WO2017128612A1 - 一种基于rfid技术的自动式图书智能盘点上架机器人 - Google Patents

一种基于rfid技术的自动式图书智能盘点上架机器人 Download PDF

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Publication number
WO2017128612A1
WO2017128612A1 PCT/CN2016/087627 CN2016087627W WO2017128612A1 WO 2017128612 A1 WO2017128612 A1 WO 2017128612A1 CN 2016087627 W CN2016087627 W CN 2016087627W WO 2017128612 A1 WO2017128612 A1 WO 2017128612A1
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WIPO (PCT)
Prior art keywords
book
rfid
robot
lifting device
information
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PCT/CN2016/087627
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English (en)
French (fr)
Inventor
陈力军
李颖
施庆朴
万凌昊
陈曦
罗园洁
曾阿凡
黄嘉琪
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南京大学
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Publication date
Application filed by 南京大学 filed Critical 南京大学
Priority to US15/739,054 priority Critical patent/US10279477B2/en
Publication of WO2017128612A1 publication Critical patent/WO2017128612A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G06K7/10316—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 using at least one antenna particularly designed for interrogating the wireless record carriers
    • 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
    • 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
    • G06K7/10415—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 fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM
    • G06K7/10425—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 fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device
    • G06K7/10435—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 fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing
    • G06K7/10445—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 fixed in its position, such as an access control device for reading wireless access cards, or a wireless ATM the interrogation device being arranged for interrogation of record carriers passing by the interrogation device the interrogation device being positioned close to a conveyor belt or the like on which moving record carriers are passing the record carriers being fixed to further objects, e.g. RFIDs fixed to packages, luggage, mail-pieces or work-pieces transported on a conveyor belt
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

Definitions

  • the invention relates to the application field of intelligent RFID technology, in particular to an automatic book intelligent inventory loading robot based on RFID technology.
  • Radio Frequency Identification also known as Radio Frequency Identification (RFID)
  • RFID Radio Frequency Identification
  • RFID readers are also mobile and fixed. At present, RFID technology is widely used, such as: library, access control system, food safety traceability. But so far there has not been any book-intelligent inventory robots that can be fully automated.
  • the technical problem to be solved by the present invention is to provide an automatic book intelligent inventory loading robot based on RFID technology in view of the deficiencies of the prior art.
  • an automatic book intelligent inventory loading robot based on RFID technology comprising an apparatus main body and an integrated machine disposed on the main body of the device, a controllable lifting device and four at the bottom of the inner side of the main body of the device.
  • the wheel omnidirectional mobile platform, the four-wheel omnidirectional mobile platform is controlled by the integrated machine code, and the controllable lifting device is provided with an RFID antenna capable of moving up and down;
  • the device body is provided with an RFID reader connected to the integrated machine and a
  • the controllable lifting device comprises a lifting device slider and a lifting device guide rail, the lifting device rail is fixed on the back of the device body, the lifting device slider is arranged in the lifting device rail, and the lifting device rail is controlled by the integrated machine to realize lifting
  • the lifting and lowering of the device slider and the lifting device slider are provided with more than one RFID antenna.
  • the all-in-one machine includes a touch display for convenient manipulation and implementation.
  • the controllable lifting device has two RFID antennas, which are a first RFID antenna at the upper end and a second RFID antenna at the lower end.
  • a magnetic navigation sensor is disposed at the bottom of the four-wheel omnidirectional mobile platform.
  • the lower end of the apparatus body is provided with a bottom inner compartment, and the RFID reader is located in the bottom inner compartment.
  • the bottom inner compartment is provided with a rechargeable mobile power source to provide power for all energy consuming hardware.
  • a laser navigation sensor connected to the four-wheel omnidirectional mobile platform is disposed in the bottom inner compartment.
  • the integrated machine is fixed to the top of the apparatus body.
