CN113441405A - Intelligent book sorting device and book sorting method - Google Patents
Intelligent book sorting device and book sorting method Download PDFInfo
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- CN113441405A CN113441405A CN202110708941.0A CN202110708941A CN113441405A CN 113441405 A CN113441405 A CN 113441405A CN 202110708941 A CN202110708941 A CN 202110708941A CN 113441405 A CN113441405 A CN 113441405A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 26
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000010146 3D printing Methods 0.000 claims description 8
- 238000012546 transfer Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012369 In process control Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 238000010965 in-process control Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
- B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
- B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
- B07C3/087—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts the objects being taken up in transport files or holders which are not part of the conveyor belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
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- Sorting Of Articles (AREA)
Abstract
The invention discloses an intelligent book sorting device, which comprises a mechanical execution system, an image acquisition system and a background data processing system, wherein the mechanical execution system is used for executing book sorting; the mechanical execution system comprises a lifting system, a conveying system and a sorting system, the image acquisition system comprises an image processing device and a two-dimensional code recognition device, and the background data processing system comprises a main control single chip microcomputer control system and a relational database; the lifting system moves up and down above the conveying system, the lifting system transmits books to the conveying system for conveying, the two-dimensional code recognition device recognizes the books on the conveying system, the image processing device processes and analyzes the book information recognized by the two-dimensional code recognition device and compares the book information with the book information prestored in the relational database, and the master control single-chip microcomputer control system controls the sorting system to sort the books on the conveying system.
Description
Technical Field
The invention relates to the technical field of book sorting, in particular to an intelligent book sorting device and a book sorting method.
Background
In the automatic article sorting robot technology, the degree of automation is becoming higher and higher in the application of sorting machines in the early foreign countries, particularly in the developed countries represented by the united states, japan and europe. The germany S + S company is a typical example, and the automatic sorting machine developed by the germany S + S company can identify and locate the types of impurities in the materials by using high-frequency detection coils, laser identification technology, high-speed line scanning cameras and other technologies. When impurities are detected, different fast-reacting mechanical or pneumatic rejection devices are used to separate the impurities. In process control and monitoring, an advanced dual-channel digital signal processor is adopted. The automatic sorting technology of China is developed independently on the basis of continuously absorbing the advanced experience of foreign countries due to the introduction of the automatic sorting technology of China in seventy years in the twenty-first century, and compared with the world advanced technology, new products are continuously developed according to various requirements. Generally, the application of the sorting machine in China has the characteristics of low intensification degree and low application range of an automatic system and equipment.
In recent years, the public library cause of China also faces great development. In particular, in the aspect of book sorting, various libraries in cities, schools and the like are established and expanded successively, but a lot of time and energy are consumed in returning and arranging large-scale books. However, most libraries still rely on manual work to complete, the sorting task is heavy and time-efficient, and the requirement of document fast circulation cannot be met, so that the reading requirements of many readers are difficult to meet. The sorting machine used by a small number of libraries mainly comprises two kinds of book sorting systems which are transformed from import book sorting machines and logistics sorting machines. When any fault occurs, the whole system is required to stop waiting for maintenance, and book sorting is influenced; the sorting machine modified from the logistics sorting machine occupies a large space and the logistics sorting device has large damage to books during operation.
In order to solve the above problems, it is necessary to invent a book sorting apparatus and a book sorting method.
Disclosure of Invention
The invention aims to provide a book sorting device and a book sorting method, which are devices integrating intelligent identification, transmission and sorting. And the universal multifunctional gripper designed by the user is adopted during sorting, the gripper is designed into a shape which is completely attached to the books, and the books cannot be damaged. Each part is modularized, so that the weight burden of each part is reduced, the stability and the durability of the device are improved, and the device is convenient to maintain if the device is damaged. And whole device adopts removable festival segmentation, is applicable to the library of various sizes, has good suitability.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an intelligent book sorting device comprises a mechanical execution system, an image acquisition system and a background data processing system;
the mechanical execution system comprises a lifting system, a conveying system and a sorting system, the image acquisition system comprises an image processing device and a two-dimensional code recognition device, and the background data processing system comprises a main control single chip microcomputer control system and a relational database;
the lifting system moves up and down above the conveying system, the lifting system transmits books to the conveying system for conveying, the two-dimensional code recognition device recognizes the books on the conveying system, the image processing device processes and analyzes the book information recognized by the two-dimensional code recognition device and compares the book information with the book information prestored in the relational database, and the master control single-chip microcomputer control system controls the sorting system to sort the books on the conveying system.
