CN111698316A - Book shelf-staggering sorting system and method based on robot - Google Patents
Book shelf-staggering sorting system and method based on robot Download PDFInfo
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Abstract
The invention belongs to the technical field of library management, and particularly relates to a book shelf staggering sorting system and method based on a robot. A book misplacing arrangement system based on a robot comprises at least one book label, at least one robot and a server main body: the robot is in communication connection with the book label, and the server main body is in communication connection with the robot through an SOCKET interface/HTTP protocol. The invention realizes the purposes of reducing the maintenance and upgrading cost of the library and filling the blank that the RFID management system of the library is lack of maintenance, achieves the effect that 1 machine can be equivalent to the workload of 5 workers, and has very high practical significance; the realization is based on UHF RFID and image shooting technique combine together to the library can realize the purpose that books are looked for the arrangement by mistake fast, and reaches and improves the management level, lets the reader can find the target books at any time, greatly promotes the effect of reader satisfaction.
Description
Technical Field
The invention belongs to the technical field of library management, and particularly relates to a book shelf staggering sorting system and method based on a robot.
Background
The library is used as a service mechanism sensitive to the technology, and the perception and the application of the new technology are rapid. The intelligent development target taking self-service and artificial intelligence as the generation leads the future development of the library, but the paper books do not disappear no matter how intelligent and intelligentized degree is. The library should provide an environment for users to find, utilize, create and manage information conveniently through modern information technology, and meanwhile, great convenience should be provided for managers.
Although a large number of library management systems are in the endlessly in recent years, the error checking and protection of books are not generally regarded, and most of the books have low technology content, which causes waste of books and technology resources. And a good high-tech book error finding auxiliary system is not established, which causes the phenomenon that the position of data on the client side is not equal to that of the actual book in the library.
The situations show that the library management system technology is still in an attempt stage at the present stage in China, and a large technical blank is left, especially on the mistake-checking of the book placing positions, so that due to the reasons, the library management assistant is urgently needed by China at the present stage to relieve the contradiction between the continuous increase of the number of books in the library and the continuous increase of the difficulty of book management.
With the improvement of the level of informatization and networking construction, more and more libraries adopt RFID book management systems to implement the RFID management systems, and the following functions are mainly realized: the book borrowing and returning automation, the access control system, the automatic book positioning, the automatic book checking, the book counting and the like, so theoretically, books on a bookshelf can be found easily by using the RFID technology, and workers can check the books easily, thereby greatly saving manpower and material resources. In fact, in research, the books are placed in various reading rooms and are difficult to arrange due to the fact that the books are frequently moved, cannot be put on shelves in time and are opened to read, so that great troubles are brought to library staff and readers, and the book positions displayed by the mobile device are often inconsistent with the actual positions of the books.
In order to solve the defects of the prior art, the invention provides a wrong shelf arrangement system and a wrong shelf arrangement method based on a robot, which utilize the fusion of the internet of things technology and the traditional library, use a scheme of combining the UHFRFID technology and the image shooting technology, and have modular design, thereby being convenient for a customer management system and utilizing big data analysis to improve the management of the library, also being capable of obviously reducing the maintenance and upgrading cost of the library, filling the gap that the RFID management system of the library is lack of maintenance nowadays, achieving the effect that 1 machine can be equivalent to the workload of 5 workers, and having very high practical significance; the method adopts the Ali cloud MySQL server, and realizes combination based on UHF RFID and image shooting technology, so that a library can realize the purpose of quickly searching and arranging wrong books, the management level is improved, a reader can find a target book at any time, and the satisfaction degree of the reader is greatly improved.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a wrong shelf arrangement system and a wrong shelf arrangement method based on a robot, which utilize the fusion of the internet of things technology and the traditional library, use a scheme of combining the UHFRFID technology and the image shooting technology, and have modular design, thereby being convenient for a customer management system and utilizing big data analysis to improve the management of the library, also being capable of obviously reducing the maintenance and upgrading cost of the library, filling the gap that the RFID management system of the library is lack of maintenance nowadays, achieving the effect that 1 machine can be equivalent to the workload of 5 workers, and having very high practical significance; the method adopts the Ali cloud MySQL server, and realizes combination based on UHF RFID and image shooting technology, so that a library can realize the purpose of quickly searching and arranging wrong books, the management level is improved, a reader can find a target book at any time, and the satisfaction degree of the reader is greatly improved.
