CN114654478B - Book checking method based on book checking robot - Google Patents
Book checking method based on book checking robot Download PDFInfo
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- CN114654478B CN114654478B CN202210378539.5A CN202210378539A CN114654478B CN 114654478 B CN114654478 B CN 114654478B CN 202210378539 A CN202210378539 A CN 202210378539A CN 114654478 B CN114654478 B CN 114654478B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 55
- 230000005284 excitation Effects 0.000 claims description 3
- 230000000295 complement effect Effects 0.000 abstract description 2
- 230000007547 defect Effects 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The book checking method based on the book checking robot provided by the invention adopts the method of integrating the RFID technology and the visual sensing technology, and has the advantages that the book checking efficiency and accuracy are greatly improved, the specific position of books is accurately checked, and the position of books in a background book database is more accurate; the false checking phenomenon of books is reduced; the empty bookshelf can be effectively identified. According to the invention, through the fusion of the RFID technology and the visual sensor technology, advantages are complementary, the visual sensor technology can well make up part of defects of the RFID technology, and the visual sensor technology is used as an auxiliary checking means, so that the checking robot can be more suitable for different occasions, and has better robustness.
Description
Technical Field
The invention relates to the field of intelligent book checking robots, in particular to a book checking method based on a book checking robot.
Background
The book checking system of the checking robot updates the exact position of books on a library bookshelf into a background database by a certain technical means so as to facilitate final management, borrowing and the like of the books.
The most applicable is the RFID technique, has integrated RFID sensor, antenna and reader on the inventory robot body, installs the RFID label that can reflect this books information in the books, and after the signal that the antenna transmitted activated the RFID label in the books, this label transmitted return signal to the antenna, and the antenna received the label signal, adopts the reader to read information, and this information compares with backstage books information to update books position.
In practice, the moving speed of the robot body, the number of the carried RFID sensors and antennas, the installation position, the distance between the robot body and books and other factors can influence the accuracy of reading tag data, so that the efficiency and accuracy of checking books are finally affected.
When multiple RFID sensors and antennas are used, interference can occur between the multiple RFID sensors and the multiple RFID antennas; the RFID-based technology cannot identify the empty bookshelf and also affects the efficiency of robot counting.
Different libraries may adopt different bookshelf heights, the bookshelf layers are different, and if the robot cannot adaptively adjust the height of the RFID antenna to adapt to the bookshelf, misreading may be caused, and the inventory accuracy is reduced.
Therefore, how to overcome the problems, the accuracy and the inventory efficiency of the book inventory of the robot are improved, and the scene adaptability of the robot is improved, so that the inventory robot is a challenge.
In order to solve the above problems, a certain algorithm is needed to compensate the redundant signals and the interference, so as to improve the reading rate and the accuracy.
When the robot walks between the bookshelf, the prior art can not identify whether the bookshelf is empty or not, and the bookshelf still continuously scans at a preset speed, so that the inventory efficiency is low.
In the prior art, the position information of a book is updated only according to the information returned by a label, when the label of a book is wrong and invalid and the signal is weak, the position of the book cannot be definitely calibrated, and the book is only abandoned and the subsequent scanning and checking are continued.
The existing RFID-based inventory technology can only judge the approximate position of a book on a bookshelf, cannot accurately identify the specific position of the book, and can only calibrate the book to be approximately somewhere on a certain row of bookshelf in a background book database.
Therefore, the invention provides a book checking method based on the patent 'a collection checking robot' (application number: CN202020993344.8 publication number: CN 212352048U), which can effectively solve the problems.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a book checking method based on a book checking robot, and the technical scheme of the invention is implemented as follows:
a book checking method based on a book checking robot comprises the following steps,
s1, executing a scanning task by the inventory robot;
s2, the inventory robot walks and starts scanning;
s3, starting a visual sensor to identify the bookshelf, and starting an RFID reader to read and write data;
s4, the vision sensor respectively identifies the number of empty bookshelf, book characters and books; the RFID reader-writer scans RFID tag information on the books and matches with database information one by one;
s5, judging whether the information identified by the visual sensor is matched with the RFID tag information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the library to the database; if the information is not matched, the database is updated based on the information read and written by the RFID reader-writer, and the S2 is returned.
