CN204791313U - Automatic book system of accessing of library - Google Patents

Abstract

The utility model provides an automatic book system of accessing of library, include: information interaction terminal, backstage, bootstrap system and robot. The books information that the user selected is at first received at the information interaction terminal on the backstage, then send the position to the robot, and the robot accomplishes the access operation to the target books according to the target location of bootstrap system from main motion to books access operation. This technology to the automation mechanized operation of books accesses, reduced library works personnel's intensity of labour, simultaneously, owing to need not lay the track, early investment cost and later maintenance expense have been reduced to whole access book system has been improved to the adaptability in different libraries, the anomalous library of specially adapted bookshelf overall arrangement.

Description

A kind of library automatic access book system

Technical field

The utility model relates to automation equipment system regions, particularly relates to a kind of library automatic access book system.

Background technology

The automatic management realizing library book is the important goal of Work of Library Management always.At present, the collection of book information and inquiring technology very ripe.User can carry out real-time query to Library Books information on library terminal equipment.Even if but the book information inquired required for user, the region still needing user in person to arrive books place carries out getting book operation.Meanwhile, in also book process, managerial personnel of library needs manually the books given back to be placed to appointed area, and the cost of labor which results in library is larger.

Publication number is that the open utility model patent " a kind of automatic book storing and withdrawing device for library " of China of CN101887616A discloses a kind of book storing and withdrawing device, but this access arrangement requires higher to the flat shape in library, and need to lay track in advance, construction cost and system maintenance cost huge; Meanwhile, if there is dead angle in library, then also there is blind area in the laying of track, cannot realize revolution, thus cause the adaptability of whole access arrangement not high.

In view of this, be necessary to be improved the automatic access book system in library of the prior art, to solve the problem.

Utility model content

The purpose of this utility model is open a kind of library automatic access book system, reduces early investment cost and later maintenance expense with this, and improves the adaptability of whole access book system for different library.

For achieving the above object, the utility model proposes a kind of library automatic access book system, comprising:

Information interactive terminal, backstage, guidance system and robot, first backstage receives the book information that user selects at information interactive terminal, then be sent to robot, robot according to guidance system autokinetic movement to the target area of books accessing operation, to complete the accessing operation to target books.

In certain embodiments, robot by tabular vehicle body, be vertically installed in tabular vehicle body riser guide, form with the vertically disposed horizontal guide rail of riser guide and the hold assembly that is arranged at horizontal guide rail end.

In certain embodiments, tabular body bottom is provided with four wheel discs driven by separate motors and the first camera.

In certain embodiments, riser guide comprises the first screw rod, inside establishes the first slide block of motor, and gear; Horizontal guide rail comprises back up pad, tooth bar, is arranged at the motor on tooth bar, second camera, the output gear be connected with motor, and tooth bar is arranged in the back up pad that is fixedly connected with the first slide block, and wheel and rack engages and drives tooth bar to realize moving forward and backward.

In certain embodiments, horizontal guide rail also comprises balance bob, and balance bob and hold assembly lay respectively at the end, two ends of tooth bar.

In certain embodiments, hold assembly comprises the second screw rod, and is positioned at the input gear of the second pitch, and the both sides that the second screw rod is in reverse to input gear arrange the second slide block respectively, and the second slide block is rigidly connected the clamping plate for clamping books;

Second screw rod is provided with two sections of reverse threads in the both sides of input gear, and nested second slide block, and output gear drives input gear, to drive clamping plate in the same way or counter motion.

In certain embodiments, guidance system is made up of the guide line of coordinate points, connection coordinate point, some identification codes being positioned at guide line intersection, identification code comprises the coordinate information of guide line intersection, and the first camera is by constantly taking guide line, identification code guided robot move to appointed area coordinate points along guide line.

In certain embodiments, identification code comprises one-dimension code, Quick Response Code.

Compared with prior art, the beneficial effects of the utility model are: robot, according to the guiding of guidance system, achieves the robotization to books accessing operation, reduces the labour intensity of librarian; Meanwhile, owing to not needing to lay track, reduce early investment cost and later maintenance expense, and improve the adaptability of whole access book system for different library, be particularly suitable for the irregular library of layout.

Accompanying drawing explanation

Fig. 1 is the one-piece construction schematic diagram of a kind of library of the utility model automatic access book system;

Fig. 2 is the structural representation of robot;

Fig. 3 is the partial enlarged drawing at label A place in Fig. 2;

Fig. 4 is the enlarged drawing of horizontal guide rail and hold assembly in Fig. 2;

Fig. 5 is the schematic diagram of guidance system;

Fig. 6 is the schematic diagram of each location point when robot realizes autokinetic movement in the library of four lines six row bookshelf layout;

Fig. 7 is that the matrixing of the guidance system in library in Fig. 6 describes;

Fig. 8 is the process flow diagram that robot determines optimum driving path.

