CN213226221U - Laser automatic navigation library inventory robot - Google Patents
Laser automatic navigation library inventory robot Download PDFInfo
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- CN213226221U CN213226221U CN201921742468.2U CN201921742468U CN213226221U CN 213226221 U CN213226221 U CN 213226221U CN 201921742468 U CN201921742468 U CN 201921742468U CN 213226221 U CN213226221 U CN 213226221U
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Abstract
The utility model provides a laser automatic navigation library checking robot, which comprises a robot main body, a mobile platform and a lifting device; the robot main body is positioned on the mobile platform; the robot main body comprises a laser radar, a central control computer, an RFID reader-writer and a battery; the battery is connected with the laser radar, the central control computer and the RFID reader-writer; the mobile platform is connected with a central control computer; the moving platform comprises a driving wheel, a universal wheel, a moving platform motor and a moving platform driver; the mobile platform driver is connected with the mobile platform motor; the moving platform motor is connected with the driving wheel; the universal wheels are arranged at four corners of the mobile platform; the lifting device comprises an antenna bracket, an RFID antenna, a lead screw, a lifting guide rail and a lifting driving motor; the screw rod is positioned on the guide rail; the driving motor is connected with the screw rod; the driving motor is connected with the lead screw. The utility model has the advantages that: can move in a narrow area on the premise of saving manpower and has high accuracy.
Description
Technical Field
The utility model relates to a robot of checking, in particular to laser automatic navigation library robot of checking.
Background
With the development of data technology and automation technology, libraries are gradually realizing intelligent and automatic management. A large number of libraries have used RFID technology to intelligently borrow, return and manage library collections of books. The bookshelf is scanned by the RFID tag reading and writing device, and the misplaced and lost conditions of books can be conveniently found out by combining a library database. But at present, the inventory of library books is still manually carried out by a librarian holding an RFID reader. This not only is serious physical burden to librarians, and efficiency still is fairly low, and the library that has some irregularities of management leads to the fact the masses of books to appear the condition of misplacing, losing owing to be sparse in the management of checking up, causes the people to be difficult to borrow.
Under this background, chinese utility model patent with publication number CN207557984U appears for example, disclosing "an inventory robot", containing walking platform, controlling means, elevating gear reading device, etc., alleviating the fatigue of the hand-held inventory instrument when librarian inventories. However, the utility model has the main innovation points of mechanization and mobility of the checking equipment, but the equipment still has defects in the aspects of autonomous movement, book database operation, man-machine interaction and the like, and the saved manpower is limited.
Currently, with the development of robot navigation technology represented by SLAM, autonomous mobile robots based on laser navigation have increasingly come into the field of vision of the public. However, most autonomous navigation robots can only be actively used in wide places such as shopping malls and halls due to the problem of navigation accuracy, and cannot be applied to the scenes such as libraries, in which the passage between shelves is narrow and the operation object is fragile and important.
Finally, in the field of RFID (radio frequency identification) checking, due to the interference of a large number of surrounding tags and the problem of electromagnetic signal reflection caused by an iron bookshelf, accurate positioning of tags in a dense RFID tag area of a library is difficult to achieve all the time, so that misjudgment conditions often occur in conventional checking instruments, and book arrangement is not facilitated.
Therefore, the market needs an inventory robot which can move in a narrow area on the premise of saving manpower and has high accuracy for inventory of books and libraries based on RFID.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model discloses a laser automatic navigation library checks robot which discloses, the technical scheme of the utility model is implemented like this:
a laser automatic navigation library inventory robot is characterized by comprising a robot main body, a mobile platform and a lifting device; the robot main body is positioned on the mobile platform; the robot main body comprises a laser radar, a central control computer, an RFID reader-writer and a battery; the battery is connected with the laser radar, the central control computer and the RFID reader-writer; the mobile platform is connected with the central control computer; the moving platform comprises a driving wheel, a universal wheel, a moving platform motor and a moving platform driver; the mobile platform driver is connected with the mobile platform motor; the moving platform motor is connected with the driving wheel; the universal wheels are arranged at four corners of the mobile platform; the lifting device comprises an antenna bracket, an RFID antenna, a lead screw, a lifting guide rail and a lifting driving motor; the lead screw is positioned on the guide rail; the driving motor is connected with the lead screw; the driving motor is connected with the lead screw.
