CN117422079A - Book checking method and system based on checking robot - Google Patents
Book checking method and system based on checking robot Download PDFInfo
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- CN117422079A CN117422079A CN202311354915.8A CN202311354915A CN117422079A CN 117422079 A CN117422079 A CN 117422079A CN 202311354915 A CN202311354915 A CN 202311354915A CN 117422079 A CN117422079 A CN 117422079A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000004590 computer program Methods 0.000 claims description 9
- 238000001914 filtration Methods 0.000 claims description 8
- 230000003247 decreasing effect Effects 0.000 description 3
- 230000035772 mutation Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
- G06K7/10376—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications the interrogation device being adapted for being moveable
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Abstract
The invention provides a book checking method and a book checking system based on a checking robot, wherein the method comprises the following steps: planning a checking path according to the shape and the position of the bookshelf; controlling appointed lifting rods in the N lifting rods to drive corresponding appointed counting antennas to lift to a target counting layer of the bookshelf; the method comprises the steps that an inventory robot is controlled to move from a starting point to a final point of an inventory path, in the moving process, RFID tags of each book in a target inventory layer are identified in real time through an inventory antenna, and corresponding RSSI values are generated, so that a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value are obtained; preprocessing the first RSSI value sequence to obtain a second RSSI value sequence; and acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information. The accuracy and the reliability of book checking are greatly improved.
Description
Technical Field
The invention relates to the technical field of book checking, in particular to a book checking method based on a checking robot and a book checking system based on the checking robot.
Background
Library inventory is an important basic task for library literature management, and aims to find problems of emission of library literature resources, bibliographic data and the like. Meanwhile, the lost literature can be searched through book checking, so that the integrity of the collected literature is ensured. The book inventory is used as one of the daily works of the library, and is a precondition for guaranteeing the library to develop business.
In the related art, the book can be checked by using the checking robot, however, the checking accuracy and reliability are low.
Disclosure of Invention
The invention aims to solve the technical problems, and provides a book checking method based on a checking robot, which is used for acquiring the position information of each book according to the RSSI value corresponding to each book when the checking robot is used for checking the books, so that the accuracy and the reliability of book checking are greatly improved.
The technical scheme adopted by the invention is as follows:
the book checking method based on the checking robot comprises a robot chassis, N lifting rods and N checking antennas, wherein the N lifting rods are arranged above the robot chassis, the N checking antennas are arranged on the lifting rods, and each checking antenna is used for identifying RFID tags of books placed on a bookshelf and generating corresponding RSSI values, and the book checking method comprises the following steps: planning a checking path according to the shape and the position of the bookshelf; controlling appointed lifting rods in the N lifting rods to drive corresponding appointed counting antennas to lift to a target counting layer of the bookshelf; controlling the inventory robot to move from the starting point to the final point of the inventory path, and in the moving process, identifying the RFID tag of each book in the target inventory layer in real time through the inventory antenna and generating a corresponding RSSI value to acquire a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value; preprocessing the first RSSI value sequence to obtain a second RSSI value sequence; and acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information.
In one embodiment of the present invention, preprocessing the first RSSI value sequence to obtain the second RSSI value sequence includes: comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence; and filtering the third RSSI value sequence to obtain the second RSSI value sequence.
In one embodiment of the present invention, the obtaining, according to the second RSSI value sequence and the first location information, second location information of each book in the target inventory layer, includes: acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information; and acquiring the second position information of each book in the target inventory layer according to the change curve.
Book checking system based on checking robot, checking robot includes robot chassis, N lifter and N check antenna, wherein, N the lifter is installed the top of robot chassis, N the check antenna is installed on the lifter, wherein, each check antenna all is used for discernment bookshelf on the RFID label of books placed and generates corresponding RSSI value, book checking system includes: the path planning module is used for planning an inventory path according to the shape of the bookshelf and the position of the bookshelf; the first control module is used for controlling appointed lifting rods in the N lifting rods to drive corresponding appointed counting antennas to lift to a target counting layer of the bookshelf; the second control module is used for controlling the inventory robot to move from the starting point to the final point of the inventory path, identifying the RFID tag of each book in the target inventory layer in real time through the inventory antenna in the moving process and generating a corresponding RSSI value so as to acquire a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value; the first acquisition module is used for preprocessing the first RSSI value sequence to acquire a second RSSI value sequence; the second acquisition module is used for acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information.
