CN108297063A - A kind of books give back the control system and control method of robot - Google Patents
A kind of books give back the control system and control method of robot Download PDFInfo
- Publication number
- CN108297063A CN108297063A CN201810339025.2A CN201810339025A CN108297063A CN 108297063 A CN108297063 A CN 108297063A CN 201810339025 A CN201810339025 A CN 201810339025A CN 108297063 A CN108297063 A CN 108297063A
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- Prior art keywords
- books
- module
- book
- information
- robot
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Classifications
-
- 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
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- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses the control systems that a kind of books give back robot,Including storage device,Running gear,Tracking device,Scanning means,Pattern recognition device,Pick and place book apparatus and main control unit,The scanning means is equipped with scan module,Described image identification device is equipped with camera module,The camera module is set to described pick and place on book apparatus,The book apparatus that picks and places is equipped with the slide unit module that laterally traversal identification is carried out for controlling the camera module,The storage device can be realized to books delivery functions,The scan module is for scanning label information to obtain the location information of books,Described image identification device, which is controlled, by the slide unit module carries out transverse shifting identification,Achieve the purpose that identify books or identifies the vacancy for placing books,The corresponding book that picks and places of book apparatus execution that picks and places is controlled again to instruct,Realizing need not artificial book bidding and storage,Eliminate the artificial trouble for repeating finishing book,Liberate labour.
Description
Technical field
The present invention relates to books intelligent management technical field more particularly to a kind of books give back robot control system and
Control method.
Background technology
Currently, existing book bidding work is most of by manually being arranged, traditional artificial taking care of books can cause
Certain confusion, and inefficiency expend a large amount of manpower and time, increase management books cost.For example,
When books administrative staff will arrange the books given back, the number for first inspecting books is needed, then according to number
Sequence is given back to corresponding position, therefore this work has stronger repeatability.Moreover, the housekeeping of books has centainly
Uninteresting property, may deposit cash and put inaccurate situation, usually bring inconvenience to Readers ' Borrowing Books books.So the intelligence of taking care of books
Energyization research becomes a kind of inevitable trend.
Currently, although the intelligence in taking care of books has certain achievement in research, intelligence all cannot be efficiently and accurately realized
Energyization transports books, and the automation of books is positioned and put and is all short of.
Invention content
In order to overcome the shortcomings of the prior art, the present invention to provide a kind of to books progress efficient identification, positioning and pendulum
The books put give back the control system of robot.
The present invention also provides a kind of control methods for giving back robot control system based on above-mentioned books.
In order to solve the above technical problem, the present invention provides the control systems that a kind of books give back robot, including deposit
Storage device, tracking device, scanning means, pattern recognition device, picks and places book apparatus and main control unit at running gear,
The storage device is equipped with storage region for housing books, the running gear include actuator and with institute
The drive module that actuator is connected is stated, the tracking device is equipped with the tracking module for detecting black line, the scanning means
Equipped with the scan module for scanning and reading label information, described image identification device is equipped with books or use for identification
The camera module in the vacancy of books is placed in identification, the camera module is picked and placeed set on described on book apparatus, described to pick and place
Book apparatus is equipped with the slide unit module that laterally traversal identification is carried out for controlling the camera module,
It is described to pick and place book apparatus, the drive module, the tracking module, the scan module, the camera module
And the slide unit module is electrically connected with the main control unit respectively.
Preferably, the slide unit module is synchronous belt slide unit module.
Preferably, the book apparatus that picks and places further includes for controlling the lifting module of vertical direction movement, being used for
The rotary module of controlled level direction rotation, the folder for the flexible module of controlled level direction movement and for books to be clamped
Hold module, the lifting module, the rotary module, the flexible module and the self-clamping module respectively with the main control
Device is connected.
Preferably, the pressure detecting module for detecting clamping force threshold values is equipped in the self-clamping module,
The pressure detecting module includes pressure sensor.
Preferably, the scanning read module is equipped with for detecting and identifying books electronic labeling information and book
The RFID scanning elements of frame label information.
Preferably, the main control unit is equipped with the sending module for sending label information data and is used for
The receiving module of books location information data is received, the sending module and the receiving module are believed with book management system respectively
Number connection.
