CN204566123U - A kind of intelligent finishing book robot - Google Patents
A kind of intelligent finishing book robot Download PDFInfo
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- CN204566123U CN204566123U CN201520203018.1U CN201520203018U CN204566123U CN 204566123 U CN204566123 U CN 204566123U CN 201520203018 U CN201520203018 U CN 201520203018U CN 204566123 U CN204566123 U CN 204566123U
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Abstract
A kind of intelligent finishing book robot, it is characterized in that, described intelligent finishing book robot comprises: central controller, rfid interrogator, RFID, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module.Described central controller is connected with rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module respectively.Described supply module is connected with central controller, rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module respectively.This intelligent finishing book robot, achieves that the books given back reader carry out automatically, intelligence arranges, and improves the degree of accuracy and the efficiency of book bidding, simplifies the work of books administrative staff.
Description
Technical field
The invention belongs to books intelligent management field, relate to a kind of finishing book robot, particularly a kind of intelligent finishing book robot.
Background technology
Along with the progress of social civilization, people are more and more stronger for the serious hope of knowledge.But current social knowledge books are of a great variety, and Library Books Volume is huge, book bidding work becomes a difficult problem.
At present, existing book bidding work great majority are completed by manual sorting, have both consumed a large amount of manpowers and time, increase management books cost, again reduce book bidding operating efficiency.Manual sorting books poor accuracy, misplaced books phenomenon often occurs, and brings inconvenience to Readers ' Borrowing Books books.Therefore, a kind of intelligent finishing book robot is needed to solve an above-mentioned difficult problem.
Summary of the invention
The present invention is directed to prior art and cannot solve above-mentioned taking care of books aspect Problems existing, provide a kind of intelligent finishing book robot, by RFID, intelligence finishing book robot identifies that location technology identifies and location, position, stack room residing for books books, autonomous intelligence identification driving path arrives books Ying Chu position, by image recognition determination books profile and size, realize the intelligence to books, accurately return frame to arrange.
In order to complete above-mentioned purpose, the present invention by the following technical solutions.
A kind of intelligent finishing book robot, it is characterized in that, described intelligent finishing book robot comprises: central controller, rfid interrogator, RFID, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module.Described central controller is connected with rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module respectively.Described supply module is connected with central controller, rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module respectively.
Described central controller respectively with rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module connects, receive process rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, the information that supply module transmission comes and data, and to rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module transmission command information and data.
Described rfid interrogator is connected with central controller, for reading book information, the books positional information of RFID, identification RFID of charging and robot information and positional information thereof, by the information feed back of the RFID of reading to central controller; Rfid interrogator is divided into stack room rfid interrogator and robot rfid interrogator; Stack room rfid interrogator is connected with book management system, for reading book information RFID, position mark RFID; Robot rfid interrogator is for reading book information RFID, position mark RFID, robot information RFID.
Described RFID feeds back book information, books positional information, charging identifying information and robot information and positional information thereof to rfid interrogator, be divided into book information RFID, position mark RFID, robot information RFID, charging identification RFID, each book has unique book information RFID, and there is unique robot information RFID identity in each robot.
Described picture recognition module realizes the determination to books profile and size, and comprise camera, image pick-up card, image procossing identification software, camera is arranged on manipulator front end.
Described finishing book module adopts the combination of rotation platform, lowering or hoisting gear, conveyer, pusher, mechanical arm and manipulator to form, by picture recognition module, books profile and size are identified, by mechanical arm and manipulator, gripping is carried out to books, by rotation platform, lowering or hoisting gear, conveyer, pusher work, books are replaced.Rotation platform adopts gear and motor combination device; Lowering or hoisting gear adopts lifting arm to realize lifting; Conveyer adopts conveyer belt to move books; Pusher adopts pusher device to push books; Mechanical arm adopts three-degree-of-freedom motion structure to be connected with three stepper motors respectively, and is controlled by three stepper motors; Manipulator adopts small-sized electric machinery clamp to be used for gripping books, and capacitor grid transducer measurement mechanical hand aperture displacement is installed at manipulator two ends; Manipulator lower end install pointed structures, be applicable to from bookshelf between two books gap diverge two books.
Described wireless communication module comprises network communication server, reception of wireless signals and sending module.Realize robot and book management system of library radio communication by this module, keep contacting of robot and book management system of library.