In one embodiment of the present invention, the first obtaining module is specifically configured to: comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence; and filtering the third RSSI value sequence to obtain the second RSSI value sequence.
In one embodiment of the present invention, the second obtaining module is specifically configured to: acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information; and acquiring the second position information of each book in the target inventory layer according to the change curve.
The computer equipment comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the book checking method based on the checking robot is realized when the processor executes the computer program.
A non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the book checking method based on a checking robot described above.
The invention has the beneficial effects that:
when the book checking robot is used for checking books, the position information of each book is obtained according to the RSSI value corresponding to each book, so that the accuracy and the reliability of book checking are greatly improved.
Drawings
Fig. 1 is a flowchart of a book checking method based on a checking robot according to an embodiment of the present invention;
fig. 2 is a block diagram of a book checking system based on a checking robot according to an embodiment of the present invention.
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.
Fig. 1 is a flowchart of a book checking method based on a checking robot according to an embodiment of the present invention.
It should be noted that the checking robot comprises a robot chassis, N lifting rods and N checking antennas, wherein the N lifting rods are arranged above the robot chassis, the N checking antennas are arranged on the lifting rods, and each checking antenna is used for identifying RFID labels of books placed on the bookshelf and generating corresponding RSSI values.
As shown in fig. 1, the book checking method based on the checking robot according to the embodiment of the invention may include the following steps:
s1, planning a checking path according to the shape and the position of the bookshelf.
Specifically, in practical application, the bookshelf can be in a shape of a circle, a cuboid and the like, so that the checking robot can move along one side of the bookshelf, where books are placed, by planning a checking path, and checking the books in the moving process. Wherein, the starting point and the ending point of the checking path can be set according to the position of the bookshelf and combining the range of books to be checked (namely target books) in the bookshelf.
S2, controlling appointed lifting rods in the N lifting rods to drive corresponding appointed inventory antennas to lift to target inventory layers of the bookshelf.
N is a positive integer, and can be calibrated according to actual conditions.
S3, controlling the inventory robot to move from the starting point to the ending point of the inventory path, and in the moving process, identifying the RFID tag of each book in the target inventory layer in real time through the inventory antenna and generating a corresponding RSSI (Received Signal Strength Indicator, received signal strength indication) value so as to acquire a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value.
S4, preprocessing the first RSSI value sequence to obtain a second RSSI value sequence.
In one embodiment of the present invention, preprocessing the first RSSI value sequence to obtain the second RSSI value sequence includes: comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence; and filtering the third RSSI value sequence to obtain a second RSSI value sequence.
It can be understood that the closer the RFID tag of the book is to the inventory antenna, the larger the tag signal quality (namely the RSSI value) is, and the smaller the tag signal quality is, when the RFID tag is read, whether the RSSI value is lower than the RSSI threshold value is judged, so that the situation that the book tag is positioned inaccurately when the inventory is greatly reduced, and the problem that the book with the RFID tag is read by mistake is also avoided.
Thus, in one embodiment of the present invention, all tag information and RSSI values of the target book are recorded by the designated inventory antenna inventory reading. And judging whether the RSSI value is larger than an RSSI threshold value, and if so, retaining tag information and the RSSI value which are larger than the RSSI threshold value.
Because the RSSI data has the characteristics of mutation, fluctuation and the like, in one embodiment of the invention, the third RSSI value sequence can be subjected to filtering treatment, namely, a software filtering algorithm is adopted to carry out prepositive data treatment on the acquired RSSI values, and the mutation data and noise fluctuation in the third RSSI value sequence are effectively removed by combining with an improved Gaussian fitting and Kalman filtering algorithm, so that the accurate and smooth output of the RSSI values is realized.
