CN110490283A - A kind of books sorting system based on UWB positioning - Google Patents
A kind of books sorting system based on UWB positioning Download PDFInfo
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- CN110490283A CN110490283A CN201910796886.8A CN201910796886A CN110490283A CN 110490283 A CN110490283 A CN 110490283A CN 201910796886 A CN201910796886 A CN 201910796886A CN 110490283 A CN110490283 A CN 110490283A
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- books sorting
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- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000012795 verification Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 13
- 238000007726 management method Methods 0.000 claims description 10
- 238000013439 planning Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
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
- 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
- G06K17/0025—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 the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
-
- 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
- G06K17/0029—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 the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
Abstract
The invention proposes a kind of books sorting systems based on UWB positioning, belong to library management technical field.The system comprises the host computer that checks out, book database, books sorting machine people, wireless communication device, UWB positioning system and taking care of books host computers；The books sorting system effectively improves the effect that also book takes book, saves manpower.
Description
Technical field
The present invention relates to a kind of books sorting systems based on UWB positioning, belong to internet of things field.
Background technique
Majority library realizes substantially by two-dimensional bar code and database technology and utilizes Service in Book Management Information System at present
Purchase of books, book reservation, reader are carried out by means of the informationization of the also links such as book, improves the management and service level in library.
However, library lacks the automation equipment based on mechanization, the upper undercarriage of books, carrying, patch in Internet of Things tide
The operations such as bar code, classification and duplicate checking still rely on manually to complete.The daily book consulting amount in large and medium-sized library is big, books
The operations such as classification, carrying and restocking need to spend a large amount of manpower, there is also shelving mistake sometimes.
Summary of the invention
The present invention asks to solve library's also book, the labor intensive that checks out and normal technology for mistake occur in the prior art
Topic proposes a kind of books sorting system based on UWB positioning, the technical solution taken are as follows:
A kind of books sorting system based on UWB positioning, the system comprises the host computer that checks out, book database, books
Sorting machine people, wireless communication device, UWB positioning system and taking care of books host computer；
The host computer that checks out checks out and also book interface platform for providing for user；
It the book data lab setting and checks out in host computer, query result is inquired and returned for books register；
The wireless communication device is used to the location information of book being sent to books sorting machine people, and positions transmission books
The location information of sorting machine people；
The books sorting machine people reaches books position according to books location information and sorts books；
The taking care of books host computer is used to take book path, and monitoring pipe according to map planning books sorting machine people in shop
Manage the position of books sorting machine people；
The UWB positioning system is set on books sorting machine people, for carrying out Centimeter Level for books sorting machine people
Indoor positioning.
Further, the host computer that checks out is using PC machine or mobile phone；The taking care of books host computer uses mobile phone.
Further, the taking care of books host computer is equipped with book management system system；The book management system is used for
Planning takes book path, monitors the shift position of books sorting machine people and take book, also book process.
Further, the books sorting machine people includes that camera, mechanical arm, RFID detection device and omni-directional wheel are small
Vehicle；The camera, mechanical arm and RFID detection device are set to omni-directional wheel trolley.
Further, the process of checking out of the books sorting system based on UWB positioning includes:
Step 1: the instruction that checks out of the input of user is sent to book database by the host computer that checks out；
Step 2: whether in stock book database judges books, if prompted without inventory without book；Such as in stock,
Then taking care of books host computer is according to topographic map in books position and books sorting machine people handling situations and shop, planning chart
Book sorting machine people takes book path；
Step 3: taking care of books host computer send move to books sorting machine human hair by wireless communication apparatus, figure
Book sorting machine people is moved to designated position；
Step 4: the position of books sorting machine people is verified by UWB positioning system, if books sorting machine does not arrive
Up to designated position, then the verifying of UWB positioning system is re-started until books sorting machine people reaches designated position；If books point
It picks machine and reaches designated position, then carry out the RFID label tag verifying on books；If RFID label tag is verified as "No", it is back to
UWB positioning system verification process, re-starts location verification；If RFID label tag is verified as "Yes", system manipulates books point
The mechanical arm for picking robot carries out taking book；
Step 5: system, which manipulates books sorting machine people, is sent to designated position for the book taken out.