  • the invention also provides an intelligent book racking method, the steps are as follows:
  • Step 1 Place the book with the RFID tag in the bookshelf layer of the robot;
  • Step 2 reading the RFID tag of the book by using an RFID antenna located in the bookshelf layer;
  • Step 3 The obtained RFID tag information is transmitted to the all-in-one by means of the RFID reader, and the book information in the database is matched according to the acquired RFID tag information, thereby identifying the book placed in the robot bookcase layer, and obtaining the book position from the database.
  • Information, book location information including the book should be in the bookshelf number and the bookcase layer number;
  • Step 4 locating the current position of the robot by using the navigation sensor, generating an optimal path for the book shelf according to the positioning result and the obtained book position information, and transmitting the optimal path information to the four-wheel omnidirectional mobile platform;
  • Step 5 Start a four-wheel omnidirectional mobile platform to drive according to the optimal path obtained above;
  • Step 6 During the driving process, the robot will detect when entering a new bookshelf field. If the bookcase contains some books in the robot bookcase layer, the robot will automatically stop and prompt the book information to be put on the shelf, to be completed. After the book is placed on the mission, the robot will continue to travel and reciprocate until the end of the path is reached.
  • the method for automatically counting books in the whole library is as follows:
  • Step 1 locating the current specific position of the robot through the navigation sensor, and generating an optimal path for traversing all the bookshelves according to the positioning result, and transmitting the optimal path information to the four-wheel omnidirectional mobile platform;
  • Step 2 Start a four-wheel omnidirectional mobile platform to drive according to the optimal path obtained above;
  • Step 3 starting the first RFID antenna and the second RFID antenna located on the controllable lifting device to continuously scan the book information during driving;
  • Step 4 During the process of scanning the book, determine the corresponding inventory book number according to the current robot positioning information, determine the specific number of bookshelf layers according to the current lifting height of the controllable lifting device, according to the time information when scanning the book and The phase information determines the order relationship between the books;
  • Step 5 comparing the actual book information obtained during the scanning with the original book information obtained from the database server, thereby determining the book as a correct book or a wrong book or a lost book, and feeding back the inventory result to the user.
  • the laser navigation sensor and the magnetic navigation sensor are both prior art.
  • the invention has the advantages that the automatic book intelligent inventory loading robot based on RFID technology can automatically perform inventory operation on the book, and the robot can disk through the controllable lifting device and the RFID antenna provided on the device.
  • the robot has brought great convenience to the book racking operation.
  • the RFID antenna provided in the upper shelf and the lower shelf can sense the book information placed on the book platform in real time, and then realize the shelf positioning by the positioning function of the laser navigation sensor and the magnetic navigation sensor.
  • the RFID-based automatic book intelligent inventory robot can greatly improve the efficiency of book inventory and book shelves.
  • Figure 1 is a perspective view of the present invention
  • Figure 2 is a perspective view of the present invention
  • Figure 3 is a front elevational view of the present invention.
  • Figure 4 is a rear elevational view of the present invention.
  • Figure 5 is a left side view of the present invention.
  • Figure 6 is a right side view of the present invention.
  • Figure 7 is a plan view of the present invention.
  • Figure 8 is a bottom plan view of the present invention.
  • the present invention includes an integrated machine 1, a controllable lifting device 2, an apparatus main body 3, an upper shelf 4, a lower shelf 5, an upper plexiglass separator 6, a lower plexiglass separator 7, and an upper layer.
  • the plate 6 and the upper layer book platform 8 are provided with a lower plexiglass partition 7 and a lower layer book platform 9 in the lower shelf 5, and a third RFID day on the back of the upper plexiglass separator 6 a wire, a fourth RFID antenna and a fifth RFID antenna, a sixth RFID
  • the controllable lifting device 2 comprises a lifting device bracket, a lifting device slider and a lifting device guide rail.
  • the lifting device bracket is fixed on the back of the equipment main body 3
  • the lifting device slider is fixed on the upper end of the lifting device bracket
  • the lifting device rail is connected to the lifting device sliding.
