present invention.
Detailed Description
In the invention, as shown in fig. 1, the related devices are an autonomous robot book management system on a messy shelf and a handheld auxiliary terminal, the autonomous robot book management system on the messy shelf is in communication connection with the handheld auxiliary terminal, and the handheld auxiliary terminal is composed of a scanning gun, a raspberry pi3 and a touch screen. The management terminal and the user terminal can be replaced by a common computer.
As shown in fig. 2, the handheld auxiliary terminal is provided with a book locating and searching system, which includes a wireless communication module, an inquiry module, a robot control module, a scanning gun module, a touch screen module, and a user interface module. The scanning gun is used for scanning codes by laser; the scanning gun is connected with the query module and is used for transmitting the bar code number obtained by scanning the code to the query module; the touch screen is connected with the query module and used for displaying the book information of the current code scanning; the query module is connected with a management terminal of the book management system for the messy shelves of the autonomous robot through the wireless communication module.
As shown in fig. 3, after acquiring information of books and bookshelves, the robot acquires book position information by using its own sensor, and transmits the book position information to the management terminal. On one hand, the handheld auxiliary terminal transmits control information and the like to the robot body and obtains a real-time working state from the robot body; on the other hand, code scanning information and the like are transmitted to the management terminal, the database is maintained together with the robot body, and the query result of the database is obtained from the management terminal.
Example one
The embodiment provides a book management method based on a handheld auxiliary terminal of a random shelf book management robot, which comprises the following steps:
the method comprises the steps of fixing original bar codes of books to spine positions, pasting two-dimensional codes (shown in figure 4) used for bookshelf scanning and positioning at the appointed positions of each layer on a bookshelf, enabling the bar codes to comprise book information, enabling the two-dimensional codes to comprise bookshelf positions, bookshelf layer numbers and the like, and enabling the numbering sequence of the bookshelf positions and the layer numbers to be consistent with the code scanning sequence of a follow-up robot and a handheld auxiliary terminal scanning gun.
Specifically, firstly, aiming at the book management mode of the existing library, the bar code of the existing book is copied and pasted to one side of the bottom end of the spine; then numbering all the bookshelves, coding according to a mode of bookshelf mark-museum number-bookshelf number-layer number-initial mark, manufacturing corresponding bookshelf two-dimensional codes, using 1 bit to represent the bookshelves, 2 bit to represent the museum number, 3 bit to represent the bookshelf number, 1 bit to represent the layer number, 1 bit to represent the starting and stopping position format coding bookshelves, manufacturing the two-dimensional codes of the bookshelves for each layer of each bookshelves, and pasting the two-dimensional codes of the bookshelves on the edges of the bookshelves with the same horizontal height as the book bar codes.
Step A: and a management terminal of the book management system for the messy shelves of the autonomous robot controls the robot to scan the library and establish a navigation map of the library.
The second step, put all library books on the bookshelf according to traditional book number of asking for, then the position information of all library books is gathered and the database that contains books position information is established at management terminal to the management terminal control robot of the indiscriminate shelf books management system of autonomic robot, and hand-held type auxiliary terminal and robot are in under same LAN, the books position information data that the sharing robot established.
Specifically, the handheld auxiliary terminal and the autonomous mobile robot are connected to the same network, and communication connection between the terminal equipment and the robot is achieved through a wireless network; when the handheld auxiliary terminal is used for controlling the robot to work, the wireless network is used for sending a control instruction to the robot body, so that the functions of switching on and off, moving, drawing, inquiring and the like of the robot are realized, and the information interaction between the handheld auxiliary terminal and the autonomous mobile robot is realized through network communication; then, the handheld auxiliary terminal transmits the database operation command, the collected book bar code information and other contents to the database of the management terminal, and the management terminal feeds back related information to the handheld auxiliary terminal to share the database with the book position information.
When the robot collects data, the management terminal plans the moving path that can cover all bookshelves for the robot, starts the global scanning mode of robot, and control robot arrives the two-dimensional code position of bookshelf, utilizes the scanning rifle of robot to acquire the information of all books on bookshelf and the bookshelf, combines current robot position and bookshelf layer height, generates the positional information of books, stores in sending this position information of books to the database at management terminal.
And thirdly, manually confirming the region which cannot be reached by the robot according to a region grid map displayed on the management terminal, starting a global scanning mode of the handheld auxiliary terminal in the region which cannot be reached by the robot, scanning the two-dimensional codes of the bookshelf in the region by using a scanning gun of the auxiliary terminal, inputting the position and layer number information of the bookshelf, scanning the bar codes of all books on the bookshelf, generating book position information by combining the two, and sending the book position information to a database of the management terminal for storage so as to achieve the purpose of assisting the book position acquisition.
