CN112233328A

CN112233328A - Intelligent library book taking and returning method

Info

Publication number: CN112233328A
Application number: CN202011076837.6A
Authority: CN
Inventors: 周威; 梁辉跃; 王旭东; 梁卜嘉; 黄静; 马少聪; 陈家乐; 李伟; 陈湘湘; 宁睿彬
Original assignee: Nanhua University
Current assignee: Nanhua University; University of South China
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-01-15
Anticipated expiration: 2040-10-10
Also published as: CN112233328B

Abstract

The intelligent book taking and returning method for the library is applied to an intelligent book taking and returning system for the library and comprises a book taking method and a book returning method. The book fetching method comprises the following steps: 1, searching books; 2, positioning the mechanical claw to the target book; 3, grabbing the target book by the mechanical claw; 4, putting the target book into a book transfer device; 5, adjusting the position of the target book in the book transfer device; 6, compacting the loose book stack in the book storage interval; the book returning method comprises the following steps: 1, finding a bookcase corresponding to a book to be returned; 2, adjusting the position of the book to be returned in the book transfer device; 3, the mechanical claw grabs the book to be returned; 4, moving the book to be returned to the returning position; 5, filling the book to be returned into the returning position; and 6, compacting the loose book stack in the book storage interval. The book borrowing and returning system can realize quick retrieval and positioning of the designated books, greatly improve the efficiency of borrowing and returning the books, and can realize automatic taking out and loading of the books in the book cabinet, thereby reducing the manpower consumption of readers.

Description

Intelligent library book taking and returning method

Technical Field

The invention relates to the technical field of intelligent equipment manufacturing, in particular to an intelligent library book taking and returning method.

Background

Books are usually placed on different bookshelves according to categories and arranged on the bookshelves according to certain numbers and sequences. When borrowing or returning books, firstly, people need to search the book category, number or arrangement position, and then take out or return the books. The manual cost is high, the consumed time is long, and the situation of misplacing is easy to occur when books are returned. Therefore, it is very important to design an intelligent book management system and a corresponding book management method capable of rapidly borrowing, returning and arranging books in a library.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides an intelligent library book fetching and returning method, which solves the problems of high labor cost, time and labor waste and high possibility of errors in the existing library management mode during book borrowing or returning.

The technical scheme of the invention is as follows: the intelligent book taking and returning method for the library is applied to an intelligent book taking and returning system for the library and comprises a book taking method and a book returning method;

the intelligent library book taking and returning system comprises a bookcase, a book transfer device, a mechanical claw movement driving mechanism, a mechanical claw, a main control computer, an operation terminal and a code scanning module;

a plurality of book storage intervals for storing books are arranged inside the book cabinet, and an opening A communicated with each book storage interval is arranged at the front end of the book cabinet; the bottom surface of the lower end of each book storage section of the bookcase is provided with a sliding chute A, each book storage section of the bookcase is internally provided with a book pressing component, each book pressing component comprises two sliding blocks A and two end plates, the two sliding blocks A are movably arranged in the sliding chutes A, the two end plates are fixedly connected to the two sliding blocks A respectively and are opposite to each other;

the book transfer device comprises a book basket, a book basket rotation driving mechanism, a book positioning mechanism, a baffle arm and a baffle arm rotation driving mechanism; the book basket comprises a book basket main body and a rotating shaft; the inside of the book basket body is provided with an inner side wall A and an inner side wall B which are oppositely arranged at two sides, and one end of the book basket body is provided with an opening B for taking out or putting in books; the book basket rotation driving mechanism is used for driving the book basket main body to rotate around the rotating shaft; the book basket rotation driving mechanism comprises a direct current speed reducing motor A; the book positioning mechanism is used for temporarily fixing the book placed in the book basket main body; the book positioning mechanism comprises a motor A, a screw A, a nut A, a slide rail, a connecting rod A, a push plate, a pressure sensor and a pressure sensor B; the blocking arms are U-shaped, two ends of each blocking arm are hinged to the outer side walls of two sides of the book basket main body, and the blocking arms can rotate around hinged points to open or block the opening B of the book basket main body; the blocking arm rotation driving mechanism is used for driving the blocking arm to rotate around the hinge point so as to open or block the opening B of the book basket main body; the baffle arm rotation driving mechanism comprises a direct current speed reducing motor B;

the mechanical claw movement driving mechanism comprises two groups of vertical moving assemblies arranged on two sides of the bookcase and a transverse moving assembly arranged between the two groups of vertical moving assemblies; the vertical moving assembly comprises a motor B, a lead screw B and a nut B; the transverse moving assembly comprises a mounting plate, a motor C, a screw rod C and a nut C;

the mechanical claw comprises a base, a sliding block B, a sliding block translation driving assembly, a clamping device rotation driving assembly and a book taking auxiliary mechanism; the base is fixedly connected to a nut C of the mechanical claw movement driving mechanism, and a sliding groove B is formed in the base; the sliding block B is movably arranged on the sliding chute B of the base; the sliding block translation driving assembly is used for driving the sliding block B to slide along the sliding groove B of the base and comprises a motor D, a screw rod D and a nut D; the clamping device is hinged on the base and can rotate around a hinge point in a vertical plane; the clamping device comprises a frame A, a lower clamping strip, an upper clamping strip moving driving mechanism, an upper clamping strip and a pressure sensor C; the upper holding strip moving driving mechanism comprises a motor E, a screw rod E and a nut E; the clamping device rotation driving assembly is used for driving the clamping device to rotate around a hinge point of the clamping device, and comprises a frame B, a motor F, a screw rod F, a nut F and a connecting rod B; the book taking auxiliary mechanism comprises barrier strip motion driving assemblies and barrier strips, the two groups of barrier strip rotation driving assemblies are respectively arranged on two sides of the sliding block B, and each barrier strip motion driving assembly comprises a mounting seat A, a motor G, a screw rod G, a nut G, a mounting seat B, a motor H, a screw rod H, a nut H, a stepping motor and a connecting rod C;

the main control computer is in wireless communication connection with the operation terminal and the code scanning module respectively; the operation terminal is a smart phone with a camera; the code scanning module is arranged on the sliding block B and is positioned right below the lower clamping strip of the clamping device;

before taking or returning books, the intelligent library book taking and returning system is in the following initial state:

a. the baffle arm of the book transfer device rotates to the limit position at the lower end to open the opening B of the book basket main body;

b. the push plate of the book transfer device is positioned at the position farthest from the inner side wall B of the basket body;

c. the book basket main body of the book transfer device is in a horizontal state;

d. the mechanical claw is positioned at the leftmost side or the rightmost side of the lowest end of the motion stroke of the mechanical claw;

e. the sliding block B of the mechanical claw is positioned at one end which is far away from the bookcase in the movement stroke;

f. the gripper of the mechanical claw is in a vertical state, and in the state, the screw rod E is vertical to the horizontal plane;

g. the two barrier strips of the mechanical claw are in a vertical state, and in the state, the two barrier strips are perpendicular to the horizontal plane;

h. the two barrier strips of the mechanical claw are both positioned at the farthest positions;

before taking and returning the book, the preparation work is carried out as follows:

s01, numbering each book cabinet to distinguish different book cabinets, numbering each book storage interval in the book cabinet to distinguish different book storage intervals; measuring the thickness of each book, and pasting a two-dimensional code at the lower end of the thickness edge of each book to distinguish different books;

s02, standing the book pasted with the two-dimensional code and placing the book between two end plates in a book storage interval in a left-right close manner, enabling the two-dimensional code on the thickness side of the book to face the outside of the opening A of the bookcase, and enabling the book to extend out of the opening A of the bookcase and have the width of at least 4 cm; the positions of the two sliding blocks A in the sliding chute A are adjusted, so that on one hand, books between the two end plates are sequentially pressed, and on the other hand, one sliding block A is pressed on the inner side wall surface of the book storage section;

s03, measuring the relative distance of the two barrier strips of the mechanical claw in the initial state, controlling the barrier strip motion driving assembly to act by the master control computer, driving the two barrier strips to move towards each other synchronously and vertically at the same speed in the initial state, recording the moving process, and acquiring the corresponding relation between the operating parameters of the barrier strip motion driving assembly and the relative distance between the two barrier strips so as to facilitate the subsequent automatic movement control;

s04, establishing a coordinate system by using the motion plane of the mechanical claw, taking the initial position of the mechanical claw as the origin of the coordinate system, and marking the position of each book storage interval and the position of the book clamping area in the coordinate system; planning a moving path from the origin of the coordinate system to each book storage section and a moving path from the book clamping area to each book storage section by the main control computer; the master control computer controls the mechanical claw movement driving mechanism to act to drive the mechanical claw to actually run once according to each movement path, and then the running parameters of the mechanical claw movement driving mechanism corresponding to each movement path are recorded so as to facilitate the subsequent automatic movement control; in the step, the position of the book storing section marked in the coordinate system is positioned at the right end of the book storing section, the end, pressed with the sliding block A, of the book storing section is defined as the right end, and the position of the book clamping area marked in the coordinate system is positioned at the center of the book clamping area;

s05, the mechanical claw movement driving mechanism acts to drive the mechanical claw to move, books placed in each book storage interval are scanned through the code scanning module arranged on the mechanical claw, and during scanning, the books are scanned from one end to the other end of the book storage interval;

s06, the main control computer obtains the basic information of the books, the regional information of the books and the book sequence information in the book storage section through the code scanning module; then, the 3 kinds of information are correlated and stored; the basic information comprises the title, the author and the information and the thickness of the book, and the regional information comprises the number of a book cabinet where the book is located and a book storage interval;

the book fetching method comprises the following steps:

s01, searching books: when a user takes a book, the user performs information interaction with the main control computer through the operation terminal to retrieve the book; after the target book is found, the operation terminal confirms to fetch the book, and the confirmation information is sent to the main control computer;

s02, the mechanical claw is positioned to the target book:

a. the main control computer finds out the book cabinet and the book storage interval where the target book is located, and then controls the mechanical claw movement driving mechanism to generate action, so that the mechanical claw moves to the corresponding book storage interval according to the corresponding movement path;

b. the code scanning module identifies the two-dimension code of the book at the current position, and the master control computer judges the relative position relationship between the target book and the book at the current position according to the book sequence information and the two-dimension code information of the book at the current position;

c. the mechanical claw movement driving mechanism moves to enable the mechanical claw to move towards the target book, when the code scanning module identifies and is opposite to the two-dimensional code of the target book, the mechanical claw movement driving mechanism stops moving, and at the moment, the clamping device of the mechanical claw is opposite to the target book;

s03, the mechanical claw grabs the target book:

a. the sliding block translation driving assembly moves to drive the sliding block B to move towards the direction close to the bookcase along the sliding groove B, so that the clamping device is close to the bookcase; the upper holding strip of the clamping device extends into the position right above the target book, the lower holding strip of the clamping device is close to and extends into the position right below the target book, and the lower holding strip of the clamping device can extend into the position right below the target book as each book extends out of the opening A of the bookcase and has the width of at least 4 cm;

b. the clamping device moves to enable the upper clamping strip to move towards the direction close to the lower clamping strip until the target book is firmly clamped between the upper clamping strip and the lower clamping strip;

c. the barrier strip motion driving component generates actions, so that the two barrier strips synchronously move towards each other at the same speed and keep vertical in the initial state, and the movement is stopped when the distance between the two barrier strips is larger than the thickness of a target book by 0.5-1.0 cm;

d. on one hand, the clamping device rotates the driving component to move, so that the clamping device and the target book rotate around the hinge point to the direction far away from the book cabinet, and the target book is gradually separated from the book storage interval; on the other hand, when the target book is gradually separated from the book storage interval, the barrier strip movement driving component moves to enable the two barrier strips to rotate towards the direction close to the target book in the vertical plane until the two barrier strips abut against the books on the two sides of the target book, so that the restriction is formed on the two sides of the target book; on one hand, the front and back covers of the target book can be prevented from being scattered, and on the other hand, the books on the two sides of the target book can be prevented from being taken out when the target book is taken out;

e. after the target book is completely separated from the book storage interval, on one hand, the barrier strip movement driving component moves to enable the two barrier strips to rotate to be vertical, so that the state of the two barrier strips abutting against the books on the two sides of the target book is removed, and on the other hand, the sliding block translation driving component moves to enable the clamping device and the target book to be far away from the book cabinet; on the other hand, the main control computer additionally stores the changed book sequence information according to the taken target book;

