CN112529127B - Automatic book counting device and method - Google Patents

Automatic book counting device and method Download PDF

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Publication number
CN112529127B
CN112529127B CN202011489750.1A CN202011489750A CN112529127B CN 112529127 B CN112529127 B CN 112529127B CN 202011489750 A CN202011489750 A CN 202011489750A CN 112529127 B CN112529127 B CN 112529127B
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book
module
books
information
checking
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CN112529127A (en
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刁海恋
吴秀华
梁坤
倪思宇
寇如福
张耀
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Shanghai Afadi Intelligent Digital Technology Co ltd
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Shanghai Afadi Intelligent Digital Technology Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/93—Document management systems

Abstract

The invention provides an automatic book counting device and method, wherein the device comprises: the system comprises a scene scanning module, a scene construction module, a path generation module, a driving module, an RFID identification module, a visual identification module and a control module, wherein the scene scanning module is used for acquiring scene information of a book place; the scene construction module is used for constructing a scene map of the book place according to the scene information; the path generation module is used for obtaining a book checking path according to the scene map, wherein a plurality of task nodes are arranged in the book checking path; the control module is used for controlling the driving module to move according to the information of the book checking path, and when the book reaches each task node, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the book at the task node to check the book at the task node. The invention can improve the accuracy and efficiency of book checking and can realize automation and intellectualization of book checking.

Description

Automatic book counting device and method
Technical Field
The invention relates to the technical field of book checking, in particular to an automatic book checking device and an automatic book checking method.
Background
The traditional book management has many difficulties, especially the problems of difficult book checking work, long checking period, low efficiency and the like caused by large book collection amount of a library. In order to solve the problem, the RFID (Radio frequency identification) technology is generally used in the market for book checking, but the technical characteristics of the RFID for data transmission based on Radio determine that the RFID fails to read and misplaces the book.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide an automatic book checking device, which can improve the accuracy and efficiency of book checking and can realize automation and intellectualization of book checking.
The second purpose of the invention is to provide an automatic book checking method.
In order to achieve the above object, a first embodiment of the present invention provides an automatic book counting device, comprising: the system comprises a scene scanning module, a book storage module and a book reading module, wherein the scene scanning module is used for acquiring scene information of a book place; the scene construction module is used for constructing a scene map of the book place according to the scene information; the path generation module is used for obtaining a book checking path according to the scene map, wherein a plurality of task nodes are arranged in the book checking path; a drive module; the RFID identification module is used for acquiring label information of the book; the visual recognition module is used for acquiring the characteristic information of the book; and the control module is used for controlling the driving module to move according to the information of the book checking path, and when the book reaches each task node, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the books at the task node to check the books at the task node.
According to the automatic book counting device provided by the embodiment of the invention, the scene information of the book place is obtained through the scene scanning module, a scene construction module constructs a scene map of the book place according to the scene information, a path generation module obtains a book inventory path according to the scene map, wherein, a plurality of task nodes are arranged in the book checking path, and the label information and the characteristic information of the book are respectively obtained through the RFID identification module and the visual identification module, then the control module controls the driving module to move according to the information of the book checking path, and when each task node is reached, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the task node book to check the task node book, therefore, the accuracy and the efficiency of book checking can be improved, and automation and intellectualization of book checking can be realized.
In addition, the automatic book counting device provided by the above embodiment of the invention can also have the following additional technical features:
in an embodiment of the present invention, the tag information of the book includes a book identity, a book name, a book index number, and a book shelf to which the book belongs, and the characteristic information of the book includes the book name and the book index number.
Further, the automatic book counting device further comprises a mechanical arm and a book placing rack, wherein the mechanical arm is used for grabbing books and placing the books in the book placing rack.
