CN108764393B - Library book auxiliary returning robot system - Google Patents
Library book auxiliary returning robot system Download PDFInfo
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- CN108764393B CN108764393B CN201810399726.5A CN201810399726A CN108764393B CN 108764393 B CN108764393 B CN 108764393B CN 201810399726 A CN201810399726 A CN 201810399726A CN 108764393 B CN108764393 B CN 108764393B
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- book
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
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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
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- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a library book auxiliary returning robot system, which comprises a carrying trolley, wherein the carrying trolley comprises a book identification push-out device and a navigation positioning device, and the book identification push-out device comprises: the supporting mechanism is used for supporting the books to be arranged and stacked; the bar code scanning module is used for scanning the book bar codes in sequence and sending the book bar codes to the data conversion module; the book pushing mechanism is used for sequentially pushing the books; the data conversion module is used for receiving the book bar codes, converting the book bar codes into position information and sending the position information to the navigation positioning device; and the navigation positioning device receives the position information and controls the carrying trolley to move to a corresponding position. The system can be used for the auxiliary management of book managers, the existing system does not need to be greatly modified, and the application cost is low.
Description
Technical Field
The invention relates to a book return system, in particular to a library book auxiliary return robot system.
Background
Today, intelligent devices are becoming more and more popular, and in many situations, intelligent machines are used to assist or replace humans in performing work. With the continuous improvement of production and manufacturing capabilities, more and more robots can be applied to industrial production and service industry. In numerous public places, the library can be said to be a place where most learners are good for oneself, and a lot of intelligent equipment are used by the library at present, thereby the book management mode in the library is more convenient, for example, the ultrahigh frequency RFID intelligent library management system used by some libraries at home at present.
For the ultrahigh frequency RFID intelligent book management system which is used in China, the ultrahigh frequency RFID intelligent book management system has powerful functions and can completely complete the functions of returning, classifying, placing and the like of the whole book. Besides, the system intelligently modifies the security management of the whole library, and the whole library hardly needs manual operation under the system. Due to the powerful functions, the whole manufacturing cost is very expensive and is difficult to use by a general library, the whole library is required to be modified once when the whole system is installed, and besides, the system for checking in the system still needs to be manually pushed by a user in actual work, and the automatic motion control of the system for checking is not realized.
Disclosure of Invention
The invention aims to provide a library book auxiliary returning robot system, which solves the problem of low efficiency of the existing manual book returning management and simultaneously avoids the problems of high manufacturing cost and large reconstruction engineering of a book management system based on an RFID technology.
The technical scheme of the invention is as follows: the utility model provides a supplementary robot system that returns of library's books, includes the carrying trolley, the carrying trolley includes books discernment ejecting device and navigation positioning device, books discernment ejecting device includes:
the supporting mechanism is used for supporting the books to be arranged and stacked;
the bar code scanning module is used for moving and scanning book bar codes along the arrangement direction of the books and comprises a first guide rod extending along the arrangement direction of the books and a first sliding block moving in a matching way with the first guide rod, wherein the first sliding block is provided with a scanning device, and the scanning device scans the book bar codes and sends the book bar codes to the data conversion module;
the book pushing mechanism comprises a second guide rod extending along the arrangement direction of the books and a second sliding block moving in a matched mode with the second guide rod, the second sliding block is provided with a pushing structure, the pushing mechanism comprises a third guide rod perpendicular to the second guide rod and a third sliding block moving in a matched mode with the third guide rod, and the third sliding block is provided with a push plate used for pushing the books;
the data conversion module is used for receiving the book bar codes, converting the book bar codes into position information and sending the position information to the navigation positioning device;
and the navigation positioning device receives the position information and controls the carrying trolley to move to a corresponding position.
Furthermore, the supporting mechanism comprises a supporting bottom plate, a fourth guide rod extending along the arrangement direction of the books, and a fourth sliding block moving in cooperation with the fourth guide rod, a baffle is arranged at the tail end of the fourth guide rod, and the books are arranged between the baffle and the fourth sliding block.
Furthermore, the navigation positioning device comprises a control module, a constant magnetic field detection circuit, a PWM wave level conversion circuit and a driving motor, wherein the constant magnetic field detection circuit is used for detecting a preset magnetic navigation circuit and feeding back a signal to the control module, the control module controls the output of the PWM wave level conversion circuit and controls the driving motor to operate according to the feedback signal and the position information, and the driving motor is used for driving the carrying trolley to move.