The invention is achieved by the following specific technical means:
the utility model provides a wrong frame arrangement system of books based on robot, including at least one books label, at least one robot and server main part: the robot is in communication connection with the book tag, and the server main body is in communication connection with the robot through an SOCKET interface/HTTP protocol;
the book label is as follows: the information of the books is contained, and the information is arranged on the surface of the binding part of the books and used for the communication connection of the robot;
the robot includes:
and an ultrahigh frequency RFID module: the system is used for reading library book information and realizing the function of error checking through comparison with the serial number of the book;
a walking control module: for walking of the robot;
an image capturing module: the system is used for collecting the on-site book information and the environmental condition of the library and transmitting the information and the environmental condition back to the server main body in the form of videos or pictures for managers to look up and monitor, so that the library environment can be monitored and known at any time;
the mechanical arm control module: the book taking and placing device is used for taking out or placing books in a library;
the ultrahigh frequency module, the walking control module, the image shooting module and the mechanical arm control module are in coordination work through serial port communication;
the server main body consists of two virtual servers and a cloud database; the virtual server comprises a WEB server and a service server, wherein the WEB server is mainly responsible for processing requests of WEB front-end users and feeding back processing results, and the service server controls and ensures the normal work of each module in the robot; and the cloud database is used for storing the identity verification information of the administrator and the basic book information.
Further, the image shooting module is in communication connection with the server main body through WIFI of the raspberry row, and transmission of image information formed by the image shooting module is completed by means of an SOCKET interface/HTTP protocol; the walking module and the RFID module are in communication connection with the server main body through WIFI.
Further, the ultrahigh frequency module comprises a UHF RFID system, a chip AS3992 and Arduino MeGa 2560; the UHF RFID system employs a 5dBi UHF RFID UHF 902-928MHz PCB antenna 915M MMCX SMAIP.
Furthermore, the walking control module comprises a structural shell, a crawler-type mechanical structure, a direct current motor drive, an infrared sensor, an ultrasonic sensor and a main controller; the direct current motor drive adopts a direct current brushless servo motor; the main controller adopts Arduino; the walking control module walks through an A star algorithm.
Further, the image shooting module comprises a Logitech C270 USB network camera and a RsapberryPi 3b +.
Further, the mechanical arm control module comprises a TBS-K20 digital steering engine, a mechanical arm, a main control board and a handle; the mechanical arm has six degrees of freedom, each degree of freedom is controlled by a TBS-K20 digital steering engine, and the steering engine is controlled by an LSC series control panel; the steering engine that the arm used is TBS-K20 digital steering engine.
Further, the cloud database adopts a Mysql database;
the WEB server comprises a front end and a background, wherein a front end WEB interaction page is developed by using HTML5 and jQuery language, a B/S mode is adopted, an HTTP protocol is used for information communication with the background, and the background server adopts a flash frame of Python.
Further, the service server adopts multi-thread programming, and the multi-thread programming method comprises the following steps: after the system is started, WIFI of the ultrahigh frequency RFID module, the walking control module and the mechanical arm control module respectively initiates connection requests to a service server; after the connection is successfully established, the business server waits for a user instruction transmitted by the WEB server, sends corresponding tasks to each module according to related requests and coordinates the operation of each module; continuously receiving identification information of the module in the operation process of the module, and matching and processing data through an algorithm; and finally, the service server feeds back the processing result to the WEB server.
Further, the service server adopts multi-thread programming, and the multi-thread programming method comprises the following steps: after the system is started, WIFI of the ultrahigh frequency RFID module, the walking control module and the mechanical arm control module respectively initiates connection requests to a service server; after the connection is successfully established, the business server waits for a user instruction transmitted by the WEB server, sends corresponding tasks to each module according to related requests and coordinates the operation of each module; continuously receiving identification information of the module in the operation process of the module, and matching and processing data through an algorithm; and finally, the service server feeds back the processing result to the WEB server.
A method of a book shelf-staggering tidying system based on a robot comprises the following specific steps: the book label is firstly pasted on the surface of the binding part, information in the book label corresponds to book information, then, the server main body is opened, the robot is waited for being connected with the server main body, at the moment, the robot is placed into a library to search for mistakes, the robot can freely walk through the walking control module, book serial numbers are obtained through the ultrahigh frequency RFID module, book information and environmental conditions are obtained through the image shooting module, the ultrahigh frequency RFID module continuously interacts with the server main body information, when books are mistakenly placed, the images are sent to the WEB end through the image shooting module, the WEB end feeds back the wrong book position information, the mechanical arm control module is started at the moment, the books which are mistakenly clamped can be taken out, the arrangement of workers is waited, and the task is completed.