In an embodiment of the present invention, at each task node, the control module is specifically configured to check books of the task node according to the information of the book identity and the information of the bookshelf to which the books belong, which are acquired by the RFID identification module, take the books of the wrong shelf through the mechanical arm if there is a wrong shelf, perform secondary checking on the taken out books according to the information of the book identity and the information of the bookshelf to which the books belong, and place the taken out books into the book placement rack after confirming that the taken out books are the wrong shelf books, and check the books according to the information of the book name and the book index number acquired by the RFID identification module and the information of the book name and the book index number acquired by the visual identification module if there is no wrong shelf.
The mobile module is arranged corresponding to the RFID identification module, and the height information of the book shelf of each task node is stored in the mobile module.
In an embodiment of the invention, the visual identification module is further configured to collect position information of the RFID identification module and the book shelf of each task node; the control module is further used for controlling the moving module to move according to the height information of the book shelf of each task node and the position information of the RFID identification module and the book shelf of each task node so as to adjust the height of the RFID identification module.
Further, the automatic book counting device further comprises: the obstacle avoidance module is used for identifying objects in the book places in real time; the alarm module is used for detecting the environment of the book place in real time and giving an alarm when the abnormal environment of the book place is detected; the illumination module is used for detecting the ambient brightness of the book place in real time and performing auxiliary illumination when the ambient brightness of the book place is detected to be lower than a preset threshold value; an interaction module for receiving, displaying and conveying interaction information; and the communication module is used for connecting the management center.
Further, the automatic book checking device further comprises a charging module and a power module, wherein the charging module is used for monitoring the real-time electric quantity of the power module, when the real-time electric quantity of the power module reaches a preset threshold value, the charging module feeds back charging information to the control module so as to record the current task node and the checking progress through the control module, and the control module controls the driving module to move to a charging place for charging.
In order to achieve the above object, a second aspect of the present invention provides an automatic book checking method based on the automatic book checking device of the above embodiments, including the following steps: acquiring scene information of a book place through the scene scanning module; constructing a scene map of the book place according to the scene information through the scene construction module; obtaining a book checking path according to the scene map through the path generating module, wherein a plurality of task nodes are arranged in the book checking path; acquiring label information of the book through the RFID identification module; acquiring the characteristic information of the book through the visual recognition module; and controlling the driving module to move through the control module according to the information of the book checking path, and correspondingly acquiring the label information and the characteristic information of the books at the task nodes through the RFID identification module and the visual identification module respectively to check the books at the task nodes when the books reach each task node.
According to the automatic book checking method provided by the embodiment of the invention, the scene information of the book place is acquired through the scene scanning module, a scene construction module constructs a scene map of the book place according to the scene information, a path generation module obtains a book inventory path according to the scene map, wherein, a plurality of task nodes are arranged in the book checking path, and the label information and the characteristic information of the book are respectively obtained through the RFID identification module and the visual identification module, then the control module controls the driving module to move according to the information of the book checking path, and when each task node is reached, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the task node book to check the task node book, therefore, the accuracy and the efficiency of book checking can be improved, and automation and intellectualization of book checking can be realized.
In addition, the automatic book checking method provided by the above embodiment of the present invention may further have the following additional technical features:
in an embodiment of the present invention, the tag information of the book includes a book identity, a book name, a book index number, and a book shelf to which the book belongs, and the characteristic information of the book includes the book name and the book index number.
Drawings
FIG. 1 is a block diagram of an automatic book counting device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an automatic book counting device according to an embodiment of the present invention;
FIG. 3 is a diagram of the operation of the automatic book counting device according to one embodiment of the present invention;
fig. 4 is a flowchart of an automatic book checking method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
FIG. 1 is a block diagram of an automatic book counting device according to an embodiment of the present invention.
As shown in fig. 1, the automatic book counting device according to the embodiment of the present invention includes a scene scanning module 01, a scene constructing module 02, a path generating module 03, a driving module 04, an RFID recognizing module 05, a visual recognizing module 06, and a control module 07. The scene scanning module 01 is used for acquiring scene information of a book place; the scene construction module 02 is used for constructing a scene map of the book place according to the scene information; the path generating module 03 is configured to obtain a book checking path according to the scene map, where the book checking path is provided with a plurality of task nodes; the RFID identification module 05 is used for acquiring label information of the book; the visual recognition module 06 is used for acquiring characteristic information of the book; the control module 07 is configured to control the driving module 04 to move according to information of a book checking path, and when reaching each task node, correspondingly acquire tag information and feature information of the task node book through the RFID recognition module 05 and the visual recognition module 06, respectively, to check the task node book.
