CN111645066A - File management system and method combining visual guidance grabbing robot with radio frequency monitoring - Google Patents
File management system and method combining visual guidance grabbing robot with radio frequency monitoring Download PDFInfo
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- CN111645066A CN111645066A CN202010366761.4A CN202010366761A CN111645066A CN 111645066 A CN111645066 A CN 111645066A CN 202010366761 A CN202010366761 A CN 202010366761A CN 111645066 A CN111645066 A CN 111645066A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/93—Document management systems
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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
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The invention discloses a file management system and method combining a visual guidance grabbing robot with radio frequency monitoring. The system comprises a radio frequency terminal device, a client, a file management server and a vision-guided grabbing robot. The radio frequency terminal device comprises a plurality of radio frequency read-write channels, and the client receives the label ID sent by the radio frequency terminal device and the address information of the radio frequency terminal and the radio frequency read-write channel to which the label ID belongs and sends the label ID to the file management server; the vision-guided grabbing robot receives an instruction for grabbing the file, identifies the number on the target file through image processing, and determines that the target file is grabbed; the file management server sends a target file grabbing instruction, and simultaneously receives the label ID sent by the client, the radio frequency terminal to which the label ID belongs and address information of a read-write channel of the radio frequency terminal; and acquiring detailed goods position information of the file from the database, and comparing the detailed goods position information with target file information to complete monitoring and management of the grabbing process. The invention improves the intellectualization degree of the file management and the efficiency of the file management.
Description
Technical Field
The invention belongs to the technical field of intelligent file management, and particularly relates to a file management system and method combining a visual guidance grabbing robot and radio frequency monitoring.
Background
File management is an indispensable part of organizations such as state organs and enterprises. In recent years, as the file size has been expanded, the demand for file management has been changing. In the face of a huge file storage system, a management method of manually checking, monitoring, inquiring and taking files is no longer suitable, and a file management method seeking high efficiency and intellectualization gradually becomes a main research direction in the field of file management.
The visual robot is a device for extracting effective information for robot control after further processing input images, can replace a person to complete specified work tasks, and is widely applied to life, such as express sorting, industrial part sorting, quality inspection and the like. The visual robot is combined with file management, so that the aim of locking a target file and automatically grabbing/putting back the file in a local area under the condition of no human intervention is realized.
The high-frequency RFID technology is a non-contact automatic identification technology, has the characteristics of high reading and writing speed, unique labels and the like, the ISO15693 protocol is an international standard applied to the high-frequency RFID technology, and a plurality of radio frequency labels can be read simultaneously by adopting an anti-collision algorithm in the protocol, so that the high-frequency RFID technology is widely applied to a file management system. The application of the high-frequency RFID technology adopting the ISO15693 protocol to the archive management system mainly comprises the following applications: firstly, as the radio frequency tags have uniqueness, the files correspond to the tags one by one, and the checking and the statistics of file information are convenient; secondly, the high-frequency RFID has high reading and writing speed, and the archive storage is conveniently monitored in real time; thirdly, a plurality of files in the local area can be read simultaneously, and the cost and the implementation difficulty are reduced. High frequency RFID technique combines together with the archives management, conveniently makes statistics of archives information for archives storage environment can obtain real time monitoring.
The visual robot is combined with the high-frequency RFID technology and applied to the file management system, so that the file management system integrates inventory making, inquiring, real-time monitoring and automatic grabbing, a large amount of manpower is saved, the file management efficiency is greatly improved, the visual robot is a necessary result of modern scientific and technical development, and the visual robot has milestone significance.
At present, for the application of the archive management system based on the visual identification technology, the related invention patent CN201811492965.1 proposes an archive management method and system based on machine visual identification, the invention uses color coding to make the archive label for recording the storage position of the archive and the archive shelf label for recording the position of the archive, and by collecting the archive label image of the archive box and the archive shelf label image of the archive shelf where the archive box is located, it is determined whether the storage position of the archive box is correct according to the consistency between the archive label image of the archive box and the archive shelf label image, and it is determined whether the storage position of the archive is correct according to the consistency between the archive and the archive label image of the archive box. The invention reduces the file retrieval inquiry and the file checking work to a certain extent, but does not realize the automatic stock checking and real-time monitoring of the files, can not manage the files and the storage positions in a one-to-one correspondence manner, still accesses the files manually, and is not applicable when facing a large-scale file management system.