Further, the also book process of the books sorting system based on UWB positioning includes:
The first step, user are scanned before the two dimensional code in book to be placed in the camera of books sorting machine people；
Second step, the book information and RFID label tag obtained according to two dimensional code, carry out two dimensional code and RFID double verification, such as
Fruit verification information is not inconsistent, then re-starts verifying；If verification information is correct, then book data library inquiry bookshelf information, and plan
The walking path of books sorting machine people；
Third step, books sorting machine people send book to bookshelf according to planning path；
4th step, UWB positioning system carry out locating verification, if locating verification is not inconsistent, manipulate books sorter again
Device people is moved to designated position；If locating verification meets the requirements, books sorting machine people obtains according to the image of camera,
It analyzes and determines books align ends position, and manipulator's arm also book, book is placed on bookshelf；
5th step, in also book certain situation of the host computer according to books sorting machine people that check out, " also book is shown on interface
Success ".
The invention has the advantages that:
A kind of books sorting system based on UWB positioning proposed by the present invention can effectively, accurately by system monitoring
Take the operation of book and also book.The system can effectively reduce the consuming of manpower by robot；UWB positioning system, two
The verifying of dimension code and RFID, which are verified, can effectively improve the book information accuracy to check out and in and books location information accurately monitors,
The mistake generated during checking out and in is effectively reduced, the effect and accuracy to check out and in is largely improved.
Detailed description of the invention
Fig. 1 is the system structure diagram of the books sorting system of the present invention based on UWB positioning；
Fig. 2 is the flow chart that checks out of the books sorting system of the present invention based on UWB positioning；
Fig. 3 is the also book flow chart of the books sorting system of the present invention based on UWB positioning.
Specific embodiment
The present invention will be further described combined with specific embodiments below, but the present invention should not be limited by the examples.
Embodiment 1:
A kind of books sorting system based on UWB positioning, as shown in Figure 1, the system comprises the host computers that checks out, books number
According to library, books sorting machine people, wireless communication device, UWB positioning system and taking care of books host computer；
The host computer that checks out checks out and also book interface platform for providing for user；
It the book data lab setting and checks out in host computer, query result is inquired and returned for books register；
The wireless communication device is used to the location information of book being sent to books sorting machine people, and positions transmission books
The location information of sorting machine people；
The books sorting machine people reaches books position according to books location information and sorts books；
The taking care of books host computer is used to take book path, and monitoring pipe according to map planning books sorting machine people in shop
Manage the position of books sorting machine people；
The UWB positioning system is set on books sorting machine people, for carrying out Centimeter Level for books sorting machine people
Indoor positioning.
The host computer that checks out uses PC machine or mobile phone, and when the host computer that checks out is using PC machine, journey is designed on windows platform
Sequence.Book database is carried, the industry in the information and lending state of databases storage book, for Readers ' Query books state
Business.After reader selectes and to be borrowed the books taken, linked by socket.The information of the books is sent in library management
Position machine, notifies it to robotic delivery path and operating instruction.
The taking care of books host computer is equipped with book management system system；The book management system is for monitoring books point
It picks the shift position of robot and book, also book process and planning robot is taken to take book also book path.The host computer main body is one
Map APP in Android platform shows the indoor detailed landform of collected books.Pass through WiFi and robot and the host computer that checks out
It is connected into the same local area network.Received based on the mina Frame Design TCP server-side thread provided in Java from the base station UWB by
The range information that WiFi module transmits.Go out the position of robot by Locate step by step arithmetic analysis according to the range information received
The position of robot is displayed on the screen by coordinate according to the position coordinates parsed.Monitor is designed, monitoring checks out upper
Request that machine was sent check out and the also book that robot is sent request.Diameter algorithm is sought in design, with searching according to the request listened to
Its path that should walk of rope, guides the movement of transfer robot, its completion is made to put book and take the work of book.