Specifically, at each task node, the control module 07 may be configured to check books at the task node according to the tag information of the books acquired by the RFID module 05, if there is a wrong book shelf, take out the wrong book shelf, perform secondary checking on the taken out books according to the tag information of the books acquired by the RFID module 05, return the taken out books to a correct book shelf after confirming that the taken out books are the wrong books, and if there is no wrong book shelf, check according to the tag information of the books acquired by the RFID module 05 and the feature information of the books acquired by the visual recognition module 06 to determine whether the checking result is correct, so that the accuracy of book checking may be improved. The tag information of the book includes the identity of the book, the name of the book, the index number of the book, and the shelf to which the book belongs, and the characteristic information of the book includes the name of the book and the index number of the book, and may be stored in the RAM memory 100 shown in fig. 2.
In an embodiment of the present invention, as shown in fig. 2, the scene scanning module 01 may be a laser radar, and may be configured to scan scene information of a book place in real time, and the driving module 04 may be a four-wheel driving unit, and may freely walk at 360 degrees, and may be adapted to various scenes. The scene construction module 02 and the path generation module 03 are software modules.
In one embodiment of the present invention, as shown in fig. 2, the automatic book counting device further comprises a robot arm 08 and a book placing shelf 09, wherein the robot arm 08 is used for grabbing the book and placing the book in the book placing shelf 09.
In an embodiment of the present invention, at each task node, the control module 07 may be specifically configured to check books at the task node according to the information of the identity of the books acquired by the RFID module 05 and the information of the bookshelf to which the books belong, if there is a wrong shelf, take out the books with the wrong shelf through the mechanical arm 08, perform secondary checking on the taken out books according to the information of the identity of the books acquired by the RFID module 05 and the information of the bookshelf to which the books belong, place the taken out books into the book placement rack 09 after confirming that the taken out books are the books with the wrong shelf, and check the books according to the information of the book name and the book index number acquired by the RFID module 05 and the information of the book name and the book index number acquired by the visual identification module 06 if there is no wrong shelf.
Further, after the books taken out are determined to be misplaced books and placed in the book placement rack 09, the control module 07 can also reset the misplaced books according to the information of the bookshelf to which the misplaced books belong, check the information of the book name and the book index number acquired by the RFID recognition module 05 and the information of the book name and the book index number acquired by the visual recognition module 06, if the check result shows that the two are different, re-inventory the books of the task node according to the information of the book identity acquired by the RFID recognition module 05 and the information of the bookshelf to which the books belong, if the misplaced situation still does not exist, store and send the information of the book identity acquired by the RFID recognition module and the information of the bookshelf to which the books belong to the management platform, and if the two are not different, store the book inventory progress information. Through the secondary verification, the book checking accuracy can be improved.
In another embodiment of the present invention, at each task node, the RFID module 05 may further be configured to scan the number of books at each task node, the visual recognition module 06 may further be configured to recognize and determine the number of books at each task node, and the control module 07 may further specifically check the book inventory result by comparing whether the number of books scanned by the check RFID module 05 is consistent with the number of books recognized and determined by the visual recognition module 06, and if not, inventory the books at the task node again according to the tag information of the books acquired by the RFID module 05, and if so, store the book inventory progress information.
Further, as shown in fig. 2, the automatic book counting device of the embodiment of the present invention further comprises a moving module 10. The mobile module 10 may be arranged corresponding to the RFID module 05, and the height information of the book shelf of each task node is stored in the mobile module 10.
In an embodiment of the present invention, the visual recognition module 06 is further configured to collect the RFID recognition module 05 and position information of the book shelf of each task node, and the control module 07 is further configured to control the moving module 10 to move according to the height information of the book shelf of each task node and the position information of the book shelf of each task node and the RFID recognition module 05 to adjust the height of the RFID recognition module 05.