For the application of the archive management system based on the high-frequency RFID technology, the related invention patent CN106874975A proposes a dense archive management system and method based on the high-frequency RFID technology, which mainly can implement the basic operations of checking, monitoring and managing archives in archive management by the high-frequency RFID, and implement that only one piece of radio frequency tag information can be read by the RFID radio frequency identification within a certain spatial range. However, one file of the invention needs to correspond to a group of radio frequency read-write chips and radio frequency antennas, and in the face of a large-scale file management system, the device of the invention has high cost and complex installation process, but causes the file management system to be too messy and the later equipment device to be difficult to maintain, and is not suitable for an automatic file management system integrating functions of inventory, real-time monitoring, automatic grabbing and the like.
Disclosure of Invention
The invention aims to provide a file management system and method with high intelligent degree and high file management efficiency by combining a visual guidance grabbing robot with radio frequency monitoring.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a vision guide snatchs archives management system that robot combines radio frequency control, includes that radio frequency terminating set, customer end, archives management server side and vision guide snatch the robot, wherein:
the radio frequency terminal device comprises a controller and a radio frequency read-write channel, wherein the controller comprises a power supply module, a CPU, an address selection module and a communication module, and the power supply module converts input voltage into voltage required by each component in the device; the address selection module determines address information of the radio frequency terminal device; the CPU is communicated with the radio frequency read-write channel and receives the label information sent by the radio frequency read-write channel; the communication module realizes data communication between the radio frequency terminal device and the client; the radio frequency reading and writing channel comprises a radio frequency reading and writing module, a radio frequency antenna and a radio frequency label, the radio frequency reading and writing module realizes modulation of a transmitting signal, demodulation of a receiving signal and generation and transmission of a radio frequency carrier signal, the radio frequency antenna realizes radiation and reception of the radio frequency signal, and the radio frequency label realizes one-to-one correspondence of the label and a file;
the client is connected with the radio frequency terminal device, receives the label ID sent by the radio frequency terminal device, the radio frequency terminal and the radio frequency read-write channel address information and sends the label ID to the file management server;
the visual guidance grabbing robot receives an archive grabbing instruction of an archive management server, identifies a unique number on a target archive by adopting an image processing technology, determines the target archive and grabs the target archive;
the file management server sends a target file grabbing instruction to the vision-guided grabbing robot, and receives the label ID sent by the client and the address information of the radio frequency terminal and the read-write channel to which the label ID belongs; and acquiring detailed goods position information of the file from the database through the tag ID, and comparing the detailed goods position information with the target file information to complete monitoring and management of the whole grabbing process.
Furthermore, the file management server is connected with the visual guidance grabbing robot through a wireless network; the file management server is connected with the N clients through Ethernet or wireless network, N is more than or equal to 1 and is determined by radio frequency output power, antenna size and label type; the client is connected with N paths of radio frequency terminal devices, each path of radio frequency terminal device has a unique address number, and the connection mode is an RS485 serial bus.
Furthermore, the radio frequency read-write module supports an ISO15693 protocol, and the radio frequency carrier frequency is 13.56 Mhz; determining an impedance matching circuit using a smith chart; the radio frequency antenna is a microstrip antenna, the microstrip antenna is made of FR-4 plates, the microstrip line width is 3mm, N radio frequency tags can be read, and N is larger than or equal to 1.
Further, the tag supports ISO15693 protocol and has a unique ID; the label is attached to the side face of the file box and is opposite to the radio frequency antenna; the side of the file box is simultaneously pasted with a unique number, and the vision-guided grabbing robot identifies the number through image processing to determine a target file.