S5, acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information.
In one embodiment of the present invention, obtaining second location information of each book in the target inventory layer according to the second RSSI value sequence and the first location information, includes: acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information; and acquiring second position information of each book in the target inventory layer according to the change curve.
Specifically, the inventory robot continuously inventory in the moving process, acquires the effective book label information epc and the RSSI value of each book in the target inventory layer through the appointed inventory antenna, stores the two pieces of information and the current position L of the inventory robot, and represents the two pieces of information as a triplet D= { epc, RSSI and L }. Since the RSSI value of the read tag will change with the reading position of the inventory robot, the number n of effective RSSI values generated by the same tag with the change of the inventory robot position is recorded, and is expressed as a binary group p= { D, n }, and the effective tag is extracted by the number n. For the labels of which the number n is smaller than the set value, the inventory robot recognizes as invalid wrong shelf labels. Finally, according to the increasing and decreasing change curve presented by the RSSI value (namely the second RSSI value sequence) of the same effective label, the placement position of each book in the target inventory layer can be accurately positioned.
Specifically, the inventory robot starts to inventory from a starting point Ls and moves to an ending point Le, label information, of which the RSSI value is larger than an RSSI threshold value, read in the motion process of the robot is recorded, label information of which the inventory number is smaller than a label effective number threshold value is removed, and all effective data are arranged.
First, the second RSSI value sequence of each book is classified. If the second RSSI value sequence of the same book shows a decreasing trend, the book is indicated to be close to the starting point Ls; if the second RSSI value sequence of the same book shows a trend of increasing and then decreasing, the second RSSI value sequence shows that the book is closer to the center position from the starting point Ls to the ending point Le; if the second RSSI value sequence of the same book shows an increasing trend, the label is close to the termination point Le.
And secondly, carrying out data comparison and sorting on the second RSSI value sequence which is already classified. And comparing the inventory positions L corresponding to the lowest points of the descending curves of the second RSSI value sequences of different books with labels of books close to the starting point Ls, and sorting according to the inventory positions L and the weighted values of the RSSI values. The smaller the weighting value, the closer to the start point Ls; for the labels of books close to the center position, comparing the inventory positions L corresponding to the curve peak values of the second RSSI value sequence, and sorting according to the inventory positions L and the weighted values of the RSSI values, wherein the smaller the weighted values are, the closer the weighted values are to the starting point Ls; and comparing the inventory positions L corresponding to the lowest values of the ascending curves of the second RSSI value sequences of different books with labels of books close to the position end point Le, and sorting according to the inventory positions L and the weighted values of the RSSI values, wherein the weighted values are smaller and are closer to the starting point Ls. The labels of the ordered 3 kinds of books are spliced to obtain the sequence of books with the distance from the starting point Ls to the ending point Le, so that the position information of each book in the target inventory layer is obtained
It will be appreciated that the inventory distance from the start point Ls to the end point Le may be modified, and that the smaller the distance, the more accurate the ordering of the labels of the book. When the book shelf is checked by the checking robot, the book shelf can be spliced by setting a plurality of sections of checking distances, so that the positioning information of the labels of the complete books is obtained, and the positioning accuracy of the labels of the books is improved.
Therefore, the invention can use a smaller power reader-writer and a small-size antenna to locate books, reduce the error reading rate of labels, locate labels more accurately, and accurately locate each label in order.
In summary, according to the book checking method based on the checking robot of the embodiment of the invention, the checking path is planned according to the shape and the position of the bookshelf, the designated lifting rods in the N lifting rods are controlled to drive the corresponding designated checking antenna to lift to the target checking layer of the bookshelf, the checking robot is controlled to move from the starting point to the final end point of the checking path, the RFID tag of each book in the target checking layer is identified in real time through the checking antenna in the moving process, the corresponding RSSI value is generated, so as to obtain the first RSSI value sequence of each book in the target checking layer and the first position information of the checking robot corresponding to each first RSSI value, the first RSSI value sequence is preprocessed to obtain the second RSSI value sequence, and the second position information of each book in the target checking layer is obtained according to the second RSSI value sequence and the first position information. Therefore, when the book checking robot is adopted for book checking, the position information of each book is obtained according to the RSSI value corresponding to each book, and therefore the accuracy and reliability of book checking are greatly improved.