Compared with the prior art, the invention has the following beneficial effects.
The invention utilizes the fusion of the Internet of things technology and the traditional library, adopts the scheme of combining the UHF RFID technology and the image shooting technology, and has modular design, thereby being convenient for a customer management system and improving the management of the library by utilizing big data analysis, also being capable of remarkably reducing the maintenance and upgrading cost of the library, filling the blank that the RFID management system of the library is lack of maintenance, achieving the effect that 1 machine can be equivalent to the workload of 5 working personnel, and having very high practical significance; the method adopts the Ali cloud MySQL server, and realizes combination based on UHF RFID and image shooting technology, so that a library can realize the purpose of quickly searching and arranging wrong books, the management level is improved, a reader can find a target book at any time, and the satisfaction degree of the reader is greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a multi-threaded schematic of the present invention.
Fig. 3 is a schematic structural diagram of the UHF RFID system of the present invention.
Fig. 4 is a schematic structural diagram of a chip AS3992 according to the present invention.
FIG. 5 is a schematic diagram of the communication process between Arduino Mega2560 and the AS3992 chip according to the present invention.
FIG. 6 is a simplified schematic diagram of a video transmission procedure of the image capture module according to the present invention.
Fig. 7 is a schematic structural diagram of the walking control module of the present invention.
FIG. 8 is a schematic diagram of a robot arm control module according to the present invention.
Detailed Description
Technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention:
examples
The utility model provides a wrong frame arrangement system of books based on robot, including at least one books label, at least one robot and server main part: the robot is in communication connection with the book tag, and the server main body is in communication connection with the robot through an SOCKET interface/HTTP protocol;
the book label is as follows: the information of the books is contained, and the information is arranged on the surface of the binding part of the books and used for the communication connection of the robot;
the robot includes:
and an ultrahigh frequency RFID module: the system is used for reading library book information and realizing the function of error checking through comparison with the serial number of the book;
a walking control module: for walking of the robot;
an image capturing module: the system is used for collecting the on-site book information and the environmental condition of the library and transmitting the information and the environmental condition back to the server main body in the form of videos or pictures for managers to look up and monitor, so that the library environment can be monitored and known at any time;
the mechanical arm control module: the book taking and placing device is used for taking out or placing books in a library;
the ultrahigh frequency module, the walking control module, the image shooting module and the mechanical arm control module are in coordination work through serial port communication;
the server main body consists of two virtual servers and a cloud database; the virtual server comprises a WEB server and a service server, wherein the WEB server is mainly responsible for processing requests of WEB front-end users and feeding back processing results, and the service server controls and ensures the normal work of each module in the robot; the cloud database is used for storing administrator identity verification information and basic book information;
the image shooting module is in communication connection with the server main body through WIFI of the raspberry row, and transmission of image information formed by the image shooting module is completed by means of an SOCKET interface/HTTP protocol; the walking module and the RFID module are in communication connection with the server main body through WIFI;
the ultrahigh frequency module comprises an UHF RFID system, a chip AS3992 and an Arduino MeGa 2560; the UHF RFID system adopts a 5dBi UHF RFID ultrahigh frequency 902-928MHz PCB antenna 915M MMCX SMA IP;
the walking control module comprises a structural shell, a crawler-type mechanical structure, a direct current motor drive, an infrared sensor, an ultrasonic sensor and a main controller; the direct current motor drive adopts a direct current brushless servo motor; the main controller adopts Arduino; the walking control module walks through an A star algorithm;
the image shooting module comprises a Logitech C270 USB network camera and a Rsapberry Pi 3b +;
the mechanical arm control module comprises a TBS-K20 digital steering engine, a mechanical arm, a main control board and a handle; the mechanical arm has six degrees of freedom, each degree of freedom is controlled by a TBS-K20 digital steering engine, and the steering engine is controlled by an LSC series control panel; the steering engine used by the mechanical arm is a TBS-K20 digital steering engine;
the cloud database adopts a Mysql database;