A visual guidance grabbing robot and radio frequency monitoring combined file management method, which adopts the visual guidance grabbing robot and radio frequency monitoring combined file management system according to any one of claims 1-4, and comprises the following steps:
step 1, performing informatization processing on files, namely attaching radio frequency tags and digital numbers to the side faces of a file box;
step 2, the archive management server side records archive information, radio frequency tag ID and digital number information into a database, and the archive information, the radio frequency tag ID and the digital number information are in one-to-one correspondence;
step 3, powering on the system, and carrying out initialization operation on the radio frequency terminal device, wherein the initialization operation comprises radio frequency terminal address allocation, system clock initialization, SPI bus initialization, serial port initialization, radio frequency read-write channel address initialization and the like;
step 4, the radio frequency terminal device performs polling reading on the radio frequency label ID corresponding to the radio frequency read-write channel according to the radio frequency read-write channel address, and sends the read data label ID, the radio frequency terminal and the radio frequency read-write channel address to the client;
step 5, the client receives the tag ID sent by the radio frequency terminal device and the address information of the radio frequency terminal and the radio frequency read-write channel to which the tag ID belongs, compares the tag ID with the data received last time, and determines whether a new tag ID exists or whether the tag ID reported last time does not exist in the information reported this time; if the related label ID exists, the information is sent to the file management server;
step 6, if the file management server sends a file grabbing instruction to the visual guidance grabbing robot, the robot automatically navigates to a specified goods space according to the instruction information, and an image processing technology is adopted to identify the unique number on the target file, determine the target file and grab the target file; after the target file is captured, according to the operations of the step 4 and the step 5, the label ID associated with the relevant file is sent to a file management server;
step 7, the archive management server side inquires detailed information of the associated archive from the database according to the received label ID; and comparing the acquired information with the file information corresponding to the command issued to the vision-guided grabbing robot to determine whether the robot carries out correct grabbing; therefore, the real-time monitoring of the file grabbing process is realized.
Compared with the prior art, the invention has the following remarkable advantages: (1) the structure is simple: the file management server is connected with the client through an Ethernet or a wireless network, the client is connected with the radio frequency terminal through a 485 bus, and the overall connection structure of the system is simple; the radio frequency terminal device integrates a power supply module, a control module, a communication module, a plurality of radio frequency reading and writing channels and the like on a printed board, so that the device is small in size and convenient to install and implement on site; (2) the cost performance is high: the radio frequency terminal device has a simple hardware structure, a small number of used components and low cost; the radio frequency terminal device comprises a plurality of radio frequency reading and writing channels, each radio frequency reading and writing channel is responsible for reading N (N is more than or equal to 1) parts of files, and compared with a reading and writing mode that one part of file corresponds to one group of radio frequency reader-writer and radio frequency antenna, the cost is reduced to a great extent, the cost performance is high, and the market prospect is good; (3) the system stability is strong: in the aspect of software, a watchdog reset program is added into a radio frequency terminal device controller program, so that the system stability is improved; in the aspect of hardware, the radio frequency reading and writing channel can stably read the data of the radio frequency tag, the distance between the radio frequency tag and the radio frequency antenna is 0-3 cm, and the requirement of file management is met; (4) the intelligent degree is high: the invention realizes the functions of inventory taking, inquiry, real-time monitoring, automatic grabbing and the like of the files, greatly reduces the waste of human resources and has high intelligent degree of file management.
Drawings
FIG. 1 is a diagram of a file management system according to the present invention.
Fig. 2 is a detailed structure diagram of the rf terminal device of the present invention.
FIG. 3 is a flowchart of a file management method according to the present invention.
Detailed Description
The present invention is further illustrated by the following figures and specific examples, which are to be understood as illustrative only and not as limiting the scope of the invention, which is to be given the full breadth of the appended claims and any and all equivalent modifications thereof which may occur to those skilled in the art upon reading the present specification.
With reference to fig. 1-3, an intelligent archive management system with a visual guidance grabbing robot and radio frequency monitoring mainly comprises: the system comprises a radio frequency terminal device, a client, a file management server and a vision-guided grabbing robot.