Specifically, the control module 07 may control the movement of the moving module 10 according to the height information of the book shelf of each task node to adjust the RFID identification module 05 to a preset height, and may adjust the RFID identification module 05 according to the collected position information of the RFID identification module 05 and the book shelf of each task node.
More specifically, the RFID antenna may be disposed on the mobile module 10, and the mobile module 10 may move up and down and horizontally, and the control module 07 may control the mobile module 10 to move up and down according to the height information of the book shelf of each task node to adjust the RFID antenna to reach a preset height, and may control the mobile module 10 to move up and down or/and horizontally according to the collected position information of the RFID antenna and the book shelf of each task node to adjust the position of the RFID antenna, thereby ensuring that the RFID antenna can scan and obtain the tag information of all books in each task node.
Further, as shown in fig. 2, the automatic book counting device according to the embodiment of the present invention further includes an obstacle avoidance module 11, an alarm module 12, a lighting module 13, an interaction module 14, and a communication module 15. The obstacle avoidance module 11 is used for identifying objects in a book place in real time; the alarm module 12 is used for detecting the environment of the book place in real time and giving an alarm when detecting that the book place has an abnormal environment; the illumination module 13 is used for detecting the ambient brightness of the book place in real time and performing auxiliary illumination when the ambient brightness of the book place is detected to be lower than a preset threshold value; the interaction module 14 is used for receiving, displaying and conveying interaction information; the communication module 15 is used for connecting a management center.
Specifically, the obstacle avoidance module 11 may include a real-sensing camera and an obstacle avoidance sensing unit, and the real-sensing camera may deeply identify the image field so as to assist the obstacle avoidance sensing unit to reduce blind areas, thereby avoiding obstacles, avoiding colliding readers, or causing damage by colliding with buildings during the working process; the alarm module 12 may include a temperature sensor, a humidity sensor, a smoke sensor and a buzzer, may monitor the temperature, humidity and smoke concentration of the book place in real time, may alarm through the buzzer when the temperature, humidity or/and smoke concentration exceeds a warning threshold, and may send alarm information to the control module 07; the illumination module 13 can comprise a photosensitive sensor and an illumination device, can monitor the brightness of the book place in real time, and can automatically perform illumination assistance when the brightness of the book place reaches a brightness threshold; the interaction module 14 can comprise a display unit, a voice unit and an auditory unit, wherein the display unit can display book information and inventory progress in real time, and can display environmental information such as temperature, humidity, smoke concentration and the like of a book place; the communication module 15 may use SIP2 to connect with the management center to realize information interaction between the control module 07 and the management center.
Further, as shown in FIG. 2, the automatic book counting device of the embodiment of the present invention further comprises a charging module 16 and a power module 17. The charging module 16 can monitor the real-time electric quantity of the power module 17, when the real-time electric quantity of the power module 17 reaches a preset threshold value, the charging module 16 feeds back charging information to the control module 07 to record the current task node and the inventory progress through the control module 07, controls the driving module 04 to move to a charging place through the control module 07 to charge, and can continue to perform inventory work according to the recorded task node and the inventory progress after charging is completed.
Based on the above structure, the automatic book counting device of the present invention can be constructed, and the working process of the automatic book counting device of the present invention will be explained with reference to fig. 3.
As shown in fig. 3, the scene information of the book place may be obtained by the scene scanning module 01, the scene map of the book place may be constructed by the scene construction module 02 according to the scene information, then the book inventory path may be obtained by the path generation module 03 according to the scene map, a task executed along the book inventory path may be simultaneously input, then the driving module 04 may be controlled by the control module 07 to move to the task node according to the information of the book inventory path, and the book information of the task node may be obtained by the RFID identification module 05 to inventory the books of the task node.