Further, the book identification pushing device comprises a book arrangement position storage module and a distance measurement module, the distance measurement module measures distance information of the second sliding block when the pushing plate pushes the book and sends the distance information to the book arrangement position storage module, the scanning device scans book bar codes and sends the book bar codes to the book arrangement position storage module, and the book arrangement position storage module corresponds and stores the distance information of the second sliding block and the book bar codes; when the carrying trolley runs to a certain position, all book bar codes corresponding to the position are obtained, and the second sliding block is controlled to move by the distance information corresponding to the book bar codes.
Furthermore, the head end and the tail end of the third guide rod are respectively provided with a first limit switch for limiting the moving range of the third sliding block.
Preferably, the first guide rod and the first sliding block, the second guide rod and the second sliding block, and the third guide rod and the third sliding block are all screw and nut kinematic pairs.
Preferably, the fourth guide rod and the fourth sliding block are a screw nut kinematic pair.
The technical scheme provided by the invention has the advantages that the position information of the books is obtained by scanning the book bar codes, and then the trolley is controlled to run to the corresponding position to assist management personnel in arranging the books.
Drawings
Fig. 1 is a schematic front view of a mechanical structure of a library book auxiliary returning robot system according to the present invention.
Fig. 2 is a schematic top view of a mechanical structure of the library book assisted return robot system of the present invention.
Fig. 3 is an electrical schematic diagram of the library book auxiliary returning robot system according to the present invention.
Fig. 4 is an electrical structure diagram of a library book auxiliary returning robot system in an embodiment.
FIG. 5 is a circuit diagram of a part of the book identification pushing device in the embodiment.
FIG. 6 is a circuit diagram of a portion of a navigation positioning device according to an embodiment.
Detailed Description
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention thereto.
Referring to fig. 1 to 2, the mechanical part of the system of the library book auxiliary returning robot according to the present embodiment includes a carrying cart, and the carrying cart is composed of a bottom plate 1 and wheels 2. The book identification push-out device is arranged on the bottom plate 1 and comprises a first guide rod 3, a second guide rod 4, a fourth guide rod 5 and a third guide rod 6, wherein the first guide rod, the second guide rod and the fourth guide rod are transversely arranged, and the third guide rod 6 is longitudinally arranged. The first guide rod 3 is provided with a first sliding block 7 matched with the first guide rod, and the first guide rod 3 and the first sliding block 7 form a feed screw nut kinematic pair; the second guide rod 4 is provided with a second sliding block 8 matched with the second guide rod 4, the second guide rod 4 and the second sliding block 8 form a feed screw nut kinematic pair, and the third guide rod 6 is arranged on the second sliding block 8, namely the second sliding block 8 moves on the second guide rod 4 to drive the third guide rod 6 to move together; a third sliding block 9 matched with the third guide rod 6 is arranged on the third guide rod 6, and the third guide rod 6 and the third sliding block 9 form a feed screw nut kinematic pair; the fourth guide rod 5 is provided with a fourth sliding block 10 matched with the fourth guide rod, and the fourth guide rod 5 and the fourth sliding block 10 form a feed screw nut kinematic pair.
Supporting bottom plates 11 are arranged on two sides of the fourth guide rod 5, books 12 are transversely arranged on the supporting bottom plates 11, a baffle 13 is arranged at the tail end of the fourth guide rod 5, and the movement of the fourth slider 10 controls the distance between the fourth slider 10 and the baffle 13 to enable the books 12 to be arranged orderly. A camera is arranged on the first sliding block 7 and is used as a scanning device for scanning book bar codes. The location of the camera should correspond to the book barcode location. The third slide block 9 is provided with a push plate 14 for pushing the book, and the head end and the tail end of the third guide rod 6 are respectively provided with a first limit switch 15 for limiting the moving range of the third slide block 9. As the third slider 9 moves the pusher plate 14 along the third guide bar 6, the individual books 12 are pushed longitudinally out of the aligned stack of books. The accurate ejection of the book by the pusher plate 14 depends on the positioning of the second slider 8 on the second guide bar 4, and a proximity switch 16 is provided on the pusher plate 14 for controlling the movement of the second slider 8. In addition, a distance measuring module 17 is arranged at one end of the second guide rod 4, and the distance measuring module 17 is used for measuring the distance information of the second slide block 8 when the push plate 14 pushes the book 12.