Preferably, the step S4 further includes S4.1, and when an empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID tag information by the RFIF reader;
s4.3, accelerating the checking robot to travel to a book area;
s4.4, returning to S3.
Preferably, the step S3 further includes S3.1, and performing pre-checking when the task is executed: adjusting the relative distance between the RFID readers and writers when the inventory robot executes the task; and adjusting the distance between the RFID reader and the bookshelf.
Preferably, the number of RFID readers/writers is 4, and the number of visual sensors is 2; four RFID readers are arranged on a vertical column, and 2 visual sensors are respectively arranged between a first RFID reader and a second RFID reader, between a third RFID reader and a fourth RFID reader from top to bottom.
Preferably, the step S3.1 is specifically as follows:
S3.1A1 the inventory robot finds the first bookshelf;
S3.1A2, the visual sensor positioned above finds the bracket of the first layer of the bookshelf and references the bracket of the first layer of the bookshelf;
S3.1A3, a vision sensor positioned below finds a bracket of the third layer of the bookshelf and references the bracket of the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of 4 RFID readers-writers according to the distance between bookshelf layers, and sequentially sending out excitation signals;
S3.1A5, the inventory robot judges the signal quality and the number of tags in the coverage range from the received RFID tag signal and identifies the tag data;
S3.1A6, fine-tuning the relative distance between the RIID readers according to the identified tag data;
S3.1A7 when the number of the received tag signals of the 4 RFID readers is the smallest, the pre-checking is finished and the checking task is carried out.
Preferably, the number of the RFID readers is 4, and the number of the visual sensors is 1; arranging four RFID readers in pairs on two vertical columns, wherein the RFID reader at the uppermost part of one column is as high as the RFID reader at the lowermost part of the other column;
the visual sensor is arranged between two RFID readers/writers with equal height.
Preferably, the step S3.1 is specifically as follows:
S3.1B1 the inventory robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up-down position of the visual sensor and the relative distance between the current bookshelf so that all layers of the current bookshelf are in the visual angle range of the visual sensor;
S3.1B5, starting an RFID reader-writer to read the RFID tag information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the tag data of the RFID reader-writer;
S3.1B7, if so, starting the inventory task; if the data are not matched, the positions of the checking robot, the RFID reader-writer and the bookshelf are adjusted until the label data are correct, and meanwhile, the range of the recognition window of the vision sensor is adjusted until the data are matched, so that the checking task is started.
The invention solves the technical problem of poor checking effect of the checking robot in the prior art, and the checking method combining the RFID technology and the visual sensing technology has complementary advantages, and the visual sensing technology can well make up part of defects of the RFID technology, so that the checking robot can be more suitable for different occasions as an auxiliary checking means, and has better robustness.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an inventory robot for precisely loading book information;
fig. 2 is a schematic diagram of the position structures of the RFID reader/writer and the vision sensor of the inventory robot of embodiment 1;
FIG. 3 is a schematic diagram showing the positions of the RFID reader, the visual sensor and the bookshelf to be checked in the embodiment 1;
fig. 4 is a schematic view of an inventory area of the inventory robot of embodiment 1;
fig. 5 is a schematic diagram of the position structures of the RFID reader/writer and the vision sensor of the inventory robot of embodiment 2;
fig. 6 is a schematic diagram showing the positions of the RFID reader, the vision sensor and the bookshelf to be checked in embodiment 2;
fig. 7 is a schematic view of an inventory area of an inventory robot of embodiment 2;
FIG. 8 is a schematic diagram of an inventory process according to the present invention;
FIG. 9 is a schematic illustration of an empty bookshelf processing flow;
fig. 10 is a schematic diagram of the pre-inventory process in embodiment 2.