A kind of control method for being given back robot control system based on above-mentioned books, is included the following steps：
S1, in initial point position, the books that need to be returned are loaded into storage region；
S2, the image recognition laterally traversed instruction is executed to the storage region along direction initialization, according to image recognition knot
Fruit judges whether to recognize the books, if recognizing the books, executes step S3；If not recognizing the books,
Execute step S7；
S3, it takes book to instruct books execution, and scans and read the book labels information on the books；
S4, it obtains direction of travel and executes travel commands along tracking route, scan and read in the process of walking and is different
Shelf label information on subregion bookshelf；
S5, the book labels information and the shelf label information are subjected to information matches judgement, if the books mark
It is consistent with the shelf label information matches to sign information, executes step S6；If the book labels information and the shelf label
Information matches are inconsistent, then return to step S4；
S6, stopping executing the travel commands, obtain the target number of plies information of the books, book instruction is put in execution, and
The image recognition laterally traversed is executed to bookshelf along the direction of setting to instruct, until recognizing vacancy, the books are positioned over
On the vacancy, resets all instructions state and execute step S2；
S7, starting point is returned.
Preferably, in the step S3, it executes in the gripping instruction process and obtains clamping force threshold values letter
Breath, and the dynamics threshold values of acquisition is compared judgement with preset reference threshold values, be equal to when the dynamics threshold values or
When more than the reference threshold values, then stop executing the gripping instruction.
Preferably, it is described put book instruction include execute horizontal direction rotation spinning movement, vertical direction move
Lifting action, horizontal direction movement expanding-contracting action and release that books are unclamped act.
Preferably, the information of the direction of travel and the target number of plies information of the books are by described in transmission
Book labels information and the shelf label information are received to book management system.
Books provided by the present invention give back the control system of robot, and compared with prior art, advantage is：This
The invention storage device can realize to books delivery functions, the scan module for scan and read label information with
The location information for obtaining books can control described image identification device to carry out lateral traverse scanning and knows by the slide unit module
Not, achieve the purpose that identify books or identify the purpose in vacancy for placing books, then control and described pick and place book apparatus and hold
Row is corresponding to take book to instruct and put book instruction, realizes without artificial book bidding and storage, eliminates and manually repeat to arrange
The trouble of books liberates labour.
Description of the drawings
In order to illustrate more clearly of technical scheme of the present invention, attached drawing needed in embodiment will be made below
Simply introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is that the books of the embodiment of the present invention give back the control system architecture schematic diagram of robot.
Fig. 2 is that the books of the embodiment of the present invention give back the control method flow diagram of robot.
Fig. 3 is that the books of the embodiment of the present invention give back the dimensional structure diagram of robot.
Fig. 4 is that the books of the embodiment of the present invention give back the body structure schematic diagram of robot.
Fig. 5 be the books of the embodiment of the present invention give back robot pick and place book apparatus structural schematic diagram.
Fig. 6 is that the books of the embodiment of the present invention give back the flexible module and self-clamping module structural schematic diagram of robot.
In figure：1. vehicle frame；2. wheel；3. the first actuator；4. storage device；5. synchronous belt；6. lifting module；601. bottom
Seat；602 lifting arms；603. top plate；604. second actuators；7. rotary module；8. flexible module；801. guide groove；802. leading
To plate；803. spur rack；804. gear；805. third actuators；9. self-clamping module；901. fixed plate；902. movable plate；903.
Fourth drive member；904. first rotation axis；10. serial ports panel module.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In addition, in the description of the present invention, it should be noted that term " first ", " second " etc. are used for description purposes only,
It is not understood to indicate or imply relative importance.
