CN108764393A - Books in libraries auxiliary gives back robot system - Google Patents
Books in libraries auxiliary gives back robot system Download PDFInfo
- Publication number
- CN108764393A CN108764393A CN201810399726.5A CN201810399726A CN108764393A CN 108764393 A CN108764393 A CN 108764393A CN 201810399726 A CN201810399726 A CN 201810399726A CN 108764393 A CN108764393 A CN 108764393A
- Authority
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- China
- Prior art keywords
- books
- sliding block
- guide rod
- bar code
- libraries
- Prior art date
- 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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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of books in libraries auxiliary to give back robot system, including carrier loader, and the carrier loader includes books identification push-off device and navigation positional device, and the books identification push-off device includes：Supporting mechanism is used to support books arrangement and stacks；Bar code scanning module, for scanning books bar code successively and being sent to data conversion module；Books ejecting mechanism, for pushing books successively；Data conversion module is sent to navigation positional device for receiving the books bar code and being converted to location information；The navigation positional device receives the location information and controls the carrier loader and runs to corresponding position.Present system can be used for the Added Management of books administrative staff, and it is not necessary that existing system is substantially transformed, application cost is low.
Description
Technical field
The present invention relates to a kind of books to give back system, and system of robot is given back more particularly to a kind of books in libraries auxiliary
System.
Background technology
In intelligent equipment more and more universal today, can all be used under many occasions gone to intelligentized machine it is auxiliary
It helps or substitutes the mankind and complete work.And with the continuous promotion of the ability of manufacturing, more and more robots can not only be by
It is applied in industrial production, additionally it is possible to be applied in service trade.In numerous public places, can be described as library is vast
The place that learner cultivates the moral character and nourishes the nature, and also there are many intelligent equipments to be used by library now, so that books
Books way to manage in shop is more convenient, such as the current ultrahigh frequency RFID intelligence used in the library of part at home
Book management system.
It is powerful for domestic this ultrahigh frequency RFID intelligent book management system currently in use, completely
It can complete entire books and the functions such as give back, classify, placing.In addition to this, the system is also to entire library's bursting tube
Reason has carried out intelligentized transformation, and entire library does not almost need manual work under this systems.And just because of in this way
Powerful function, whole cost is also very expensive, it is difficult to used by general library, installation in this way a whole set of
System almost needs entire library to be once transformed, in addition to this, for the check system in the system in reality
Work in still need user to push the system manually, also not accomplished check system autonomous travel control.
Invention content
The object of the present invention is to provide a kind of books in libraries auxiliary to give back robot system, solves existing artificial books and returns
The also low problem of the efficiency of management, while avoiding the book management system cost based on RFID technique high, the big problem of improvement project.
The technical scheme is that such：A kind of books in libraries auxiliary gives back robot system, including delivery is small
Vehicle, the carrier loader include books identification push-off device and navigation positional device, and the books identification push-off device includes：
Supporting mechanism is used to support books arrangement and stacks；
Bar code scanning module, for the orientation motion scan books bar code along the books, including along the books
Orientation the first guide rod, first sliding block mobile with first guide rod cooperation that extend, first sliding block is equipped with and sweeps
Imaging apparatus, the scanning means scan books bar code and are sent to data conversion module；
Books ejecting mechanism includes the second guide rod of the orientation extension along the books, is matched with second guide rod
Close the second mobile sliding block, second sliding block is equipped with pushing structure, and the pushing mechanism includes perpendicular to the of the second guide rod
Three guide rods, the third sliding block mobile with the cooperation of third guide rod, the third sliding block are equipped with the push plate for pushing books；
Data conversion module is sent to navigation positional device for receiving the books bar code and being converted to location information；
The navigation positional device receives the location information and controls the carrier loader and runs to corresponding position.
Further, the supporting mechanism include support baseboard, along the books orientation extend the 4th guide rod,
Baffle is arranged in the mobile Four-slider with the 4th guide rod cooperation, the end of the 4th guide rod, and the books are arranged in institute
It states between baffle and Four-slider.
Further, the navigation positional device includes control module, stationary magnetic field detection circuit, PWM wave level conversion
Circuit and driving motor, the stationary magnetic field detection circuit is for detecting preset magnetic navigation circuit and to the control module
Feedback signal, the control module control the PWM wave level shifting circuit according to the feedback signal and the location information
Driving motor operation is exported and controls, the driving motor is for driving carrier loader to advance.