Preferably, the central control computer is provided with a database and a book checking system; the book checking system is connected with the database.
Preferably, the user sends an instruction, the central control computer generates a path plan after receiving the instruction, the path plan generates a motor action, the motor action is transmitted to the motor driver, and the motor driver moves to the instruction position according to the motor action.
Preferably, the inventory robot reads book RFID signals of each layer of books by using an RFID antenna and transmits the read signals to the RFID reader-writer; the RFID reader transmits the book RFID signal to a central control computer, and the central control computer compares the book RFID signal with the database information to identify the book with the wrong position and the book without the wrong position;
preferably, the central control computer further comprises a touch screen.
Preferably, the central control computer is also provided with a SLAM module.
Preferably, the robot main body further includes an ultrasonic distance sensor.
By implementing the technical scheme of the utility model, the technical problems of high labor cost, incapability of being suitable for narrow sections and high RFID reading error rate in the prior art can be solved; implement the technical scheme of the utility model, can realize can moving in narrow region under the prerequisite of practicing thrift the manpower to have the technological effect of the robot of checing of books library based on RFID of high rate of accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a state reference diagram illustrating the use of one embodiment of a laser automated navigation library inventory robot;
FIG. 2 is a front view of one particular embodiment of a laser automated navigation library inventory robot;
FIG. 3 is a right side view of a particular embodiment of a laser automated navigation library inventory robot;
FIG. 4 is a rear view of one particular embodiment of a laser automated navigation library inventory robot;
FIG. 5 is a left side view of a particular embodiment of a laser automated navigation library inventory robot;
FIG. 6 is a bottom view of one particular embodiment of a laser automated navigation library inventory robot;
fig. 7 is a top view of a particular embodiment of a laser automated navigation library inventory robot.
In the above drawings, the reference numerals denote:
1-a robot body; 2-moving the platform; 3-a lifting device; 4-a touch screen; 5-driving wheel; 6-a charging port; 7-ultrasonic distance sensor; 8-emergency stop switch; 9-power switch; 10-universal wheels; 11-laser radar; 12-an RFID antenna; 13-high precision ultrasonic distance sensor.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In a specific embodiment, as shown in fig. 1-7, a laser automatic navigation library inventory robot is characterized by comprising a robot main body 1, a mobile platform 2, a lifting device 3; the robot main body 1 is positioned on the mobile platform 2; the robot main body 1 comprises a laser radar 11, a central control computer, an RFID reader-writer and a battery; the battery is connected with the laser radar 11, the central control computer and the RFID reader-writer; the mobile platform 2 is connected with the central control computer; the moving platform 2 comprises a driving wheel 5, a universal wheel 10, a motor of the moving platform 2 and a driver of the moving platform 2; the driver of the mobile platform 2 is connected with the motor of the mobile platform 2; the motor of the mobile platform 2 is connected with the driving wheel 5; the universal wheels 10 are arranged at four corners of the mobile platform 2; the lifting device 3 comprises an antenna bracket, an RFID antenna 12, a lead screw, a lifting guide rail and a lifting driving motor; the lead screw is positioned on the guide rail; the driving motor is connected with the lead screw; the driving motor is connected with the lead screw to rotate so as to realize the up-and-down movement of the antenna bracket.