Described mobile module realizes the movement of robot in library, and this module comprises 2 rotary encoders, 2 motor-drive circuits, 2 independent driving wheels, 2 universal driven pulleys of buffering, 2 decelerators, 2 DC servo motors.Motor-drive circuit is by central controller connection control; 2 independent driving wheels, as the trailing wheel of robot, are realized the turning function of robot, realize moving forward and backward of robot when speed is identical by the speed difference of two driving wheels; 2 universal driven pulleys of buffering, as the front-wheel of robot, coordinate 2 driving wheels to complete advance, retreat, turn to; Every one speed reducer is connected with each driving wheel; Each DC servo motor is connected with a decelerator, rotary encoder, a motor-drive circuit, forms the mobile power set of two covers.
Described detection module realize robot self detection barrier, identify direction and oneself state, comprise laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor.Detect barrier by laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor, identify position, direction and oneself state.
Described human-computer interaction module realizes the information exchange between human and computer people, comprises liquid crystal touch display screen.People can be operated by liquid crystal touch display screen, operation setting instruction are conveyed to the central controller of robot.
Described supply module realizes the power supply of robot whole system, Power convert transformation and the detection to dump energy, and completes to be automatically moved to and specify charging zone charging.Comprise mains charger, electric pressure converter, power detecting controller, power storage battery.Charging identifies and adopts charging to identify RFID identification location technology.
Described RFID identifies that location technology is the method for the books employing fixed location marker RFID monitoring book information RFID of monitoring optional position, fixed location marker RFID is used to provide positional information to book information RFID, stack room rfid interrogator sends positioning command information to book information RFID and position mark RFID, current present position is obtained after book information RFID and nearest position mark RFID exchange of information, stack room rfid interrogator reads book information RFID information and current location information residing for it.
Described autonomous intelligence identification driving path is the method adopting fixed location marker RFID searching machine people information RFID, fixed location marker RFID is used to provide positional information to robot information RFID, robot rfid interrogator sends positioning command information to robot information RFID and position mark RFID, current present position is obtained after robot information RFID and nearest position mark RFID exchange of information, robot rfid interrogator read machine people information RFID information and current location information residing for it.
The invention has the beneficial effects as follows: a kind of intelligent finishing book robot of the present invention, achieve that the books given back reader carry out automatically, intelligence arranges, improve the degree of accuracy and the efficiency of book bidding, decrease the man power and material of finishing book, reduce library management cost, simplify the work of books administrative staff.
Accompanying drawing explanation
Fig. 1 is robot of the present invention overall structure schematic diagram.
Fig. 2 is robot of the present invention method of work schematic diagram.
In figure 1, central controller, 2, rfid interrogator, 3, RFID, 4, picture recognition module, 5, finishing book module, 6, wireless communication module, 7, mobile module, 8, detection module, 9, human-computer interaction module, 10, supply module, 21, stack room, 22, books working area, 23, stack room rfid interrogator, 24, charging zone, 25, charging identifies RFID, 26, robot information RFID, 27, robot rfid interrogator, 28, book information RFID, 29, position mark RFID.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated, specifically to set forth technical scheme of the present invention.
As shown in Figure 1, a kind of intelligent finishing book robot of the present invention, it is characterized in that, described intelligent finishing book robot comprises: central controller 1, rfid interrogator 2, RFID 3, picture recognition module 4, finishing book module 5, wireless communication module 6, mobile module 7, detection module 8, human-computer interaction module 9, supply module 10.Described central controller 1 is connected with rfid interrogator 2, picture recognition module 4, finishing book module 5, wireless communication module 6, mobile module 7, detection module 8, human-computer interaction module 9, supply module 10 respectively.Described supply module 10 is connected with central controller 1, rfid interrogator 2, picture recognition module 4, finishing book module 5, wireless communication module 6, mobile module 7, detection module 8, human-computer interaction module 9 respectively.
As shown in Figure 2, a kind of intelligent finishing book robot functional realiey step is as follows: installation site, fixed position mark RFID 29 in stack room 21, distance between each position mark RFID 29 is equally spaced, locates position, implementation space, stack room 21.By stack room rfid interrogator 23 load position mark RFID 29 information, each position mark RFID 29 has specific identifier identity information, in book management system, then set up other positions in RFID layout map denotation stack room, stack room title, bookshelf position and number information thereof and stack room.
The books that reader gives back leave in stack room 21 in books working area 22, and robot arrives books working area 22 by robot information RFID 26 and robot rfid interrogator 27 autonomous intelligence identification driving path and loads many books by conveyer.
Robot reads book information RFID 28 by robot rfid interrogator 27 and obtains book information, undertaken communicating by wireless communication module and book management system and obtain the stack room RFID layout map that these books set up in the original particular location in library and book management system, compared by self present position and stack room RFID layout map and check rear autonomous intelligence identification driving path, move to reach these books Ying Chu position by mobile module.
