CN110053023B - Book management robot system and management method - Google Patents
Book management robot system and management method Download PDFInfo
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- CN110053023B CN110053023B CN201910355397.9A CN201910355397A CN110053023B CN 110053023 B CN110053023 B CN 110053023B CN 201910355397 A CN201910355397 A CN 201910355397A CN 110053023 B CN110053023 B CN 110053023B
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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
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a book management robot system which comprises a CPU module, a mobile platform, a book storage mechanism and a book shelving device, wherein the book storage mechanism is arranged on the mobile platform, the book shelving device is arranged on the side surface of the book storage mechanism, and the CPU module is arranged in the mobile platform.
Description
Technical Field
The invention belongs to the technical field of automation control, and particularly relates to a book management robot system and a book management method.
Background
With the development of society, the living standard of people is continuously improved, people pursue spiritual life except material life more and more, the development of library business is continuously developed by the expansion of the demand of spiritual civilization, and people can borrow books or files wanted in libraries or libraries of public, private and enterprise and public institutions.
At present, the library collection of all colleges and universities reaches hundreds of network books, but the existing book management system adopts the traditional manual management. Library managers register information of books obtained through school purchasing and social donation modes, label the books, and put on the bookshelf in sequence, and the problem of book placement errors can also occur in the process. On the other hand, the librarian needs to register readers for students and teachers and then issue book-borrowing certificates to the students and teachers. When teachers and students need to borrow books, librarians need to register their information. With the increasing number of books in libraries, this approach has not been able to meet such requirements. On one hand, teachers and students cannot know the book storing condition of the school library, and the books in the library are unknown; on the other hand, the librarian feels headache to the librarian, a large amount of files and data are generated due to long time, so that the difficulty in finding, updating and maintaining is high, the labor consumption is high, the error is difficult to avoid, and if the loss of the borrow certificate is reported, a small number of students pretend to use the lost borrow certificate to borrow the book, so that the book flows out.
At present, a fast and effective way is urgently needed to improve the operation efficiency of a book management system and reduce manual operation, and a way of combining a book robot and an internet of things is needed to solve the problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, designs a mobile platform and a book feeding device of a book shelf robot according to the current market demand, and realizes real-time monitoring and remote control on an upper computer and a mobile phone APP by adopting the technology of Internet of things.
The technical scheme is as follows: the book management robot system comprises a CPU module, a mobile platform, a book storage mechanism and a book shelving device, wherein the book storage mechanism is arranged on the mobile platform, the book shelving device is arranged on the side surface of the book storage mechanism, the CPU module is arranged in the mobile platform,
the mobile platform consists of a base and a driving device arranged in the base, wherein the side surface of the base is provided with an obstacle avoidance module, the obstacle avoidance module is connected with a CPU (central processing unit) module, the bottom of the base is provided with a driving wheel, a universal wheel and a two-dimensional code recognizer, the driving wheel and the universal wheel are connected with the CPU module through the driving device, the two-dimensional code recognizer is connected with the CPU module, and the upper part of the base is provided with a rotating shaft;
the book storage mechanism is arranged on a rotating shaft on the base and is of a sandwich structure, a strain gauge is arranged on a sandwich layer in the book storage mechanism and is connected with the CPU module, and a borrowing and returning module is also arranged on the book storage mechanism;
the book shelving device is composed of a guide rail and a screw rod which are vertically arranged on the side face of the book storage mechanism, a sliding joint arranged on the guide rail and the screw rod, a mechanical arm arranged on the sliding joint and a clamping mechanism arranged at the end part of the mechanical arm, wherein an image acquisition device is arranged on the clamping mechanism, the image acquisition device is connected with a CPU module, and the screw rod is driven by a driving device in a mobile platform.
Preferably, the driving device is a servo motor.
Preferably, the mechanical arm consists of a large arm, a middle arm hinged on the large arm and a small arm jointed on the middle arm, the large arm is hinged on the sliding joint, the clamping mechanism is hinged at the end part of the small arm, the hinged position is controlled by an adjusting servo motor, and the adjusting servo motor is connected with the CPU module through an encoder.