the WEB server comprises a front end and a background, wherein a front end WEB interaction page is developed by using HTML5 and jQuery language, a B/S mode is adopted, an HTTP protocol is used for information communication with the background, and the background server adopts a flash frame of Python;
the service server adopts multi-thread programming, and the multi-thread programming method comprises the following steps: after the system is started, WIFI of the ultrahigh frequency RFID module, the walking control module and the mechanical arm control module respectively initiates connection requests to a service server; after the connection is successfully established, the business server waits for a user instruction transmitted by the WEB server, sends corresponding tasks to each module according to related requests and coordinates the operation of each module; continuously receiving identification information of the module in the operation process of the module, and matching and processing data through an algorithm; finally, the business server feeds back the processing result to the WEB server;
the service server adopts multi-thread programming, and the multi-thread programming method comprises the following steps: after the system is started, WIFI of the ultrahigh frequency RFID module, the walking control module and the mechanical arm control module respectively initiates connection requests to a service server; after the connection is successfully established, the business server waits for a user instruction transmitted by the WEB server, sends corresponding tasks to each module according to related requests and coordinates the operation of each module; continuously receiving identification information of the module in the operation process of the module, and matching and processing data through an algorithm; finally, the business server feeds back the processing result to the WEB server;
a method of a book shelf-staggering tidying system based on a robot comprises the following specific steps: the book label is firstly pasted on the surface of the binding part, information in the book label corresponds to book information, then, the server main body is opened, the robot is waited for being connected with the server main body, at the moment, the robot is placed into a library to search for mistakes, the robot can freely walk through the walking control module, book serial numbers are obtained through the ultrahigh frequency RFID module, book information and environmental conditions are obtained through the image shooting module, the ultrahigh frequency RFID module continuously interacts with the server main body information, when books are mistakenly placed, the images are sent to the WEB end through the image shooting module, the WEB end feeds back the wrong book position information, the mechanical arm control module is started at the moment, the books which are mistakenly clamped can be taken out, the arrangement of workers is waited, and the task is completed.
The invention realizes automatic book error checking based on a solution scheme combining a UHF RFID technology and an image technology, can work for 24 hours, and can realize searching for error-set books, collecting error-set book images and feeding back error-set information every day according to data tested by a team, thereby being convenient for workers to arrange books next day, reducing a lot of manual workload for the workers, and better embodying the application potential of the library with large book collection amount and fine classification.
If a library of 100 thousands of libraries is assumed, manual book error checking is required to be carried out, 0.8 thousands of books can be checked per hour, the library works for 8 hours every day, the whole library wrong shelf checking 1 time needs about 16 days to be completed, the books must be arranged in a row in a straight line, and in addition, the tedious and tedious repeated work is bound to cause manual errors. If the invention is adopted, according to the test data, one machine needs 10 minutes for checking 2500 books, 1.5 thousands of books can be checked in each hour, and 36 thousands of books can be checked in 1 day because the machine can work for 24 hours, so that 1 machine can realize 100 thousands of books in the whole library for wrong shelf checking only in about 3 days, and the error is not easy to make mistakes, thereby greatly improving the error detection efficiency of the library, and freeing the staff from the fussy and tasteless error detection work to do professional matters. The specific parameters are compared as follows:
parameter comparison table for manual error detection and book manager error detection
Besides the great difference of the working efficiency, the library can set the invention as the night working mode, so that the use of readers is not influenced by the work in the open time, and the management of the library is more humanized. Therefore, the invention researched by the team can completely replace the manual error detection work of 5 people in a library of 100 thousands of libraries, also improves the working efficiency, has very great practical value, and has very great market space if being popularized.
Although the present disclosure has been described in detail with reference to the exemplary embodiments, the present disclosure is not limited thereto, and it will be apparent to those skilled in the art that various modifications and changes can be made thereto without departing from the scope of the present disclosure.