As shown in Figure 1, the preferred embodiment of the invention, which provides a kind of books, gives back the control system of robot, including deposit
Storage device 4, tracking device, scanning means, pattern recognition device, picks and places book apparatus and main control unit at running gear, described
Storage device is equipped with storage region for housing books, and the running gear includes the first actuator 3 and with described first
The drive module that actuator 3 is connected, the tracking device are equipped with the tracking module for detecting black line, and the scanning means is set
It is useful for scanning and reading the scan module of label information, described image identification device is equipped with books for identification or is used for
The camera module in the vacancy of books is placed in identification, and the camera module is picked and placeed set on described on book apparatus, described to pick and place book
Device is equipped with the slide unit module that laterally traversal identification is carried out for controlling the camera module, the book apparatus, described of picking and placeing
Drive module, the tracking module, the scan module, the camera module and the slide unit module respectively with the master
Control device is electrically connected.
Books based on above-mentioned technical characteristic give back the control system of robot, and the storage device can be realized to books
Delivery functions, the scan module pass through the cunning for scanning and reading label information to obtain the location information of books
Platform module can control described image identification device to carry out lateral traverse scanning identification, achieve the purpose that identify books or identification
Purpose for the vacancy for placing books, then control it is described pick and place book apparatus execute it is corresponding take book to instruct and put book instruction, it is real
Show and eliminated the artificial trouble for repeating finishing book without artificial book bidding and storage, has liberated labour.
If as shown in figure 3, the storage device 4 be equipped with dried layer it is horizontally disposed set book chamber, the book chamber of setting is set
There is the open end being in communication with the outside, the plane where the open end is parallel to the direction of the body shell walking, described to set
Book intracavitary is equipped with several partition boards, the book chamber of setting is isolated into multiple spaces for placing books, convenient for storing the figure being returned
Book, simultaneously so that it is described pick and place book apparatus gripping books after, convenient for turn to bookshelf carry out placement books.
As shown in Figures 3 and 4, the running gear include vehicle frame 1, both sides equipped with the vehicle frame 1 wheel 2, be used for
Detect tracking module, the first actuator 3 and the drive module for controlling first actuator 3 of route, the tracking
Module is set to 1 bottom of the vehicle frame, and first actuator 3 is connected to realize the rotation of wheel 2 with the wheel 2, institute
It states drive module to be electrically connected with the main control unit respectively with the tracking module, be arranged on the floor in the library
Black line, the tracking module can recognize that black line to be moved along direction initialization.
The slide unit module is synchronous belt slide unit module, including synchronous belt 5 and the slide unit on the synchronous belt 5,
The slide unit is connected with the book apparatus that picks and places, and realizes that the synchronous belt can pick and place book apparatus shifting described in transverse reciprocating drive
It is dynamic so that the synchronous belt 5 can drive the camera module to carry out laterally traversal identification, 400 travel synchronizations preferentially used
Band slide unit, effectively coordinates motor to drive fetching device.
As shown in figure 5, the book apparatus that picks and places further includes for controlling the lifting module 6 of vertical direction movement, for controlling
Rotary module 7, the folder for the flexible module 8 of controlled level direction movement and for books to be clamped of horizontal direction rotation processed
Hold module 9, the lifting module 6, the rotary module 7, the flexible module 8 and the self-clamping module 9 respectively with it is described
Main control unit is connected.
Further, the elevating mechanism 6 is preferentially using Aerial Work LT cheap, that occupancy volume is little, institute
State elevating mechanism 6 include pedestal 601, lifting arm 602, top plate 603 and the second actuator 604, second actuator 604 with
The lifting arm 602 is connected, and the pedestal 601 is set on the body shell, the top plate 603 and the rotating mechanism 7
It is connected.
The rotating mechanism 7 includes roll-shell, rotary shaft and rotary electric machine, and the rotary shaft is set to the elevator
Between the top plate 603 and the rotary electric machine of structure 6, the rotary electric machine is fixed on the roll-shell, the rotation electricity
Machine can realize the rotation for driving the roll-shell to carry out 360 ° in the horizontal direction by the rotary shaft.
As shown in Figures 5 and 6, the flexible module includes gear 804, spur rack 803, third actuator 805, guide plate
802 and guide groove 801, the gear 804 and the spur rack 803 be meshed, the spur rack 803 be set to the guide groove
On 801, the third actuator 805 is set to the second rotation axis (attached drawing does not identify) for driving the gear 804 to rotate, institute
It states third actuator 805 and the self-clamping module 9 is set on the guide plate 802 so that the gear 804 and the spur rack
803 engaged transmissions, drive the guide plate 802 to carry out telescopic moving along the direction of the guide groove 801, reach and books are promoted
The purpose of bookshelf.