Embodiment

Below in conjunction with each embodiment shown in the drawings, the utility model is described in detail; but should be noted that; these embodiments are not limitation of the utility model; those of ordinary skill in the art are according to these embodiment institute work energy, method or structural equivalent transformations or substitute, and all belong within protection domain of the present utility model.

A kind of embodiment of a kind of library of the utility model shown in please refer to the drawing 1 to Fig. 8 automatic access book system.As shown in Figure 1, in the present embodiment, a kind of library automatic access book system 10, comprising: information interactive terminal 1, backstage 2, guidance system 3 and robot 4.Backstage 2 receives book information that user selects at information interactive terminal 1 and is sent to robot 4, robot 4 according to guidance system 3 autokinetic movement to the target area of books accessing operation, to complete the accessing operation to target books.

Specifically, information interactive terminal 1 can be the self-help inquiry apparatus being provided with pattern manipulation interface, also can be the computing machine being provided with database inquiry system.Reader can inquire about the book information borrowed required for it on information interactive terminal 1.After this information interactive terminal 1 receives the instruction of user, the information such as the positional information of books place bookshelf, title, ISBN information are sent to backstage 2.Concrete, backstage 2 is for having the server of Database Systems, and Database Systems select MySQL database.

The driving trace of robot 4 according to the information such as positional information, title, ISBN information of books place bookshelf, is determined after receiving the books of user's selection in backstage 2.Robot 4 independently travels to the bookshelf at target books place according to guidance system 3, carries out accessing operation by the hold assembly 44 of robot 4 from bookshelf to target books.

As shown in Figure 2, in the present embodiment, this robot 4 by tabular vehicle body 41, be vertically installed in tabular vehicle body 41 riser guide 42, form with the vertically disposed horizontal guide rail 43 of riser guide 42 and the hold assembly 44 that is arranged at horizontal guide rail 43 end.The bottom of tabular vehicle body 41 is provided with four wheel discs driven by separate motors 411 and the first camera 412.

As shown in Figure 3, riser guide 42 comprises the first screw rod 421, inside establishes the first slide block 422 of motor, and gear 423; Horizontal guide rail 43 comprises back up pad 431, tooth bar 432, is arranged at the motor 433 on tooth bar 432, second camera 434, the output gear 435 be connected with motor 433.Tooth bar 432 is arranged in the back up pad 431 that is fixedly connected with the first slide block 422, and gear 423 engages with tooth bar 432 and drives tooth bar 432 to realize moving forward and backward.The two ends of back up pad 431 are realized and being fixedly connected with of tooth bar 432 by web member 4310.

As shown in Figure 4, hold assembly 44 comprises the second screw rod 441, and input gear 442, second screw rod 441 being positioned at the second screw rod 441 center both sides that are in reverse to input gear 442 arrange the second slide block 443, second slide block 443 respectively and to be rigidly connected the clamping plate 444 of clamping books.Concrete, this second screw rod 441 is provided with two sections of reverse threads in the both sides of input gear 442, and nested second slide block 443, and output gear 435 drives input gear 442, makes driving clamping plate 444 in the same way or counter motion, thus realizes the gripping to books.

As preferred embodiment, horizontal guide rail 43 also can arrange balance bob 436, and balance bob 436 and hold assembly 44 lay respectively at the end, two ends of tooth bar 432, in order to when hold assembly 44 clamps books, ensure the balance of whole horizontal guide rail 43, prevent robot 4 from toppling over phenomenon.

As shown in Figure 5, in the present embodiment, this guidance system 3 is made up of the guide line 32 of coordinate points 31, connection coordinate point 31, some identification codes 33 being positioned at guide line 32 intersection, and identification code 33 comprises the coordinate information of guide line 32 intersection.This first camera 412 is by the coordinate points 31 of constantly taking guide line 32, identification code 33 guided robot 4 moves to appointed area along guide line 32.Concrete, this identification code comprises one-dimension code, Quick Response Code, and more preferably Quick Response Code.

Simultaneously, the first camera 412 set bottom tabular vehicle body 41 is in robot autonomous driving process, Real-Time Monitoring is carried out to the slope of guide line 32, guarantees guide line 32 verticality in the picture, guarantee that guide line 32 is vertical in the video image formed by the first camera 412; Meanwhile, utilize pid control algorithm to control the rotation direction of wheel disc 411, guarantee that robot 4 is along guide line 32 straight line moving.