In the specific embodiment, the mobile platform 2 is used for providing horizontal movement capability for the robot, the lifting device 3 is used for providing high movement capability, the robot main body 1 is composed of an aluminum alloy frame, and a central control computer, a battery, an RFID reader-writer and other circuits are arranged in the robot main body; the laser radar 11 is a 2D radar, is arranged on the front side of the robot and is used for collecting surrounding environment information, and the visual field of the laser radar is 180 degrees on the same plane; the power switch 9 is arranged on the robot main body, is connected with a battery, controls the operation of the battery, is a lithium battery or a lead storage battery, is generally a lead storage battery and is used for providing power for the whole body, and is provided with a charging port 6 at the bottom of the robot main body 1; the mobile platform 2 is connected with and controlled by a central control computer; the driving wheel 5, the driver of the mobile platform 2 and the motor of the mobile platform 2 are connected with a battery, and the battery supplies power; the driving wheel 5 is used for providing mechanical power, the universal wheel 10 is used for supporting the whole robot, the driving wheel 5 and the driven wheel jointly form a double-wheel differential driving structure, if left turning is needed, the left driving wheel stops rotating, the right driving wheel rotates, and therefore left turning is achieved, if right turning is needed, the right driving wheel stops rotating, the left driving wheel rotates, and therefore right turning is achieved, and in-situ 360-degree rotation can be achieved; meanwhile, the four universal wheels 10 are provided with shock absorbing devices, so that the influence of shock on precision parts is effectively reduced; the driver of the mobile platform 2 is connected with the central control computer, the driver and the central control computer are communicated through a CAN protocol, and digital signals output by the central control computer are converted into signal forms acceptable by the motor of the mobile platform 2, so that the operation of the motor of the mobile platform 2 is realized; the screw rod is arranged on the guide rail, and the driving motor drives the screw rod to rotate so that the antenna bracket can move along the guide rail, thereby realizing the lifting of the antenna bracket; through the interaction among the modules, the device can move in a narrow area on the premise of saving manpower, and has the technical effect of high accuracy.
In a preferred embodiment, as shown in fig. 1 to 7, a user sends an instruction, the central control computer generates a path plan after receiving the instruction, generates a motor action from the path plan, and transmits the motor action to the motor driver, and the motor driver moves to an instruction position according to the motor action.
In the preferred embodiment, a user sends an instruction, the central control computer receives the instruction, generates a path plan according to a pre-generated environment map, converts the path plan into a corresponding motor action, converts the motor action into a corresponding motor action by using a D/A converter, namely, signal types which can be identified by a motor driver are sequentially transmitted to the motor driver according to the path plan, the motor driver executes the motor action to drive the driving wheel 5 to move according to a specified path, the robot can detect obstacles in the environment in real time through the laser radar 11 and the ultrasonic distance sensor while moving, if the obstacles are encountered, the laser radar 11 or the ultrasonic distance sensor transmits obstacle information to the central control computer, and the central control computer adjusts the path plan according to the obstacle information, so as to avoid the obstacles, if complete blockage occurs, path planning is regenerated, and therefore movement from the starting point to the end point is guaranteed to be achieved under the condition that collision does not occur; meanwhile, the emergency stop switch 8 is arranged, and can be pressed by a worker to stop operation in case of emergency.
In a preferred embodiment, as shown in fig. 1-7, the central computer is installed with a database and book checking system; the book checking system is connected with the database.
In the preferred embodiment, the central control computer is provided with a database and a book checking system; the database is used for storing book information in the library, including the number and name of the book and the position information which should be stored; the book checking system is used for checking books, when the book checking system is started, the book checking system advances according to a pre-input or scanned environment map, book information is scanned, the book information is transmitted to the database for comparison, the book checking information of the library is obtained, the central control computer transmits the book checking information of the library to the main system of the library by using the wireless transmission module, and library staff obtain the book checking information of the library through the main system of the library, so that the library staff are guided to arrange the bookshelf.
In a preferred embodiment, as shown in fig. 1 to 7, the inventory robot reads book RFID signals of respective books using an RFID antenna 12 and transmits the read and write signals to the RFID reader/writer; and the RFID reader transmits the book RFID signal to a central control computer, and the central control computer compares the book RFID signal with the database information to identify the book with the wrong position and the book without the wrong position.
In the preferred embodiment, while the inventory robot moves, the RFID antenna 12 is used for reading book RFID signals of books on each layer and transmitting the book RFID signals to the RFID reader-writer, the RFID reader-writer transmits the book RFID signals to the central control computer, the central control computer uses the book RFID signals and converts the book RFID signals into corresponding database query statements and queries related information of the books, the related information is compared with actual information, whether the situation that the information of the database does not accord with the actual situation exists or not is judged, if the situation exists, the book placement error is judged, and if the situation does not exist, the book placement is correct;
in a preferred embodiment, as shown in fig. 1-7, the central control computer further comprises a touch screen 4.