Further, the self-clamping module 9 includes fixed plate 901, movable plate 902, fourth drive member 903 and first turn
Moving axis 904, the fourth drive member 903 are connected with first rotation axis 904, first rotation axis 904 and the shifting
Between movable plate 902 for be threadedly coupled, the setting parallel with the movable plate 902 of the fixed plate 901, the fixed plate 901 and
It is formed between the movable plate 902 and is met for the clamping of clamping books, institute can be driven by the rotation of the fourth drive member 903
It states movable plate 902 and realizes screw, achieve the purpose that transverse shifting is clamped books.
Further, the pressure detecting module for detecting clamping force threshold values is equipped in the self-clamping module 9, it is described
Pressure detecting module includes pressure sensor, and during taking book, the pressure sensor can be to the clamping force of folder book
It is detected, when the dynamics detected is more than preset dynamics threshold values, then the stopping of self-clamping module 9 continues to clamp, and avoids
Clamping force is excessive or too small, and the inside of the fixed plate 901 and movable plate 902 is equipped with sponge, increases the friction of clamping
Power prevents from causing to slide during gripping books, while books is also functioned to the effect of a protection.
The identification module be set to the flexible module 8 lower section, the identification module include for detect books or
Camera for detecting the vacancy for placing books, is identified books by image recognition and grips books, then pass through identification
Books are simultaneously placed in vacancy on bookshelf, expeditiously carry out giving back for books.When robot will take book on storage device 4,
It is described to pick and place book apparatus transverse shifting, while camera module is constantly scanned, and when having detected book, is just taken described in driving
Book apparatus is put to carry out that book is taken to work；It is described to pick and place book apparatus when robot moves to by the bookshelf spatial position for the book to be sent
Sequentially traverse through, while camera module is constantly scanned, when detect have vacant position when, with regard to driving pick and place book apparatus carry out
Put book work.
The scanning read module is equipped with the RFID for detecting and identifying book labels information and shelf label information
Scanning element carries out quick identification tag information, includes reader, antenna, book labels and shelf label.The figure
Book label is affixed on books, and the shelf label is set under library each bookshelf subregion floor, is used for the quick identification of books
The location index of positioning and machine, antenna arrangements are on 1 pedestal of the vehicle frame and in rotary module 7, in label and reading
It writes and transmits radiofrequency signal between device, the book labels and shelf label of acquisition are sent to taking care of books system by the transmitter
System, then obtain the location information and direction of travel information of books.
The main control unit is equipped with communication device, and the communication device includes the hair for sending label information data
Send module and the receiving module for receiving books location information data, the sending module and the receiving module are and institute
It states book management system to be connected, realizes the communication between robot and book management system so that the main control unit
Can by the label information obtain direction of travel or obtain books location information, to make relative to control instruction.
Serial ports panel module 10 is equipped on the vehicle frame 1, the serial ports panel module 10 is USART HMI serial ports screens, is used
It is turned on and off state and charge condition in show machine.
The storage device 4 is additionally provided with sensor, when reaching a certain amount of to be placed to book thereon, can open and be mounted on
The switch button of side starts machine；The fourth drive member 903, the second actuator 604, third actuator 805, first drive
Part 3 is 57 stepper motors, and torque 1.2N.M is driven using TB6600 driving sheet drives.
Cloth leads to well the black line of each bookshelf on the floor in library, and the robot can be along set path row
It walks, there is bookshelf electronic tag in the underground at each path node, has recorded location information, is used for the identification in path, works as machine
When device is come at node, the location information where judging can be identified, control instruction is passed back by book management system, control turns
To and it is mobile, achieve the purpose that intelligent positioning and transport.
A kind of control method for being given back robot based on above-mentioned books, is included the following steps：
S1, in initial point position, the books that need to be returned are loaded into storage region；
Books are loaded in the storage device 4, realize the function of transport.