Further, robot 4 can realize independent navigation according to the guide line 32 in library between each bookshelf and find out most preferred travel route in access book process.Specifically, in the present embodiment, guide line 32 is black belts of five centimetres wide.As shown in Figure 6, robot 4 gets book in execution or is also positioned at before book action and borrows also book place 11, and robot 4 can along guide line 32 independent navigation perform and get book or also book action in library.

On ground, library, the path that robot 4 travels is covered the black belt of five centimetres wide, this black belt forms guide line 32.Certainly, black belt can be replaced to by the pitch-dark black guide line 32 brushed or other Warning Marks significantly distinguished with ground color.Meanwhile, the point of intersection intersected at guide line 32 arranges identification code 33, such as a Quick Response Code.The first camera 412 set bottom the tabular vehicle body 41 of robot 4 obtains the concrete coordinate position of robot 4 in library by reading identification code 33.

Library's automatic access book system 10 disclosed in present embodiment, owing to not needing to lay track, reduce early investment cost and later maintenance expense, and improve whole access book system to the adaptability in different library, be particularly suitable for the irregular library of layout.

Shown in ginseng Fig. 7, the columns being matrix F with horizontal ordinate direction position mark number n, using ordinate direction position mark number m as the line number of matrix F, concrete, in the figure 7, n=6, m=4.The position mark that can turn is set to 2, and all the other position marks are set to 1, and the position mark at bookshelf 5 place is set to 0, thus the matrixing obtaining library's guidance system as shown in Figure 7 represents.Further, guide line 32 is arranged round bookshelf 5.Wherein, the elongatedness direction of each bookshelf 5 is arranged five position marks 320, the Width of each bookshelf 5 is provided with three position marks 320.

Be numbered all books in library, suppose that library has this book of N, what often this book was corresponding is numbered i (z), its z=1, and 2 ... N.Their positions in F are saved as f (i (z))=(x _{i (z)}, y _{i (z)}), represent this book xth in a matrix _{i (z)}row y _{i (z)}row.

According to the rule of also book, robot 4 has carried out once getting book action s borrowing also book place 11, and having got this book of j altogether will also on bookshelf, and that supposes this this book of j is numbered i (s ₁), i (s ₂) ... i (s _j), will the numbering at also book place 11 be borrowed to be set to i (0), then its position be f (i (0))=(x ₀, y ₀).

Also the path of book process is equivalent to from (x ₀, y ₀) set out, in any order one by one through i (s ₁) to i (s _j) position at this this book of j place, finally get back to (x ₀, y ₀) process that experiences.

Next, the built-in microprocessor (not shown) of robot 4 is according to concrete also book or get performing an action and books quantity of book, and most preferred travel route, shown in specific as follows.

Think roughly from the position of book arrive between distance be $l\left(i\right(s_a),i\left(s_b\right))=|x_{i\left(s_a\right)}-x_{i\left(s_b\right)}|+|y_{i\left(s_a\right)}-y_{i\left(s_b\right)}|,$ Select the order (k of a set of also book ₁, k ₂... k _j), wherein for and for work as p ₁≠ p ₂time, k _p1≠ k _p2.

Then total path $L=l\left(i\right(0),i\left(s_{k_1}\right))+l\left(i\right(s_{k_j}),i\left(0\right))+\underset{p=1}{\overset{j-1}{\Σ}}l\left(i\right(s_{k_p}),i\left(s_{k_{p+1}}\right)),$ Choose a wherein the shortest paths, then its order is:

$\{{\hat{k}}_1,{\hat{k}}_2,\mathrm{...}{\hat{k}}_j\}=\arg \underset{k_1,k_2,\mathrm{...}{k}_j}{min}l\left(i\right(0),i(s_{k_1}\left)\right)+l\left(i\right(s_{k_j}),i(0\left)\right)+\underset{p=1}{\overset{j-1}{\Σ}}l\left(i\right(s_{k_p}),i\left(s_{k_{p+1}}\right)).$

Then, robot 4 starts to determine the exact path between two books.

Known 2 points with the concrete path between them is found from A to B.Criterion:

(1) shortest path between these 2 is chosen;

(2) same distance selects the number of times that turns round less.

Do oK the submatrix F of row ₁, F ₁middle corresponding point numerical value is equal with numerical value in F, makes operation matrix F simultaneously ₀, its line number and columns are all and F ₁identical, its value except A point be wherein 1, its residual value is 0.