  • the first RFID antenna 11 and the second RFID antenna 12 are fixed on the upper and lower ends of the lifting device rail, and the lifting device rail realizes the lifting task on the lifting device slider by mechanical control, and drives the first RFID antenna 11 and the second RFID.
  • the antenna 12 implements an up and down lifting operation, thereby enabling inventory of books at different heights of the bookshelf.
  • four omnidirectional wheels 15 are provided on both sides of the four-wheel omnidirectional moving platform 13, and a magnetic navigation sensor 18 is disposed at the bottom.
  • the laser navigation sensor 14 performs ranging and positioning by transmitting and receiving laser pulse signals
  • the magnetic navigation sensor 18 performs ranging and positioning by transmitting and receiving magnetic signals, thereby determining the position of the racking device and planning the path of the path.
  • the robot can automatically plan the path by using the laser navigation sensor 14 and the magnetic navigation sensor 18, and traverse all the bookshelves that need to be booked from the current position, and complete all the processes in the process of traveling.
  • Book inventory work When the robot passes through a bookshelf, the first RFID antenna 11 and the second RFID antenna 12 at both ends of the controllable lifting device 2 simultaneously carry out the counting operation of the two-layer book, and after the operation is completed, the lifting device automatically raises a unit distance to Count the books on the upper shelf and repeat them until all the books have been counted.
  • the specific implementation steps are as follows:
  • Step 1 positioning the current specific position of the robot through the laser navigation sensor, and generating an optimal path for traversing all the bookshelves according to the positioning result, and transmitting the optimal path information to the four-wheel omnidirectional mobile platform 13;
  • Step 2 starting the four-wheel omnidirectional moving platform 13 to drive the omnidirectional wheel 15 to drive according to the optimal path obtained above;
  • Step 3 starting the first RFID antenna 11 and the second RFID antenna 12 on the controllable lifting device 2, Make it scan the book information without interruption during driving;
  • Step 4 During the process of scanning the book, determine a specific inventory book number according to the current robot positioning information, and determine a specific inventory level according to the current lifting height of the controllable lifting device 2, according to the time information when the book is scanned. And phase information to determine the order relationship between the books;
  • Step 5 comparing the actual book information obtained during the scanning with the original book information obtained from the database server, thereby determining the book as a correct book or a wrong book or a lost book, and feeding back the inventory result to the user, and displaying On the one machine 1.
  • the third RFID antenna to the fifth RFID antenna can sense the book information located in the upper shelf 4 in real time
  • the sixth RFID antenna to the eighth RFID antenna can sense the real-time underlying bookshelf.
  • the book information in 5 is then automatically routed by means of the laser navigation sensor 14 and the magnetic navigation sensor 18 to the position of the bookshelf that needs to be put on the shelf.
  • the robot will prompt the book information of the bookshelf in the shelf layer that needs to be put on the shelf. , thereby improving the efficiency of the book shelves.
  • the specific implementation steps are as follows:
  • Step 1 The book with the RFID tag is placed in the upper layer book platform 8 of the upper shelf 4 of the robot or the lower book platform 9 of the lower shelf 5;
  • Step 2 reading the RFID tag of the book by using an RFID antenna located on the back of the upper plexiglass separator 6 and the lower plexiglass separator 7;
  • Step 3 The acquired tag information is transmitted to the all-in-one 1 by means of the RFID reader, and the book information in the database is matched according to the acquired tag information, thereby identifying the book placed in the robot shelf layer, and obtaining the book location information from the database.
  • the book location information includes the book number and the bookcase layer number of the book;
  • Step 4 locating the current position of the robot through the laser navigation sensor, generating an optimal path for the book shelf according to the positioning result and the obtained book position information, and transmitting the optimal path information to the four-wheel omnidirectional mobile platform (13);
  • Step 5 starting the four-wheel omnidirectional mobile platform 13 to drive according to the optimal path obtained above;
  • Step 6 During the driving process, the robot will detect when entering a new bookshelf field. If the bookshelf contains some books in the robot bookcase layer, the robot will automatically stop and prompt the book information to be put on the shelf. After completing the book placement task, the robot will continue to travel and reciprocate until the end of the path is reached.