Claims (9)
1. The utility model provides a wrong frame arrangement system of books based on robot which characterized in that, including at least one books label, at least one robot and server main part: the robot is in communication connection with the book tag, and the server main body is in communication connection with the robot through an SOCKET interface/HTTP protocol; the book label is as follows: the information of the books is contained, and the information is arranged on the surface of the binding part of the books and used for the communication connection of the robot;
the robot includes:
and an ultrahigh frequency RFID module: the system is used for reading library book information and realizing the function of error checking through comparison with the serial number of the book;
a walking control module: for walking of the robot;
an image capturing module: the system is used for collecting the on-site book information and the environmental condition of the library and transmitting the information and the environmental condition back to the server main body in the form of videos or pictures for managers to look up and monitor, so that the library environment can be monitored and known at any time;
the mechanical arm control module: the book taking and placing device is used for taking out or placing books in a library;
the ultrahigh frequency module, the walking control module, the image shooting module and the mechanical arm control module are in coordination work through serial port communication;
the server main body consists of two virtual servers and a cloud database; the virtual server comprises a WEB server and a service server, wherein the WEB server is mainly responsible for processing requests of WEB front-end users and feeding back processing results, and the service server controls and ensures the normal work of each module in the robot; and the cloud database is used for storing the identity verification information of the administrator and the basic book information.
2. The system as claimed in claim 1, wherein the image capturing module is in communication connection with the server body through WIFI of the raspberry row, and the transmission of the image information formed by the image capturing module is completed by means of SOCKET interface/HTTP protocol; the walking module and the RFID module are in communication connection with the server main body through WIFI.
3. The robot-based book reshelf system according to claim 1, wherein the UHF module comprises a UHF RFID system, a chip AS3992 and Arduino MeGa 2560; the UHF RFID system employs a 5dBi UHF RFID UHF 902-928MHz PCB antenna 915M MMCXSMA IPE.
4. The robot-based book staggering sorting system according to claim 1, wherein the walking control module comprises a structural shell, a crawler-type mechanical structure, a direct current motor drive, an infrared sensor, an ultrasonic sensor and a main controller; the direct current motor drive adopts a direct current brushless servo motor; the main controller adopts Arduino; the walking control module walks through an A star algorithm.
5. The robot-based book reshelf system according to claim 1, wherein the image capturing module comprises Logitech C270 USB webcam, Rsapberry Pi 3b +.
6. The system of claim 1, wherein the mechanical arm control module comprises a TBS-K20 digital steering engine, a mechanical arm, a main control board, and a handle; the mechanical arm has six degrees of freedom, each degree of freedom is controlled by a TBS-K20 digital steering engine, and the steering engine is controlled by an LSC series control panel; the steering engine that the arm used is TBS-K20 digital steering engine.
7. The robot-based book misplacing arrangement system according to claim 1, wherein the cloud database is a Mysql database;
the WEB server comprises a front end and a background, wherein a front end WEB interaction page is developed by using HTML5 and jQuery language, a B/S mode is adopted, an HTTP protocol is used for information communication with the background, and the background server adopts a flash frame of Python.
8. The system of claim 1, wherein the business server employs multi-thread programming, and the multi-thread programming method comprises: after the system is started, WIFI of the ultrahigh frequency RFID module, the walking control module and the mechanical arm control module respectively initiates connection requests to a service server; after the connection is successfully established, the business server waits for a user instruction transmitted by the WEB server, sends corresponding tasks to each module according to related requests and coordinates the operation of each module; continuously receiving identification information of the module in the operation process of the module, and matching and processing data through an algorithm; and finally, the service server feeds back the processing result to the WEB server.
9. A method of a book shelf-staggering tidying system based on a robot is characterized by comprising the following specific steps: the book label is firstly pasted on the surface of the binding part, information in the book label corresponds to book information, then, the server main body is opened, the robot is waited for being connected with the server main body, at the moment, the robot is placed into a library to search for mistakes, the robot can freely walk through the walking control module, book serial numbers are obtained through the ultrahigh frequency RFID module, book information and environmental conditions are obtained through the image shooting module, the ultrahigh frequency RFID module continuously interacts with the server main body information, when books are mistakenly placed, the images are sent to the WEB end through the image shooting module, the WEB end feeds back the wrong book position information, the mechanical arm control module is started at the moment, the books which are mistakenly clamped can be taken out, the arrangement of workers is waited, and the task is completed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113219971A (en) * | 2021-05-07 | 2021-08-06 | 西南交通大学 | Multifunctional intelligent logistics trolley based on convolutional neural network and multithreading parallel control |
| CN114006933A (en) * | 2021-10-29 | 2022-02-01 | 深圳市优必选科技股份有限公司 | Robot control method and device and server |
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| CN114006933B (en) * | 2021-10-29 | 2023-08-25 | 深圳市优必选科技股份有限公司 | Robot control method and device and server |
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