We wish that the path found is that the shortest paths that can be communicated with A point and B point, and first we determine the minimum zone at this paths place, obviously known, above-mentioned submatrix F ₁the necessary condition of this minimum zone, in some cases, F ₁be this minimum zone, A as shown in Figure 6 ₁, B ₁point and submatrix F thereof ₁, but in some cases, submatrix F ₁middle A point and B point are disconnected, as the A in Fig. 6 ₂and B ₂point, now then needs the scope of this submatrix to expand further, then determines that it is connective.Connective test adopts expansion algorithm g (F ₀) and with computing ∩, g (F ₀) be by F ₀intermediate value be not 0 point vertically and horizontally the value of four direction carry out putting 1, F ₂∩ F ₁by F ₂and F ₁the value of middle corresponding point is carried out and computing, regulation

1∩0＝0,0∩1＝0,0∩2＝0,2∩0＝0,0∩0＝0,1∩2＝0,2∩1＝2,2∩2＝2

Shown in concrete please refer to the drawing 8.

As the F that first time is determined ₁size when not meeting the demands, new F ₁can be divided into upwards expansion and expand both direction downwards, generally this both direction finally can obtain the method being communicated with A, B, but distance may be different, and we are selected by the size of expansion step number r, get less value.From A in such as Fig. 1 ₂to B ₂, upwards expand final expansion step number r=13, the final expansion step number r=11 of expansion, therefore selects F downwards ₂.When determining F ₂afterwards, first determine that with the value of the same row of A point be the turning point of 2, putting same a line therewith in searching, is the turning point of 2 with the value of the same row of B point, connects these and puts the fullpath that just can obtain from A to B.

Concrete, each these books has a unique coding on bookshelf 5.By this second camera 434, the specific bar code that the books of target books coding or ISBN information or library are given voluntarily can be scanned, and the data that scanning is formed are sent to backstage 2 by Wi-Fi and compare, the book information that user will borrow is encoded consistent with bookshelf, or need the book information carrying out also book operation to encode consistent with bookshelf, then send halt instruction by backstage 2 to robot 4, wheel disc 411 stops operating.Finally, the operation of getting book or also book is completed by hold assembly 44.

A series of detailed description listed is above only illustrating for feasibility embodiment of the present utility model; they are also not used to limit protection domain of the present utility model, all do not depart from the utility model skill equivalent implementations of doing of spirit or change all should be included within protection domain of the present utility model.

Claims (7)

1. library's automatic access book system, is characterized in that, comprising:

Information interactive terminal (1), backstage (2), guidance system (3) and robot (4),

Described backstage (2) receives book information that user selects at information interactive terminal (1) and its position is sent to robot (4), robot (4) to the target location of books accessing operation, completes the accessing operation to target books according to guidance system (3) autokinetic movement;

Described robot (4) by tabular vehicle body (41), be vertically installed in tabular vehicle body riser guide (42), form with the vertically disposed horizontal guide rail of riser guide (43) and the hold assembly (44) that is arranged at horizontal guide rail end.

2. library according to claim 1 automatic access book system, is characterized in that, described tabular vehicle body (41) bottom is provided with four wheel discs driven by separate motors (411) and the first camera (412).

3. library according to claim 1 automatic access book system, is characterized in that,

Described riser guide (42) comprises the first screw rod (421), inside establishes first slide block (422) of motor, and gear (423);

Described horizontal guide rail (43) comprises back up pad (431), tooth bar (432), be arranged at the motor (433) on tooth bar, second camera (434), the output gear (435) be connected with motor, described tooth bar (432) is arranged in the back up pad (431) that is fixedly connected with the first slide block (422), and described gear (423) engages with tooth bar (432) and drives tooth bar (432) to realize moving forward and backward.

4. library according to claim 3 automatic access book system, it is characterized in that, described horizontal guide rail (43) also comprises balance bob (436), and described balance bob (436) and hold assembly (44) lay respectively at the end, two ends of tooth bar (432).

5. library according to claim 3 automatic access book system, it is characterized in that, described hold assembly (44) comprises the second screw rod (441), and be positioned at the input gear (442) of the second pitch, the both sides that described second screw rod (441) is in reverse to input gear arrange the second slide block (443) respectively, and described second slide block (443) is rigidly connected and clamps the clamping plate (444) of books;

Described second screw rod (441) is provided with two sections of reverse threads in the both sides of input gear (442), and nested described second slide block (443), described output gear (435) drives input gear (442), makes driving clamping plate (444) in the same way or counter motion.

6. library according to claim 2 automatic access book system, it is characterized in that, described guidance system (3) is made up of the guide line (32) of coordinate points (31), connection coordinate point, some identification codes (33) being positioned at guide line intersection, the coordinate information of described identification code mark guide line (32) intersection, described first camera (412) is by constantly taking guide line (32), identification code (33) guided robot (4) move to assigned address coordinate points (31) along guide line (32).

7. library according to claim 6 automatic access book system, is characterized in that, described identification code (33) comprises one-dimension code, Quick Response Code.