Preferably, the CPU module is controlled through an upper computer or a mobile phone APP, and the upper computer is provided with a management system for controlling and managing the whole system.
Preferably, a control interface in the management system is in normal communication with the mobile phone APP and realizes the data exchange function between the upper computer and the mobile phone APP; the working state and the progress of the shelf on the book and the statistics and the updating of the current library data of the library are provided.
A book management robot system management method comprises the following steps:
a. the following functions are provided on the interface of the management system in the upper computer:
(1) checking the information of the books currently on the shelf and the specific borrowing and returning conditions and the positions of the books in the library; (2) displaying the position information and the working state of the current book shelf robot in real time;
(3) specific data of current borrowed books and returned books;
(4) the specific information of the image collected by a camera at the book loading device is checked;
(5) in a working state, clicking a 'book information query' button at any time to query specific position information and library information of a target book;
(6) the information of the books on the shelves and the books not on the shelves in the next shelving work is updated in real time, so that the books on the shelves and the books not on the shelves can be conveniently checked by the staff;
b. a management system in the upper computer sets corresponding operation authorities for different grades of personnel, and carries out grade identification through logged account information;
c. after the user logs in, a management interface appears, the server of the system is connected, the working mode selection of the robot system is carried out, and the working mode selection respectively comprises a book shelf loading mode, a book borrowing and returning mode and an inventory mode,
(1) selecting a book shelf-loading mode, and storing specific information of the returned books by the robot according to the previous book returning process of the user: for example, book identification information, book cabinet number and layer number information returned by a book, information for path planning by using a navigation system, and position information of the returned book placed in a book storage mechanism are determined according to strain foils arranged on an interlayer in the book storage mechanism, after a book shelf loading mode is selected, the book shelf is driven to a target book cabinet by using the navigation and positioning system, the position of the book is identified by a camera of a mechanical arm, and the mechanical arm sequentially completes book positioning and replacement to realize book shelf loading work;
(2) selecting a borrowing and returning mode, using the RFID technology by the robot, borrowing and returning books by identifying corresponding tags of the returned books, and placing the books at a book storage mechanism of the robot after the user returns the books;
(3) and in the book checking mode, the RFID technology and the visual image processing technology are utilized, the robot moves the body and the camera, book information is sequentially scanned according to a planned path, the scanned book information is stored, books are checked, and book data in the library are updated.
Has the advantages that: the invention controls the linear motion of the mobile platform through the driving wheel, realizes the pivot steering of the mobile device through differential control and matching with the universal wheel, does not limit the motion trail of the robot, improves the space utilization rate and is convenient for the process of putting books on shelves; the two-dimensional code recognition module is arranged at the bottom of the mobile platform, the two-dimensional code attached to the ground in the library is scanned through the two-dimensional code recognition module, and the real-time position of the robot is determined by reading the information of the two-dimensional code, so that autonomous navigation is realized; a rotating shaft is designed at the upper part of the driving device of the mobile body, and the mobile platform is connected with the book storage mechanism through the rotating shaft, so that the book rotary-dumping mechanism is realized, and the omnibearing book taking and shelving process is realized; the book storage mechanism is provided with a borrowing and returning module, a strain foil is arranged on an interlayer in the book storage mechanism, and the position of a user for placing a book on the book storage mechanism is judged; in the book shelf device, the up-and-down movement of the mechanical arm is realized through a screw rod and a guide rail; the book is identified through the image acquisition equipment, the position of the books on the shelf is determined, the mechanical arm is controlled, the work of putting the books on the shelf is realized through the clamping mechanism, the books are put on the shelf, the books are borrowed and returned, and the books are checked more conveniently through the management method, the labor cost is reduced, the book management is more standardized, speeded and automated, the unattended book management is realized, the book management cost is saved, the book circulation speed is increased, the user can be helped to quickly find the required books, and the borrowing experience of the borrower is improved.
Drawings
FIG. 1 is a perspective view of the invention;
FIG. 2 is a front view structural diagram of FIG. 1;
FIG. 3 is a 45 top view of the mobile platform of the present invention;
FIG. 4 is a 45 bottom view of the moving platform of FIG. 3;
FIG. 5 is an interface of the upper computer management system of the present invention;
FIG. 6 is a flow chart of the upper computer control according to the present invention.