Specifically, the navigation map obtained in the step A is grated to obtain an area grating map, the area grating map is observed through manual comparison with a real environment, areas which cannot be reached by the robot are found out, the bookshelves in the areas are determined, and when the bookshelves are coded according to the method, bookshelves codes in a specified range are reserved to represent the bookshelves which cannot be reached by the robot, so that a user can conveniently inquire the bookshelves; then, a global scanning mode of the handheld auxiliary terminal is started, the handheld auxiliary terminal is used for scanning two-dimensional codes of different layers of the bookshelf to acquire bookshelf position and layer number information, then bar codes on the books are scanned, position information of the books is generated, the book position information is recorded as (X, Y and H), X, Y is the position information of the bookshelf, and H is the scanned bookshelf layer number.
And fourthly, the handheld auxiliary terminal can search the disordered books in the region where the robot arrives and the region where the robot cannot arrive, when the handheld auxiliary terminal is used for searching the disordered books, a scanning gun of the handheld auxiliary terminal scans the bookshelf and all the books on the bookshelf, bookshelf information and information of all the books on the bookshelf are obtained, the bookshelf information obtained by scanning and the information of all the books on the bookshelf are compared with original book position information in a database, whether the disordered books exist or not is judged, if the disordered books exist, the information of the disordered books is displayed and alarmed at the handheld auxiliary terminal, a librarian returns the disordered books according to the displayed information, and if the disordered books do not exist, the next bookshelf is scanned.
Specifically, when looking for books with messy shelves and misplaced shelves, a librarian scans the two-dimensional codes of each layer of bookshelf and the bar codes of the books on each layer of bookshelf, and a scanning gun transmits results to a port of the raspberry GPIO15 for decoding calculation to obtain bookshelf information and all book information on the bookshelf; then, the handheld auxiliary terminal obtains bookshelf coding information from the decoding information, and the service program requests the management terminal to obtain information such as the serial numbers and the book names of all books on the layer of the current bookshelf through the TCP port; and finally, synchronously comparing the book information of the local layer of the bookshelves in the database when scanning the books, confirming whether the scanned book codes belong to the bookshelves of the local layer, judging that the books belong to the disordered books if the scanned book codes do not belong to the local bookshelves, immediately alarming by the handheld auxiliary terminal when finding out the disordered books, taking down the disordered books by a librarian in time, and continuously scanning if the scanned book codes belong to the local layer of the bookshelves.
And B: the method comprises the steps of manually judging whether a designated bookshelf is located in an area which cannot be reached by a robot, inquiring disordered books of the designated bookshelf by adopting a handheld auxiliary terminal if the designated bookshelf is located in the area which cannot be reached by the robot, inquiring disordered books of the designated bookshelf by adopting the robot if the designated bookshelf is not located in the area which cannot be reached by the robot, scanning the bookshelf and the books on the bookshelf after the robot moves to the designated bookshelf according to a planned path to obtain bookshelf information and information of all books on the bookshelf, comparing the bookshelf information and the information of all books on the bookshelf with original book position information in a database, determining whether the scanned books belong to the current bookshelf, continuing to scan the next book if the scanned books belong to the current bookshelf, sharing the information of the disordered books on the.
And fifthly, when the handheld auxiliary terminal is used for inquiring the disordered books of the appointed bookshelf, scanning guns of the handheld auxiliary terminal scan the two-dimensional codes of the current bookshelf and the bar codes of all books on the bookshelf to obtain the bookshelf position information and the book information of the current bookshelf, then comparing the bookshelf position information and the book information with the database to find out the information and the position of the disordered books, displaying the information of the disordered books on the handheld auxiliary terminal, and finishing the homing of the disordered books by a librarian according to the display information so as to fulfill the aim of inquiring the appointed bookshelf disordered books in an auxiliary manner.
Specifically, the execution of the step is carried out on the premise that the robot establishes an original book database with book position information, the robot scans the book on the messy shelf, and the position information of the book on the messy shelf is obtained by comparing the original book position information; scanning the two-dimensional code of the bookshelf by using the handheld auxiliary terminal, comparing the original position information in the database, confirming whether the scanned book code belongs to the bookshelf of the layer, and judging that the book belongs to a wrong-shelf book if the book code does not belong to the bookshelf of the layer; and after the scanning is finished, the misplaced books are taken down from the bookshelf, and when the misplaced books are placed at the original positions, the handheld auxiliary terminal is used for informing the management terminal to delete the misplaced position information of the books, so that the maintenance of the position information database is realized.