Furthermore, the lifting system comprises a lifting plate, a lifting motor, a lifting screw rod, a lifting guide rod, a limiting platform, a book pushing device and a pushing motor for driving the book drawing device to move;
the book pushing device is driven by a pushing motor to horizontally reciprocate above the lifting plate, and the books entering from the book inlet are pushed to the book outlet by the reciprocating motion of the book pushing device and fall on the transferring system through the book outlet for transmission;
the lifting motor controls the lifting plate to reciprocate up and down, and books enter the lifting plate from the book inlet in the falling process.
Further, a distance sensor is arranged on the book pushing device and used for measuring the moving distance of the book pushing device.
Further, the conveying system comprises a primary conveying belt device, a secondary conveying belt device and a tertiary conveying belt device, and the primary conveying belt device, the secondary conveying belt device and the tertiary conveying belt device respectively comprise a conveying motor, a conveying roller and a conveying belt.
Furthermore, the lifting system is located right above the first-level conveying device, and the two-dimensional code recognition device is located on one side of the first-level conveying belt device.
Furthermore, the sorting system comprises a second-level sorting system and a third-level sorting system, and both the second-level sorting system and the third-level sorting system are six-degree-of-freedom mechanical arms.
Furthermore, the second-level sorting system is located on one side of the second-level conveyor belt device, the third-level sorting system is located on one side of the third-level conveyor belt device, and the second-level sorting system and the third-level sorting system are located on the same side.
Further, the six-degree-of-freedom mechanical arm comprises a 3D printing gripper, an MG996R steering engine, a 3D printing connecting piece and a bottom support.
The invention also provides a book sorting method, which adopts the intelligent book sorting device to sort books; the method comprises the following steps:
s1: book classification, namely classifying the books into A-type books, B-type books and C-type books according to book characteristics, attaching two-dimensional codes containing book information to the A-type books, the B-type books and the C-type books, and pre-storing the two-dimensional code information into a relational database;
s2: placing the book in the S1 below the book inlet, controlling the lifting plate to fall to one side of the book pushing device, which is opposite to the book, through the lifting motor, and stopping the lifting motor;
s3: starting a pushing motor to push a book pushing device to move to a book outlet, and allowing the books to fall onto a first-stage conveyor belt device through the book outlet for conveying;
s4: when a book passes through the two-dimension code recognition device, the two-dimension code recognition device scans the two-dimension code information on the book and transmits the two-dimension code information to the image processing device, the image processing device transmits the two-dimension code information of the book to the master control single chip microcomputer control system, and the master control single chip microcomputer control system compares the obtained two-dimension code information with the two-dimension code information prestored in the relational database to obtain the classification condition of the book;
s5: sorting according to the book classification condition in S4:
if the books in the S4 are A-type books, the main control single chip microcomputer control system controls the secondary sorting system to grab the books and classify the books into A-type books;
if the books in the S4 are B-type books, the secondary sorting system does not act, and the main control single chip microcomputer control system controls the tertiary sorting system to grab the books classified as B-type books;
if the books in the S4 are C-type books, the second-level sorting system and the third-level sorting system do not act, and the books are sorted and classified into the C-type books through the first-level conveyor belt device, the second-level conveyor belt device and the third-level conveyor belt device;
s6: and finishing book sorting.
Compared with the prior art, the invention has the following beneficial effects:
1. the intelligent book sorting device and the book sorting method provided by the invention can be applied to various large and small libraries and bookstores, and potential users have the advantages of simplicity in installation and maintenance, modularization and the like; the software and hardware systems of the intelligent book sorting system are designed in a modularized mode, and the mode of integrating recognition, collection, transmission and sorting is adopted, so that the sorting efficiency and the cost control are ensured.
