CN111300437A - Library's books intelligence is collected and is stored collection and transportation robot - Google Patents
Library's books intelligence is collected and is stored collection and transportation robot Download PDFInfo
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- CN111300437A CN111300437A CN201911244834.6A CN201911244834A CN111300437A CN 111300437 A CN111300437 A CN 111300437A CN 201911244834 A CN201911244834 A CN 201911244834A CN 111300437 A CN111300437 A CN 111300437A
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- temporary storage
- storage box
- fixed shell
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- 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
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing 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
- B25J9/16—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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The utility model provides a library books intelligence is collected storage and is collected fortune robot, mainly is kept away barrier device, ultrasonic ranging sensor, follows alarm device, information display screen, perspective window, automatic closing book-throwing mouth, weight detection device, motor, lock door department, disk lock by four wheel drive omnidirectional movement platform, temporary storage box, fixed casing, switch apron, infrared ray and constitutes. The device comprises a temporary storage box, a fixed shell, a following alarm device and an infrared sensor, wherein the temporary storage box, the fixed shell, the following alarm device and the infrared sensor are all installed on a four-wheel drive omnidirectional mobile platform, the temporary storage box can rotate around a central shaft, an information display screen, an automatic closing book throwing port and a perspective window are installed above the fixed shell, a weight detection device is fixed in a partition of the temporary storage box, and a switchable cover plate is installed above the temporary storage box and can rotate around a hinged position. The invention realizes the work of identifying, collecting, carrying and the like of the returned books by the library book intelligent collection, storage and collection robot through various methods, and has simple, safe and reliable structure and low manufacturing cost.
Description
Technical Field
The invention relates to the technical field of book management, in particular to an intelligent collection, storage and transportation robot for books in a library.
Background
With the continuous development of the scientific level, the mental demand of people on knowledge is continuously increased, and the number of books borrowed by a library every day is hundreds of thousands. Under traditional books management mode, staff's letter sorting task is heavy, and is long consuming time, and the transport degree of difficulty is big, and is inefficient, and the shortcoming that appears in the traditional books management mode then is expected to improve in the appearance of intelligent robot, improves the intelligent level of library's service.
At present, library management type robots mostly have certain limitation, for example, robots with low intelligent degree, single function and complete functions are not beneficial to engineering application and the like due to complex structure and high manufacturing cost. For example, the belt-driven sorting robot can only sort books, and has single function and huge volume; although the AGV type book carrying robot is convenient, the movement of the AGV type book carrying robot is mainly wired in advance by guiding devices such as electromagnetism or metal strips, and the like, and the movement path is fixed and has large limitation; the robot adopting the RFID technology with high intelligent degree identifies the target through non-contact data communication between the reader and the tag, and has complete functions, high cost and complex structure. In conclusion, for a traditional library, the library management robot has the advantages of being large in limitation and low in cost performance.
The intelligent collection, storage and transportation robot for the books in the library is designed aiming at the aspects of intelligent identification, quick collection, efficient transportation and the like of the books, has the advantages of simple structure, safety, reliability, lower manufacturing cost and high intelligent degree, and is beneficial to the intelligent development of the traditional library.
Disclosure of Invention
The invention aims to reduce the workload of library staff and improve the intelligent management service level of a library, and provides a library book intelligent collection, storage and transportation robot based on machinery, which is used for realizing collection, sorting, carrying and going upstairs and downstairs of returned books so as to reduce the workload of the staff, and has the advantages of simple and safe design and low manufacturing cost.
The technical scheme adopted by the invention is as follows:
an intelligent collection, storage and collection robot for library books is mainly composed of a four-wheel drive omnidirectional moving platform 1, a temporary storage box 2, a fixed shell 3, a switchable cover plate 4, an infrared obstacle avoidance device 5, an ultrasonic distance measurement sensor 6, a following alarm device 7, an information display screen 8, a perspective window 9, an automatic closing book throwing port 10, a weight detection device 11, a motor 12, a door locking position 13 and a disk-shaped lock 14, wherein the temporary storage box 2, the fixed shell 3, the infrared obstacle avoidance device 4 and the following alarm device 7 are all installed on the four-wheel drive omnidirectional moving platform 1, the temporary storage box 2 and the fixed shell 3 are coaxial, the bottom of the ultrasonic distance measurement sensor 6 is welded inside the four-wheel drive omnidirectional moving platform 1, the information display screen 8, the automatic closing book throwing port 10 and the perspective window 9 are installed above the fixed shell 3, the weight detection device 11 is evenly distributed into each subarea of the temporary storage box 2, the openable cover plate 4 is installed above the temporary storage box 2, is hinged and matched with the fixed shell 3 and can rotate around the hinged position, and the openable cover plate 4 can be locked on the fixed shell 3 by the door locking position 13 and the disk-shaped lock 14.