  • the present invention provides an automatic book intelligent inventorying robot based on RFID technology.
  • the above description is only a preferred embodiment of the present invention, and it should be noted that it is common to the technical field.
  • the skilled person will be able to make several modifications and refinements without departing from the principles of the invention, and such modifications and refinements are also considered to be within the scope of the invention.
  • the components that are not clear in this embodiment can be implemented by the prior art.

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Abstract

一种基于RFID技术的自动式图书智能盘点上架机器人，包括用于识别图书信息的RFID系统、盘点图书的可控式升降装置（2）、提供定位导航功能的导航传感器和驱动设备行驶的四轮全向移动平台（13）。利用该技术实现了自动化全馆图书盘点功能和智能化图书上架功能。

Description

一种基于RFID技术的自动式图书智能盘点上架机器人 技术领域
本发明涉及智能RFID技术应用领域，特别是一种基于RFID技术的自动式图书智能盘点上架机器人。
背景技术
射频识别，RFID(Radio Frequency Identification)技术，又称无线射频识别，是一种通信技术，可通过无线电讯号识别特定目标并读写相关数据，而无需识别系统与特定目标之间建立机械或光学接触。RFID读写器也分移动式的和固定式的，目前RFID技术应用很广，如：图书馆，门禁系统，食品安全溯源等。但是至今尚未有任何能够完全自动化的图书智能盘点上架机器人出现。
发明内容
发明目的：本发明所要解决的技术问题是针对现有技术的不足，提供一种基于RFID技术的自动式图书智能盘点上架机器人。
为了解决上述技术问题，本发明公开了一种基于RFID技术的自动式图书智能盘点上架机器人，包括设备主体和设置在设备主体上的一体机、可控式升降装置和位于设备主体内侧底部的四轮全向移动平台，四轮全向移动平台由一体机编码控制，可控式升降装置上设有能够上下移动的RFID天线；所述设备主体内设有连接到一体机的RFID阅读器和一个以上的书架层，每个书架层内对应设有一个以上的RFID天线，所有RFID天线连接到RFID阅读器。
本发明中，所述可控式升降装置包括升降装置滑块和升降装置导轨，升降装置导轨固定在设备主体背部，升降装置滑块设置在升降装置导轨内，升降装置导轨由一体机控制实现升降装置滑块的升降，升降装置滑块上设有一个以上的RFID天线。
本发明中，所述一体机包括触摸式显示器，方便操控与实现。
本发明中，所述可控式升降装置上RFID天线为两个，分别是位于上端的第一RFID天线和位于下端的第二RFID天线。
本发明中，所述四轮全向移动平台底部设有磁导航传感器。
本发明中，设备主体下端设有底部内仓，所述RFID阅读器位于底部内仓内。
本发明中，所述底部内仓内设有可充电式移动电源，为所有耗能硬件提供电源。
本发明中，底部内仓内设有连接所述四轮全向移动平台的激光导航传感器。
本发明中，所述一体机固定在设备主体顶部。
本发明还提供了一种智能化图书上架方法，步骤如下：
步骤1，将配有RFID标签的图书放入机器人的书架层中；
步骤2，使用位于书架层内的RFID天线读取图书RFID标签；