2. According to the intelligent book sorting device and the book sorting method, when books are sorted manually, sorting errors and the like often occur, and the problems can be effectively avoided due to the application of the highly sensitive recognition device; the scanning device combines the characteristics of books and other objects such as two-dimensional codes, realizes one-goods one-code targeted sorting and ensures the accuracy of book sorting; through experiments and a large amount of calculation, the equipment is perfectly matched between conveying and sorting, and the effect of accurate and rapid sorting is achieved; the intelligent sorting system can store data during working, and the two-dimension code recognition device collects data and stores the data in the system, so that the number and the type of books can be rapidly counted.
3. The intelligent book sorting device and the book sorting method provided by the invention have the advantages that aiming at the problem of book damage which is prominent in the field of book sorting at present, the intelligent book sorting device and the book sorting method use the mechanical gripper which is high in sensitivity, strong in fitting performance and capable of rotating in all directions, the gripper at the front end can be completely fitted with books, and the book damage rate is reduced to the minimum while the sorting accuracy is guaranteed.
The intelligent book sorting device and the book sorting method provided by the invention adopt the image recognition technology (two-dimensional code recognition technology), have high integration and automation degree, can reduce the sorting cost and breakage rate, and improve the sorting efficiency. The overall structure of the system consists of three systems, namely a mechanical execution system, an image acquisition system and a data processing system. The mechanical transfer and sorting system forms the hardware part of the apparatus. The sorting system comprises a conveyor belt and a plurality of universal multifunctional grippers for gripping books; the image acquisition system acquires the information of the articles carried on the conveyor belt and the first identification number of the tray where the articles are located, and returns the acquired information to the control system; and the data processing system receives the part of the article information and the first identification number acquired by the image acquisition module, and controls and realizes mechanical action. The data processing system is the core of the whole work, and the book placing, sorting and grabbing are completely completed by the processing system. The intelligent book sorting system has important significance for solving the problems of complicated book sorting process, high human resource consumption and the like.
Obviously, many modifications, substitutions, and variations are possible in light of the above teachings of the invention, without departing from the basic technical spirit of the invention, as defined by the following claims.
The foregoing aspects of the present invention are explained in further detail by the following detailed description; this should not be understood as limiting the scope of the above-described subject matter of the present invention to the following examples only; all the technologies realized based on the concept of the present invention belong to the scope of the present invention.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent book sorting apparatus according to the present invention;
FIG. 2 is a schematic view of the main view structure of an intelligent book sorting device according to the present invention;
FIG. 3 is a schematic view of a six-degree-of-freedom mechanical arm of the intelligent book sorting device according to the present invention;
FIG. 4 is a schematic diagram of a six-DOF robot arm lifting plate structure according to the present invention;
in the figure:
11-lifting the plate; 12-a lift motor; 13-lifting the screw rod; 14-lifting the guide rod; 15-a limiting platform; 16-a book pushing device; 17-a push motor; 18-a distance sensor; 111-book entry port; 112-book exit; 21-a conveyor motor; 22-transport rollers; 31-two-dimensional code recognition means; 41-a secondary sorting system; 42-three level sorting system; 51-3D printing grippers; 52-MG996R steering engine; 53-3D printing the connecting piece; 54-bottom support.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, the intelligent book sorting device of the present invention comprises a mechanical execution system, an image acquisition system and a background data processing system;
the mechanical execution system comprises a lifting system, a conveying system and a sorting system, the image acquisition system comprises an image processing device and a two-dimensional code recognition device, and the background data processing system comprises a main control single chip microcomputer control system and a relational database;
the lifting system moves up and down above the conveying system, the lifting system transmits books to the conveying system for conveying, the two-dimensional code recognition device recognizes the books on the conveying system, the image processing device processes and analyzes the book information recognized by the two-dimensional code recognition device and compares the book information with the book information prestored in a relational database (the relational database is MySQL and Oracle), and the master control single-chip microcomputer control system controls the books on the sorting conveying system.