Fig. 7 is a mobile phone APP control interface of the present invention.
1. The device comprises a moving platform 2, a book storage mechanism 3, a book shelving device 4, an obstacle avoidance module 5, a driving wheel 6, a universal wheel 7, a rotating shaft 8, a two-dimensional code recognizer 9, a borrowing and returning module 10, a strain gauge 11, a screw rod 12, a guide rail 13, a sliding joint 14, a large arm 15, a middle arm 16, a small arm 17, a clamping mechanism 18 and image acquisition equipment.
Detailed Description
As shown in fig. 1 to 4, the book management robot system comprises a CPU module, a mobile platform 1, a book storage mechanism 2, and a book shelving device 3, wherein the book storage mechanism 2 is installed on the mobile platform 1, the book shelving device 3 is installed on the side surface of the book storage mechanism 2, the CPU module is installed inside the mobile platform 1,
the mobile platform 1 consists of a base and a driving device arranged in the base, wherein the side surface of the base is provided with an obstacle avoidance module 4, the obstacle avoidance module 4 is connected with a CPU (central processing unit) module, the bottom of the base is provided with a driving wheel 5, a universal wheel 6 and a two-dimensional code recognizer 8, the driving wheel 5 and the universal wheel 6 are connected with the CPU module through the driving device, the two-dimensional code recognizer 8 is connected with the CPU module, and the upper part of the base is provided with a rotating shaft 7;
the book storage mechanism 2 is arranged on a rotating shaft 7 on the base, the book storage mechanism 2 is of a sandwich structure, a strain gauge 10 is arranged on a sandwich layer in the book storage mechanism 2, the strain gauge 10 is connected with the CPU module, and the book storage mechanism 2 is also provided with a borrowing and returning module 9;
the book shelving device 3 is composed of a guide rail 12 and a screw rod 11 which are vertically arranged on the side surface of the book storage mechanism 2, a sliding joint 13 arranged on the guide rail 12 and the screw rod 11, a mechanical arm arranged on the sliding joint 13, and a clamping mechanism 16 arranged at the end part of the mechanical arm, wherein an image acquisition device 18 is arranged on the clamping mechanism 16, the image acquisition device is connected with a CPU module, the screw rod 11 is driven by a driving device in the mobile platform 1, and the clamping mechanism 16 is a mechanical gripper.
In this example, the drive means is a servo motor.
In this example, the robot arm is composed of a large arm 14, a middle arm 15 hinged on the large arm 14, and a small arm 16 jointed on the middle arm 15, the large arm 14 is hinged on the sliding joint 13, the clamping mechanism 16 is hinged on the end of the small arm 16, the hinged position is controlled by an adjusting servo motor, and the adjusting servo motor is connected with the CPU module through an encoder.
In this example, the CPU module is controlled through host computer or cell-phone APP, the host computer is equipped with management system, control and management entire system.
In this example, the control interface in the management system communicates with the mobile phone APP normally and realizes the data exchange function between the upper computer and the mobile phone APP; the working state and the progress of the shelf on the book and the statistics and the updating of the current library data of the library are provided.
Borrow that still book module adopts be B/S mode and C/S mode mixed framework, be connected with the CPU module to carry out specific design around librarian, librarian and 3 kinds of users of reader, what the reader borrow the book of system and still book function module adopted is the C/S framework, and librarian 'S administrative function adopts the B/S module, and to librarian and reader' S department function, what adopt is mixed framework.