s04, putting the target book into the book transfer device:

a. the mechanical claw movement driving mechanism generates actions to enable the mechanical claw and the target book to move to the front of a book clamping area of the book transfer device;

b. the clamping device rotation driving component generates action to enable the clamping device and the target book to rotate around the hinge point to the direction close to the book transfer device until the target book is adjusted to be in a vertical state;

c. the slide block translation driving component moves to enable the clamping device and the target book to extend into a book clamping area of the book transfer device;

d. the book positioning mechanism acts to enable the push plate to move towards the direction close to the inner side wall B, so that the book clamping area is narrowed, and the target book is positioned in the book clamping area;

e. the clamping device acts to move the upper clamping strip towards the direction far away from the lower clamping strip, so that the target book is relaxed;

f. the slide block translation driving component generates action to enable the slide block B to move towards the direction far away from the book transfer device, and then the clamping device exits from the book clamping area of the book transfer device;

s05, adjusting the position of the target book in the book transfer device:

a. the blocking arm rotation driving mechanism generates action to drive the blocking arm to rotate to the upper end, so that the opening B of the book basket main body is blocked;

b. the book positioning mechanism acts to enable the push plate to move 1-2mm in the direction far away from the inner side wall B, and the target book in the positioning state is released;

c. the book basket rotation driving mechanism generates action to drive the book basket main body to rotate around the rotating shaft towards the oblique lower side of the opening A, so that the book basket main body is inclined, and the target book slides downwards under the action of self gravity until the thickness side is abutted against the blocking arm; then the book basket rotation driving mechanism generates action to drive the book basket main body to rotate and restore to the initial state;

d. the stop arm rotation driving mechanism generates action to drive the stop arm to rotate downwards to the limit position, so that the opening B of the book basket main body is opened, at the moment, the target book part is exposed outside the opening B, and a user can directly take out the target book from the book clamping area;

s06, compacting the loose book pile in the book storage interval:

a. the mechanical claw movement driving mechanism acts to enable the mechanical claw to move to the outer side of the second end plate in the book storage interval;

b. the sliding block translation driving component generates action to enable the sliding block B to move towards the direction close to the book cabinet along the sliding groove B and further extend into the book storage interval;

c. the mechanical claw movement driving mechanism moves to enable the mechanical claw to move towards the direction close to the second end plate, the second end plate is pushed to move towards the first end plate through the side face of the sliding block B, and then the loose book stack is pushed to be tightly pressed on the first end plate through the second end plate;

d. after the compressing operation is completed, all parts in the intelligent library book taking and returning system restore to the initial state;

in the step, the end plate connected with the slide block A tightly pressed on the inner side wall surface of the book storage section is a first end plate, the end plate connected with the other slide block A is a second end plate, and the outer side of the second end plate is the side back to the first end plate;

the book returning method comprises the following steps:

s01, finding a bookcase corresponding to the book to be returned:

when a user returns a book, inputting a book returning instruction through an operation terminal, scanning a two-dimensional code at the lower end of the thickness surface of the book, sending scanning information to a main control computer, inquiring basic information and area information of the book by the main control computer based on the scanning information, then sending the basic information and the area information of the book to the operation terminal of the user, checking the book to be returned by the user according to the basic information, finding a corresponding bookcase according to the area information after checking the book to be returned, and then placing the book to be returned in a book clamping area corresponding to a target bookcase by the user;

s02, adjusting the position of the book to be returned in the book transfer device:

a. after the pressure sensor B senses that the books are placed in the book clamping area, the book positioning mechanism acts to enable the push plate to move towards the direction close to the inner side wall B, so that the book clamping area is narrowed, and the books to be returned are positioned in the book clamping area;

c. the blocking arm rotation driving mechanism generates action to drive the blocking arm to rotate to the upper end, so that the opening B of the book basket main body is blocked;

d. the book basket rotation driving mechanism generates action to drive the book basket main body to rotate around the rotating shaft towards the oblique lower side of the opening A, so that the book basket main body is inclined, and books to be returned slide downwards under the action of self gravity until the thickness side is abutted against the blocking arm; then the book basket rotation driving mechanism generates action to drive the book basket main body to rotate and restore to the initial state;

e. the blocking arm rotation driving mechanism acts to drive the blocking arm to rotate downwards to the limit position, so that the opening B of the book basket main body is opened, and at the moment, the book to be returned is partially exposed outside the opening B;

s03, the mechanical claw grabs the book to be returned:

a. the mechanical claw movement driving mechanism generates actions to drive the mechanical claw to move to the front of the book clamping area, then the code scanning module is started to determine whether the clamping device is opposite to the book or not, and whether the current book is the book to be returned or not is verified;

b. when the clamping device is over against the book and verification is correct, the sliding block translation driving component generates an action to drive the sliding block B to move towards the direction close to the book cabinet along the sliding groove B, so that the clamping device is close to the book cabinet; the upper holding strip of the clamping device extends into the position right above the book to be returned, the lower holding strip of the clamping device is close to and extends into the position right below the book to be returned, and the part of the book to be returned is exposed outside the opening B, so that the lower holding strip of the clamping device can extend into the position right below the target book;

c. the clamping device moves to enable the upper clamping strip to move towards the direction close to the lower clamping strip until the book to be returned is firmly clamped between the upper clamping strip and the lower clamping strip;

s04, moving the book to be returned to the returning position:

a. on one hand, the sliding block translation driving component moves to drive the sliding block B to move along the sliding groove B in the direction away from the bookcase 1, so that the clamping device and the books to be returned leave the book clamping area; on the other hand, when the sliding block B moves, the clamping device rotates the driving component to move, and the clamping device and the book to be returned are driven to rotate around the hinge point to the direction far away from the book cabinet, so that the book to be returned is in a lying state; on the other hand, the barrier strip motion driving component moves to enable the two barrier strips to move towards each other synchronously and vertically at the same speed in the initial state, and the movement is stopped when the distance between the two barrier strips is larger than the thickness of the target book by 0.5-1.0cm, so that the restriction is formed on the two sides of the target book, and the front and back covers of the book to be returned can be prevented from being scattered;

b. the mechanical claw movement driving mechanism generates actions to drive the mechanical claw to move to the outside of the book storage section corresponding to the book to be returned;

c. starting a code scanning module to scan the existing books in the book storage interval, and determining the returning position of the book to be returned through a main control computer;