Furthermore, the lifting system comprises a lifting plate (11), a lifting motor (12), a lifting lead screw (13), a lifting guide rod (14), a limiting platform (15), a book pushing device (16) and a pushing motor (17) for driving the book drawing device to move;
the lifting plate (11) comprises a book inlet (111) and a book outlet (112), the book pushing device (16) is positioned above the lifting plate (11), the book pushing device (16) is driven by a pushing motor (17) to horizontally reciprocate above the lifting plate (11), and books entering from the book inlet (111) are pushed to the book outlet (112) by the reciprocating motion of the book pushing device (16) and fall on the transfer system through the book outlet (112) for conveying;
the lifting motor (12) controls the lifting plate (11) to reciprocate up and down, and books enter the lifting plate (11) from the book inlet (111) in the falling process.
Further, a distance sensor (18) is arranged on the book pushing device (16), and the distance sensor (18) measures the moving distance of the book pushing device (16).
Further, the conveying system comprises a primary conveying belt device, a secondary conveying belt device and a tertiary conveying belt device, and the primary conveying belt device, the secondary conveying belt device and the tertiary conveying belt device respectively comprise a conveying motor (21), a conveying roller (22) and a conveying belt.
Furthermore, the lifting system is positioned right above the first-level conveying device, and the two-dimensional code recognition device (31) is positioned on one side of the first-level conveying device.
Further, the sorting system comprises a second-level sorting system (41) and a third-level sorting system (42), and the second-level sorting system and the third-level sorting system are both six-degree-of-freedom mechanical arms.
Further, the secondary sorting system (41) is positioned on one side of the secondary conveyor belt device, the tertiary sorting system (42) is positioned on one side of the tertiary conveyor belt device, and the secondary sorting system (41) and the tertiary sorting system (42) are positioned on the same side.
Further, the six-degree-of-freedom mechanical arm comprises a 3D printing gripper (51), an MG996R steering engine (52), a 3D printing connecting piece (53) and a bottom support (54).
The invention also provides a book sorting method, which adopts the intelligent book sorting device to sort books; the method comprises the following steps:
s1: book classification, namely classifying the books into A-type books, B-type books and C-type books according to book characteristics, attaching two-dimensional codes containing book information to the A-type books, the B-type books and the C-type books, and pre-storing the two-dimensional code information into a relational database;
s2: putting the book in the S1 below the book inlet (111), controlling the lifting plate (11) to fall to one side of the book pushing device (16) opposite to the book through the lifting motor (12), and stopping lifting the motor;
s3: starting a pushing motor (17) to push a book pushing device (16) to move to a book outlet (112), and allowing the books to fall onto a first-level conveyor belt device for conveying through the book outlet (112);
s4: when a book passes through the two-dimension code recognition device (31), the two-dimension code recognition device (31) scans the two-dimension code information on the book and transmits the two-dimension code information to the image processing device, the image processing device transmits the two-dimension code information of the book to the master control single chip microcomputer control system, and the master control single chip microcomputer control system compares the obtained two-dimension code information with the two-dimension code information prestored in the relational database to obtain the classification condition of the book;
s5: sorting according to the book classification condition in S4:
if the books in the S4 are A-type books, the main control single chip microcomputer control system controls the secondary sorting system (41) to grab the books classified as A-type books;
if the books in the S4 are B-type books, the secondary sorting system (41) does not act, and the main control single chip microcomputer control system controls the tertiary sorting system (42) to grab the books classified as B-type books;
if the books in the S4 are C-type books, the secondary sorting system (41) and the tertiary sorting system (42) do not act, and the books are sorted and classified into the C-type books through the primary conveyor belt device, the secondary conveyor belt device and the tertiary conveyor belt device;
s6: and finishing book sorting.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.
Claims (10)
1. The utility model provides an intelligence books sorting device which characterized in that: the system comprises a mechanical execution system, an image acquisition system and a background data processing system;
the mechanical execution system comprises a lifting system, a conveying system and a sorting system, the image acquisition system comprises an image processing device and a two-dimensional code recognition device, and the background data processing system comprises a main control single chip microcomputer control system and a relational database;
the lifting system moves up and down above the conveying system, the lifting system transmits books to the conveying system for conveying, the two-dimensional code recognition device recognizes the books on the conveying system, the image processing device processes and analyzes the book information recognized by the two-dimensional code recognition device and compares the book information with the book information prestored in the relational database, and the master control single-chip microcomputer control system controls the sorting system to sort the books on the conveying system.