Robot starts by finishing book module to arrange the books that should be in this position, by rotation platform, lowering or hoisting gear, conveyer, mechanical arm and manipulator are moved to books top position, by picture recognition module, books profile and size are identified, after manipulator two ends installation capacitor grid transducer measurement mechanical hand aperture displacement is applicable to this books form factor, mechanical arm protracts, manipulator gripping books.
Robot passes through rotation platform, lowering or hoisting gear, conveyer drives the mechanical arm of gripping books and manipulator to arrive bookshelf position, books place, books positional information on picture recognition module identification bookshelf, pointed structures one end that between two books, books on two books or bookshelf are diverged in gap from bookshelf that manipulator lower end is installed is withstood books and is reserved and put book position, what mechanical arm and manipulator control institute gripping books aligning bookshelf reserved puts book position, pusher propelling movement books are sent back on bookshelf and are placed, manipulator unclamps books, complete this book bidding, robot continues other books that conditioning machines people loads.
When robot arranged self load books time, robot turns back to books working area 22 in stack room 21 by autonomous intelligence identification driving path by mobile module and again loads books, proceeds finishing book work according to the method described above.
Robot travel in moving process by detection module realize robot self detection barrier, identify direction and oneself state, autonomous intelligence realizes avoiding barrier.
Robot realizes robot and book management system of library radio communication by wireless communication module, keep the real-time Communication for Power of robot and book management system of library to contact, make other positions in RFID layout map denotation stack room, robot Real-time Obtaining stack room title, bookshelf position and number information thereof and stack room.
Keeper realizes the information exchange between human and computer people by human-computer interaction module, is operated robot function by liquid crystal touch display screen, operation setting instruction is conveyed to the central controller of robot.
Robot in real time for robot provides electric energy, guarantees the normal work of robot modules by supply module.Power storage Selection of Battery high energy efficiency Li-ion batteries piles.When Li-ion batteries piles electricity is not enough, power detecting controller can detect that battery electric quantity is low, and robot is by moving to charging zone 24 behind fixation and recognition path, position; After robot arrives charging zone 24, identify that RFID 25 automatically recognizes the contraposition of charging electric connector and connects charging by charging.After charging terminates, power detecting controller detects that battery electric quantity is sufficient, and robot proceeds finishing book work.
Through above the present invention's intelligence finishing book robotic embodiment course of work, achieve that the books given back reader carry out automatically, intelligence arranges, improve the degree of accuracy and the efficiency of book bidding, decrease man power and material, reduce library management cost, simplify the work of books administrative staff.
Claims (2)
1. an intelligent finishing book robot, it is characterized in that, described intelligent finishing book robot comprises: central controller, rfid interrogator, RFID, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module; Described central controller is connected with rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module respectively; Described supply module is connected with central controller, rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module respectively.
2. intelligent finishing book robot according to claim 1, it is characterized in that, described central controller respectively with rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module connects, receive process rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, the information that supply module transmission comes and data, and to rfid interrogator, picture recognition module, finishing book module, wireless communication module, mobile module, detection module, human-computer interaction module, supply module transmission command information and data,
Described rfid interrogator is connected with central controller, for reading book information, the books positional information of RFID, identification RFID of charging and robot information and positional information thereof, by the information feed back of the RFID of reading to central controller; Rfid interrogator is divided into stack room rfid interrogator and robot rfid interrogator; Stack room rfid interrogator is connected with book management system, for reading book information RFID, position mark RFID; Robot rfid interrogator is for reading book information RFID, position mark RFID, robot information RFID;
Described RFID feeds back book information, books positional information, charging identifying information and robot information and positional information thereof to rfid interrogator, be divided into book information RFID, position mark RFID, robot information RFID, charging identification RFID, each book has unique book information RFID, and there is unique robot information RFID identity in each robot;
Described picture recognition module realizes the determination to books profile and size, and comprise camera, image pick-up card, image procossing identification software, camera is arranged on manipulator front end;