The driving wheels 5 are used for controlling the moving platform 1 to move linearly, and the differential control is used for matching with the universal wheels 6, so that the pivot steering of the moving device is realized, the motion track of the robot is not limited, the space utilization rate is improved, and the book shelving process is facilitated; a two-dimensional code recognition module is arranged at the bottom of the mobile platform 1, two-dimensional codes attached to the ground in a library are scanned through the two-dimensional code recognition module, and the real-time position of the robot is determined by reading the information of the two-dimensional codes, so that autonomous navigation is realized; a rotating shaft 7 is designed at the upper part of the driving device of the mobile body, and the mobile platform 1 is connected with the book storage mechanism 2 through the rotating shaft 7, so that the book storage and discharge mechanism 2 is rotated and discharged, and the omnibearing book taking and putting process is realized; the book storing mechanism 2 is provided with a borrowing and returning module 9, a strain gauge 10 is arranged on an interlayer in the book storing mechanism 2, and the position of a user for placing a book on the book storing mechanism 2 is judged; in the book shelf device 3, the up-and-down movement of a mechanical arm is realized through a screw rod 11 and a guide rail 12; the books are identified through the image acquisition equipment 18, the positions of the books on the shelves are determined, the mechanical arms are controlled, and the books are placed on the shelves through the clamping mechanisms 16.
A book management robot system management method comprises the following steps:
a. the following functions are provided on the interface of the management system in the upper computer: as shown in figure 5 of the drawings,
(1) checking the information of the books currently on the shelf and the specific borrowing and returning conditions and the positions of the books in the library; (2) displaying the position information and the working state of the current book shelf robot in real time;
(3) specific data of current borrowed books and returned books;
(4) the specific information of the image collected by a camera at the book loading device is checked;
(5) in a working state, clicking a 'book information query' button at any time to query specific position information and library information of a target book;
(6) the information of the books on the shelves and the books not on the shelves in the next shelving work is updated in real time, so that the books on the shelves and the books not on the shelves can be conveniently checked by the staff;
b. a management system in the upper computer sets corresponding operation authorities for different grades of personnel, and carries out grade identification through logged account information;
c. after the user logs in, a management interface appears, the server of the system is connected, the working mode selection of the robot system is carried out, and the working mode selection respectively comprises a book shelf loading mode, a book borrowing and returning mode and an inventory mode, as shown in figure 6,
(1) selecting a book shelf-loading mode, and storing specific information of the returned books by the robot according to the previous book returning process of the user: for example, book identification information, book cabinet number and layer number information returned by a book, information for path planning by using a navigation system, and position information of the returned book placed in a book storage mechanism are determined according to strain foils arranged on an interlayer in the book storage mechanism, after a book shelf loading mode is selected, the book shelf is driven to a target book cabinet by using the navigation and positioning system, the position of the book is identified by a camera of a mechanical arm, and the mechanical arm sequentially completes book positioning and replacement to realize book shelf loading work;
(2) and selecting a borrowing and returning mode, and using the RFID technology by the robot to borrow and return books by identifying the corresponding tags of the returned books. If the user returns the book, placing the book at a book storage mechanism of the robot;
(3) and in the book checking mode, the RFID technology and the visual image processing technology are utilized, the robot moves the body and the camera, book information is sequentially scanned according to a planned path, the scanned book information is stored, books are checked, and book data in the library are updated.
The mobile phone APP main interface displays the work progress of book shelving, can check the information of the books currently shelved by the robot, and can also display the specific information of the books shelved and the books not shelved in the current task, as shown in FIG. 7. Such as the name and number of the book and the location information of the particular bookshelf on which it is located. And simultaneously, providing function selections on the mobile phone interface, wherein the function selections comprise 'page refreshing', 'real-time monitoring' and 'record clearing'. The function of refreshing the page can acquire the current latest data in real time and master the real-time dynamics of the robot; the function of real-time monitoring is realized, and a worker can obtain a monitoring image of a camera on the book shelving device through the function and continuously update monitoring information; the "clear record" function: and clearing the information data and the history record of the monitoring platform and releasing the memory.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (3)
1. A book management robot system characterized in that: comprises a CPU module, a mobile platform, a book storage mechanism and a book shelving device, wherein the book storage mechanism is arranged on the mobile platform, the book shelving device is arranged on the side surface of the book storage mechanism, the CPU module is arranged in the mobile platform,