As shown in fig. 3, the system of the robot for assisting returning books from a library of the present invention further includes a data conversion module 18, a book arrangement position storage module 19, and a navigation positioning device 20, wherein the book bar code scanned by the scanning device is sent to the data conversion module 18 and the book arrangement position storage module 19, the data conversion module 18 obtains the position information of the currently scanned book according to the corresponding information of the pre-stored book storage position and bar code, and the position information is sent to the navigation positioning device 20 and also sent to the book arrangement position storage module 19. After the scanning device finishes scanning codes, the pushing plate 14 moves to the vicinity of the books 12, and at this time, the distance measuring module 17 measures the distance information of the second sliding block 8 and sends the distance information to the book arrangement position storage module 19. The book arrangement position storage module 19 thus obtains the book barcode and the corresponding distance information of the second slider 8.
The navigation positioning device 20 comprises a control module, a constant magnetic field detection circuit, a PWM wave level conversion circuit and a driving motor, wherein the constant magnetic field detection circuit is used for detecting a preset magnetic navigation circuit and feeding back a signal to the control module, the control module controls the PWM wave level conversion circuit to output and controls the driving motor to operate according to the feedback signal and the position information, and the driving motor is used for driving the carrying trolley to move.
As shown in fig. 4 to fig. 6, the specific circuit configuration of the library book return-assisting robot system of the present embodiment includes two major parts, namely, a circuit of the book recognition pushing device and a circuit of the navigation positioning device. The total number of the circuits is 5 power conversion circuits, 2 microcontroller modules, 6 PWM wave level conversion circuits, 12 ordinary I \ O port level conversion circuits, 8 constant magnetic field detection circuits, 2 infrared proximity switch sensor level conversion circuits, 1 infrared distance measurement sensor module connecting circuit, 4 micro switch sensor detection circuits, 2 high-speed CAN isolation transceiver connecting circuits and 1 serial port to 485 communication mode circuit; the 24V power supply conversion circuit is directly powered by a 36V lithium battery, and the output 24V power supply supplies power to the 2 5V power supply conversion circuits, the 4 stepping motor driver modules, the 4 direct current motor driving modules and the configuration screen respectively.
The power supply output by the 5V power supply conversion circuit in the partial circuit of the book identification pushing device supplies power to the 3.3V power supply conversion circuit, the microcontroller module, the 2 infrared proximity switch sensor level conversion circuits, the 4 PWM wave level conversion circuits and the 8 common I \ O port level conversion circuits in the subsystem; a 3.3V power supply conversion circuit in a partial circuit of the book identification and pushing device respectively supplies power to 4 microswitch sensor detection circuits and a serial port to 485 communication mode circuit in the subsystem, and a high-speed CAN isolation transceiver connecting circuit; the power supply output by the 5V power supply conversion circuit in the navigation positioning device partial circuit supplies power to the 3.3V power supply conversion circuit, the microcontroller module, the sensor in the constant magnetic field detection circuit, 4 ordinary I \ O port level conversion circuits and 2 PWM wave level conversion circuits in the subsystem; the power supply output by the 3.3V power supply conversion circuit in the navigation positioning device partial circuit supplies power to the instrument amplifier and the high-speed CAN isolation transceiver connecting circuit in the constant magnetic field detection circuit in the subsystem.
The 5V power supply conversion circuit in the partial circuit of the book identification and pushing device is formed by taking LM2825N-5.0 as a core, and converts the input 24V voltage into stable 5V voltage to be supplied to an on-board computer circuit of the partial circuit of the whole book identification and pushing device for use; the two infrared proximity switch sensors control the control end cathode of a TLP521 type photoelectric coupler in the level conversion circuit where the two infrared proximity switch sensors are located through the output voltage of the infrared proximity switch sensors, so that the output end of the photoelectric coupler outputs a low level when the infrared proximity switch sensors output a high level, and the output end of the photoelectric coupler can output a high level when the infrared proximity switch sensors output a low level; the 4 PWM wave level conversion circuits and the 8 common I \ O port level conversion circuits are all formed by taking a 2N3904 NPN triode as a core, and the level conversion of the triode in two working states of conduction and saturation is controlled through the level conversion of an output pin of the microcontroller module, so that another level conversion circuit can be obtained at the collector electrode of the triode; the 4 microswitch sensor detection circuits are used for connecting the normally open end of the microswitch to +3.3V voltage, connecting the normally closed end of the microswitch to 0V voltage, and detecting the COM end level of the microswitch through a pin of the microcontroller to judge whether the microswitch is closed by other objects or not; in the serial port to 485 communication mode circuit, the core device is a MAX485 chip, and the main function is to connect pins PA2 and PA3 of an embedded chip led out from a microcontroller module with pins 1 and 4 of MAX485, then control the receiving and transmitting working state of the chip by using the high and low level of a common I \ O port of the microcontroller, in order to ensure the reliability of the circuit, a pull-up resistor of 330 ohms is added to 6 pins, a pull-down resistor of 330 ohms is added to 7 pins, and a matching resistor of 120 ohms is added between 6 pins and 7 pins; the high-speed CAN isolation transceiver connecting circuit takes a high-speed CAN isolation transceiver with the model number of CTM8251AT as a core, and a matching resistor of 120 ohms is also added at the output end of the transceiver.