But switch apron 4 is the semicircle type, installs in case 2 tops of keeping in, with the articulated cooperation in fixed casing 3 tops, and can be rotatory around articulated department, lock door department 13 is the ring shape, the welding is at the 4 backs of switch apron, disk lock 14 also is the ring shape, center department clearance is adjustable, when switch apron 4 closes, lock door department 13 passes the clearance, detain mutually with the 14 rings of disk lock of welding on fixed casing 3, reach the effect of locking switch apron 4 on fixed casing 3.
The automatic closing and feeding port 10 is installed above the fixed shell 3 and located between the information display screen 10 and the perspective window 9 and is connected with the fixed shell 3 through welding, a recognition device for recognizing books is embedded inside the automatic closing and feeding port 10, the returned books can be recognized and the final result is sent to the information display screen 8, and the information display screen 8 is embedded in a groove in the fixed shell 3.
Each subregion of temporary storage case 2 is equallyd divide to weight detection device 11, and perspective window 9 is formed by transparent lens and fixing device are articulated, can realize the observation to the inside book case storage condition of depositing and be convenient for in time carry out preliminary judgement to the inside storage condition when the trouble takes place.
The infrared obstacle avoidance device 5 is installed on the four-wheel drive omnidirectional moving platform 1 below the temporary storage box 2 in a bolt connection mode, the number of the ultrasonic ranging sensors 6 is two, the bottoms of the ultrasonic ranging sensors are welded in the four-wheel drive omnidirectional moving platform 1, and the automatic closing and feeding port 10 is vertically aligned to the connecting line center position of the ultrasonic ranging sensors 6.
The temporary storage box 2 is a rotary vertical delivery type bookshelf, a plurality of independent book storage cavities are formed in the temporary storage box, books can be conveniently thrown, the temporary storage box is coaxial with the fixed shell, and the motor 12 drives the gear to drive the temporary storage box 2 to rotate 360 degrees around the central shaft.
After the user returns books, the system informs the library staff and changes the system into an automatic following system, plans the returning road according to the book information of the temporary storage box 2 and leads the staff to reach the corresponding floor, and when the returning area of the corresponding floor is reached, the openable cover plate 4 is opened by the staff, and the books are taken out and returned.
Compared with the prior art, the invention has the following advantages:
1. the identification technology for automatically closing the book drop opening is lower in cost compared with the radio frequency identification RFID technology, and the book cover and back information is identified for auxiliary verification while the index number of the book spine is identified to match the book information, so that the image accuracy is enhanced.
2. The openable cover plate can rotate around the hinged position, and only a librarian can control the book taking link by controlling the matching between the door locking position and the disc-shaped lock, so that the user is prevented from taking returned books out again.
3. The infrared sensing obstacle avoidance device is used for identifying and avoiding obstacles, and the following alarm device is used for prompting library staff to follow the intelligent collection, storage and transportation robot for the library books, so that the accuracy of indoor navigation is improved; the ultrasonic ranging sensor can enable the automatic closing and book throwing opening of the library intelligent collection, storage and collection robot to automatically face a user, and the intelligent level of library service is improved.
4. The four-wheel drive omnidirectional mobile platform of the library intelligent book collecting, storing and transporting robot is simple in design, safe and reliable in structure and low in manufacturing cost.
5. The perspective window is formed by hinging a transparent lens with a fixing device, so that the staff in a library can conveniently observe the storage condition of the internal storage bookcase so as to timely perform preliminary judgment on the internal storage condition when a fault occurs.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent collection, storage and transportation robot for library books.
Fig. 2 and 3 are schematic diagrams of internal structures of the intelligent library book collecting, storing and transporting robot.
Fig. 4 is a flow chart of the book returning process of the library intelligent collection and storage collective robot.
Fig. 5 is a flow chart of the complete working process of the intelligent collection and storage collective robot for library books.
In the figure: 1. the four-wheel drive omnidirectional mobile platform comprises a four-wheel drive omnidirectional mobile platform, 2, a temporary storage box, 3, a fixed shell, 4, a switchable cover plate, 5, an infrared obstacle avoidance device, 6, an ultrasonic distance measurement sensor, 7, a following alarm device, 8, an information display screen, 9, a perspective window, 10, an automatic closing book throwing port, 11, a weight detection device, 12, a motor, 13, a door locking position and 14, a disc-shaped lock.
