CN108960364A - A kind of books are made an inventory the checking method of robot - Google Patents
A kind of books are made an inventory the checking method of robot Download PDFInfo
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- CN108960364A CN108960364A CN201810663635.8A CN201810663635A CN108960364A CN 108960364 A CN108960364 A CN 108960364A CN 201810663635 A CN201810663635 A CN 201810663635A CN 108960364 A CN108960364 A CN 108960364A
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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
- G06K17/0022—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 arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
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Abstract
It makes an inventory the checking method of robot the present invention relates to a kind of books, the robot being applicable in includes fuselage, chassis is located at two fork type elevators that fuselage leans on upper bit two sides, multiple telescopic putters and corresponding motor and RFID sensor, robot controller.Checking method is as follows: according to laser range sensor input signal control books make an inventory robot between bookshelf in channel along central line walk, it is successively read the book number information that all RFID sensors scan, and scanning to book number, corresponding RFID sensor number, robot location's information are uploaded to server.
Description
Technical field
The present invention relates to a kind of quick counting libraries in the robot of shop books, especially has multiple RFID detection
Arm can be scanned simultaneously the multilayer books on robot two sides bookshelf and make an inventory.
Background technique
The framed bent of books check be public library a basic work, mainstream framed bent checks device intelligence at present
Degree is not high, and the efficiency that barcode scanning is checked is very low, and workload is heavy, library once completely frame books make an inventory expend it is very big
Energy leads to many library's framed bents not in time, and the framed bent period is long, the frame position information inaccuracy that book retrieval is shown.According to statistics,
The framed bent accuracy rate of public library is average 80% or so.Reader is caused to look for book inconvenient, hence it is evident that influence readers ' reading experience.
In the line service in library, the sorting of books and to make an inventory most expended in Work of Library Management
The part of manpower and material resources.In face of the so many mistake of quantity, book missing, inevitably slip staff is very careful,
The reader to check out that comes can usually can not find the book for wanting to borrow.Ultrahigh frequency RFID, internet, the Internet of Things, people occurred in recent years
The technologies such as work intelligence, robot provide thinking to solve this problem.These technologies can be integrated, a high efficiency figure is designed
Book make an inventory robot to entire library collection carry out automation make an inventory, check for dislocation books and lose phenomena such as,
Real-time update books location information, inform reader needed for books bookshelf which layer and this layer which, can subtract
The time that few reader searches books can rapidly and accurately sort, figure of making an inventory for the Intelligent Robot of taking care of books
Book helps reader to correctly find desired book.
On the one hand the books robot that makes an inventory can mitigate the pressure of library's routine work, improve librarian's routine work efficiency,
Promote Service Level of Library；On the other hand, the books robot that makes an inventory can greatly reduce library search time of who borrow books,
Promote book borrowing and reading experience.The daily work load in library can be substantially reduced by designing a efficient books robot that makes an inventory,
The reading experience of who borrow books can be promoted again, civic culture level is improved, actively drives the cultural atmosphere of society, thus for sound
Smart library construction is answered, the livable smart city of prosperity is made and contributes.
At home and abroad also there are some researchs and makes an inventory the case of application for Books disorder in the books robot that makes an inventory.It is new to add
A*STAR information and communication graduate researcher in slope has devised a AuRoSS (Autonomous Robotic Shelf
Scanning System) robot can be shuttled automatically at night using laser and B-ultrasound robot in library, leads to
The books of position are lost or are misplaced in RFID tag report on overscanning book.{GB/T 7714Li R,Huang Z,Kurniawan
E,et al.AuRoSS:an autonomous robotic shelf scanning system[C]Intelligent
Robots and Systems(IROS),2015IEEE/RSJ International Conference on.IEEE,2015:
6100-6105.}.Changchun Hai Na software information Technology Co., Ltd. has invented a kind of RFID books and has made an inventory device { patent CN
206484568 U }, this robot provides Route guiding and planning for manual sorting books, but cannot automatically pass through RFID
Scan the dislocation books made an inventory on bookshelf.A kind of book information has been invented by FamTom Hegima Co., Ltd
RFID has been mounted on and has been used to scan not on the bracket that one can slide up and down by automatic acquisition device { 107545284 A of CN }
The high books of same layer, but can not accomplish multilayer books while scan, efficiency is still very low.Library of Nanjing University combined calculation machine
Books of institute's independent research based on ultrahigh frequency RFID are made an inventory robot { patent CN201610049800.1 }, can independently seek
Book is efficiently made an inventory, can be with recharging.Robot carries out independent navigation by laser sensor, liftable by one
RFID read-write antenna successively reads the books on bookshelf, real-time collecting book information by row, and a robot can be read for 1 hour
The accurate information of thousands of remaining volume books.