d. the mechanical claw movement driving mechanism generates action to drive the mechanical claw to move to the position right in front of the returning position;

s05, inserting the book to be returned into the returning position:

a. the barrier strip motion driving assembly moves, on one hand, the two barrier strips are respectively inclined towards each other until the tail ends of the two barrier strips abut against each other to form a sharp corner, and on the other hand, the two barrier strips synchronously rotate towards the inner side of the book storage interval until the sharp corner formed by the tail ends of the two barrier strips is opposite to the returning position;

b. the sliding block translation driving component moves to drive the sliding block B to move towards the direction close to the book cabinet along the sliding groove B, so that a sharp corner formed at the tail end of each of the two barrier strips extends into the book storage area, the returning position is expanded, and books on one side or two sides of the returning position are squeezed open;

c. after the lower end of the book to be returned enters the returning position, on one hand, the barrier strip movement driving assembly moves to enable the two barrier strips to be restored to the vertical state, and on the other hand, the clamping device rotation driving mechanism moves to drive the clamping device to rotate towards the direction of the book storing interval to enable the book to be returned to be changed from the lying state to the vertical state, so that the book to be returned is stuffed into the returning position;

s06, compacting the loose book pile in the book storage interval:

in this step, the end plate connected with the slide block a pressed against the inner side wall surface of the book storing section is the first end plate, the end plate connected with the other slide block a is the second end plate, and the outer side of the second end plate is the side back to the first end plate.

The further technical scheme of the invention is as follows: in step S02 of the front preparation work, a book having a thickness of not more than 2cm is loaded into a hard-shell book holder having a thickness of 3cm, and the two-dimensional code is attached to the lower end of the hard-shell book holder.

The further technical scheme of the invention is as follows: in step S02 of the preparation job, the information included in the two-dimensional code includes the title, the author, and the publisher.

The further technical scheme of the invention is as follows: in step S01 of the book fetching method, the user can input the name of the book and/or the author and/or the publishing company to retrieve the book at the operation terminal.

The further technical scheme of the invention is as follows: in step S03 of the book fetching method, the clamping force applied to the target book in the clamper is controlled within the range of 15-25N based on the detected value of the pressure sensor C.

The further technical scheme of the invention is as follows: in step S04 of the book fetching method, the pressing force of the target book in the book holding area is controlled within the range of 5-10N based on the detected value of the pressure sensor a.

Compared with the prior art, the invention has the following advantages:

1. the book management system is applied to the book management of a library, can realize quick retrieval and positioning of appointed books on the one hand, greatly improves the efficiency of borrowing and returning the books, and on the other hand can realize automatic taking out and loading of the books in the book cabinet, thereby reducing the manpower consumption of librarians and readers.

2. The book management system is applied to book management of a library, can check and correct the current book placing sequence according to the preset book placing sequence, and avoids the situation that a reader or a librarian puts books into wrong positions to cause disorder of the book placing sequence and further influence normal book management.

The invention is further described below with reference to the figures and examples.

Drawings

FIG. 1 is a schematic structural diagram of an intelligent library book retrieval system at one viewing angle;

FIG. 2 is a schematic structural diagram of the intelligent library book retrieval and retrieval system at another viewing angle;

FIG. 3 is a schematic view of the book transferring device with the opening B open;

FIG. 4 is a schematic view of the book transfer device when the opening B is closed;

FIG. 5 is a schematic view of the gripper from one perspective;

FIG. 6 is a schematic view of the gripper from another perspective;

FIG. 7 is a schematic structural view of an upper holding strip;

FIG. 8 is a state diagram of a book fetch method S03 step;

fig. 9 is a state diagram of the resume method S05 step.

Detailed Description

Example 1:

an intelligent access method for library books is applied to an intelligent book taking and returning system of the library books and comprises a book taking method and a book returning method.

As shown in fig. 1-7, the library book intelligent retrieving and returning system includes a bookcase 1, a book transfer device 2, a gripper movement driving mechanism, a gripper 4, a main control computer (not shown), an operation terminal (not shown), and a code scanning module 5.

The inside of the bookcase 1 is provided with a plurality of book storage sections 11 for storing books, and the front end of the bookcase 1 is provided with an opening A communicated with each book storage section 11. The bottom surface of the lower end of each book storage section 11 of the bookcase 1 is provided with a sliding chute A12, and the extending direction of the sliding chute A12 is consistent with the arrangement direction of the books placed in the book storage section 11. Each book storage interval 11 of the bookcase 1 is internally provided with a book pressing component, each book pressing component comprises two sliding blocks A13 and two end plates 14, the number of the sliding blocks A13 is two, the two sliding blocks A13 are movably arranged in the sliding groove A12, the number of the end plates 14 is two, and the two end plates 14 are fixedly connected to the two sliding blocks A13 respectively and are opposite to each other.

The book relay device 2 is provided in any of the book storage sections 11, and is used for temporarily storing books. The book transfer device 2 includes a book basket, a book basket rotation driving mechanism, a book positioning mechanism, a stopper arm 24, and a stopper arm rotation driving mechanism.

The book basket includes a basket body 211 and a rotation shaft 212. The book basket body 211 is in a U-shaped groove shape, and is internally provided with an inner side wall A2111 and an inner side wall B2112 which are oppositely arranged on two sides, one end of the book basket body is provided with an opening B for taking out or putting in books, and the opening B and the opening A of the bookcase 1 face the same direction. The rotating shaft 212 is fixedly connected to the lower end of the basket body 211, and both ends of the rotating shaft 212 are movably mounted on the bottom surface of the lower end of the book storing section 11.

The basket rotation driving mechanism is used for driving the basket body 211 to rotate around the rotating shaft 212. The basket rotation driving mechanism comprises a direct current speed reducing motor A221. The direct current gear motor a221 is fixedly installed at the lower portion of the book storage area 11 of the bookcase 1, and is connected with the rotating shaft 212 to drive the book basket body 211 to rotate around the rotating shaft 212 between a horizontal state and an inclined state, when the book basket body 211 is in the horizontal state, the opening B of the book basket body faces to the front of the opening a (at this time, the bottom surface of the lower end of the inside of the book basket body is in the horizontal state), and when the book basket body 211 is in the inclined state, the opening B of the book basket body faces to the oblique lower side of the opening a (at this time, the bottom surface of the lower end of the.