The radio frequency terminal device comprises a controller and a radio frequency read-write channel. The controller comprises a power module, a CPU, an address selection module and a communication module. The power supply module converts input voltage into voltage required by each component in the device; the address selection module determines address information of the radio frequency terminal device; the CPU is communicated with the radio frequency read-write channel and receives the label information sent by the radio frequency read-write channel; the communication module realizes data communication between the radio frequency terminal device and the client; the radio frequency read-write channel comprises a radio frequency read-write module, a radio frequency antenna and a radio frequency tag, the radio frequency read-write module realizes modulation of a transmitting signal, demodulation of a receiving signal and generation and transmission of a radio frequency carrier signal, the radio frequency antenna realizes radiation and reception of the radio frequency signal, and the radio frequency tag realizes one-to-one correspondence of the tag and a file.
The client is connected with the radio frequency terminal device, receives the label ID sent by the radio frequency terminal device, the radio frequency terminal and the radio frequency read-write channel address information, and sends the label ID to the file management server.
The visual guidance grabbing robot receives an archive grabbing instruction of the archive management server, identifies the unique number on the target archive by adopting an image processing technology, determines the target archive and grabs the target archive.
And the file management server sends a target file grabbing instruction to the vision-guided grabbing robot, and receives the label ID sent by the client, the radio frequency terminal to which the label ID belongs and the address information of the read-write channel of the radio frequency terminal. Acquiring detailed goods position information of the file from a database through the tag ID, and comparing the detailed goods position information with target file information to complete monitoring management of the whole grabbing process;
the file management server is connected with the visual guidance grabbing robot through a wireless network; the file management server is connected with the N (N is more than or equal to 1) way client through the Ethernet or the wireless network; the client is connected with N (N is more than or equal to 1) radio frequency terminal devices, each radio frequency terminal device has a unique address number, and the connection mode is an RS485 serial bus.
The radio frequency read-write module supports an ISO15693 protocol, and the radio frequency carrier frequency is 13.56 Mhz; determining an impedance matching circuit using a smith chart; the radio frequency antenna is a microstrip antenna, the microstrip antenna is made of FR-4 plates, the microstrip line width is 3mm, and N (N is more than or equal to 1) radio frequency tags can be read.
The label supports ISO15693 protocol and has unique ID; the label is attached to the side face of the file box and is opposite to the radio frequency antenna. The side of the file box is simultaneously pasted with a unique number, and the vision-guided grabbing robot identifies the number through image processing to determine a target file.
An intelligent archive management method combining a visual guidance grabbing robot and radio frequency monitoring comprises the following steps:
step 1: performing informatization processing on the files, namely attaching radio frequency tags and digital numbers to the side faces of the file boxes;
step 2: the archive management server side records archive information, radio frequency tag ID and digital number information into a database, and the archive information, the radio frequency tag ID and the digital number information are in one-to-one correspondence;
and step 3: the system is powered on, and the radio frequency terminal device carries out initialization operation, including radio frequency terminal address allocation, system clock initialization, SPI bus initialization, serial port initialization, radio frequency read-write channel address initialization and the like;
and 4, step 4: the radio frequency terminal device performs polling reading on the radio frequency tag ID corresponding to the radio frequency read-write channel according to the radio frequency read-write channel address, and sends the read data tag ID, the radio frequency terminal and the radio frequency read-write channel address to the client;
and 5: the client receives the tag ID sent by the radio frequency terminal device and the address information of the radio frequency terminal and the radio frequency read-write channel to which the tag ID belongs, compares the tag ID with the data received last time, and determines whether a new tag ID exists or whether the tag ID reported last time does not exist in the information reported this time. If the related label ID exists, the information is sent to the file management server;
step 6: if the file management server side issues a file grabbing instruction to the vision-guided grabbing robot, the robot autonomously navigates to a specified goods space according to instruction information, and an image processing technology is adopted to identify the unique number on the target file, determine the target file and grab the target file. After the target file is captured, the tag ID associated with the relevant file is sent to the file management server according to the operations of steps 4 and 5.