The specific symbols in the drawings are as follows:
r, RFID reader-writer; e, a visual sensor, R1-R4, is the reading range of four RFID readers on the bookshelf; tag_1x, book label of the first layer of bookshelf; tag_2x, book label of the second layer of bookshelf; tag_3x, book label of third layer of bookshelf; tag_4x, book label of the fourth layer of bookshelf;
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The basis of the robot for checking is an intelligent sensing technology and a navigation automatic obstacle avoidance technology, has the functions of automatic path planning, automatic navigation, automatic obstacle avoidance and the like, and can automatically move between narrow book bookshelf channels to finish book checking work. The intelligent robot is provided with a core controller and an industrial personal computer, a library management system is embedded in the intelligent robot, checked book information is compared with information in a library, updated and finally interfaced with a library background data system to finish the library information updating of the library book system and finish the checking work.
The invention is implemented on the premise that a book accurate position information loading control flow is arranged in the checking robot. As shown in fig. 1, when a certain RFID reader captures a signal returned by a book tag, the signal is compared with a background book database to confirm the book; then, the vision sensor captures book information in the vision range, and compares the book name keywords with the book information which is just identified by the RFID, when the book information (book name) has high similarity, the book is confirmed to be the book which is already identified by the RFID, and the determined position information of the book on the bookshelf is used as supplementary information to be updated into a book database. The image information captured by the vision sensor is correlated with the information such as the bookshelf number.
Example 1
In a specific embodiment, as shown in fig. 8, a book checking method based on a book checking robot includes the steps of,
s1, executing a scanning task by the inventory robot;
s2, the inventory robot walks and starts scanning;
s3, starting a visual sensor to identify the bookshelf, and starting an RFID reader to read and write data;
s3.1, pre-inventory is performed when the execution task starts: adjusting the relative distance between the RFID readers and writers when the inventory robot executes the task; and adjusting the distance between the RFID reader and the bookshelf.
As shown in fig. 4, the main purpose of pre-inventory is to enable the inventory robot to automatically determine the mutual height correspondence and proper spacing between the RFID readers and the corresponding books under the guidance of the vision sensor, so that each RFID reader receives as many tag signals from the corresponding book row as possible.
S3.1A1 the inventory robot finds the first bookshelf;
S3.1A2, the visual sensor positioned above finds the bracket of the first layer of the bookshelf and references the bracket of the first layer of the bookshelf;
S3.1A3, a vision sensor positioned below finds a bracket of the third layer of the bookshelf and references the bracket of the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of 4 RFID readers-writers according to the distance between bookshelf layers, and sequentially sending out excitation signals;
S3.1A5, the inventory robot judges the signal quality and the number of tags in the coverage range from the received RFID tag signal and identifies the tag data;
S3.1A6, fine-tuning the relative distance between the RIID readers according to the identified tag data;
S3.1A7 when the number of the received tag signals of the 4 RFID readers is the smallest, the pre-checking is finished and the checking task is carried out. The result of this step is that the signal quality of the RFID reader-writer is better, stable, label signal receiving overlap quantity is small each other, the interference is small.
S4, the vision sensor respectively identifies the number of empty bookshelf, book characters and books; the RFID reader-writer scans RFID tag information on the books and matches with database information one by one;
s4.1, when an empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID tag information by the RFIF reader;
s4.3, accelerating the checking robot to travel to a book area;
s4.4, returning to S3.
S5, judging whether the information identified by the visual sensor is matched with the RFID tag information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the library to the database; if the information is not matched, the database is updated based on the information read and written by the RFID reader-writer, and the S2 is returned.