步骤3，将获取的RFID标签信息借助RFID阅读器传输给一体机，根据获取的RFID标签信息匹配数据库中的图书信息，从而识别出机器人书架层内摆放的图书，并且从数据库中获取图书位置信息，图书位置信息包括图书应在书架号以及书架层号；
步骤4，通过导航传感器定位机器人当前位置，根据定位结果以及上述获取的图书位置信息生成一条图书上架的最优路径，并将该最优路径信息传输给四轮全向移动平台；
步骤5，启动四轮全向移动平台，使其按照上述获取的最优路径行驶；
步骤6，在行驶过程中，机器人每当进入一个新的书架领域后将进行检测，如果该书架包含机器人书架层内的部分图书，机器人则会自动停止，并且提示需要上架的图书信息，待完成图书上架任务后，机器人将继续行驶，以此往复，直到到达路径终点为止。
本发明中，包括全馆图书自动化盘点方法，步骤如下：
步骤1，通过导航传感器定位机器人当前具体位置，同时根据定位结果生成一条遍历所有书架的最优路径，并将该最优路径信息传输给四轮全向移动平台；
步骤2，启动四轮全向移动平台，使其按照上述获取的最优路径行驶；
步骤3，启动位于可控式升降装置上的第一RFID天线和第二RFID天线，使其在行驶过程中不间断地扫描图书信息；
步骤4，在扫描图书过程中，根据当前的机器人定位信息确定对应的盘点书架号，根据当前的可控式升降装置的升降高度确定具体的盘点书架层数，根据扫描到图书时的时间信息和相位信息确定图书间的前后次序关系；
步骤5，将扫描时获取的实际图书信息与从数据库服务器中获取的原图书信息进行对比，从而把该图书确定为正确图书或错架图书或丢失图书，并将盘点结果反馈给用户。
本发明中，所述激光导航传感器和磁导航传感器均为现有技术。
有益效果：本发明基于RFID技术的自动式图书智能盘点上架机器人能够自动对图书进行盘点操作，通过可控式升降装置和该装置上设有的RFID天线，本机器人能够盘 点位于不同高度书架层的图书。借助四轮全向移动平台，以及激光导航传感器和磁导航传感器进行设备定位并在显示屏上显示当前图书盘点位置。
除此以外，本机器人对于图书上架操作也带来了极大的便利。上层书架和下层书架内设有的RFID天线能够实时感知置书平台上摆放的图书信息，再凭借激光导航传感器和磁导航传感器的定位功能实现书架定位。相对于传统的RFID盘点上架设备而言，本基于RFID技术的自动式图书智能盘点上架机器人能够大大提高图书盘点和图书上架的工作效率。
本发明所涉及到的定位、导航所采用的方法都采用现有技术实现。
附图说明
下面结合附图和具体实施方式对本发明做更进一步的具体说明，本发明的上述或其他方面的优点将会变得更加清楚。
图1是本发明的斜视图；
图2是本发明的斜视图；
图3是本发明的主视图；
图4是本发明的后视图；
图5是本发明的左视图；
图6是本发明的右视图；
图7是本发明的俯视图；
图8是本发明的仰视图。
具体实施方式
下面将结合附图对本发明作详细说明。
如图1至图6所示，本发明包括一体机1、可控式升降装置2、设备主体3、上层书架4、下层书架5、上层有机玻璃隔板6、下层有机玻璃隔板7、上层置书平台8、下层置书平台9、底部内仓10、第一RFID天线11、第二RFID天线12、四轮全向移动平台13、激光导航传感器14、全向车轮15、第一门板16和第二门板17，其中一体机1固定在设备主体3顶部平台上，设备主体3从上至下包括上层书架4、下层书架5和底部内仓10；上层书架4内设有上层有机玻璃隔板6和上层置书平台8，下层书架5内设有下层有机玻璃隔板7和下层置书平台9，上层有机玻璃隔板6背部设有第三RFID天 线、第四RFID天线和第五RFID天线，下层有机玻璃隔板7背部设有第六RFID天线、第七RFID天线和第八RFID天线，上述RFID天线能够实时感知书架层内的图书信息；底部内仓10内设有RFID阅读器、四轮全向移动平台13、激光导航传感器14和可充电式移动电源，RFID阅读器通过网线和一体机1连接进行数据交互，四轮全向移动平台13装配有全向车轮15，移动电源为所有耗能硬件提供电源；打开第一门板16和第二门板17可以修理或者更换设备主体内的硬件设备。
可控式升降装置2包括升降装置支架、升降装置滑块和升降装置导轨，升降装置支架固定在设备主体3的背部，升降装置滑块固定在升降装置支架上端，升降装置导轨连接在升降装置滑块上，第一RFID天线11和第二RFID天线12固定在升降装置导轨的上下两端，升降装置导轨在升降装置滑块上通过机械控制实现升降任务，带动第一RFID天线11和第二RFID天线12实现上下升降操作，从而能够盘点位于不同高度书架层的图书。