Further, if the wrong shelf exists, taking out the books with the wrong shelf through the mechanical arm 08, checking the taken out books according to the RFID identification module 05, returning the taken out books to the belonging bookshelf after confirming that the taken out books are the books with the wrong shelf, and if the taken out books are not the books with the wrong shelf through checking, putting the books back through the mechanical arm 08; if the wrong shelf does not exist, checking according to the book information acquired by the RFID module 05 and the visual recognition module 06, wherein if the book information acquired by the RFID module 05 and the visual recognition module 06 is different, checking the book of the task node again according to the book information acquired by the RFID module 05, and if the book information acquired by the RFID module 05 and the visual recognition module 06 is not different, storing the book checking progress information.
According to the automatic book counting device provided by the embodiment of the invention, the scene information of the book place is obtained through the scene scanning module, a scene construction module constructs a scene map of the book place according to the scene information, a path generation module obtains a book inventory path according to the scene map, wherein, a plurality of task nodes are arranged in the book checking path, and the label information and the characteristic information of the book are respectively obtained through the RFID identification module and the visual identification module, then the control module controls the driving module to move according to the information of the book checking path, and when each task node is reached, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the task node book to check the task node book, therefore, the accuracy and the efficiency of book checking can be improved, and automation and intellectualization of book checking can be realized.
Based on the automatic book checking device provided by the embodiment, the invention further provides an automatic book checking method.
As shown in fig. 4, the automatic book checking method according to the embodiment of the present invention includes the following steps:
and S1, acquiring the scene information of the book place through the scene scanning module.
In an embodiment of the present invention, the scene scanning module may be a laser radar, and may be configured to scan scene information of the book place in real time, and send the scanned scene information of the book place to the scene construction module to construct a scene map of the book place.
And S2, constructing a scene map of the book place according to the scene information through the scene construction module.
And S3, obtaining a book checking path according to the scene map through the path generating module, wherein the book checking path is provided with a plurality of task nodes.
And S4, acquiring the label information of the book through the RFID module.
In one embodiment of the present invention, the tag information of the book may be acquired through an RFID identification module, such as an RFID antenna and an RFID reader/writer. The label information of the book comprises the identity of the book, the name of the book, the index number of the book and the bookshelf to which the book belongs.
And S5, acquiring the characteristic information of the book through the visual recognition module.
In one embodiment of the invention, the characteristic information of the book can be acquired through a visual identification module, such as a plurality of groups of array type visual sensors and a high-definition camera. The characteristic information of the book comprises a book name and a book index number.
And S6, controlling the driving module to move through the control module according to the information of the book checking path, and checking the books at the task nodes through correspondingly acquiring the label information and the characteristic information of the books at the task nodes through the RFID identification module and the visual identification module when the books reach each task node.
In an embodiment of the invention, at each task node, books of the task node can be checked through the control module according to the label information of the books acquired by the RFID identification module, if the wrong shelf exists, the books with the wrong shelf are taken out, the taken out books are checked secondarily according to the label information of the books acquired by the RFID identification module, the taken out books are returned to a correct bookshelf after the books are confirmed to be the books with the wrong shelf, and if the wrong shelf does not exist, the checking is performed according to the label information of the books acquired by the RFID identification module and the characteristic information of the books acquired by the visual identification module to judge whether the checking result is correct, so that the accuracy of book checking can be improved.
Specifically, at each task node, the control module may be specifically configured to check books of the task node according to the information of the identity of the books acquired by the RFID recognition module and the information of the bookshelf to which the books belong, if there is a wrong book shelf, take the books of the wrong book shelf through the mechanical arm, perform secondary check on the taken out books according to the information of the identity of the books acquired by the RFID recognition module and the information of the bookshelf to which the books belong, place the taken out books into the book shelf after confirming that the taken out books are the wrong book shelf, and check the information of the book name and the book index number acquired by the RFID recognition module and the information of the book name and the book index number acquired by the visual recognition module if there is no wrong book shelf.