Further, books identification push-off device includes books arrangement position memory module and range finder module, described
Range finder module measures the range information of the second sliding block when the push plate pushes books and is sent to books arrangement position memory module,
The scanning means scans books bar code and is sent to books arrangement position memory module, the books arrangement position memory module
It is the range information of second sliding block is corresponding with the books bar code and store；When the carrier loader is run to a certain position
It obtains the corresponding all books bar codes in the position and second sliding block is controlled by the corresponding range information of books bar code and move.
Further, the first limit switch is respectively set for limiting the third in the head end of the third guide rod and tail end
The moving range of sliding block.
Preferably, first guide rod and the first sliding block, the second guide rod and the second sliding block, third guide rod and third sliding block are equal
For feed screw nut kinematic pair.
Preferably, the 4th guide rod and Four-slider are feed screw nut kinematic pair.
The advantages of technical solution provided by the present invention, is, by the scanning to books bar code, obtains the position of books
Information, and then trolley travelling is controlled to corresponding position with Added Management personnel's finishing book, the system is to existing taking care of books system
System change is small, and improvement cost is low, and the classified finishing for carrying out books again compared to artificial access book number improves efficiency.
Description of the drawings
Fig. 1 is that books in libraries of the present invention auxiliary gives back robot system mechanical structure schematic front view.
Fig. 2 is that books in libraries of the present invention auxiliary gives back robot system mechanical structure schematic top plan view.
Fig. 3 is that books in libraries of the present invention auxiliary gives back robot system electrical structure schematic diagram.
Fig. 4 is that books in libraries auxiliary gives back robot system electrical structure diagram in embodiment.
Fig. 5 is that books identify push-off device part circuit structure figure in embodiment.
Fig. 6 is navigation positional device part circuit structure figure in embodiment.
Specific implementation mode
With reference to embodiment, the invention will be further described, but not as a limitation of the invention.
Shown in Fig. 1 to Fig. 2, the books in libraries auxiliary that the present embodiment is related to gives back robot system, machinery
Part includes carrier loader, and carrier loader constitutes 2 by bottom plate 1 and wheel.Books are set on bottom plate 1 and identify push-off device, books
Identify that push-off device includes that the first guide rod 3 being laterally arranged, the second guide rod 4 and the 4th guide rod 5 and longitudinally disposed third are led
Bar 6.First guide rod 3 is equipped with the first matching sliding block 7, and the first guide rod 3 and the first sliding block 7 constitute feed screw nut's movement
It is secondary；Second guide rod 4 is equipped with the second matching sliding block 8, and the second guide rod 4 and the second sliding block 8 constitute feed screw nut's kinematic pair,
Third guide rod 6 is arranged on the second sliding block 8, i.e. movement of the second sliding block 8 on the second guide rod 4 is to drive third guide rod 6 together
Movement；Third guide rod 6 is equipped with matching third sliding block 9, and third guide rod 6 constitutes feed screw nut's fortune with third sliding block 9
Dynamic pair；4th guide rod 5 is equipped with matching Four-slider 10, and the 4th guide rod 5 and Four-slider 10 constitute feed screw nut's fortune
Dynamic pair.
In the both sides of the 4th guide rod 5, support baseboard 11 is set, books 12 are placed on by transversely arranged on support baseboard 11, the
The end of four guide rods 5 is provided with baffle 13, is made by the spacing of the mobile control Four-slider 10 and baffle 13 of Four-slider 10
12 marshalling of books.Camera is set on the first sliding block 7 as scanning means, for scanning books bar code.Camera
It position should be corresponding with books barcode position.It is equipped with the push plate 14 for pushing books in third sliding block 9, third guide rod 6
Moving range of first limit switch 15 for limiting third sliding block 9 is respectively set in head end and tail end.When the drive of third sliding block 9 pushes away
When plate 14 is moved along third guide rod 6, single this books 12 can longitudinally be released from the books heap of arrangement.Standard of the push plate 14 to books
The positioning for relying on the second sliding block 8 position on the second guide rod 4 is really released, switch 16 is positioned proximate in push plate 14 and is used to control the
The movement of two sliding blocks 8.In addition range finder module 17 is set in one end of the second guide rod 4, range finder module 17 is pushed away for measuring push plate 14
The range information of second sliding block 8 when cardon book 12.