The book positioning mechanism is used for temporarily fixing a book placed in the basket body 211. The book positioning mechanism includes a motor A231, a screw A232, a nut A233, a slide rail 234, a connecting rod A235, a push plate 236, a pressure sensor A (not shown) and a pressure sensor B (not shown). The motor A231 is fixedly installed on the inner side wall A2111 of the basket body 211, the screw A232 is horizontally arranged and connected with a crankshaft of the motor A231, the nut A233 is in threaded connection with the screw A232, the lower end of the nut A233 is movably installed in the sliding rail 234, the sliding rail 234 is fixedly installed on the bottom surface of the inner lower end of the basket body 211, one end of the connecting rod A235 is fixedly connected to the nut A233, the other end of the connecting rod A235 is fixedly connected with the push plate 236, the push plate 236 moves synchronously along with the nut A233 to be close to or far away from the inner side wall B2112 of the basket body 211, a book clamping area 237 is formed between the push plate 236 and the inner side wall B2112 of the basket body 211, the pressure sensor A is installed on the push plate 236 in an embedded.

The blocking arm 24 is U-shaped, and two ends thereof are hinged to the outer side walls of two sides of the basket body 211, and can rotate around a hinge point, so as to open or block the opening B of the basket body 211.

The blocking arm rotation driving mechanism is used for driving the blocking arm 24 to rotate around the hinge point, so as to open or block the opening B of the book basket main body 211. The stopper arm rotation driving mechanism includes a dc speed reduction motor B251. The dc gear motor B251 is fixedly installed on the outer sidewall of the basket body 211 and connected to the blocking arm 24 to drive the blocking arm 24 to rotate around the hinge point, thereby opening or blocking the opening B of the basket body 211.

The mechanical claw moving driving mechanism is arranged at the front end of the bookcase 1. The mechanical claw movement driving mechanism comprises two groups of vertical moving assemblies arranged on two sides of the bookcase 1 and a transverse moving assembly arranged between the two groups of vertical moving assemblies. The vertical moving component comprises a motor B311, a screw rod B312 and a nut B313. The motor B311 is fixedly arranged at the upper end corner of the bookcase 1. The screw rod B312 is vertically arranged and positioned at the side edge of the bookcase 1, the upper end of the screw rod B312 is connected with the motor B311 through a coupler, and the lower end of the screw rod B is movably arranged at the lower end angle of the bookcase 1. The nut B313 is screwed on the lead screw B312. The transverse moving assembly comprises a mounting plate 321, a motor C322, a screw rod C323 and a nut C324. The mounting plate 321 is horizontally arranged and fixedly connected between the nuts B313 of the two sets of vertical moving assemblies. The motor C322 is fixedly mounted on the mounting plate 321. The screw rod C323 is horizontally arranged and perpendicular to the screw rod B312, one end of the screw rod C323 is connected with the motor C322 through a coupler, and the other end of the screw rod C is movably installed on the installation plate 321. The nut C324 is screwed on the lead screw C323.

The mechanical claw 4 is driven by the mechanical claw moving driving mechanism to move in a vertical plane, and then books can be taken out of or put into any book storage section 11 through the opening A. The gripper 4 comprises a base 41, a slider B42, a slider translation drive assembly, a gripper, and a gripper rotation drive assembly.

The base 41 is fixedly connected to a nut C324 of the gripper movement driving mechanism, and a sliding groove B411 is arranged on the base.

The slide block B42 is movably mounted on the slide groove B411 of the base 41.

The slide block translation driving assembly is used for driving the slide block B42 to slide along the slide groove B411 of the base 41. The sliding block translation driving assembly comprises a motor D431, a screw rod D432 and a nut D433. The motor D431 is fixedly installed on the base 41. The screw D432 is horizontally disposed and located at the upper end of the base 41, and one end thereof is connected with the crankshaft of the motor D431 and the other end thereof is threadedly connected with the nut D433. And the nut D433 is fixedly connected to the sliding block B42.

The gripper is hingedly mounted on a base 41, which is pivotable in a vertical plane about a hinge point. The gripper includes a frame a441, a lower gripper 442, an upper gripper movement driving mechanism, an upper gripper 444, and a pressure sensor C (not shown). The frame a441 is hingedly connected to the upper end of the slider B42. The lower clip strip 442 is fixedly attached to the lower end of the frame a441 and extends outward of the slider B42. The upper clamping strip moving driving mechanism comprises a motor E4431, a screw rod E4432 and a nut E4433. The motor E4431 is fixedly mounted on the lower end of the frame a 441. The lower end of the screw rod E4432 is connected with a crankshaft of the motor E4431, and the upper end is movably arranged at the upper end of the frame A411. The nut E4433 is screwed on the screw rod E4432. The upper clamping bar 444 is fixedly attached to the nut E4433 and is positioned directly above the lower clamping bar 442 and moves closer to or farther from the lower clamping bar 442 as the nut E4433 moves. The pressure sensor C is embedded in the upper gib 444.

The clamping device rotation driving assembly is used for driving the clamping device to rotate around a hinge point of the clamping device. The gripper rotation driving assembly includes a frame B451, a motor F452, a screw F453, a nut F454, and a connecting rod B455. The frame B451 is fixedly mounted on the upper end of the slider B42. The motor F452 is fixedly mounted on the frame B451. One end of the screw rod F453 is connected with a crankshaft of the motor F452, and the other end is movably installed on the frame B451. The nut F454 is screwed to the lead screw F453. The connecting rod B455 is hinged at one end to the nut F454 and at the other end to the gripper frame a 411.

The operation terminal is a smart phone with a camera. The code scanning module 5 is mounted on the slide B42 and is located directly below the lower gripper bar 442 of the gripper. The main control computer is respectively connected with the operation terminal and the code scanning module 5 in a wireless communication way.