Detailed Description
The structure of the present invention will be further explained with reference to the drawings and the embodiment.
As shown in fig. 1, 2 and 3, an intelligent collection, storage and collection robot for library books mainly comprises a four-wheel drive omnidirectional mobile platform 1, a temporary storage box 2, a fixed shell 3, a switchable cover plate 4, an infrared obstacle avoidance device 5, an ultrasonic distance measurement sensor 6, a following alarm device 7, an information display screen 8, a perspective window 9, an automatic closing book-throwing port 10, a weight detection device 11, a motor 12, a door locking position 13 and a disk-shaped lock 14; temporary storage box 2 and fixed casing 3, infrared ray obstacle avoidance device 4, follow alarm device 7 and all install 1 on the four wheel drive omnidirectional mobile platform, temporary storage box 2 is coaxial with fixed casing 3, the welding of 6 bottoms of ultrasonic ranging sensor is inside four wheel drive omnidirectional mobile platform 1, information display screen 8, automatic closing book-in mouth 10 and perspective window 9 are installed in the top of fixed casing 3, weight detection device 11 divides to each subregion of temporary storage box 2 in, but switch apron 4 is installed in temporary storage box 2 top, with the articulated cooperation of fixed casing 3, and can rotate around articulated department, but lock door department 13 and disk lock 14 can lock switch apron 4 on fixed casing 3.
But switch apron 4 is the semicircle type, installs in case 2 tops of keeping in, with the articulated cooperation in fixed casing 3 tops, and can be rotatory around articulated department, lock door department 13 is the ring shape, the welding is at the 4 backs of switch apron, disk lock 14 also is the ring shape, center department clearance is adjustable, when switch apron 4 closes, lock door department 13 passes the clearance, detain mutually with the 14 rings of disk lock of welding on fixed casing 3, reach the effect of locking switch apron 4 on fixed casing 3.
The automatic closing and feeding port 10 is installed above the fixed shell 3 and located between the information display screen 8 and the perspective window 9 and is connected with the fixed shell 3 through welding, a recognition device for recognizing books is embedded inside the automatic closing and feeding port 10, the returned books can be recognized and the final result is sent to the information display screen 8, and the information display screen 8 is embedded in a groove in the fixed shell 3.
Each subregion of temporary storage case 2 is equallyd divide to weight detection device 11, and perspective window 9 is formed by transparent lens and fixing device are articulated, can realize the observation to the inside book case storage condition of depositing and be convenient for in time carry out preliminary judgement to the inside storage condition when the trouble takes place.
The infrared obstacle avoidance device 5 is installed on the four-wheel drive omnidirectional moving platform 1 below the temporary storage box 2 in a bolt connection mode, the number of the ultrasonic ranging sensors 6 is two, the bottoms of the ultrasonic ranging sensors are welded in the four-wheel drive omnidirectional moving platform 1, and the automatic closing and feeding port 10 is vertically aligned to the connecting line center position of the ultrasonic ranging sensors 6.
The temporary storage box 2 is a rotary vertical delivery type bookshelf, a plurality of independent book storage cavities are formed in the temporary storage box, books can be conveniently thrown, the temporary storage box is coaxial with the fixed shell, and the motor 12 drives the gear to drive the temporary storage box 2 to rotate 360 degrees around the central shaft.
The invention discloses an intelligent collection, storage and collective transportation robot for library books, which is described in detail in the working process with reference to fig. 4 and 5:
the utility model provides a library books intelligence is collected and is stored collection and transportation robot has the ultrasonic ranging sensor who measures self and user's distance, and when the ultrasonic ranging sensor detected that user's actual distance X is less than the distance of settlement and is extreme distance X, the system can judge according to user's quantity N automatically: if the limit distance X exists and only one user N is 1, when the time T that the user stays in the limit distance X exceeds the set time, namely the waiting time T, the user is judged to have the book returning intention, and at the moment, the system automatically adjusts the four-wheel drive omnidirectional mobile platform to enable the automatic closing book throwing port to be aligned with the user, so that the user can conveniently return books and check returning information. If the limit distance X exists and N of a plurality of users is larger than or equal to 1, the system can sort according to the actual distance X from the users to the intelligent library collection, storage and transportation robot, preferentially service the user with the closest distance and the user with the first time exceeding the waiting time T, and when one user is served, the timing function is reset.