2. The intelligent book sorting device of claim 1, wherein: the lifting system comprises a lifting plate (11), a lifting motor (12), a lifting screw rod (13), a lifting guide rod (14), a limiting platform (15), a book pushing device (16) and a pushing motor (17) for driving the book drawing device to move;
the lifting plate (11) comprises a book inlet (111) and a book outlet (112), the book pushing device (16) is positioned above the lifting plate (11), the book pushing device (16) is driven by a pushing motor (17) to horizontally reciprocate above the lifting plate (11), and books entering from the book inlet (111) are pushed to the book outlet (112) by the reciprocating motion of the book pushing device (16) and fall on the transfer system through the book outlet (112) for conveying;
the lifting motor (12) controls the lifting plate (11) to reciprocate up and down, and books enter the lifting plate (11) from the book inlet (111) in the falling process.
3. The intelligent book sorting device of claim 2, wherein: a distance sensor (18) is arranged on the book pushing device (16), and the distance sensor (18) measures the moving distance of the book pushing device (16).
4. The intelligent book sorting device of claim 1, wherein: the conveying system comprises a primary conveying belt device, a secondary conveying belt device and a tertiary conveying belt device, wherein the primary conveying belt device, the secondary conveying belt device and the tertiary conveying belt device respectively comprise a conveying motor (21), a conveying roller (22) and a conveying belt.
5. The intelligent book sorting device of claim 4, wherein: the lifting system is positioned right above the first-level conveying device, and the two-dimensional code recognition device (31) is positioned on one side of the first-level conveying belt device.
6. The intelligent book sorting device of claim 5, wherein: the sorting system comprises a second-level sorting system (41) and a third-level sorting system (42), and the second-level sorting system and the third-level sorting system are all six-degree-of-freedom mechanical arms.
7. The intelligent book sorting device of claim 6, wherein: the secondary sorting system (41) is positioned on one side of the secondary conveyor belt device, the tertiary sorting system (42) is positioned on one side of the tertiary conveyor belt device, and the secondary sorting system (41) and the tertiary sorting system (42) are positioned on the same side.
8. The intelligent book sorting device of claim 6, wherein: the six-degree-of-freedom mechanical arm comprises a 3D printing gripper (51), an MG996R steering engine (52), a 3D printing connecting piece (53) and a bottom support (54).
9. A book sorting method is characterized in that: the intelligent book sorting apparatus of any one of claims 1-8 is used to sort books.
10. The book sorting method according to claim 9, wherein: the method comprises the following steps:
s1: book classification, namely classifying the books into A-type books, B-type books and C-type books according to book characteristics, attaching two-dimensional codes containing book information to the A-type books, the B-type books and the C-type books, and pre-storing the two-dimensional code information into a relational database;
s2: putting the book in the S1 below the book inlet (111), controlling the lifting plate (11) to fall to one side of the book pushing device (16) opposite to the book through the lifting motor (12), and stopping lifting the motor;
s3: starting a pushing motor (17) to push a book pushing device (16) to move to a book outlet (112), and allowing the books to fall onto a first-level conveyor belt device for conveying through the book outlet (112);
s4: when a book passes through the two-dimension code recognition device (31), the two-dimension code recognition device (31) scans the two-dimension code information on the book and transmits the two-dimension code information to the image processing device, the image processing device transmits the two-dimension code information of the book to the master control single chip microcomputer control system, and the master control single chip microcomputer control system compares the obtained two-dimension code information with the two-dimension code information prestored in the relational database to obtain the classification condition of the book;
s5: sorting according to the book classification condition in S4:
if the books in the S4 are A-type books, the main control single chip microcomputer control system controls the secondary sorting system (41) to grab the books classified as A-type books;
if the books in the S4 are B-type books, the secondary sorting system (41) does not act, and the main control single chip microcomputer control system controls the tertiary sorting system (42) to grab the books classified as B-type books;
if the books in the S4 are C-type books, the second-level sorting system (41) and the third-level sorting system (42) do not act, and the books are sorted and classified into the C-type books through the first-level conveyor belt device, the second-level conveyor belt device and the third-level conveyor belt device;
s6: and finishing book sorting.
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| CN202110708941.0A CN113441405A (en) | 2021-06-25 | 2021-06-25 | Intelligent book sorting device and book sorting method |
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