Preferably, the gripper further comprises a book fetching assisting mechanism. The book retrieval assist mechanism also includes a bar motion drive assembly and a bar 469. The two groups of barrier rotation driving components are respectively arranged at two sides of the sliding block B42, and each barrier movement driving component comprises a mounting seat A461, a motor G462, a screw rod G463, a nut G, a mounting seat B464, a motor H465, a screw rod H466, a nut H, a stepping motor 467 and a connecting rod C468. The mounting seat A461 is fixedly connected to one side of the sliding block B42. The motor G462 is fixedly mounted on the mount a 461. The screw rod G463 is horizontally arranged and perpendicular to the screw rod D432, one end of which is connected with the motor G462, and the other end is movably installed on the installation seat a 461. The nut G is screwed on the lead screw G463. The mounting seat B464 is hinged on one side of the sliding block B42 and is positioned at the upper end of the mounting seat A461. Motor H465 is fixedly mounted to mounting block B464. The screw rod H466 is arranged perpendicular to the screw rod D432, one end of the screw rod H466 is connected with the motor H465, and the other end of the screw rod H is movably arranged on the mounting seat B464. The nut H is screwed on the lead screw H466. Step motor 467 fixed mounting is on nut H. One end of the connecting rod C468 is hinged on the nut G, and the other end is hinged on the mounting seat B464. The two blocking strips 469 are vertically arranged and are respectively connected with the crankshaft of the stepping motor 467 at the lower end, and a book positioning area is formed between the two blocking strips 469.

The working principle of the book taking auxiliary mechanism is as follows: when motor G462 starts, drive nut G and remove along lead screw G463, nut G drives mount pad B464 through connecting rod C468 and rotates around its pin joint, makes blend stop 469 rotate around the pin joint synchronization of mount pad B464. When the motor H465 is started, the nut H is driven to move along the lead screw H466, so that the barrier 469 is close to or away from the other barrier 469. The stepping motor 467 is started to respectively drive the connected blocking strips 469 to rotate around the crankshaft of the stepping motor 467, so as to achieve the effect of approaching or leaving the bookcase 1.

Preferably, the number of the dc gear motors a221 is two, and the two dc gear motors a221 are respectively connected to two ends of the rotating shaft 212. The number of the direct current speed reduction motors B251 is two, and the two direct current speed reduction motors B251 are respectively installed on the outer side walls of the two sides of the book basket main body 211 and are respectively connected with two hinge points of the blocking arm 24.

a. the stopper arm 24 of the book transfer device is rotated to a lower end limit position to open the opening B of the basket body 211;

b. the push plate 231 of the book transfer device is located farthest from the inner side wall B2112 of the basket body 211;

c. the basket body 211 of the book transfer device is in a horizontal state;

d. the gripper 4 is at the leftmost side or the rightmost side of the lowest end of the movement stroke;

e. the sliding block B42 of the mechanical claw 4 is positioned at one end far away from the bookcase 1 in the movement stroke;

f. the gripper of the gripper 4 is in a vertical state, and in this state, the screw rod E4432 is vertical to the horizontal plane;

g. the two blocking strips 469 of the gripper are both in a vertical state, and in this state, the two blocking strips 469 are both vertical to the horizontal plane;

h. the two bars 469 of the gripper 4 are each in the position furthest from each other.

s01, numbering each book cabinet 1 to distinguish different book cabinets 1, numbering each book storage interval 11 in the book cabinet 1 to distinguish different book storage intervals 11; the thickness of each book is measured, and the two-dimensional code is pasted at the lower end of the thickness edge of each book to distinguish different books.

S02, standing the book pasted with the two-dimensional code and placing the book between two end plates 14 in the book storage interval 11 in a left-right close manner, enabling the two-dimensional code on the thickness side of the book to face the outside of the opening A of the bookcase 1, and enabling the book to extend out of the outside of the opening A of the bookcase 1 and have the width of at least 4 cm; the positions of the two sliders A13 in the sliding groove A12 are adjusted to sequentially press the books between the two end plates 14 on one hand, and to press one of the sliders A13 on the inner side wall surface of the book storage section 11 on the other hand.

And S03, measuring the relative distance between the two barrier strips 469 of the gripper 4 in the initial state, controlling the barrier strip motion driving assembly to act by the master control computer, driving the two barrier strips 469 to move synchronously and vertically to approach each other in the initial state at the same speed, recording the moving process, and acquiring the corresponding relation between the operating parameters of the barrier strip motion driving assembly and the relative distance between the two barrier strips 469 so as to facilitate subsequent automatic movement control.

S04, establishing a coordinate system by using the motion plane of the mechanical claw 4, and marking the position of each book storing interval 11 and the position of the book clamping area 237 in the coordinate system by using the initial position of the mechanical claw 4 as the origin of the coordinate system; planning a moving path from the origin of the coordinate system to each book storing section 11 and a moving path from the book holding area 237 to each book storing section 11 by the main control computer; the master control computer controls the mechanical claw movement driving mechanism to act to drive the mechanical claw 4 to actually run once according to each movement path, and then the running parameters of the mechanical claw movement driving mechanism corresponding to each movement path are recorded so as to facilitate the subsequent automatic movement control; in this step, the position of the book storing section 11 marked in the coordinate system is located at the right end of the book storing section 11, the end of the book storing section 11 pressed against the slider a13 is defined as the right end, and the position of the book holding area 237 marked in the coordinate system is located at the center of the book holding area 237.

And S05, the mechanical claw movement driving mechanism acts to drive the mechanical claw 4 to move, the code scanning module 5 arranged on the mechanical claw 4 respectively scans the books placed in each book storage section 11, and during scanning, the books are scanned from one end to the other end of the book storage section 11.

S06, the main control computer obtains the basic information of the books, the regional information of the books and the book sequence information in the book storage section 11 through the code scanning module 5; then, the 3 kinds of information are correlated and stored; the basic information comprises the title, the author and the information and the thickness of the book, and the regional information comprises the number of the book cabinet where the book is located and the book storage interval 11.

Preferably, in step S02 of the front preparation work, a book having a thickness of not more than 2cm is loaded into a hard-shell book holder having a thickness of 3cm, and the two-dimensional code is attached to the lower end of the hard-shell book holder.

Preferably, in step S02 of the preliminary preparation work, the information included in the two-dimensional code includes a title, an author, and a publisher.

The book fetching method comprises the following steps:

s01, searching books: when a user takes a book, the user performs information interaction with the main control computer through the operation terminal to retrieve the book; and after the target book is found, the operation terminal confirms book fetching, and the confirmation information is sent to the main control computer.