S2, the image recognition laterally traversed instruction is executed to the storage region along direction initialization, according to image recognition knot
Fruit judges whether to recognize the books, if recognizing the books, executes step S3；If not recognizing the books,
Execute step S7；
Described image identification device carries out moving traverse scanning along direction initialization by slide unit module, which is
From the side of no books to the direction for the side for having books.
S3, it takes book to instruct books execution, and scans and read the book labels information on the books；
Storage device 4 is put in using the flexible module 8, the fixed plate 901 of the self-clamping module 9 can be inserted directly into book and meet
In, then books are clamped by the movement movable plate 902, after completing to take book, the RFID read-write that is placed in rotary module 7
The book labels information of acquisition is transmitted book management system by device, and then the book information in matching database, identifies intelligence
Books give back the books of machine crawl, determine its location information, and determine direction of travel.
S4, it obtains direction of travel and executes travel commands along tracking route, scan and read in the process of walking and is different
Shelf label information on subregion bookshelf；
After obtaining direction of travel, during the robot is walked using tracking module along black line, 1 pedestal of vehicle frame
On RFID reader be constantly scanned the label information on bookshelf floor, when encountering a node, detection and read should
Then the electronic labeling information of node continues to execute the instruction of next step to judge the position at place according to location information.
S5, the book labels information and the shelf label information are subjected to information matches judgement, if the books mark
It is consistent with the shelf label information matches to sign information, executes step S6；If the book labels information and the shelf label
Information matches are inconsistent, then return to step S4；
The main control unit can carry out information matches judgement to the book labels information and the shelf label information,
The different subregions of each bookshelf can have electronic tag to be placed under corresponding subregion floor, when robot comes different subregions
When, it will detect and whether subregion where judging meets with the positions of the books to be sent.It is such as inconsistent, it returns to step
S4；Such as meet, executes step S6.
S6, stopping executing the travel commands, obtain the target number of plies information of the books, book instruction is put in execution, and
The image recognition laterally traversed is executed to bookshelf along the direction of setting to instruct, until recognizing vacancy, the books are positioned over
On the vacancy, resets all instructions state and execute step S2；
When the robot is when target bookshelf stops, which is according to the specific location of sent books, such as books
Layer, Aerial Work LT just increase corresponding height grade.Aerial Work LT can only be increased one by one, per level-one liter
High amplitude is identical.Then, the rotary module 7 is by initializing direction, that is, against the storage device 4 above vehicle body
Direction, rotation is to towards the direction of target bookshelf.If rotary module 7 is backwards to target bookshelf, then machine rotates in place
180°。
Then, entirely pick and place book apparatus under the drive of the synchronous belt 5, coordinate camera module, along direction initialization into
Row movement, the direction initialization are to identify whether to have vacant position from the side for having books to the direction of the side of no books, traversal, such as
Have, then synchronous belt stops on slide unit, then the flexible module 8 puts in bookshelf, and self-clamping module 9 carries out unclasping action, book is placed on
In bookshelf, module 8 of then stretching is shunk, and book task is put in completion.
S7, starting point is returned.
Further, acquisition clamping force threshold values information in the gripping instruction process is executed in the step S3, and
The dynamics threshold values of acquisition is compared judgement with preset with reference to threshold values, when the dynamics threshold values is equal to or more than institute
When stating with reference to threshold values, then stops executing the gripping instruction, avoid clamping force excessive or too small.
Further, in the step S6, it is described put book instruction include execute horizontal direction rotation spinning movement, erect
The expanding-contracting action and the release action that books are unclamped that histogram is moved to mobile lifting action, horizontal direction so that
Finishing book can be carried out in all directions.
Further, the information of the direction of travel and the target number of plies information of the books are by sending the books
Label information and the shelf label information are received to book management system, convenient for being carried out to the book management system
Management, while the information such as position for also ensuring books are available.