如图7和图8所示，四轮全向移动平台13两侧设有四个全向车轮15，且底部设有磁导航传感器18。
本发明中，激光导航传感器14通过发射和接收激光脉冲信号进行测距与定位，磁导航传感器18通过发射和接收磁信号来进行测距与定位，从而确定该上架设备的位置，规划行径路径。
本发明在使用时，当需要完成图书盘点任务时，机器人借助激光导航传感器14和磁导航传感器18，能够自动规划路径，从当前位置出发遍历全部需要进行图书盘点的书架，在行进过程中完成所有的图书盘点工作。当本机器人经过一个书架时，通过可控式升降装置2两端的第一RFID天线11和第二RFID天线12同时进行两层图书的盘点作业，作业完成后升降装置将自动升高一个单位距离以盘点上一层书架的图书，以此往复直到将所有图书盘点完毕。具体实施步骤如下：
步骤1，通过激光导航传感器定位机器人当前具体位置，同时根据定位结果生成一条遍历所有书架的最优路径，并将该最优路径信息传输给四轮全向移动平台13；
步骤2，启动四轮全向移动平台13，带动全向车轮15，使其按照上述获取的最优路径行驶；
步骤3，启动位于可控式升降装置2上的第一RFID天线11和第二RFID天线12， 使其在行驶过程中不间断地扫描图书信息；
步骤4，在扫描图书过程中，根据当前的机器人定位信息确定具体的盘点书架号，根据当前的可控式升降装置2的升降高度确定具体的盘点书架层数，根据扫描到图书时的时间信息和相位信息确定图书间的前后次序关系；
步骤5，将扫描时获取的实际图书信息与从数据库服务器中获取的原图书信息进行对比，从而把该图书确定为正确图书或错架图书或丢失图书，并将盘点结果反馈给用户，显示在一体机1上。
本发明在使用时，当需要完成图书上架任务时，第三RFID天线至第五RFID天线能够实时感知位于上层书架4内的图书信息，第六RFID天线至第八RFID天线能够实时感知位于下层书架5内的图书信息，然后借助激光导航传感器14和磁导航传感器18进行自动规划路径，前往需要上架的书架位置，当到达目标地点后，本机器人将提示上架人员书架层内需要被上架的图书信息，从而提高了图书上架的工作效率。具体实施步骤如下：
步骤1，将配有RFID标签的图书放入本机器人的上层书架4的上层置书平台8种或下层书架5的下层置书平台9中；
步骤2，使用位于上层有机玻璃隔板6和下层有机玻璃隔板7背部的RFID天线读取图书RFID标签；
步骤3，将获取的标签信息借助RFID阅读器传输给一体机1，根据获取的标签信息匹配数据库中的图书信息，从而识别出机器人书架层内摆放的图书，并且从数据库中获取图书位置信息，图书位置信息包括图书应在书架号以及书架层号；
步骤4，通过激光导航传感器定位机器人当前位置，根据定位结果以及上述获取的图书位置信息生成一条图书上架的最优路径，并将该最优路径信息传输给四轮全向移动平台(13)；
步骤5，启动四轮全向移动平台13，使其按照上述获取的最优路径行驶；
步骤6，在行驶过程中，机器人每当进入一个新的书架领域后将进行检测，如果该书架包含机器人书架层内的部分图书，本机器人则会自动停止，并且提示需要上架的图书信息，待完成图书上架任务后，机器人将继续行驶，以此往复，直到到达路径终点为止。
本发明提供了一种基于RFID技术的自动式图书智能盘点上架机器人，具体实现该技术方案的方法和途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。本实施例中未明确的各组成部分均可用现有技术加以实现。

Claims (10)

  1. 一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，包括设备主体(3)和设置在设备主体(3)上的一体机(1)、可控式升降装置(2)和位于设备主体(3)内侧底部的四轮全向移动平台(13)，四轮全向移动平台(13)由一体机(1)控制，可控式升降装置(2)上设有能够上下移动的RFID天线；所述设备主体(3)内设有连接到一体机(1)的RFID阅读器和一个以上的书架层，每个书架层内对应设有一个以上的RFID天线，所有RFID天线连接到RFID阅读器。