Corresponding to the book checking method based on the checking robot in the embodiment, the invention further provides a book checking system based on the checking robot.
It should be noted that the checking robot comprises a robot chassis, N lifting rods and N checking antennas, wherein the N lifting rods are arranged above the robot chassis, the N checking antennas are arranged on the lifting rods, and each checking antenna is used for identifying RFID labels of books placed on the bookshelf and generating corresponding RSSI values.
As shown in fig. 2, the book checking system based on the checking robot according to the embodiment of the present invention may include: the system comprises a path planning module 100, a first control module 200, a second control module 300, a first acquisition module 400 and a second acquisition module 500.
The path planning module 100 is used for planning an inventory path according to the shape and the position of the bookshelf; the first control module 200 is used for controlling a designated lifting rod in the N lifting rods to drive a corresponding designated inventory antenna to lift to a target inventory layer of the bookshelf; the second control module 300 is configured to control the inventory robot to move from a start point to a final point of the inventory path, and in the moving process, identify, in real time, an RFID tag of each book in the target inventory layer through the inventory antenna and generate a corresponding RSSI value, so as to obtain a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value; the first obtaining module 400 is configured to pre-process the first RSSI value sequence to obtain a second RSSI value sequence; the second obtaining module 500 is configured to obtain second location information of each book in the target inventory layer according to the second RSSI value sequence and the first location information.
In one embodiment of the present invention, the first obtaining module 400 is specifically configured to: comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence; and filtering the third RSSI value sequence to obtain a second RSSI value sequence.
In one embodiment of the present invention, the second obtaining module 500 is specifically configured to: acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information; and acquiring second position information of each book in the target inventory layer according to the change curve.
It should be noted that, the specific embodiment of the book checking system based on the checking robot of the present invention may refer to the embodiment of the book checking method based on the checking robot, and the details thereof will not be described herein to avoid redundancy.
According to the book checking system based on the checking robot, a path planning module plans a checking path according to the shape and the position of a bookshelf, a first control module controls the appointed lifting rods in N lifting rods to drive the corresponding appointed checking antenna to lift to a target checking layer of the bookshelf, a second control module controls the checking robot to move from the starting point to the final point of the checking path, in the moving process, the RFID tag of each book in the target checking layer is identified in real time through the checking antenna, a corresponding RSSI value is generated, a first RSSI value sequence of each book in the target checking layer and first position information of the checking robot corresponding to each first RSSI value are obtained, a first acquisition module is used for preprocessing the first RSSI value sequence to obtain a second RSSI value sequence, and a second acquisition module is used for obtaining second position information of each book in the target checking layer according to the second RSSI value sequence and the first position information. Therefore, when the book checking robot is adopted for book checking, the position information of each book is obtained according to the RSSI value corresponding to each book, and therefore the accuracy and reliability of book checking are greatly improved.
Corresponding to the book checking method based on the checking robot in the embodiment, the invention also provides computer equipment.
The computer equipment comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the book checking method based on the checking robot is realized when the processor executes the computer program.
According to the computer equipment provided by the embodiment of the invention, when the book checking robot is adopted for book checking, the position information of each book is obtained according to the RSSI value corresponding to each book, so that the accuracy and reliability of book checking are greatly improved.
The invention also provides a non-transitory computer readable storage medium corresponding to the fault detection method of the contactor of the air conditioner blower.
The non-transitory computer readable storage medium of the embodiment of the present invention stores a computer program thereon, which when executed by a processor, implements the book checking method based on the checking robot described above.