As shown in fig. 2 and 3, the number of RFID readers is 4, and the number of visual sensors is 2; four RFID readers are arranged on a vertical column, and 2 visual sensors are respectively arranged between a first RFID reader and a second RFID reader, between a third RFID reader and a fourth RFID reader from top to bottom. The viewing angle of the 2 vision sensors is 120 degrees. The visual angle range of the upper visual sensor covers the scanning areas of the upper 2 RFID readers; the lower visual sensor field of view range covers the lower 2 RFID reader-writer scan areas. The embodiment can scan and check four layers of book labels Tag_1x, tag_2x, tag_3x and Tag_4x of the current bookshelf at the same time. The read ranges of the four RFIDs are R1, R2, R3, and R4.
The upper and lower positions of the four RFID readers can be independently adjusted to adapt to different heights of the books; RFID readers have a minimum spacing limit with respect to each other to prevent signals from interfering with each other. And when the books are checked, particularly when the books begin to be checked for the optimal position, the RFID is used for identifying the strongest signal, and the image identification of the visual sensor is used as assistance. Visual identification and RFID reading and writing are carried out simultaneously, book information obtained by the visual identification and the RFID reading and writing are compared, and accurate position information of the book is updated to a database when book names are matched; and updating the database based on the RFID read-write result which is not matched.
Example 2
In a preferred embodiment 2, as shown in fig. 5, 6, 7, 8, 9 and 10, a book checking method based on a book checking robot includes the steps of,
s1, executing a scanning task by the inventory robot;
s2, the inventory robot walks and starts scanning;
s3, starting a visual sensor to identify the bookshelf, and starting an RFID reader to read and write data;
s3.1, pre-inventory is performed when the execution task starts: adjusting the relative distance between the RFID readers and writers when the inventory robot executes the task; and adjusting the distance between the RFID reader and the bookshelf.
As shown in fig. 7, the main purpose of pre-inventory is to enable the inventory robot to automatically determine the mutual height correspondence and proper spacing between the RFID readers and the corresponding books under the guidance of the vision sensor, so that each RFID reader receives as many tag signals from the corresponding book row as possible.
S3.1B1 the inventory robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up-down position of the visual sensor and the relative distance between the current bookshelf so that all layers of the current bookshelf are in the visual angle range of the visual sensor;
S3.1B5, starting an RFID reader-writer to read the RFID tag information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the tag data of the RFID reader-writer;
S3.1B7, if so, starting the inventory task; if the data are not matched, the positions of the checking robot, the RFID reader-writer and the bookshelf are adjusted until the label data are correct, and meanwhile, the range of the recognition window of the vision sensor is adjusted until the data are matched, so that the checking task is started. The result of this step is that the signal quality of the RFID reader-writer is better, stable, label signal receiving overlap quantity is small each other, the interference is small. A flowchart of the pre-inventory of this embodiment is shown in fig. 10.
S4, the vision sensor respectively identifies the number of empty bookshelf, book characters and books; the RFID reader-writer scans RFID tag information on the books and matches with database information one by one;
s4.1, when an empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID tag information by the RFIF reader;
s4.3, accelerating the checking robot to travel to a book area;
s4.4, returning to S3.
S5, judging whether the information identified by the visual sensor is matched with the RFID tag information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the library to the database; if the information is not matched, the database is updated based on the information read and written by the RFID reader-writer, and the S2 is returned.
As shown in fig. 5 and 6, the number of RFID readers is 4, and the number of visual sensors is 1; arranging four RFID readers in two rows, wherein the RFID readers at the uppermost part of one row are equal to the RFID readers at the lowermost part of the other row in height, and the heights of the rest two RFID readers are adjustable; the visual sensor is arranged between two RFID readers/writers with equal height.
The inventory robot of the embodiment can perform scanning inventory on three rows of books, namely an upper row, a middle row and a lower row, and has a larger inventory range in the transverse direction compared with the embodiment 1. The book label ranges covered by the 4 RFID readers are overlapped with each other by the minimum quantity, and the interference is minimum. At the same time, the unique visual sensor viewing angle range covers the viewing angle range of 4 RFID readers. As shown in fig. 7.