  2. 根据权利要求1所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，所述可控式升降装置(2)包括升降装置滑块和升降装置导轨，升降装置导轨固定在设备主体(3)背部，升降装置滑块设置在升降装置导轨内，升降装置导轨由一体机控制实现升降装置滑块的升降，升降装置滑块上设有一个以上的RFID天线。
  3. 根据权利要求2所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，所述可控式升降装置(2)上RFID天线为两个，分别是位于上端的第一RFID天线(11)和位于下端的第二RFID天线(12)。
  4. 根据权利要求1所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，所述四轮全向移动平台(13)底部设有磁导航传感器(18)。
  5. 根据权利要求1所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，RFID阅读器通过网线和一体机连接进行数据交互，四轮全向移动平台(13)包括位于设备主体(3)底部的全向车轮(15)。
  6. 根据权利要求1所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，设备主体(3)下端设有底部内仓(10)，所述RFID阅读器位于底部内仓(10)内。
  7. 根据权利要求7所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，底部内仓(10)内设有连接所述四轮全向移动平台(13)的激光导航传感器(14)。
  8. 根据权利要求1所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，所述一体机(1)固定在设备主体(3)顶部。
  9. 一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，包括智能化图书上架方法，步骤如下：
    步骤1，将配有RFID标签的图书放入机器人的书架层中；
    步骤2，使用位于书架层内的RFID天线读取图书RFID标签；
    步骤3，将获取的RFID标签信息借助RFID阅读器传输给一体机(1)，根据获取的RFID标签信息匹配数据库中的图书信息，从而识别出机器人书架层内摆放的图书，并且从数据库中获取图书位置信息，图书位置信息包括图书应在书架号以及书架层号；
    步骤4，通过导航传感器定位机器人当前位置，根据定位结果以及上述获取的图书位置信息生成一条图书上架的最优路径，并将该最优路径信息传输给四轮全向移动平台(13)；
    步骤5，启动四轮全向移动平台(13)，使其按照上述获取的最优路径行驶；
    步骤6，在行驶过程中，机器人每当进入一个新的书架领域后将进行检测，如果该书架包含机器人书架层内的部分图书，机器人则会自动停止，并且提示需要上架的图书信息，待完成图书上架任务后，机器人将继续行驶，以此往复，直到到达路径终点为止。
  10. 根据权利要求9所述的一种基于RFID技术的自动式图书智能盘点上架机器人，其特征在于，包括全馆图书自动化盘点方法，步骤如下：
    步骤1，通过导航传感器定位机器人当前具体位置，同时根据定位结果生成一条遍历所有书架的最优路径，并将该最优路径信息传输给四轮全向移动平台(13)；
    步骤2，启动四轮全向移动平台(13)，使其按照上述获取的最优路径行驶；
    步骤3，启动位于可控式升降装置(2)上的第一RFID天线(11)和第二RFID天线(12)，使其在行驶过程中不间断地扫描图书信息；
    步骤4，在扫描图书过程中，根据当前的机器人定位信息确定对应的盘点书架号，根据当前的可控式升降装置(2)的升降高度确定具体的盘点书架层数，根据扫描到图书时的时间信息和相位信息确定图书间的前后次序关系；
    步骤5，将扫描时获取的实际图书信息与从数据库服务器中获取的原图书信息进行对比，从而把该图书确定为正确图书或错架图书或丢失图书，并将盘点结果反馈给用户。
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