S02, the mechanical claw is positioned to the target book:

a. the main control computer finds the book cabinet 1 where the target book is located and the book storage interval 11, and then controls the mechanical claw movement driving mechanism to generate action, so that the mechanical claw 4 moves to the corresponding book storage interval 11 according to the corresponding movement path;

b. the code scanning module 5 identifies the two-dimension code of the book at the current position, and the master control computer judges the relative position relationship between the target book and the book at the current position by combining the book sequence information and the two-dimension code information of the book at the current position;

c. the mechanical claw movement driving mechanism generates action to enable the mechanical claw 4 to move towards the target book, when the code scanning module 5 identifies and is opposite to the two-dimensional code of the target book, the mechanical claw movement driving mechanism stops acting, and at the moment, the clamping device of the mechanical claw 4 is opposite to the target book.

S03, the mechanical claw grabs the target book:

a. the slide block translation driving component generates action to drive the slide block B42 to move towards the direction close to the bookcase 1 along the sliding chute B411, so that the clamping device is close to the bookcase 1; the upper holding strip 444 of the clamping device extends into the position right above the target book, the lower holding strip 442 of the clamping device is adjacent to and extends into the position right below the target book, and the lower holding strip 442 of the clamping device can extend into the position right below the target book as each book extends out of the opening A of the bookcase 1 by at least 4 cm;

b. the gripper acts to move the upper clamping bar 444 towards the lower clamping bar 442 until the target book is securely clamped between the upper clamping bar 444 and the lower clamping bar 442;

c. the barrier strip motion driving component generates action to ensure that the two barrier strips 469 synchronously move towards each other at the same speed and keep vertical in the initial state, and the movement is stopped when the distance between the two barrier strips 469 is larger than the thickness of the target book by 0.5-1.0 cm;

d. on one hand, the clamping device rotates the driving component to act, so that the clamping device together with the target book rotates around the hinge point to the direction far away from the bookcase 1, and the target book is gradually separated from the book storage interval 11; on the other hand, when the target book is gradually separated from the book storage section 11, the barrier movement driving component generates an action, so that the two barriers 469 rotate towards the direction close to the target book in the vertical plane until the two barriers abut against the books on the two sides of the target book, and therefore, the restriction is formed on the two sides of the target book; on one hand, the front and back covers of the target book can be prevented from being scattered, and on the other hand, the books on both sides of the target book can be prevented from being taken out when the target book is taken out (see fig. 8);

e. after the target book is completely separated from the book storage interval 11, on one hand, the barrier strip movement driving component moves to enable the two barrier strips 469 to rotate to be vertical, so that the state of the two barrier strips 469 abutting against the books on the two sides of the target book is released, and on the other hand, the sliding block translation driving component moves to enable the clamping device and the target book to be far away from the bookcase 1; on the other hand, the main control computer additionally stores the changed book sequence information according to the taken target book.

S04, putting the target book into the book transfer device:

a. the gripper movement driving mechanism acts to move the gripper 4 and the target book to the front of the book clamping area 237 of the book transfer device;

c. the slide block translation drive assembly moves to cause the gripper and the target book to extend into the book clamping area 237 of the book transfer device;

d. the book positioning mechanism acts to move the push plate 236 in a direction close to the inner sidewall B2112 to narrow the book retaining area 237, thereby positioning the target book in the book retaining area 237;

e. the gripper acts to move the upper clamping bar 444 away from the lower clamping bar 442, thereby releasing the target book;

f. the slider translation drive assembly acts to move the slider B42 away from the book transfer device, thereby causing the gripper to exit the book clamping area 237 of the book transfer device.

S05, adjusting the position of the target book in the book transfer device:

a. the blocking arm rotation driving mechanism acts to drive the blocking arm 24 to rotate to the upper end, so that the opening B of the book basket main body 211 is blocked;

b. the book positioning mechanism acts to make the push plate 236 move 1-2mm away from the inner side wall B2112, so as to release the target book in the positioning state;

c. the basket rotation driving mechanism acts to drive the basket main body 211 to rotate around the rotating shaft 212 towards the oblique lower side of the opening A, so that the basket main body 211 is inclined, and the target book slides downwards under the action of self gravity until the thickness side is abutted against the blocking arm 24; then the basket rotation driving mechanism acts to drive the basket body 211 to rotate and return to the initial state;

d. the arm rotation driving mechanism is operated to drive the arm 24 to rotate downward to the limit position, thereby opening the opening B of the basket body 211, at which time the target book is partially exposed outside the opening B, and the user can directly take out the target book from the book holding area 237.

S06, compacting the loose book pile in the book storage interval:

a. the mechanical claw movement driving mechanism acts to move the mechanical claw 4 to the outer side of the second end plate in the book storage interval 11;

b. the slide block translation driving component generates action to enable the slide block B42 to move towards the direction close to the book cabinet 1 along the sliding groove B411 and further extend into the book storage interval 11;

c. the mechanical claw movement driving mechanism acts to enable the mechanical claw 4 to move towards the direction close to the second end plate, the second end plate is pushed to move towards the first end plate through the side face of the sliding block B42, and then the loose book stack is pushed to be tightly pressed on the first end plate through the second end plate;

in this step, the end plate 14 connected to the slider a13 pressed against the inner side wall surface of the book storage section 11 is the first end plate, the end plate 14 connected to the other slider a13 is the second end plate, and the outer side of the second end plate is the side facing away from the first end plate.

Preferably, in step S01 of the book fetching method, the user can input the name of the book and/or the author and/or the publishing company to retrieve the book at the operation terminal.

Preferably, in step S03 of the book fetching method, the clamping force applied to the target book in the clamper is controlled within the range of 15-25N based on the detected value of the pressure sensor C.

Preferably, in step S04 of the book fetching method, the pressing force applied to the target book in the book holding area 237 is controlled to be in the range of 5-10N based on the detected value of the pressure sensor A.