In conclusion the books described in the embodiment of the present invention give back control system of machine people utilize described in pick and place book apparatus can
It realizes that comprehensive accessible and what is flexibly operated picks and places action, coordinates the storage device 4, realizing need not artificial books intelligence
It can arrange and store, mechanism is ingenious, and intelligence degree is high, and shown control method can recognize that book labels by the RFID system
With shelf label so that the information of book labels and shelf label can be transmitted to book management system in the robot, then obtains
Take the location information of books, realization rapidly and accurately identifies and positions book information, eliminate artificial retrieval and inquisition step by step and
The trouble of transport books, then method for distinguishing is known by traversal, the vacancy for needing to place books is found, then placed, realization pair
Efficient identification, positioning and the transport of books, greatly improve the efficiency of taking care of books, reduce the labour of personnel.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of books give back the control system of robot, which is characterized in that including storage device, running gear, tracking device,
Scanning means, pattern recognition device pick and place book apparatus and main control unit,
The storage device is equipped with storage region for housing books, the running gear include actuator and with the drive
The drive module that moving part is connected, the tracking device are equipped with the tracking module for detecting black line, and the scanning means is equipped with
Scan module for scanning and reading label information, described image identification device are equipped with books for identification or for knowing
Not Fang Zhi books vacancy camera module, the camera module be set to it is described pick and place on book apparatus, it is described to pick and place book dress
It installs and is useful for controlling the slide unit module that the camera module carries out laterally traversal identification,
It is described pick and place book apparatus, the drive module, the tracking module, the scan module, the camera module and
The slide unit module is electrically connected with the main control unit respectively.
2. books according to claim 1 give back the control system of robot, which is characterized in that the slide unit module is same
Step band slide unit module.
3. books according to claim 1 give back the control system of robot, which is characterized in that described to pick and place book apparatus also
Include for controlling the lifting module of vertical direction movement, the rotary module rotated for controlled level direction, for controlling water
Self-clamping module square to mobile flexible module and for books to be clamped, it is the lifting module, the rotary module, described
Flexible module and the self-clamping module are connected with the main control unit respectively.
4. books according to claim 3 give back the control system of robot, which is characterized in that in the self-clamping module
Equipped with the pressure detecting module for detecting clamping force threshold values, the pressure detecting module includes pressure sensor.
5. books according to claim 1 give back the control system of robot, which is characterized in that the scanning read module
Equipped with the RFID scanning elements for detecting and identifying books electronic labeling information and shelf label information.
6. books according to claim 1 give back the control system of robot, which is characterized in that the main control unit is set
It is useful for the sending module for sending label information data and the receiving module for receiving books location information data, the hair
Module and the receiving module is sent to be connect respectively with book management system signal.
7. the books according to any one of claim 1-6 give back the control method of robot, which is characterized in that including with
Lower step：
S1, in initial point position, the books that need to be returned are loaded into storage region；
S2, the image recognition laterally traversed instruction is executed to the storage region along direction initialization, is sentenced according to image recognition result
It is disconnected whether to recognize the books, if recognizing the books, execute step S3；If not recognizing the books, execute
Step S7；
S3, it takes book to instruct books execution, and scans and read the book labels information on the books；
S4, it obtains direction of travel and executes travel commands along tracking route, scan and read different subregions in the process of walking
Shelf label information on bookshelf；
S5, the book labels information and the shelf label information are subjected to information matches judgement, if the book labels are believed
Breath is consistent with the shelf label information matches, executes step S6；If the book labels information and the shelf label information
It matches inconsistent, then returns to step S4；
S6, stop executing the travel commands, obtain the target number of plies information of the books, book instruction is put in execution, and edge is set
Fixed direction executes bookshelf the image recognition laterally traversed and instructs, until recognizing vacancy, the books is positioned over described
On vacancy, resets all instructions state and execute step S2；
S7, starting point is returned.
8. books according to claim 7 give back the control method of robot, which is characterized in that in the step S3,
Execute in the gripping instruction process acquisition clamping force threshold values information, and by the dynamics threshold values of acquisition and preset reference
Threshold values is compared judgement, when the dynamics threshold values is equal to or more than the reference threshold values, then stops executing the gripping
Instruction.
9. books according to claim 7 give back the control method of robot, which is characterized in that in the step S6,
It is described put book instruction include execute horizontal direction rotation spinning movement, vertical direction movement lifting action, horizontal direction shifting
Dynamic expanding-contracting action and the release unclamped to books act.