the mobile platform consists of a base and a driving device arranged in the base, wherein the side surface of the base is provided with an obstacle avoidance module, the obstacle avoidance module is connected with a CPU (central processing unit) module, the bottom of the base is provided with a driving wheel, a universal wheel and a two-dimensional code recognizer, the driving wheel and the universal wheel are connected with the CPU module through the driving device, the two-dimensional code recognizer is connected with the CPU module, and the upper part of the base is provided with a rotating shaft;
the book storage mechanism is arranged on a rotating shaft on the base and is of a sandwich structure, a strain gauge is arranged on a sandwich layer in the book storage mechanism and is connected with the CPU module, and a borrowing and returning module is also arranged on the book storage mechanism;
the book shelving device comprises a guide rail and a screw rod which are vertically arranged on the side surface of the book storage mechanism, a sliding joint arranged on the guide rail and the screw rod, a mechanical arm arranged on the sliding joint and a clamping mechanism arranged at the end part of the mechanical arm, wherein the clamping mechanism is provided with an image acquisition device, the image acquisition device is connected with a CPU module, and the screw rod is driven by a driving device in the mobile platform;
the mechanical arm consists of a large arm, a middle arm hinged on the large arm and a small arm jointed on the middle arm, the large arm is hinged on the sliding joint, the clamping mechanism is hinged at the end part of the small arm, the hinged position is controlled by an adjusting servo motor, and the adjusting servo motor is connected with the CPU module through an encoder;
the CPU module is controlled by an upper computer or a mobile phone APP, and the upper computer is provided with a management system for controlling and managing the whole system;
a control interface in the management system is in normal communication with the mobile phone APP and realizes the data exchange function between the upper computer and the mobile phone APP; the working state and the progress of the shelf on the book and the statistics and the updating of the current library data of the library are provided.
2. The book management robot system according to claim 1, characterized in that: the driving device is driven by a servo motor.
3. A book management robot system management method is characterized in that: the management method comprises the following steps:
a. the following functions are provided on the interface of the management system in the upper computer:
(1) checking the information of the books currently on the shelf, the specific borrowing and returning conditions of the books and the positions of the books in the museum;
(2) displaying the position information and the working state of the current book shelf robot in real time;
(3) specific data of current borrowed books and returned books;
(4) the specific information of the image collected by a camera at the book loading device is checked;
(5) in a working state, clicking a 'book information query' button at any time to query specific position information and library information of a target book;
(6) the information of the books on the shelves and the books not on the shelves in the next shelving work is updated in real time, so that the books on the shelves and the books not on the shelves can be conveniently checked by the staff;
b. a management system in the upper computer sets corresponding operation authorities for different grades of personnel, and carries out grade identification through logged account information;
c. after the user logs in, a management interface appears, the server of the system is connected, the working mode selection of the robot system is carried out, and the working mode selection respectively comprises a book shelf loading mode, a book borrowing and returning mode and an inventory mode,
(1) selecting a book shelf-loading mode, and storing specific information of the returned books by the robot according to the previous book returning process of the user: identifying information of books, book cabinet numbers and layer number information returned by the books, utilizing a navigation system to perform path planning, determining position information of the returned books placed in a book storage mechanism according to strain foils arranged on an interlayer in the book storage mechanism, after a book shelf loading mode is selected, utilizing the navigation and positioning system to drive the books to a target book cabinet, identifying the positions of the books through a camera of a mechanical arm, and sequentially completing book positioning and placing back through the mechanical arm to realize book shelf loading work;
(2) selecting a borrowing and returning mode, using the RFID technology by the robot, borrowing and returning books by identifying corresponding tags of the returned books, and placing the books at a book storage mechanism of the robot after the user returns the books;
(3) and in the book checking mode, the RFID technology and the visual image processing technology are utilized, the robot moves the body and the camera, book information is sequentially scanned according to a planned path, the scanned book information is stored, books are checked, and book data in the library are updated.
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| CN111570292A (en) * | 2020-05-22 | 2020-08-25 | 南通大学 | OpenCV-based automatic book sorting and shelving robot system for facial recognition |
| CN111698316A (en) * | 2020-06-10 | 2020-09-22 | 黎明职业大学 | Book shelf-staggering sorting system and method based on robot |
| CN111687853B (en) * | 2020-06-12 | 2023-03-21 | 郑州轻工业大学 | Library operation robot and operation method thereof |
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