Further, after the books taken out are confirmed to be the wrong books and placed in the book placement rack, the control module can also reset the wrong books according to the information of the bookshelf to which the wrong books belong, check the information of the book name and the book index number acquired by the RFID module and the information of the book name and the book index number acquired by the visual identification module, if the check result shows that the wrong books exist, inventory the books of the task node again according to the information of the book identity and the information of the bookshelf to which the books belong acquired by the RFID module, if the wrong book does not exist, store and send the information of the book identity and the information of the bookshelf to which the books belong to the management platform, and if the wrong book does not exist, store the inventory progress information. Through the secondary verification, the book checking accuracy can be improved.
In another embodiment of the present invention, at each task node, the RFID module may be further configured to scan the number of books at each task node, the visual identification module may be further configured to identify and determine the number of books at each task node, the control module may further specifically check the book checking result by comparing whether the number of books scanned by the check RFID module and the number of books identified and determined by the visual identification module are consistent, if not, re-check the books at the task node according to the tag information of the books acquired by the RFID identification module, and if so, store the book checking progress information.
Further, as shown in fig. 2, the automatic book counting device of the embodiment of the present invention further comprises a moving module. The mobile module can be arranged corresponding to the RFID identification module, and the height information of the book shelf of each task node is stored in the mobile module.
In an embodiment of the invention, the visual identification module is further configured to collect position information of the RFID identification module and the book shelf of each task node, and the control module is further configured to control the moving module to move according to the height information of the book shelf of each task node and the position information of the book shelf of each task node and the RFID identification module to adjust the height of the RFID identification module.
Specifically, the control module can control the movement of the moving module according to the height information of the book shelf of each task node to adjust the RFID identification module to reach a preset height, and can adjust the RFID identification module according to the collected position information of the RFID identification module and the book shelf of each task node.
More specifically, the mobile module can move up and down and move horizontally, the control module can control the mobile module to move up and down according to the height information of the book shelf of each task node to adjust the RFID antenna to reach a preset height, and can control the mobile module to move up and down or/and move horizontally according to the collected position information of the RFID antenna and the book shelf of each task node to adjust the position of the RFID antenna, so that the RFID antenna can scan and obtain the tag information of all books in each task node.
Further, the automatic book checking method of the embodiment of the invention further comprises the following steps: identifying objects in the book place in real time through an obstacle avoidance module; the environment of a book place is detected in real time through an alarm module, and an alarm is given when the abnormal environment of the book place is detected; detecting the ambient brightness of the book place in real time through an illumination module, and performing auxiliary illumination when the ambient brightness of the book place is detected to be lower than a preset threshold value; receiving, displaying and conveying interaction information through an interaction module; and the management center is connected through a communication module.
Specifically, the obstacle avoidance module can comprise a real-sensing camera and an obstacle avoidance sensing unit, and the real-sensing camera can deeply identify the image field so as to assist the obstacle avoidance sensing unit to reduce blind areas, thereby avoiding obstacles in the working process, avoiding colliding readers or avoiding damaging buildings; the alarm module can comprise a temperature sensor, a humidity sensor, a smoke sensor and a buzzer, can monitor the temperature, the humidity and the smoke concentration of a book place in real time, can alarm through the buzzer when the temperature, the humidity or/and the smoke concentration exceed warning threshold values, and can send alarm information to the control module; the illumination module can comprise a photosensitive sensor and an illumination device, can monitor the brightness of the book place in real time, and can automatically perform illumination assistance when the brightness of the book place reaches a brightness threshold value; the interaction module can comprise a display unit, a voice unit and an auditory unit, wherein the display unit can display book information and inventory progress in real time, and can display environmental information such as temperature, humidity, smoke concentration and the like of book places; the communication module can be connected with the management center by using SIP2 to realize information interaction between the control module and the management center.
Further, the automatic book checking method of the embodiment of the invention further comprises the following steps: the real-time electric quantity of the power supply module is monitored through the charging module, when the real-time electric quantity of the power supply module reaches a preset threshold value, charging information is fed back to the control module through the charging module so as to record the current task node and the inventory progress, the control module controls the driving module to move to a charging place to charge, and after charging is completed, inventory work can be continued according to the recorded task node and the inventory progress.