And sixthly, when a new book is added, pasting a bar code containing book information on a spine, then placing the new book on a specified bookshelf according to the book searching number, starting the handheld auxiliary terminal to scan the two-dimensional code of the bookshelf where the new book is added, obtaining the position information of the new book, and sending the position information of the new book to the database so as to update the position information of the original book.
Specifically, firstly, a bar code is pasted on the spine of a new book according to the method in the first step, and the book is placed on a designated bookshelf according to the book searching number; scanning the two-dimensional code of the bookshelf at the handheld auxiliary terminal according to the method in the third step to obtain the position information of the new book; and finally, updating the position information in the database.
In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.
Claims (7)
1. A book management method based on a manual auxiliary terminal of a book management robot for a messy shelf is characterized in that the book management method comprises an autonomous robot book management system for the messy shelf and a manual auxiliary terminal, wherein the autonomous robot book management system for the messy shelf is in communication connection with the manual auxiliary terminal, and the manual auxiliary terminal comprises a scanning gun, a touch screen, a wireless communication module and an inquiry module; the method comprises the following steps:
fixing original bar codes of books at a spine, pasting two-dimensional codes for bookshelf scanning and positioning at the appointed position of each layer on a bookshelf, wherein the bar codes comprise book information, and the two-dimensional codes comprise bookshelf positions and bookshelf layer numbers;
secondly, placing all library books on a bookshelf according to the traditional book searching number, controlling the robot to collect the position information of all the library books by a management terminal of the independent robot random shelf book management system, and carrying out communication connection between a handheld auxiliary terminal and the robot to share the book position information data established by the robot;
thirdly, manually confirming the region which the robot cannot reach according to a region grid map displayed on the management terminal, starting a global scanning mode of the handheld auxiliary terminal in the region which the robot cannot reach, scanning the two-dimensional codes of the bookshelf in the region by using a scanning gun of the auxiliary terminal, inputting the position and layer number information of the bookshelf, scanning the bar codes of all books on the bookshelf, combining the two codes to generate book position information, and sending the book position information to a database of the management terminal for storage;
and fourthly, the handheld auxiliary terminal can search the disordered books in the region where the robot arrives and the region where the robot cannot arrive, when the handheld auxiliary terminal is used for searching the disordered books, a scanning gun of the handheld auxiliary terminal scans the bookshelf and all the books on the bookshelf, bookshelf information and information of all the books on the bookshelf are obtained, the bookshelf information obtained by scanning and the information of all the books on the bookshelf are compared with original book position information in a database, whether the disordered books exist or not is judged, if the disordered books exist, the information of the disordered books is displayed and alarmed at the handheld auxiliary terminal, a librarian returns the disordered books according to the displayed information, and if the disordered books do not exist, the next bookshelf is scanned.
2. The book management method based on the handheld auxiliary terminal of the book management robot for shelves according to claim 1, characterized in that, between the first step and the second step, a step A is further provided: and a management terminal of the book management system for the messy shelves of the autonomous robot controls the robot to scan the library and establish a navigation map of the library.
3. The book management method based on the manual auxiliary terminal of the book management robot for the messy shelves according to claim 2, wherein in the second step, the management terminal plans a moving path for the robot to cover all the book shelves, starts a global scanning mode of the robot, controls the robot to reach the two-dimensional code position of the book shelves, obtains information of all books on the book shelves and the book shelves by using a scanning gun of the robot, generates position information of the books by combining the current position of the robot and the height of the book shelves, and sends the position information of the books to a database of the management terminal for storage.
4. The book management method based on the handheld auxiliary terminal of the book management robot for shelves according to claim 3, wherein in the third step, the navigation map obtained in the step A is rasterized to obtain an area grid map, and then the area grid map is manually compared with a real environment to find out an area which cannot be reached by the robot.
5. The book management method based on the handheld auxiliary terminal of the book management robot in a messy shelf according to claim 4, characterized by further comprising the following steps:
fifthly, when the handheld auxiliary terminal is used for inquiring the disordered books of the appointed bookshelf, a scanning gun of the handheld auxiliary terminal scans the two-dimensional codes of the current bookshelf and the bar codes of all books on the bookshelf to obtain the bookshelf position information and the book information of the current bookshelf, then the bookshelf position information and the book information of the current bookshelf are compared with a database to find out the information and the position of the disordered books, the information of the disordered books is displayed on the handheld auxiliary terminal, and a book manager finishes the homing of the disordered books according to the display information;
and sixthly, when a new book is added, pasting a bar code containing book information on a spine, then placing the new book on a specified bookshelf according to the book searching number, starting the handheld auxiliary terminal to scan the two-dimensional code of the bookshelf where the new book is added, obtaining the position information of the new book, and sending the position information of the new book to the database so as to update the position information of the original book.