But the existing books of the above are made an inventory, robot has the characteristics that some common: (1) RFID detector quantity
It is few, library collection can only successively scan by row, robot will do it largely in operation by way of lifting
Repeating motion, working efficiency are lower.(2) up-down mode is gone up and down by way of telescopic rod, machine heavy, nothing greatly
Method meets the requirement under library environment to robot aesthetic measure.It (3) is all to carry out figure by the way of successively traversing by row
Book scans, and has plurality of layers books in robot two sides under library environment, and consuming time is long for such scanning operation mode, effect
Rate is low.In conclusion travel speed is slow since the current books robot that makes an inventory is limited to the continuous recognition speed of RFID,
It is too low to generally use the mode working efficiency successively scanned, it is difficult to realize that efficiently fast books are made an inventory work.
Summary of the invention
The purpose of the present invention is provide a kind of quick books of multi-arm make an inventory robot on the basis of, provide its books and make an inventory
Method.Technical solution is as follows:
A kind of books are made an inventory the checking method of robot, and the quick books of the multi-arm being applicable in are made an inventory robot, including fuselage,
Driving wheel and follower under chassis is arranged in chassis, is located at two fork type elevators that fuselage leans on upper bit two sides,
Multiple telescopic putters and corresponding motor and RFID sensor, robot controller, wherein
Fuselage is provided with the cavity for storing two sides fork type elevator by upper bit, the fork type elevator in every side
Lower section, it is high according to bookshelf layer, it is provided with different holes, for storing each telescopic putter and corresponding motor, is stretched each
The end of contracting push rod is fixed with RFID sensor；
Each fork type elevator includes the scissor-type bracket being arranged on bottom plate, and one end of scissor-type frame bottom passes through
Hinging manner is fixed on bottom plate, and the other end is fixed on pulley, and the one end for going up and down push-rod electric machine is fixedly connected with hinge, another
End is fixedly connected with pulley, and the telescopic band movable pulley by going up and down push-rod electric machine slides on bottom plate realizes fork type elevator
Lifting；In the infalls at different levels of scissor-type bracket, it is respectively fixed with telescopic putter and corresponding motor, in each telescopic putter
Top is respectively fixed with RFID sensor；
It is fixed with laser navigation radar in fuselage roof, is respectively arranged with laser range sensor in chassis two sides；The bottom of at
Disk front is provided with avoiding obstacles by supersonic wave sensor；
The method that books are made an inventory is carried out using such robot to include the following steps:
[1] books make an inventory robot controller load where floor map, open robot each laser ranging pass
Sensor, avoiding obstacles by supersonic wave sensor and laser navigation radar.
[2] books make an inventory robot controller according to the distribution of the bookshelf of present position, floor maps and place floor, planning
The traverse path of Books scanning operation.
[3] books make an inventory robot controller read laser navigation radar data, in conjunction with floor maps, to robot position
It sets and is positioned in real time, independent navigation to bookshelf job site.
[4] according to the input signal of each laser range sensor and laser navigation radar, the position for adjusting robot is arrived
The inlet in targeted scans bookshelf channel.
[5] books make an inventory robot control two sides fork type elevator and each telescopic putter be expanded to suitable position,
It opens all RFID sensors and carries out reading data.