Library's books intelligence is collected and is stored collection and transportation robot detects each subregion weight in the temporary storage case and feeds back the result in the system through weight detection device, and the system is behind analysis weight data and books information, when the user comes the book next time, will be most suitable subregion and be used for next time to save through the control motor. When the storage capacity of the temporary storage box reaches the maximum value in the process of returning books by a user, the system sends a final result to the manager server, the system is in a working stop state at the moment, the system is changed into an active guidance mode after a carrying instruction sent by library staff is recognized, a returning road is planned according to the book information of the temporary storage box and the staff is led to reach a corresponding floor, the infrared sensing obstacle avoidance device is used for recognizing and avoiding obstacles, the following alarm device is used for prompting the library staff to follow the intelligent collection, storage and transportation robot for the books in the library, when the returning area of the corresponding floor is reached, the staff opens the openable and closable cover plate, the books are taken out and returned, and when the system detects that the book storage capacity in the temporary storage box is zero, namely the result set is zero, the whole working flow is finished.
Claims (4)
1. The utility model provides a library books intelligence is collected and is stored a collection and transportation robot which characterized in that: mainly comprises a four-wheel drive omnidirectional moving platform (1), a temporary storage box (2), a fixed shell (3), a switchable cover plate (4), an infrared obstacle avoidance device (5), an ultrasonic ranging sensor (6), a following alarm device (7), an information display screen (8), a perspective window (9), an automatic closing book throwing port (10), a weight detection device (11), a motor (12), a door locking position (13) and a disc-shaped lock (14), wherein the temporary storage box (2), the fixed shell (3), the infrared obstacle avoidance device (5) and the following alarm device (7) are all arranged on the four-wheel drive omnidirectional moving platform (1), the temporary storage box (2) is coaxial with the fixed shell (3), the bottom of the ultrasonic ranging sensor (6) is welded in the four-wheel drive omnidirectional moving platform (1), the information display screen (8), the automatic closing book throwing port (10) and the perspective window (9) are arranged above the fixed shell (3), the weight detection device (11) is equally divided into each subarea of the temporary storage box (2), the openable cover plate (4) is installed above the temporary storage box (2), is hinged and matched with the fixed shell (3) and can rotate around the hinged part, and the door locking part (13) and the disc-shaped lock (14) can lock the openable cover plate (4) on the fixed shell (3).
2. The intelligent collection and storage and transportation robot for library books according to claim 1, wherein: but switch apron (4) be the semicircle type, install in temporary storage case (2) top, with fixed casing (3) top articulated cooperation to can be rotatory around articulated department, infrared ray is kept away barrier device (5) and is installed on temporary storage case (2) below four-wheel drive omnidirectional movement platform (1) through bolted connection's mode, its quantity of ultrasonic ranging sensor (6) be two, the bottom welding is in four-wheel drive omnidirectional movement platform (1), automatic closing is thrown book mouthful (10) and is just being put to the line central point of ultrasonic ranging sensor (6) perpendicularly.
3. The intelligent collection and storage and transportation robot for library books according to claim 1, wherein: the automatic closing and throwing-in book opening (10) is installed above the fixed shell (3) and located between the information display screen (8) and the perspective window (9) and connected with the fixed shell (3) through welding, a recognition device for recognizing books is embedded inside the automatic closing and throwing-in book opening (10), the returned books can be recognized, the final result is sent to the information display screen (8), and the information display screen (8) is embedded in a groove in the fixed shell (3).
4. The intelligent collection and storage and transportation robot for library books according to claim 1, wherein: weight-detecting device (11) equally divide each subregion to temporary storage case (2), perspective window (9) form by transparent lens and fixing device are articulated, can realize the observation of the inside book case storage condition of depositing and be convenient for in time carry out preliminary judgement to the inside storage condition when the trouble takes place.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911244834.6A CN111300437B (en) | 2019-12-06 | 2019-12-06 | Library's books intelligence is collected and is stored collection and transportation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911244834.6A CN111300437B (en) | 2019-12-06 | 2019-12-06 | Library's books intelligence is collected and is stored collection and transportation robot |
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| CN111300437A true CN111300437A (en) | 2020-06-19 |
| CN111300437B CN111300437B (en) | 2022-01-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112950870A (en) * | 2020-09-25 | 2021-06-11 | 杭州图说文化传播有限公司 | Book sharing borrowing and returning control method and system using same |
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|---|---|
| CN111300437B (en) | 2022-01-04 |
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