The power supply circuit in the navigation positioning device part circuit is also composed of LM2825N-5.0 as the core, 2 PWM wave level switching circuits and 4 ordinary I \ O port level switching circuits in the system are also all made of NPN triode with model 2N3904 as the core, and the high-speed CAN isolation transceiver connecting circuit is also made of high-speed CAN isolation transceiver with model CTM8251AT as the core, so the circuits under the subsystem are consistent with the corresponding circuits in the book identification pushing device part circuit, and are not described again; in the constant magnetic field detection circuit, a power supply for supplying power to a magnetic resistance detection sensor of the type HMC1021 is +5V, a basic 5-pin control signal is generated by a common I/O port of a microcontroller module, an AD623 single-power instrument amplifier is used as a core for amplifying an output signal of the sensor in the detection circuit, the power supply voltage of the instrument amplifier is 3.3V, the instrument amplifier amplifies the output signal of the sensor by a fixed multiple and then supplies the amplified signal to a sampling channel corresponding to an internal ADC of the microcontroller module for analog quantity acquisition.
The specific operation process of the library book auxiliary returning robot system of the embodiment is as follows: first, the books 12 to be managed are arranged on the support base 11 in a horizontal direction, and the movement of the fourth slider 10 controls the distance between the fourth slider 10 and the shutter 13 to align the books 12. The scanning device scans the first book barcode movably, and the book barcode is sent to the data conversion module 18 and the book arrangement position storage module 19. After the scanning is finished, the second slider 8 moves until the position of the push plate is corresponding to the position of the first book as measured by the proximity switch 16 on the push plate 14, and at this time, the distance information of the second slider 8 is measured by the distance measuring module 17 and is sent to the book arrangement position storage module 19. The push plate 14 is driven by the third slide block 9 to push the book 12 forward for a certain distance to expose the book bar code of the second book, and then the push plate 14 is reset. And repeating the steps until the book bar codes of all the books 12 are scanned and sent to the data conversion module 18 and the book arrangement position storage module 19, and the distance information of the second sliding blocks 8 corresponding to all the books is sent to the book arrangement position storage module 19. The data conversion module 18 stores the running position of the carrying trolley, i.e. the position information of the books, and the corresponding data of the book bar codes, so that the position information of the books can be obtained by the book bar codes, or the book bar codes at the position can be obtained by determining the running position of the carrying trolley. The book arrangement position storage module 19 obtains the information corresponding to the arrangement position of the book bar code and the book on the carrying trolley (the distance information of the second slider 8).
The navigation positioning device 20 drives the carrying trolley to move to a specific position, the navigation positioning device adopts a magnetic navigation technology, the navigation positioning by using the technology is the existing scheme in the prior art, and the specific positioning and driving operation process is not repeated again. When the carrying trolley runs to a certain position, the book bar code belonging to the position can be obtained from the information stored by the data conversion module 18, and further the distance information of the second sliding block 8 can be obtained from the book bar code in the book arrangement position storage module 19. The second slider 8 moves to the position corresponding to the book 12 on the second guide rail 4 according to the distance information of the second slider 8, then the book 12 is pushed out by the push plate 14, the book manager takes out the book, after all the books 12 at the position are pushed out, the carrying trolley moves to the next specific position, and the steps are repeated until all the books 12 are pushed out to complete book management.