10. books according to claim 7 give back the control method of robot, which is characterized in that the direction of travel
The information of information and the books target number of plies is by sending the book labels information and the shelf label information to figure
Book manages system to be received.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810339025.2A CN108297063A (en) | 2018-04-16 | 2018-04-16 | A kind of books give back the control system and control method of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN109591027A (en) * | 2018-12-06 | 2019-04-09 | 湖南理工学院 | A kind of intelligent book puts in order robot |
| CN109732628A (en) * | 2018-12-26 | 2019-05-10 | 南京熊猫电子股份有限公司 | Robot end's intelligent grabbing control device and its intelligent grabbing method |
| CN109907536A (en) * | 2019-02-15 | 2019-06-21 | 王星月 | A kind of device that conveniently transferring engineering management file and its transfer method |
| CN109955230A (en) * | 2019-05-16 | 2019-07-02 | 华东理工大学 | A kind of taking care of books robot |
| CN110053023A (en) * | 2019-04-29 | 2019-07-26 | 南通大学 | A kind of taking care of books robot system and management method |
| CN110480612A (en) * | 2019-08-27 | 2019-11-22 | 南通大学 | A kind of robot system and working method for giving back books to close bookshelf of arranging |
| CN111493527A (en) * | 2020-04-23 | 2020-08-07 | 萍乡学院 | Library is with multi-functional book arrangement car |
| CN111823236A (en) * | 2020-07-25 | 2020-10-27 | 湘潭大学 | Library management robot and control method thereof |
| CN113172637A (en) * | 2021-03-31 | 2021-07-27 | 滨州学院 | Automatic directional library book searching system and method |
| CN114290328A (en) * | 2021-12-10 | 2022-04-08 | 北京云迹科技股份有限公司 | Robot control method and related equipment |
| CN114363818A (en) * | 2021-12-10 | 2022-04-15 | 科大讯飞股份有限公司 | Object searching equipment, object searching method and self-service searching system |
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| CN109591027A (en) * | 2018-12-06 | 2019-04-09 | 湖南理工学院 | A kind of intelligent book puts in order robot |
| CN109732628A (en) * | 2018-12-26 | 2019-05-10 | 南京熊猫电子股份有限公司 | Robot end's intelligent grabbing control device and its intelligent grabbing method |
| CN109907536A (en) * | 2019-02-15 | 2019-06-21 | 王星月 | A kind of device that conveniently transferring engineering management file and its transfer method |
| CN110053023B (en) * | 2019-04-29 | 2022-04-05 | 南通大学 | Book management robot system and management method |
| CN110053023A (en) * | 2019-04-29 | 2019-07-26 | 南通大学 | A kind of taking care of books robot system and management method |
| CN109955230A (en) * | 2019-05-16 | 2019-07-02 | 华东理工大学 | A kind of taking care of books robot |
| CN110480612A (en) * | 2019-08-27 | 2019-11-22 | 南通大学 | A kind of robot system and working method for giving back books to close bookshelf of arranging |
| CN111493527A (en) * | 2020-04-23 | 2020-08-07 | 萍乡学院 | Library is with multi-functional book arrangement car |
| CN111823236A (en) * | 2020-07-25 | 2020-10-27 | 湘潭大学 | Library management robot and control method thereof |
| CN113172637A (en) * | 2021-03-31 | 2021-07-27 | 滨州学院 | Automatic directional library book searching system and method |
| CN113172637B (en) * | 2021-03-31 | 2022-06-10 | 滨州学院 | Automatic directional searching system and method for library books |
| CN114290328A (en) * | 2021-12-10 | 2022-04-08 | 北京云迹科技股份有限公司 | Robot control method and related equipment |
| CN114363818A (en) * | 2021-12-10 | 2022-04-15 | 科大讯飞股份有限公司 | Object searching equipment, object searching method and self-service searching system |
| CN114363818B (en) * | 2021-12-10 | 2023-12-01 | 科大讯飞股份有限公司 | Object searching equipment, object searching method and self-help searching system |
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Application publication date: 20180720 |