Described finishing book module adopts the combination of rotation platform, lowering or hoisting gear, conveyer, pusher, mechanical arm and manipulator to form, by picture recognition module, books profile and size are identified, by mechanical arm and manipulator, gripping is carried out to books, by rotation platform, lowering or hoisting gear, conveyer, pusher work, books are replaced; Rotation platform adopts gear and motor combination device; Lowering or hoisting gear adopts lifting arm to realize lifting; Conveyer adopts conveyer belt to move books; Pusher adopts pusher device to push books; Mechanical arm adopts three-degree-of-freedom motion structure to be connected with three stepper motors respectively, and is controlled by three stepper motors; Manipulator adopts small-sized electric machinery clamp to be used for gripping books, and capacitor grid transducer measurement mechanical hand aperture displacement is installed at manipulator two ends; Manipulator lower end install pointed structures, be applicable to from bookshelf between two books gap diverge two books;
Described wireless communication module comprises network communication server, reception of wireless signals and sending module; Realize robot and book management system of library radio communication by this module, keep contacting of robot and book management system of library;
Described mobile module realizes the movement of robot in library, and this module comprises 2 rotary encoders, 2 motor-drive circuits, 2 independent driving wheels, 2 universal driven pulleys of buffering, 2 decelerators, 2 DC servo motors; Motor-drive circuit is by central controller connection control; 2 independent driving wheels, as the trailing wheel of robot, are realized the turning function of robot, realize moving forward and backward of robot when speed is identical by the speed difference of two driving wheels; 2 universal driven pulleys of buffering, as the front-wheel of robot, coordinate 2 driving wheels to complete advance, retreat, turn to; Every one speed reducer is connected with each driving wheel; Each DC servo motor is connected with a decelerator, rotary encoder, a motor-drive circuit, forms the mobile power set of two covers;
Described detection module realize robot self detection barrier, identify direction and oneself state, comprise laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor; Detect barrier by laser range finder, acceleration transducer, gyroscope, odometer, electronic compass, ultrasonic sensor, identify position, direction and oneself state;
Described human-computer interaction module realizes the information exchange between human and computer people, comprises liquid crystal touch display screen; People can be operated by liquid crystal touch display screen, operation setting instruction are conveyed to the central controller of robot;
Described supply module realizes the power supply of robot whole system, Power convert transformation and the detection to dump energy, and completes to be automatically moved to and specify charging zone charging; Comprise mains charger, electric pressure converter, power detecting controller, power storage battery; Charging identifies and adopts charging to identify RFID identification location technology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520203018.1U CN204566123U (en) | 2015-04-07 | 2015-04-07 | A kind of intelligent finishing book robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520203018.1U CN204566123U (en) | 2015-04-07 | 2015-04-07 | A kind of intelligent finishing book robot |
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| CN204566123U true CN204566123U (en) | 2015-08-19 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827459A (en) * | 2015-04-07 | 2015-08-12 | 济南大学 | Intelligent book arrangement robot and arrangement method thereof |
| CN106903699A (en) * | 2017-03-24 | 2017-06-30 | 昆明理工大学 | A kind of intelligent book conditioning machines people |
| CN108297063A (en) * | 2018-04-16 | 2018-07-20 | 广州大学 | A kind of books give back the control system and control method of robot |
| CN108673511A (en) * | 2018-07-20 | 2018-10-19 | 上海理工大学 | A kind of books access device |
| CN110745535A (en) * | 2019-10-29 | 2020-02-04 | 南通大学 | Intelligent double-manipulator library book management shelf robot system |
| CN111698316A (en) * | 2020-06-10 | 2020-09-22 | 黎明职业大学 | Book shelf-staggering sorting system and method based on robot |
| CN112318500A (en) * | 2020-10-19 | 2021-02-05 | 武汉理工大学 | High-precision book grabbing method based on library dynamic space foundation |
-
2015
- 2015-04-07 CN CN201520203018.1U patent/CN204566123U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827459A (en) * | 2015-04-07 | 2015-08-12 | 济南大学 | Intelligent book arrangement robot and arrangement method thereof |
| CN104827459B (en) * | 2015-04-07 | 2017-03-01 | 济南大学 | A kind of intelligent finishing book robot and its method for sorting |
| CN106903699A (en) * | 2017-03-24 | 2017-06-30 | 昆明理工大学 | A kind of intelligent book conditioning machines people |
| CN106903699B (en) * | 2017-03-24 | 2023-03-31 | 昆明理工大学 | Intelligent book arrangement robot |
| CN108297063A (en) * | 2018-04-16 | 2018-07-20 | 广州大学 | A kind of books give back the control system and control method of robot |
| CN108673511A (en) * | 2018-07-20 | 2018-10-19 | 上海理工大学 | A kind of books access device |
| CN110745535A (en) * | 2019-10-29 | 2020-02-04 | 南通大学 | Intelligent double-manipulator library book management shelf robot system |
| CN111698316A (en) * | 2020-06-10 | 2020-09-22 | 黎明职业大学 | Book shelf-staggering sorting system and method based on robot |
| CN112318500A (en) * | 2020-10-19 | 2021-02-05 | 武汉理工大学 | High-precision book grabbing method based on library dynamic space foundation |
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