And 7: and the archive management server side inquires the detailed information of the associated archive from the database according to the received label ID. And comparing the acquired information with the file information corresponding to the command issued to the vision-guided grabbing robot to determine whether the robot carries out correct grabbing. Therefore, the real-time monitoring of the file grabbing process is realized.
Example 1
Fig. 1 is a structural diagram of an intelligent archive management system combining a visual guidance grabbing robot and radio frequency monitoring according to the present invention, which includes a radio frequency terminal device, a client, an archive management server, and a visual guidance grabbing robot.
Fig. 2 is a detailed structure diagram of a radio frequency terminal device, which includes a controller portion and a radio frequency read/write channel. In practical application of the system, the radio frequency terminal device adopts the following configuration:
the input voltage of a power module in the controller part is +24V, the power module stabilizes the +24V voltage to +5V voltage for the radio frequency read-write module to use, and stabilizes the +5V voltage to +3.3V voltage for the controller module to use.
An address selection module in the controller part adopts a 6-bit dial switch to set a physical address of the radio frequency terminal device, the controller can read the level state of a dial switch pin to determine the address of the radio frequency terminal device, and the address selection range is 0-63;
the CPU in the controller part mainly comprises a stm32f103 minimum system and a peripheral circuit, the CPU communicates with a radio frequency read-write channel through an SPI bus, and a program adopts a polling inquiry mode 4 radio frequency read-write channels to send instructions, receive and store data; a watchdog program reset program is added into a controller program to prevent the control system from being halted, so that the system stability is improved.
The communication module in the controller part uses MAX485 chip, and the chip uses RS-485 communication protocol to complete the function of converting TTL level of the controller end into RS-485 level.
The radio frequency read-write chip in the radio frequency read-write channel adopts TRF7962, the radio frequency communication protocol adopts ISO15693 protocol, and the radio frequency carrier frequency is 13.56 Mhz; the impedance matching circuit is determined by adopting a Smith chart according to the output impedance of the radio frequency read-write chip and the input impedance of the radio frequency antenna. The output impedance of the radio frequency chip of the radio frequency read-write channel is 4 omega, the output impedance of the 4 omega radio frequency chip is converted into 50 omega, and then the 50 omega impedance is matched with the input impedance of the radio frequency antenna. The radio frequency antenna adopts an FR-4 plate material, the size of the radio frequency antenna is 410mm x 43mm x 1.6mm, the microstrip line width is 3mm, the distance from the PCB is 3mm, and 8 radio frequency tags are read simultaneously; the equivalent resistance of the radio frequency antenna is 76.955 omega, and the equivalent inductance is 511.18 nH.
In practical application, the client receives radio frequency terminal data by adopting an industrial control screen based on a Linux system, and transmits the data with a file management server through the Ethernet. The file management server side comprises a man-machine interaction interface and a database, receives data information sent by the client side, updates the database information in real time, and monitors the storage state and the grabbing process of a file; and sending a target file grabbing instruction to the vision guide grabbing robot through WIFI.
Claims (5)
1. The utility model provides a vision guide snatchs archives management system that robot combines radio frequency control which characterized in that, includes that radio frequency terminating set, customer end, archives management server side and vision guide snatch the robot, wherein:
the radio frequency terminal device comprises a controller and a radio frequency read-write channel, wherein the controller comprises a power supply module, a CPU, an address selection module and a communication module, and the power supply module converts input voltage into voltage required by each component in the device; the address selection module determines address information of the radio frequency terminal device; the CPU is communicated with the radio frequency read-write channel and receives the label information sent by the radio frequency read-write channel; the communication module realizes data communication between the radio frequency terminal device and the client; the radio frequency reading and writing channel comprises a radio frequency reading and writing module, a radio frequency antenna and a radio frequency label, the radio frequency reading and writing module realizes modulation of a transmitting signal, demodulation of a receiving signal and generation and transmission of a radio frequency carrier signal, the radio frequency antenna realizes radiation and reception of the radio frequency signal, and the radio frequency label realizes one-to-one correspondence of the label and a file;
the client is connected with the radio frequency terminal device, receives the label ID sent by the radio frequency terminal device, the radio frequency terminal and the radio frequency read-write channel address information and sends the label ID to the file management server;
the visual guidance grabbing robot receives an archive grabbing instruction of an archive management server, identifies a unique number on a target archive by adopting an image processing technology, determines the target archive and grabs the target archive;
the file management server sends a target file grabbing instruction to the vision-guided grabbing robot, and receives the label ID sent by the client and the address information of the radio frequency terminal and the read-write channel to which the label ID belongs; and acquiring detailed goods position information of the file from the database through the tag ID, and comparing the detailed goods position information with the target file information to complete monitoring and management of the whole grabbing process.