In summary, the invention adopts the 4-antenna RFID and reasonably arranges the arrangement modes so that the intensity of the received tag is strongest and the mutual interference degree between RFID readers is minimum. The final purpose is to improve the accuracy of books checking, increase the checking speed and improve the efficiency.
The invention also adopts the visual image recognition technology to assist RFID inventory, can accurately recognize the exact position of the related books, and makes up the deficiency of the RFID technology; and the empty bookshelf can be correctly identified, so that the counting speed is improved. The reliability and the field adaptability of the book checking robot are improved.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A book checking method based on a book checking robot is characterized by comprising the following steps,
s1, executing a scanning task by the inventory robot;
s2, the inventory robot walks and starts scanning;
s3, starting a visual sensor to identify the bookshelf, and starting an RFID reader to read and write data; the number of RFID readers is 4, and the number of visual sensors is 1 or 2;
s3.1, pre-inventory is performed when the execution task starts: adjusting the relative distance between the RFID readers and writers when the inventory robot executes the task; adjusting the distance between the RFID reader and the bookshelf;
when the number of the visual sensors is 2, arranging four RFID readers on a vertical column, wherein the 2 visual sensors are respectively arranged between the first RFID reader and the second RFID reader, and between the third RFID reader and the fourth RFID reader from top to bottom; at this time, S3.1 includes the steps of:
S3.1A1 the inventory robot finds the first bookshelf;
S3.1A2, the visual sensor positioned above finds the bracket of the first layer of the bookshelf and references the bracket of the first layer of the bookshelf;
S3.1A3, a vision sensor positioned below finds a bracket of the third layer of the bookshelf and references the bracket of the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of 4 RFID readers-writers according to the distance between bookshelf layers, and sequentially sending out excitation signals;
S3.1A5, the inventory robot judges the signal quality and the number of tags in the coverage range from the received RFID tag signal and identifies the tag data;
S3.1A6, fine-tuning the relative distance between the RIID readers according to the identified tag data;
S3.1A7 when the number of the received label signals of the 4 RFID readers is the smallest, ending the pre-checking and performing the checking task;
when the number of the visual sensors is 1, arranging four RFID readers in two rows, wherein the height of the RFID reader at the uppermost part of one row is equal to that of the RFID reader at the lowermost part of the other row, and the heights of the rest two RFID readers are adjustable;
the visual sensor is arranged between two RFID readers/writers with equal height; at this time 3.1 comprises the steps of:
S3.1B1 the inventory robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up-down position of the visual sensor and the relative distance between the current bookshelf so that all layers of the current bookshelf are in the visual angle range of the visual sensor;
S3.1B5, starting an RFID reader-writer to read the RFID tag information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the tag data of the RFID reader-writer;
S3.1B7, if so, starting the inventory task; if the data are not matched, the positions of the checking robot, the RFID reader-writer and the bookshelf are adjusted until the label data are correct, and meanwhile, the range of the recognition window of the vision sensor is adjusted until the data are matched, and the checking task is started;
s4, the vision sensor respectively identifies the number of empty bookshelf, book characters and books; the RFID reader-writer scans RFID tag information on the books and matches with database information one by one;
s5, judging whether the information identified by the visual sensor is matched with the RFID tag information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the library to the database; if the information is not matched, the database is updated based on the information read and written by the RFID reader-writer, and the S2 is returned.
2. The book checking method based on the book checking robot of claim 1, wherein the step S4 further comprises S4.1, and when an empty bookshelf is identified, starting the empty bookshelf processing module;
s4.2, stopping reading the RFID tag information by the RFIF reader;
s4.3, accelerating the checking robot to travel to a book area;
s4.4, returning to S3.
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| CN112529127A (en) * | 2020-12-16 | 2021-03-19 | 上海阿法迪智能数字科技股份有限公司 | Automatic book counting device and method |
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