In the preferred embodiment, the user can directly operate the robot through the central control computer, such as setting the human path of the robot and checking the activity state of the robot; the touch screen 4 is provided with a peripheral interface, and can be connected with external equipment and the central control computer by using a USB data line to perform data transmission or directly operate the central control computer.
In a preferred embodiment, as shown in fig. 1-7, the central control computer is further installed with a SLAM module.
In the preferred embodiment, the SLAM module is used for generating a library grid map, and besides manually inputting the library map, the SLAM module can also be used for map building of the library, wherein the SLAM module is a computer program based on a SLAM algorithm and used for building the library grid map by using the SLAM algorithm; when the map is built, the remote-controlled robot can be manually used for building and storing the library grid map so as to mark all books which can be checked on the map.
In a preferred embodiment, as shown in fig. 1-7, the robot body 1 further comprises an ultrasonic distance sensor 7.
In this preferred embodiment, the ultrasonic distance sensor 7 is located on the side surface of the robot main body 1, has an effective angle of 120 degrees and a measurement field angle of 30 degrees, and can effectively detect obstacles such as pedestrians, tables, and the like which are difficult to be distinguished by the laser radar 11 at a low position; the ultrasonic distance sensor 7 is connected with the central control computer, the ultrasonic distance sensor 7 is used for scanning the surrounding environment by using ultrasonic waves to obtain corresponding ultrasonic surrounding environment information, the ultrasonic surrounding environment information is transmitted to the central control computer, and meanwhile, the high-precision ultrasonic distance sensor 13 is arranged and used for enhancing the operation effect of the ultrasonic distance sensor 7.
It should be understood that the above description is only exemplary of the present invention, and is not intended to limit the present invention, and that any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included within the scope of the present invention.
Claims (6)
1. A laser automatic navigation library inventory robot is characterized by comprising a robot main body, a mobile platform and a lifting device;
the robot main body is positioned on the mobile platform; the robot main body comprises a laser radar, a central control computer, an RFID reader-writer and a battery; the battery is connected with the laser radar, the central control computer and the RFID reader-writer;
the mobile platform is connected with the central control computer; the moving platform comprises a driving wheel, a universal wheel, a moving platform motor and a moving platform driver; the mobile platform driver is connected with the mobile platform motor; the moving platform motor is connected with the driving wheel; the universal wheels are arranged at four corners of the mobile platform;
the lifting device comprises an antenna bracket, an RFID antenna, a lead screw, a lifting guide rail and a lifting driving motor; the lead screw is positioned on the guide rail; the driving motor is connected with the lead screw.
2. The laser automatic navigation library inventory robot as claimed in claim 1, wherein a user issues a command, the central control computer generates a path plan after receiving the command, and generates a motor action from the path plan, the motor action is transmitted to the motor driver, and the motor driver moves to a command position according to the motor action.
3. The laser automatic navigation library inventory robot as claimed in claim 1 or claim 2, wherein the inventory robot uses RFID antenna to read book RFID signal of each layer of books and transmit to the RFID reader-writer; and the RFID reader transmits the book RFID signal to a central control computer, and the central control computer compares the book RFID signal with database information in the central control computer to identify books with wrong positions and books without the positions.
4. The laser automated navigation library inventory robot of claim 1, wherein the central control computer further comprises a touch screen.
5. The laser automatic navigation library inventory robot of claim 1, wherein the central control computer is further equipped with a SLAM module.
6. The laser automated navigation library inventory robot of claim 1, the robot body further comprising an ultrasonic distance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921742468.2U CN213226221U (en) | 2019-10-17 | 2019-10-17 | Laser automatic navigation library inventory robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921742468.2U CN213226221U (en) | 2019-10-17 | 2019-10-17 | Laser automatic navigation library inventory robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213226221U true CN213226221U (en) | 2021-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921742468.2U Active CN213226221U (en) | 2019-10-17 | 2019-10-17 | Laser automatic navigation library inventory robot |
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| Country | Link |
|---|---|
| CN (1) | CN213226221U (en) |
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- 2019-10-17 CN CN201921742468.2U patent/CN213226221U/en active Active
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