2. The vision-guided grasping robot-radio-frequency-monitored-combined archive management system according to claim 1, wherein the archive management server is connected with the vision-guided grasping robot through a wireless network; the file management server is connected with the N clients through Ethernet or wireless network, N is more than or equal to 1 and is determined by radio frequency output power, antenna size and label type; the client is connected with N paths of radio frequency terminal devices, each path of radio frequency terminal device has a unique address number, and the connection mode is an RS485 serial bus.
3. The vision-guided grasping robot-radio-frequency-monitored-combined archive management system according to claim 1, wherein the radio-frequency read-write module supports ISO15693 protocol, and the radio-frequency carrier frequency is 13.56 Mhz; determining an impedance matching circuit using a smith chart; the radio frequency antenna is a microstrip antenna, the microstrip antenna is made of FR-4 plates, the microstrip line width is 3mm, N radio frequency tags can be read, and N is larger than or equal to 1.
4. The vision-guided grasping robot-in-combination radio frequency monitored archive management system of claim 1, wherein the tag supports ISO15693 protocol and has a unique ID; the label is attached to the side face of the file box and is opposite to the radio frequency antenna; the side of the file box is simultaneously pasted with a unique number, and the vision-guided grabbing robot identifies the number through image processing to determine a target file.
5. A visual guidance grabbing robot and radio frequency monitoring combined file management method is characterized in that the visual guidance grabbing robot and radio frequency monitoring combined file management system according to any one of claims 1-4 is adopted, and the method comprises the following steps:
step 1, performing informatization processing on files, namely attaching radio frequency tags and digital numbers to the side faces of a file box;
step 2, the archive management server side records archive information, radio frequency tag ID and digital number information into a database, and the archive information, the radio frequency tag ID and the digital number information are in one-to-one correspondence;
step 3, powering on the system, and carrying out initialization operation on the radio frequency terminal device, wherein the initialization operation comprises radio frequency terminal address allocation, system clock initialization, SPI bus initialization, serial port initialization, radio frequency read-write channel address initialization and the like;
step 4, the radio frequency terminal device performs polling reading on the radio frequency label ID corresponding to the radio frequency read-write channel according to the radio frequency read-write channel address, and sends the read data label ID, the radio frequency terminal and the radio frequency read-write channel address to the client;
step 5, the client receives the tag ID sent by the radio frequency terminal device and the address information of the radio frequency terminal and the radio frequency read-write channel to which the tag ID belongs, compares the tag ID with the data received last time, and determines whether a new tag ID exists or whether the tag ID reported last time does not exist in the information reported this time; if the related label ID exists, the information is sent to the file management server;
step 6, if the file management server sends a file grabbing instruction to the visual guidance grabbing robot, the robot automatically navigates to a specified goods space according to the instruction information, and an image processing technology is adopted to identify the unique number on the target file, determine the target file and grab the target file; after the target file is captured, according to the operations of the step 4 and the step 5, the label ID associated with the relevant file is sent to a file management server;
step 7, the archive management server side inquires detailed information of the associated archive from the database according to the received label ID; and comparing the acquired information with the file information corresponding to the command issued to the vision-guided grabbing robot to determine whether the robot carries out correct grabbing; therefore, the real-time monitoring of the file grabbing process is realized.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112847357A (en) * | 2020-12-31 | 2021-05-28 | 宁波知行物联科技有限公司 | Gear-taking robot control method and system |
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