The books sorting machine people includes camera, mechanical arm, RFID detection device and omni-directional wheel trolley；It is described to take the photograph
As head, mechanical arm and RFID detection device are set to omni-directional wheel trolley.
Books sorting machine people takes turns vehicle main body by wheat and mechanical arm forms.Execution checks out when servicing, and can pass through WiFi mould
Block receives routing information and is moved at specified bookshelf according to the path received, and book removal is put into loading using mechanical arm
In basket, then book is given reader by backtracking.When executing also book service, book is put into and loads in basket by reader, and robot leads to automatically
It crosses after camera scans and parse the two dimensional code on book, passes the information of book back to host computer and the path of book is sent in acquisition, according still further to
The path got is moved to corresponding bookshelf, and book is put back to.
By production, 5 pieces of UWB modules --- DWM1000 chip is constituted UWB positioning system, allows to carry out the essence in space
Quasi- ranging, and Wifi module is carried, there is the ability that range information is passed to host computer.
As shown in Fig. 2, the process of checking out of the books sorting system based on UWB positioning includes:
Step 1: the instruction that checks out of the input of user is sent to book database by the host computer that checks out；
Step 2: whether in stock book database judges books, if prompted without inventory without book；Such as in stock,
Then taking care of books host computer is according to topographic map in books position and books sorting machine people handling situations and shop, planning chart
Book sorting machine people takes book path；
Step 3: taking care of books host computer send move to books sorting machine human hair by wireless communication apparatus, figure
Book sorting machine people is moved to designated position；
Step 4: the position of books sorting machine people is verified by UWB positioning system, if books sorting machine does not arrive
Up to designated position, then the verifying of UWB positioning system is re-started until books sorting machine people reaches designated position；If books point
It picks machine and reaches designated position, then carry out the RFID label tag verifying on books；If RFID label tag is verified as "No", it is back to
UWB positioning system verification process, re-starts location verification；If RFID label tag is verified as "Yes", system manipulates books point
The mechanical arm for picking robot carries out taking book；
Step 5: system, which manipulates books sorting machine people, is sent to designated position for the book taken out.
As shown in figure 3, the also book process of the books sorting system based on UWB positioning includes:
The first step, user are scanned before the two dimensional code in book to be placed in the camera of books sorting machine people；
Second step, the book information and RFID label tag obtained according to two dimensional code, carry out two dimensional code and RFID double verification, such as
Fruit verification information is not inconsistent, then re-starts verifying；If verification information is correct, then book data library inquiry bookshelf information, and plan
The walking path of books sorting machine people；
Third step, books sorting machine people send book to bookshelf according to planning path；
4th step, UWB positioning system carry out locating verification, if locating verification is not inconsistent, manipulate books sorter again
Device people is moved to designated position；If locating verification meets the requirements, books sorting machine people obtains according to the image of camera,
It analyzes and determines books align ends position, and manipulator's arm also book, book is placed on bookshelf；
5th step, in also book certain situation of the host computer according to books sorting machine people that check out, " also book is shown on interface
Success ".
Although the present invention has been disclosed in the preferred embodiment as above, it is not intended to limit the invention, any to be familiar with this
The people of technology can do various changes and modification, therefore protection of the invention without departing from the spirit and scope of the present invention
Range should subject to the definition of the claims.
Claims (6)
1. a kind of books sorting system based on UWB positioning, which is characterized in that the system comprises the host computers that checks out, books number
According to library, books sorting machine people, wireless communication device, UWB positioning system and taking care of books host computer；
The host computer that checks out checks out and also book interface platform for providing for user；
The book data lab setting and check out in host computer, for books register and position enquiring, return query result and
Planning books sorting machine people takes book path；
The wireless communication device is used to the location information of book being sent to books sorting machine people, and positions and send books sorting
The location information of robot；
The books sorting machine people reaches books position according to books location information and sorts books；
The taking care of books host computer is used for the position of monitoring management books sorting machine people；
The UWB positioning system is set on books sorting machine people, for carrying out the room of Centimeter Level for books sorting machine people
Interior positioning.
2. the books sorting system according to claim 1 based on UWB positioning, which is characterized in that the host computer that checks out is adopted
With PC machine or mobile phone；The taking care of books host computer uses mobile phone.