The automatic book checking method of the present invention will be explained in its entirety with reference to fig. 3.
As shown in fig. 3, the scene information of the book place may be obtained by the scene scanning module, the scene map of the book place may be constructed by the scene construction module according to the scene information, then the book inventory path may be obtained by the path generation module according to the scene map, the task executed along the book inventory path may be simultaneously input, then the driving module may be controlled by the control module to move to the task node according to the information of the book inventory path, and the book information of the task node may be obtained by the RFID identification module to inventory the books of the task node.
Further, if the wrong shelf exists, taking the books on the wrong shelf through the mechanical arm, checking the taken books according to the RFID module, returning the taken books to the belonging bookshelf after confirming that the taken books are the books with the wrong shelf, and if the taken books are not the books with the wrong shelf through checking, putting the books back through the mechanical arm; if the wrong shelf condition does not exist, checking according to book information acquired by the RFID module and the visual identification module, checking books of the task node again according to the book information acquired by the RFID module if the book information acquired by the RFID module and the visual identification module is different, and storing book checking progress information if the book information acquired by the RFID module and the visual identification module is not different.
According to the automatic book checking method provided by the embodiment of the invention, the scene information of the book place is acquired through the scene scanning module, a scene construction module constructs a scene map of the book place according to the scene information, a path generation module obtains a book inventory path according to the scene map, wherein, a plurality of task nodes are arranged in the book checking path, and the label information and the characteristic information of the book are respectively obtained through the RFID identification module and the visual identification module, then the control module controls the driving module to move according to the information of the book checking path, and when each task node is reached, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the task node book to check the task node book, therefore, the accuracy and the efficiency of book checking can be improved, and automation and intellectualization of book checking can be realized.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Claims (6)

1. An automatic book counting device, comprising:
the system comprises a scene scanning module, a book storage module and a book reading module, wherein the scene scanning module is used for acquiring scene information of a book place;
the scene construction module is used for constructing a scene map of the book place according to the scene information;
the path generation module is used for obtaining a book checking path according to the scene map, wherein a plurality of task nodes are arranged in the book checking path;
a drive module;
the RFID identification module is used for acquiring label information of books, and the label information of the books comprises book identities, book names, book index numbers and book shelves to which the books belong;
the visual recognition module is used for acquiring the characteristic information of the book, and the characteristic information of the book comprises a book name and a book index number;
placing books on a shelf;
the mechanical arm is used for grabbing books and placing the books in the book placing rack;
the control module is used for controlling the driving module to move according to the information of the book checking path, and when the book reaches each task node, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the book at the task node to check the book at the task node,
in each task node, the control module is specifically configured to check books of the task node according to the information of the book identity and the information of the bookshelf to which the books belong, which are acquired by the RFID identification module, if there is a wrong shelf, take the books of the wrong shelf by the mechanical arm, perform secondary checking on the taken out books according to the information of the book identity and the information of the bookshelf to which the books belong, which are acquired by the RFID identification module, place the taken out books into the book placement rack after confirming that the taken out books are the wrong shelf books, and if there is no wrong shelf, check the books according to the information of the book name and the book index number acquired by the RFID identification module and the information of the book name and the book index number acquired by the visual identification module, further,
after the books taken out are confirmed to be misplaced books and placed in the book placement frame, the control module can also reset the books according to the information of the bookshelf to which the misplaced books belong, and when the information of the book name and the book index number acquired by the RFID module and the information of the book name and the book index number acquired by the visual recognition module are verified, if the verification result shows that the books and the book index number are different, the books of the task node are checked again according to the information of the book identity acquired by the RFID module and the information of the bookshelf to which the books belong, if the misplaced situation does not exist, the information of the book identity acquired by the RFID module and the information of the bookshelf to which the books belong are stored and sent to the management platform, and if the difference does not exist, the book checking progress information is stored; further, the air conditioner is provided with a fan,
the RFID identification module can be further used for scanning the number of books of each task node at each task node, the visual identification module can be further used for identifying and determining the number of books of each task node, the control module can also be used for checking book checking results by comparing the number of books scanned by the checking RFID identification module with the number of books identified and determined by the visual identification module, if the numbers of books are not consistent, books of the task nodes are checked again according to label information of the books acquired by the RFID identification module, and if the numbers of books are consistent, book checking progress information is stored.