Shown in Fig. 3, books in libraries of the present invention auxiliary give back robot system further include data conversion module 18,
The books bar code of books arrangement position memory module 19 and navigation positional device 20, scanning means scanning is sent to data conversion
Module 18 and books arrangement position memory module 19, data conversion module 18 is according to the books deposit position and item being previously stored
The corresponding informance of code obtains the location information of the books of Current Scan, which is sent to navigation positional device 20 simultaneously
It is also sent to books arrangement position memory module 19.Scanning means barcode scanning finishes, and is moved near books 12 by push plate 14, at this time
Range finder module 17 measures the range information of the second sliding block 8, is sent to books arrangement position memory module 19.Therefore books arrange position
Set the range information that memory module 19 obtains books bar code and corresponding second sliding block 8.
Navigation positional device 20 includes control module, stationary magnetic field detection circuit, PWM wave level shifting circuit and driving electricity
Machine, stationary magnetic field detection circuit is for detecting preset magnetic navigation circuit and to the control module feedback signal, controlling mould
Root tuber exports according to feedback signal and location information control PWM wave level shifting circuit and controls driving motor operation, driving motor
For driving carrier loader to advance.
Shown in fig. 4 to fig. 6, the physical circuit that the present embodiment books in libraries auxiliary gives back robot system is constituted
It is such, including books identification push-off device partial circuit and navigation positional device partial circuit two large divisions.A total of 5
Power-switching circuit, 2 micro controller modules, 6 PWM wave level shifting circuits, 12 common I O mouthfuls of level shifting circuits, 8
A stationary magnetic field detection circuit, 2 infrared switch sensor level shifting circuits, 1 infrared distance sensor module connect
Connect that circuit, 4 microswitch sensor detection circuits, 2 high-speed CAN isolated transceivers connection circuits, that 1 serial ports turns 485 is logical
Letter mode circuit；Wherein 24V power-switching circuits are directly powered by 36V lithium batteries, and the 24V power supplys of output give 2 5V respectively
Power-switching circuit, 4 stepper motor driver modules, 4 direct current generator drive modules, the power supply of configuration screen.
The power supply that 5V power-switching circuits in books identification push-off device partial circuit export is in the subsystem
3.3V power-switching circuits, micro controller module, 2 infrared switch sensor level shifting circuits, 4 PWM wave level
Conversion circuit, 8 common I O mouthfuls of level shifting circuits power supplies；Books identify that 3.3V power supplys are converted in push-off device partial circuit
Circuit turns the power supply of 485 communication mode circuits, height to 4 microswitch sensor detection circuits in the subsystem, serial ports respectively
Fast CAN isolated transceivers connect circuit；The power supply that 5V power-switching circuits in navigation positional device partial circuit export is given should
3.3V power-switching circuits, micro controller module in subsystem, the sensor in the detection circuit of stationary magnetic field, 4 common I O
Mouth level shifting circuit, 2 PWM wave level shifting circuits power supplies；3.3V power supplys conversion in navigation positional device partial circuit
The power supply of circuit output is to the instrument amplifier in the stationary magnetic field detection circuit in the subsystem, high-speed CAN isolated transceiver
Connect circuit power supply.
Books identify that the 5V power-switching circuits in push-off device partial circuit are made of for core LM2825N-5.0,
The 24V voltages of input are changed into stable 5V voltages and supply the onboard computer road that entire books identify push-off device partial circuit
It uses；Two infrared switch sensors pass through the TLP521 types in level shifting circuit of its output voltage control where it
The control terminal cathode of number photoelectrical coupler, to make the output end of photoelectrical coupler export low electricity when it exports high level
It is flat, and the output end of photoelectrical coupler is enabled to export high level when it exports low level；4 PWM wave level conversion electricity
Road and 8 common I O mouthfuls of level shifting circuits be by the NPN triode of 2N3904 models be core, pass through microcontroller mould
The transformation control triode of the output pin level of block is in the transformation for being connected and being saturated two kinds of working conditions, so as in three poles
The collector of pipe obtains the circuit of another level translation；4 microswitch sensor detection circuits are exactly by microswitch
It is normally opened to terminate on+3.3V voltages, it is normally closed to terminate on 0V voltages, the COM of microswitch is detected by the pin of microcontroller
End level can judge whether the switch of microswitch is closed by other objects；Serial ports turns in 485 communication mode circuits,
Core devices are MAX485 chips, be mainly function are to draw the PA2 and PA3 of the embedded chip that micro controller module is drawn
Foot with MAX485 1 foot and 4 feet be connected, then with a common I of microcontroller O mouthfuls of low and high level go to control
The transmitting-receiving working condition of this chip increases the pull-up resistor in 330 Europe in order to ensure the reliability of circuit in its 6 foot,
The pull down resistor in 330 Europe is increased in its 7 foot, the build-out resistor in 120 Europe is increased between 6 feet and 7 feet；At a high speed
It is using the high-speed CAN isolated transceiver of model CTM8251AT as core, in the transceiver that CAN isolated transceivers, which connect circuit,
Output end be similarly added to the build-out resistor in 120 Europe.