According to the non-transitory computer readable storage medium, when the book checking robot is adopted for book checking, the position information of each book is obtained according to the RSSI value corresponding to each book, so that the accuracy and the reliability of book checking are greatly improved.
In the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present invention. In this specification, schematic representations of the above terms are not necessarily for 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. The book checking method based on the checking robot is characterized in that the checking robot comprises a robot chassis, N lifting rods and N checking antennas, wherein the N lifting rods are arranged above the robot chassis, the N checking antennas are arranged on the lifting rods, and each checking antenna is used for identifying RFID labels of books placed on a bookshelf and generating corresponding RSSI values, and the book checking method comprises the following steps:
planning a checking path according to the shape and the position of the bookshelf;
controlling appointed lifting rods in the N lifting rods to drive corresponding appointed counting antennas to lift to a target counting layer of the bookshelf;
controlling the inventory robot to move from the starting point to the final point of the inventory path, and in the moving process, identifying the RFID tag of each book in the target inventory layer in real time through the inventory antenna and generating a corresponding RSSI value to acquire a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value;
preprocessing the first RSSI value sequence to obtain a second RSSI value sequence;
and acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information.
2. The robot-based book inventory method of claim 1, wherein preprocessing the first RSSI value sequence to obtain the second RSSI value sequence comprises:
comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence;
and filtering the third RSSI value sequence to obtain the second RSSI value sequence.
3. The book checking method based on the checking robot of claim 1, wherein the obtaining the second position information of each book in the target checking layer according to the second RSSI value sequence and the first position information includes:
acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information;
and acquiring the second position information of each book in the target inventory layer according to the change curve.
4. The utility model provides a book inventory system based on inventory robot, its characterized in that, inventory robot includes robot chassis, N lifter and N inventory antenna, wherein, N the lifter is installed the top on robot chassis, N inventory antenna is installed on the lifter, wherein, each inventory antenna all is used for discernment the RFID label of books placed on the bookshelf and generates corresponding RSSI value, book inventory system includes:
the path planning module is used for planning an inventory path according to the shape of the bookshelf and the position of the bookshelf;
the first control module is used for controlling appointed lifting rods in the N lifting rods to drive corresponding appointed counting antennas to lift to a target counting layer of the bookshelf;
the second control module is used for controlling the inventory robot to move from the starting point to the final point of the inventory path, identifying the RFID tag of each book in the target inventory layer in real time through the inventory antenna in the moving process and generating a corresponding RSSI value so as to acquire a first RSSI value sequence of each book in the target inventory layer and first position information of the inventory robot corresponding to each first RSSI value;
the first acquisition module is used for preprocessing the first RSSI value sequence to acquire a second RSSI value sequence;
the second acquisition module is used for acquiring second position information of each book in the target inventory layer according to the second RSSI value sequence and the first position information.
5. The book inventory system based on an inventory robot of claim 4, wherein the first acquisition module is specifically configured to:
comparing each RSSI value in the first RSSI value sequence with an RSSI threshold value respectively, and reserving the RSSI value larger than the RSSI threshold value to generate a third RSSI value sequence;
and filtering the third RSSI value sequence to obtain the second RSSI value sequence.
6. The book inventory system based on an inventory robot of claim 4, wherein the second acquisition module is specifically configured to:
acquiring a change curve of the RSSI value of each book in the target inventory layer according to the second RSSI value sequence and the first position information;
and acquiring the second position information of each book in the target inventory layer according to the change curve.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the book checking method based on the checking robot according to any one of claims 1-3 when executing the computer program.
8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the book checking method based on a checking robot according to any one of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311354915.8A CN117422079B (en) | 2023-10-18 | 2023-10-18 | Book checking method and system based on checking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311354915.8A CN117422079B (en) | 2023-10-18 | 2023-10-18 | Book checking method and system based on checking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117422079A true CN117422079A (en) | 2024-01-19 |
| CN117422079B CN117422079B (en) | 2024-08-02 |
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