2. The automatic book counting device of claim 1, further comprising a moving module, wherein the moving module is disposed corresponding to the RFID module, and the moving module stores therein height information of the book shelf of each task node.
3. The automatic book counting device according to claim 2, wherein,
the visual identification module is also used for collecting the RFID identification module and the position information of the book bookshelf of each task node;
the control module is further used for controlling the moving module to move according to the height information of the book shelf of each task node and the position information of the RFID identification module and the book shelf of each task node so as to adjust the height of the RFID identification module.
4. The automatic book counting device according to claim 3, further comprising:
the obstacle avoidance module is used for identifying objects in the book places in real time;
the alarm module is used for detecting the environment of the book place in real time and giving an alarm when the abnormal environment of the book place is detected;
the illumination module is used for detecting the ambient brightness of the book place in real time and performing auxiliary illumination when the ambient brightness of the book place is detected to be lower than a preset threshold value;
an interaction module for receiving, displaying and conveying interaction information;
and the communication module is used for connecting the management center.
5. The automatic book checking device of claim 4, further comprising a charging module and a power module, wherein the charging module is configured to monitor a real-time power of the power module, and when the real-time power of the power module reaches a preset threshold, the charging module feeds back charging information to the control module to record a current task node and a checking progress through the control module, and controls the driving module to move to a charging location for charging through the control module.
6. An automatic book checking method based on the automatic book checking device according to any one of claims 1 to 5, characterized by comprising the steps of:
acquiring scene information of a book place through the scene scanning module;
constructing a scene map of the book place according to the scene information through the scene construction module;
obtaining a book checking path according to the scene map through the path generating module, wherein a plurality of task nodes are arranged in the book checking path;
acquiring label information of the book through the RFID identification module;
acquiring the characteristic information of the book through the visual recognition module;
the control module controls the drive module to move according to the information of the book checking path, and when the book reaches each task node, the RFID identification module and the visual identification module respectively and correspondingly acquire the label information and the characteristic information of the book at the task node to check the book at the task node,
in each task node, the control module is specifically configured to check books of the task node according to the information of the book identity and the information of the bookshelf to which the books belong, which are acquired by the RFID identification module, if there is a wrong shelf, take the books of the wrong shelf by the mechanical arm, perform secondary checking on the taken out books according to the information of the book identity and the information of the bookshelf to which the books belong, which are acquired by the RFID identification module, place the taken out books into the book placement rack after confirming that the taken out books are the wrong shelf books, and if there is no wrong shelf, check the books according to the information of the book name and the book index number acquired by the RFID identification module and the information of the book name and the book index number acquired by the visual identification module, further,
after the books taken out are confirmed to be misplaced books and placed in the book placement frame, the control module can also reset the books according to the information of the bookshelf to which the misplaced books belong, and when the information of the book name and the book index number acquired by the RFID module and the information of the book name and the book index number acquired by the visual recognition module are verified, if the verification result shows that the books and the book index number are different, the books of the task node are checked again according to the information of the book identity acquired by the RFID module and the information of the bookshelf to which the books belong, if the misplaced situation does not exist, the information of the book identity acquired by the RFID module and the information of the bookshelf to which the books belong are stored and sent to the management platform, and if the difference does not exist, the book checking progress information is stored; further, the air conditioner is provided with a fan,
the RFID identification module can be further used for scanning the number of books of each task node at each task node, the visual identification module can be further used for identifying and determining the number of books of each task node, the control module can also be used for checking book checking results by comparing the number of books scanned by the checking RFID identification module with the number of books identified and determined by the visual identification module, if the numbers of books are not consistent, books of the task nodes are checked again according to label information of the books acquired by the RFID identification module, and if the numbers of books are consistent, book checking progress information is stored.
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