Claims (6)
1. The utility model provides a supplementary robot system that returns of library's books which characterized in that: including the carrying trolley, the carrying trolley includes books discernment ejecting device and navigation positioning device, books discernment ejecting device includes:
the supporting mechanism is used for supporting the books to be arranged and stacked;
the bar code scanning module is used for moving and scanning book bar codes along the arrangement direction of the books and comprises a first guide rod extending along the arrangement direction of the books and a first sliding block moving in a matching way with the first guide rod, wherein the first sliding block is provided with a scanning device, and the scanning device scans the book bar codes and sends the book bar codes to the data conversion module;
the book pushing mechanism comprises a second guide rod extending along the arrangement direction of the books and a second sliding block moving in a matched mode with the second guide rod, the second sliding block is provided with a pushing structure, the pushing structure comprises a third guide rod perpendicular to the second guide rod and a third sliding block moving in a matched mode with the third guide rod, and the third sliding block is provided with a push plate used for pushing the books;
the data conversion module is used for receiving the book bar codes, converting the book bar codes into position information and sending the position information to the navigation positioning device;
the book arrangement position storage module and the distance measurement module are used for measuring distance information of the second sliding block when the push plate pushes a book and sending the distance information to the book arrangement position storage module; when the carrying trolley moves to a certain position, all book bar codes corresponding to the position are obtained, the second sliding block is controlled to move by the distance information corresponding to the book bar codes, and the navigation positioning device receives the position information and controls the carrying trolley to move to the corresponding position.
2. The library book assisted return robotic system of claim 1, wherein: the supporting mechanism comprises a supporting bottom plate, a fourth guide rod and a fourth sliding block, the fourth guide rod extends along the arrangement direction of the books, the fourth sliding block moves in a matched mode with the fourth guide rod, a baffle is arranged at the tail end of the fourth guide rod, and the books are arranged between the baffle and the fourth sliding block.
3. The library book assisted return robotic system of claim 1, wherein: the navigation positioning device comprises a control module, a constant magnetic field detection circuit, a PWM wave level conversion circuit and a driving motor, wherein the constant magnetic field detection circuit is used for detecting a preset magnetic navigation circuit and feeding back signals to the control module, the control module controls the output of the PWM wave level conversion circuit and controls the driving motor to operate according to the feedback signals and the position information, and the driving motor is used for driving the carrying trolley to move.
4. The library book assisted return robotic system of claim 1, wherein: and the head end and the tail end of the third guide rod are respectively provided with a first limit switch for limiting the moving range of the third sliding block.
5. The library book assisted return robotic system of claim 1, wherein: the first guide rod and the first sliding block, the second guide rod and the second sliding block, and the third guide rod and the third sliding block are all screw-nut kinematic pairs.
6. The library book assisted return robotic system of claim 2, wherein: and the fourth guide rod and the fourth sliding block are screw nut kinematic pairs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810399726.5A CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810399726.5A CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
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| CN108764393A CN108764393A (en) | 2018-11-06 |
| CN108764393B true CN108764393B (en) | 2021-02-09 |
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| CN201810399726.5A Active CN108764393B (en) | 2018-04-28 | 2018-04-28 | Library book auxiliary returning robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109658640A (en) * | 2019-01-29 | 2019-04-19 | 淡立坚 | A kind of books locking device and bookcase shared system |
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| CN104239569A (en) * | 2014-09-30 | 2014-12-24 | 广东科学技术职业学院 | Intelligent bookcase capable of achieving automatic searching, positioning and ejecting |
| CN106032196A (en) * | 2016-06-13 | 2016-10-19 | 西安交通大学 | Automatic library book returning robot and book returning system thereof |
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| CN206946517U (en) * | 2017-05-18 | 2018-01-30 | 上海第二工业大学 | A kind of intelligent bookshelf system |
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| CN107198364A (en) * | 2016-03-17 | 2017-09-26 | 富泰华工业（深圳）有限公司 | Intelligent bookshelf and the system and method that books are managed using the Intelligent bookshelf |
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| CN104239569A (en) * | 2014-09-30 | 2014-12-24 | 广东科学技术职业学院 | Intelligent bookcase capable of achieving automatic searching, positioning and ejecting |
| CN106032196A (en) * | 2016-06-13 | 2016-10-19 | 西安交通大学 | Automatic library book returning robot and book returning system thereof |
| CN106127640A (en) * | 2016-07-06 | 2016-11-16 | 常熟理工学院 | Campus information management method based on Quick Response Code and system |
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