6. The book management method based on the handheld auxiliary terminal of the book management robot in a messy shelf as claimed in claim 5, wherein before the fifth step, there is further step B: the method comprises the steps of manually judging whether a designated bookshelf is located in an area which cannot be reached by a robot, inquiring disordered books of the designated bookshelf by adopting a handheld auxiliary terminal if the designated bookshelf is located in the area which cannot be reached by the robot, inquiring disordered books of the designated bookshelf by adopting the robot if the designated bookshelf is not located in the area which cannot be reached by the robot, scanning the bookshelf and the books on the bookshelf after the robot moves to the designated bookshelf according to a planned path to obtain bookshelf information and information of all books on the bookshelf, comparing the bookshelf information and the information of all books on the bookshelf with original book position information in a database, determining whether the scanned books belong to the current bookshelf, continuing to scan the next book if the scanned books belong to the current bookshelf, sharing the information of the disordered books on the.
7. The book management method based on the handheld auxiliary terminal of the book management robot for shelves according to claim 1, wherein the scanning gun is connected with the query module and is used for transmitting a bar code number obtained by scanning the code to the query module; the touch screen is connected with the query module and is used for displaying the book information of the current code scanning; and the query module is connected with a management terminal of the book management system for the messy shelves of the autonomous robot through the wireless communication module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN109141424B (en) * | 2018-08-01 | 2021-09-21 | 重庆工业职业技术学院 | Library navigation device and library navigation method |
| CN109250379B (en) * | 2018-08-31 | 2022-03-01 | 京东方科技集团股份有限公司 | Commodity sorting system and method |
| CN111199609A (en) * | 2018-11-20 | 2020-05-26 | 袁洁儿 | Self-service book borrowing and returning system for code library |
| CN109345736A (en) * | 2018-12-06 | 2019-02-15 | 山东锘博特智能科技有限公司 | A kind of service robot applied to library |
| CN109483570B (en) * | 2018-12-18 | 2019-10-22 | 李慈 | Robot for shared model |
| CN112508473A (en) * | 2020-11-03 | 2021-03-16 | 上海凯宝健康科技有限公司 | Control system and method of wireless scanning gun |
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| FR2633595B1 (en) * | 1988-07-01 | 1991-04-12 | Sgn Soc Gen Tech Nouvelle | STORE MANAGEMENT PROCESS |
| US6480759B1 (en) * | 2000-06-23 | 2002-11-12 | Storage Technology Corporation | Diagnostic port between independent robots |
| CN102384745A (en) * | 2011-08-18 | 2012-03-21 | 南京信息工程大学 | Method of mobile phone navigation in library and system |
| CN102654900A (en) * | 2012-01-06 | 2012-09-05 | 上海理工大学 | Device convenient for arranging wrongly-placed books in library |
| CN102609789A (en) * | 2012-02-21 | 2012-07-25 | 复旦大学 | Information monitoring and abnormality predicting system for library |
| CN103246902A (en) * | 2013-05-09 | 2013-08-14 | 华北电力大学 | Intelligent book positioning system based on ultrahigh frequency RFID technology |
| CN203858716U (en) * | 2014-05-13 | 2014-10-01 | 秦元 | Book borrowing device of books in library |
| CN104376425A (en) * | 2014-11-27 | 2015-02-25 | 马伟涛 | Self-service book management system and control method |
| CN104636860B (en) * | 2014-12-15 | 2017-11-03 | 沈阳航空航天大学 | A kind of novel invisible book label system being applied in taking care of books and application process |
| CN105798914B (en) * | 2014-12-30 | 2020-08-21 | 希姆通信息技术（上海）有限公司 | Intelligent robot for automatically classifying books in library |
| CN204713131U (en) * | 2015-06-03 | 2015-10-21 | 上海新梦科信息科技服务有限公司 | A kind of library reason frame and shelving management system |
| CN205581957U (en) * | 2016-03-28 | 2016-09-14 | 上海理工大学 | Management indicating device is seeked to library's books |
| CN105869313A (en) * | 2016-04-01 | 2016-08-17 | 广西科技大学 | Automatic access device for books |
| CN106346495A (en) * | 2016-11-16 | 2017-01-25 | 南京景曜智能科技有限公司 | Smart inventory-taking robot |
| CN107329469A (en) * | 2017-04-21 | 2017-11-07 | 南京邮电大学 | A kind of random frame book management system of autonomous robot |
| CN107393179B (en) * | 2017-07-21 | 2021-03-02 | 内蒙古鹏讯科技有限公司 | Shared book management system and method |
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