Power circuit in navigation positional device partial circuit is made of for core LM2825N-5.0, this is
2 PWM wave level shifting circuits in system and 4 common I O mouthfuls of level shifting circuits be also NPN tri- by 2N3904 models
Pole pipe is core, and high-speed CAN isolated transceiver connection circuit is also the high-speed CAN isolated transceiver with model CTM8251AT
For core, therefore these circuits under the subsystem identify that related circuit is consistent in push-off device partial circuit with books, herein
It repeats no more；In the detection circuit of stationary magnetic field, the power supply of its power supply of the magnetic resistance detection sensor of used model HMC1021
For+5V, the control signals of 5 basic feet by micro controller module a common I O mouthfuls generate, and in the detection circuit
Amplification to sensor output signal is then using AD623 single supplies instrument amplifier as core, and the instrument is put in the present invention
The supply voltage of big device is 3.3V, by the way that putting for multiple is fixed in the signal that sensor exports by this instrument amplifier
Greatly, the sampling channel then corresponding to the inside ADC of supply micro controller module carries out the acquisition of analog quantity.
It is such that the books in libraries auxiliary of the present embodiment, which gives back the specific operation of robot system,：First need to
The books 12 to be managed are horizontally arranged on support baseboard 11, by mobile control Four-slider 10 and the baffle 13 of Four-slider 10
Spacing make 12 marshalling of books.Scanning means motion scan first books bar code, books bar code are sent to data and turn
Change the mold block 18 and books arrangement position memory module 19.After scanned, the movement of the second sliding block 8 is until by connecing in push plate 14
Nearly switch 16 measures that push plate is corresponding with first books position, and range finder module 17 measures the range information of the second sliding block 8 at this time, sends out
It send to books arrangement position memory module 19.Books 12 are released forward a distance by push plate 14 under the drive of third sliding block 9, are revealed
Go out the books bar code of second books, subsequent push plate 14 is playbacked.Repeat above-mentioned steps until all books 12 books bar code
It is scanned to be sent to data conversion module 18 and books arrangement position memory module 19, corresponding second sliding block of all books 8
Range information be sent to books arrangement position memory module 19.Carrier loader operation is stored in the realization of data conversion module 18
The corresponding data of the location information and books bar code of position, that is, books, thus by books bar code can be obtained the books position believe
Breath, or it is determined that carrier loader running position can be obtained the books bar code of the position.And books arrangement position memory module
19 have obtained books bar code and arrangement position (range information of the second sliding block 8) corresponding informance of books on carrier loader.
Navigation positional device 20 drives carrier loader to run to a certain specific position, and navigation positional device is using magnetic conductance
Boat technology is existing scheme in the prior art with the technology navigator fix, again to specifically positioning and driving the mistake of operation
Journey repeats no more.When carrier loader is run to a certain specific position, the information stored by data conversion module 18 can be belonged to
The books bar code of the position, and then the distance of the second sliding block 8 can be obtained in books arrangement position memory module 19 by books bar code
Information.Second sliding block 8 is the position for being moved to corresponding books 12 on the second guide rail 4 according to the range information of the second sliding block 8, so
Books 12 to be released by push plate 14 afterwards, books administrative staff takes out books, after the books 12 of all positions are pushed out, delivery
Trolley travelling repeats the above steps to next specific position, until all books 12 are pushed out and complete taking care of books.