3. the books sorting system based on UWB positioning according to claim, which is characterized in that the taking care of books host computer
Equipped with book management system system；The book management system be used for monitor books sorting machine people shift position and take book,
Also book process.
4. the books sorting system according to claim 1 based on UWB positioning, which is characterized in that the books sorting machine
People includes camera, mechanical arm, RFID detection device and omni-directional wheel trolley；The camera, mechanical arm and RFID detection
Device is set to omni-directional wheel trolley.
5. according to claim 1 based on UWB positioning books sorting system, which is characterized in that it is described based on UWB positioning
The process of checking out of books sorting system includes:
Step 1: the instruction that checks out of the input of user is sent to book database by the host computer that checks out；
Step 2: whether in stock book database judges books, if prompted without inventory without book；As in stock, then root
According to topographic map in books position and books sorting machine people handling situations and shop, the road books sorting machine Ren Qushu is planned
Diameter；
Step 3: the host computer that checks out passes through wireless communication apparatus to books sorting machine people, books sorting machine people is moved to finger
Positioning is set；
Step 4: verifying the position of books sorting machine people by UWB positioning system, refer to if books sorting machine does not reach
Positioning is set, then re-starts the verifying of UWB positioning system until books sorting machine people reaches designated position；If books sorter
Device reaches designated position, then carries out the RFID label tag verifying on books；If RFID label tag is verified as "No", it is back to UWB
Positioning system verification process, re-starts location verification；If RFID label tag is verified as "Yes", system manipulates books sorter
The mechanical arm of device people carries out taking book；
Step 5: system, which manipulates books sorting machine people, is sent to designated position for the book taken out.
6. according to claim 1 based on UWB positioning books sorting system, which is characterized in that it is described based on UWB positioning
The also book process of books sorting system includes:
The first step, user are scanned before the two dimensional code in book to be placed in the camera of books sorting machine people；
Second step, the book information and RFID label tag obtained according to two dimensional code, carry out two dimensional code and RFID double verification, if tested
Card information is not inconsistent, then re-starts verifying；If verification information is correct, then book data library inquiry bookshelf information, and plan books
The walking path of sorting machine people；
Third step, books sorting machine people send book to bookshelf according to planning path；
4th step, UWB positioning system carry out locating verification, if locating verification is not inconsistent, manipulate books sorting machine people again
It is moved to designated position；If locating verification meets the requirements, books sorting machine people obtains according to the image of camera, analysis
It determines books align ends position, and manipulator's arm also book, book is placed on bookshelf；
5th step, in also book certain situation of the host computer according to books sorting machine people that check out, on interface display " also book at
Function ".
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910796886.8A CN110490283A (en) | 2019-08-27 | 2019-08-27 | A kind of books sorting system based on UWB positioning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910796886.8A CN110490283A (en) | 2019-08-27 | 2019-08-27 | A kind of books sorting system based on UWB positioning |
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| CN110490283A true CN110490283A (en) | 2019-11-22 |
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| CN201910796886.8A Pending CN110490283A (en) | 2019-08-27 | 2019-08-27 | A kind of books sorting system based on UWB positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230662A (en) * | 2020-10-27 | 2021-01-15 | 开封思哲睿机器人有限公司 | Article access control method and device and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177332A (en) * | 2013-02-06 | 2013-06-26 | 山东理工大学 | Books management method and books management system based on space coordinate positioning technology |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| 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 |
-
2019
- 2019-08-27 CN CN201910796886.8A patent/CN110490283A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103177332A (en) * | 2013-02-06 | 2013-06-26 | 山东理工大学 | Books management method and books management system based on space coordinate positioning technology |
| CN105682047A (en) * | 2016-03-16 | 2016-06-15 | 南通大学 | UWB-based indoor mobile robot navigation and positioning system |
| 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 |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230662A (en) * | 2020-10-27 | 2021-01-15 | 开封思哲睿机器人有限公司 | Article access control method and device and storage medium |
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Application publication date: 20191122 |
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