The book returning method comprises the following steps:

s01, finding a bookcase corresponding to the book to be returned:

when a user returns a book, a book returning instruction is input through the operation terminal, the two-dimensional code at the lower end of the thickness surface of the book is scanned, scanning information is sent to the main control computer, the main control computer inquires basic information and area information of the book based on the scanning information, then the basic information and the area information of the book are sent to the operation terminal of the user, the user checks the book to be returned according to the basic information, after the book is checked to be correct, the corresponding book cabinet 1 is found according to the area information, and then the user places the book to be returned in the book clamping area 237 corresponding to the target book cabinet 1.

a. after the pressure sensor B senses that a book is placed in the book holding area 237, the book positioning mechanism acts to move the push plate 236 toward the inner side wall B2112, so that the book holding area 237 is narrowed, and the book to be returned is positioned in the book holding area 237;

c. the blocking arm rotation driving mechanism acts to drive the blocking arm 24 to rotate to the upper end, so that the opening B of the book basket main body 211 is blocked;

d. the book basket rotation driving mechanism acts to drive the book basket main body 211 to rotate around the rotating shaft 212 towards the oblique lower side of the opening A, so that the book basket main body 211 is inclined, and books to be returned slide downwards under the action of self gravity until the thickness side abuts against the blocking arm; then the basket rotation driving mechanism acts to drive the basket body 211 to rotate and return to the initial state;

e. the shutter arm rotation driving mechanism operates to drive the shutter arm 24 to rotate downward to the extreme position, thereby opening the opening B of the basket body 211, at which time the portion of the book to be returned is exposed to the outside of the opening B.

S03, the mechanical claw grabs the book to be returned:

a. the gripper movement driving mechanism acts to drive the gripper 4 to move to the front of the book clamping area 237, and then the code scanning module 5 is started to determine whether the gripper is facing the book and verify whether the current book is the book to be returned;

b. when the clamping device is over against the book and no error exists in verification, the sliding block translation driving component generates action to drive the sliding block B42 to move towards the direction close to the bookcase 1 along the sliding groove B411, so that the clamping device is close to the bookcase 1; the upper holding strip 444 of the gripper extends right above the book to be returned, the lower holding strip 442 of the gripper is adjacent to and extends right below the book to be returned, and the lower holding strip 442 of the gripper can extend right below the target book because the part of the book to be returned is exposed outside the opening B;

c. the gripper acts to move the upper clamping bar 444 closer to the lower clamping bar until the book to be returned is securely held between the upper clamping bar 444 and the lower clamping bar 442.

S04, moving the book to be returned to the returning position:

a. on one hand, the slide block translation driving component generates action to drive the slide block B42 to move along the sliding chute B411 to the direction far away from the bookcase 1, so that the clamping device and the book to be returned leave the book clamping area 237; on the other hand, when the sliding block B42 moves, the clamping device rotates the driving component to move, and the clamping device and the book to be returned are driven to rotate around the hinge point to the direction far away from the bookcase 1, so that the book to be returned is in a lying state; on the other hand, the barrier strip motion driving component acts to enable the two barrier strips 469 to move towards each other synchronously and vertically at the same speed in the initial state, and when the distance between the two barrier strips 469 is larger than the thickness of the target book by 0.5-1.0cm, the movement is stopped, so that the restriction is formed on the two sides of the target book; the front and back covers of the book to be returned can be prevented from being scattered;

b. the mechanical claw movement driving mechanism generates action to drive the mechanical claw 4 to move to the outside of the book storage section 11 corresponding to the book to be returned;

c. starting a code scanning module 5 to scan the existing books in the book storage interval 11, and determining the returning position of the book to be returned through a main control computer;

d. the gripper movement driving mechanism operates to drive the gripper 4 to move right in front of the return position.

S05, inserting the book to be returned into the returning position:

a. the barrier strip movement driving assembly generates actions, on one hand, the two barrier strips 469 are respectively inclined towards each other until the tail ends of the two barrier strips 469 are abutted to form a sharp angle, and on the other hand, the two barrier strips 469 are synchronously rotated towards the inner side of the book storage section 11 until the sharp angle formed by the tail ends of the two barrier strips 469 is opposite to the returning position (see fig. 9);

b. the slide block translation driving component generates action to drive the slide block B42 to move towards the direction close to the book cabinet 1 along the sliding groove B411, so that a sharp corner formed at the tail end of the two barrier strips 469 extends into the book storage interval 11, the returning position is expanded, and books on one side or two sides of the returning position are squeezed open;

c. after the lower end of the book to be returned enters the returning position, on one hand, the barrier movement driving assembly moves to enable the two barriers 469 to be restored to the vertical state, on the other hand, the clamping device rotates the driving mechanism to move, the clamping device is driven to rotate towards the book storage interval 11, the book to be returned is changed from the lying state to the vertical state, and therefore the book to be returned is stuffed into the returning position.

S06, compacting the loose book pile in the book storage interval:

Claims

1. The intelligent book taking and returning method for the library is applied to an intelligent book taking and returning system for the library and comprises a book taking method and a book returning method;

the method is characterized in that: the intelligent library book taking and returning system comprises a bookcase, a book transfer device, a mechanical claw movement driving mechanism, a mechanical claw, a main control computer, an operation terminal and a code scanning module;

the book fetching method comprises the following steps:

s02, the mechanical claw is positioned to the target book:

s03, the mechanical claw grabs the target book:

s04, putting the target book into the book transfer device:

s05, adjusting the position of the target book in the book transfer device:

s06, compacting the loose book pile in the book storage interval:

the book returning method comprises the following steps:

s01, finding a bookcase corresponding to the book to be returned:

s03, the mechanical claw grabs the book to be returned:

s04, moving the book to be returned to the returning position:

s05, inserting the book to be returned into the returning position:

s06, compacting the loose book pile in the book storage interval:

2. The intelligent library book retrieval and return method of claim 1, wherein: in step S02 of the front preparation work, a book having a thickness of not more than 2cm is loaded into a hard-shell book holder having a thickness of 3cm, and the two-dimensional code is attached to the lower end of the hard-shell book holder.

3. The intelligent library book retrieval and return method of claim 2, wherein: in step S02 of the preparation job, the information included in the two-dimensional code includes the title, the author, and the publisher.

4. The intelligent library book retrieval and return method of claim 3, wherein: in step S01 of the book fetching method, the user can input the name of the book and/or the author and/or the publishing company to retrieve the book at the operation terminal.

5. The intelligent library book retrieval and return method of claim 4, wherein: in step S03 of the book fetching method, the clamping force applied to the target book in the clamper is controlled within the range of 15-25N based on the detected value of the pressure sensor C.

6. The intelligent library book retrieval and return method of claim 5, wherein: in step S04 of the book fetching method, the pressing force of the target book in the book holding area is controlled within the range of 5-10N based on the detected value of the pressure sensor a.