Claims (7)
1. a kind of books in libraries auxiliary gives back robot system, it is characterised in that：Including carrier loader, the carrier loader packet
Books identification push-off device and navigation positional device are included, the books identification push-off device includes：
Supporting mechanism is used to support books arrangement and stacks；
Bar code scanning module includes the row along the books for the orientation motion scan books bar code along the books
First sliding block of the first guide rod and first guide rod cooperation movement that column direction extends, first sliding block are equipped with scanning dress
It sets, the scanning means scans books bar code and is sent to data conversion module；
Books ejecting mechanism includes that the second guide rod extended along the orientation of the books and second guide rod cooperation move
The second dynamic sliding block, second sliding block are equipped with pushing structure, and the pushing mechanism includes being led perpendicular to the third of the second guide rod
Bar, the third sliding block mobile with the cooperation of third guide rod, the third sliding block are equipped with the push plate for pushing books；
Data conversion module is sent to navigation positional device for receiving the books bar code and being converted to location information；
The navigation positional device receives the location information and controls the carrier loader and runs to corresponding position.
2. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：The supporting mechanism
Including support baseboard, along the books orientation extend the 4th guide rod, with the 4th guide rod cooperation move the 4th
Baffle is arranged in the end of sliding block, the 4th guide rod, and the books are arranged between the baffle and Four-slider.
3. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：The navigator fix
Device includes control module, stationary magnetic field detection circuit, PWM wave level shifting circuit and driving motor, the stationary magnetic field inspection
Slowdown monitoring circuit is used to detect preset magnetic navigation circuit and to the control module feedback signal, and the control module is according to
Feedback signal and the location information control the PWM wave level shifting circuit and export and control driving motor operation, the drive
Dynamic motor is for driving carrier loader to advance.
4. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：The books identification
Push-off device includes books arrangement position memory module and range finder module, when the range finder module measures the push plate promotion books
The range information of second sliding block is simultaneously sent to books arrangement position memory module, and the scanning means scans books bar code and sends
To books arrangement position memory module, the books arrangement position memory module by the range information of second sliding block with it is described
Books bar code is corresponding and stores；The carrier loader obtains the corresponding all books bar codes in the position simultaneously when running to a certain position
The second sliding block movement is controlled by the corresponding range information of books bar code.
5. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：The third guide rod
Head end and tail end the first limit switch is respectively set for limiting the moving range of the third sliding block.
6. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：First guide rod
It is feed screw nut kinematic pair with the first sliding block, the second guide rod and the second sliding block, third guide rod and third sliding block.
7. books in libraries auxiliary according to claim 1 gives back robot system, it is characterised in that：4th guide rod
It is feed screw nut kinematic pair with Four-slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399726.5A CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810399726.5A CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108764393A true CN108764393A (en) | 2018-11-06 |
| CN108764393B CN108764393B (en) | 2021-02-09 |
Family
ID=64012322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810399726.5A Active CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108764393B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109658640A (en) * | 2019-01-29 | 2019-04-19 | 淡立坚 | A kind of books locking device and bookcase shared system |
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| CN104239569A (en) * | 2014-09-30 | 2014-12-24 | 广东科学技术职业学院 | Intelligent bookcase capable of achieving automatic searching, positioning and ejecting |
| CN106032196A (en) * | 2016-06-13 | 2016-10-19 | 西安交通大学 | Automatic library book returning robot and book returning system thereof |
| CN106127640A (en) * | 2016-07-06 | 2016-11-16 | 常熟理工学院 | Campus information management method based on Quick Response Code and system |
| US20170270471A1 (en) * | 2016-03-17 | 2017-09-21 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Smart bookrack, a system, and a method for managing books using the smart bookrack |
| CN206946517U (en) * | 2017-05-18 | 2018-01-30 | 上海第二工业大学 | A kind of intelligent bookshelf system |
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| CN104239569A (en) * | 2014-09-30 | 2014-12-24 | 广东科学技术职业学院 | Intelligent bookcase capable of achieving automatic searching, positioning and ejecting |
| US20170270471A1 (en) * | 2016-03-17 | 2017-09-21 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Smart bookrack, a system, and a method for managing books using the smart bookrack |
| CN106032196A (en) * | 2016-06-13 | 2016-10-19 | 西安交通大学 | Automatic library book returning robot and book returning system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109658640A (en) * | 2019-01-29 | 2019-04-19 | 淡立坚 | A kind of books locking device and bookcase shared system |
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| Publication number | Publication date |
|---|---|
| CN108764393B (en) | 2021-02-09 |
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