[6] according to laser range sensor input signal control books make an inventory robot between bookshelf in channel it is straight along center
Line walking, is successively read the book number information that all RFID sensors scan.
[7] books make an inventory robot will scanning to book number, corresponding RFID sensor number, robot location's information
It is uploaded to server, books position is compared desk-top server with the books position in library data base, and records mistake
Accidentally position book information.
[8] the books robot that makes an inventory completes the Books scanning of current goal bookshelf, by each laser range sensor and
Laser navigation radar judges whether to reach the end of bookshelf；If not reaching the bookshelf end, weighs step [6] and step [7] carries out
Scan current bookshelf books；If reaching the current bookshelf end, step [9] are carried out.
[9] the books robot that makes an inventory closes the reading data of all RFID sensors, control two sides fork type elevator and
Two sides telescopic putter is shunk into robot shell, avoids that RFID sensor during next row bookshelf is gone to collide bookshelf.
Robot of the invention not only can obtain the information such as sequence number and the position of books with traverse scanning bookshelf；And
It can also be scanned parallel simultaneously by books of the multi-arm to multiple rows of multilayer, more efficient, the distance between RFID sensor spirit
Work is adjustable, is adapted to the high books bookshelf of different layers；In addition the requirement that aesthetics can also be taken into account, when without scanning operation
RFID sensor is contracted in robot shells, RFID sensor is protected, movement is flexible.
Detailed description of the invention
Fig. 1 is that books of the invention are made an inventory the overall structure component part of equipment.
Fig. 2 be books of the invention make an inventory equipment carry out Books scanning operation when, all telescoping mechanisms be unfolded when effect
Figure.
Fig. 3 is the detail structure diagram of fork type elevator of the invention.
Fig. 4 is that fork type elevator of the invention shrinks the effect picture of getting up.
Fig. 5 is the flow chart of positioning navigation method of the present invention.
Fig. 6 is the schematic diagram of present invention tracking between bookshelf.
Fig. 7 be books of the present invention make an inventory work when schematic diagram.
Fig. 8 is that book information scanning of the invention compares process.
Specific embodiment
The present invention will be described with reference to the accompanying drawings and examples.
Referring to figs. 1 to Fig. 5, books provided by the invention are made an inventory robot, and core apparatus mainly includes that books are made an inventory machine
The fork type elevator of people, horizontal extension push rod and motor, RFID sensor, laser range sensor and avoiding obstacles by supersonic wave sensing
Device.
As shown in Figure 1, laser navigation radar 1 is installed on the top of robot.Books make an inventory the robot left and right sides symmetrically,
Every side is fitted with fork type elevator 2, and fork type elevator may contract in shell when robot does not work, and works as robot
When work, fork type elevator can level skid off.Below the fork type elevator at left and right sides of robot, there are three solid for installation
The RFID sensor being scheduled on the horizontal extension push rod on robot body, the respectively RFID above on horizontal extension push rod sense
Device 3, the RFID sensor 4 on middle horizontal extension push rod, the RFID sensor 5 on lower horizontal extension push rod.On robot chassis
The left and right sides, the main drive wheel 6 and preceding follower 9 being separately installed with, rear laser range sensor 7 and preceding laser range sensor
8 are installed on chassis side.In the front on robot chassis, right avoiding obstacles by supersonic wave sensor 10 is installed, middle avoiding obstacles by supersonic wave passes
Sensor 11 and left avoiding obstacles by supersonic wave sensor 12.When robot carries out Books scanning operation, the scissor of Tu1Zhong robot two sides
The telescopic devices such as formula elevator 2 and horizontal extension push rod can fully open, when books make an inventory robot work between bookshelf when,
Fork type elevator 2 is responsible for the books of 4 to 6 layers of two sides bookshelf of scanning, and the RFID sensor 3,4,5 on horizontal extension push rod is distinguished
It is responsible for the books of the 3rd layer, the 2nd layer and the 1st layer of two sides bookshelf of scanning, the completely open effect of these telescopic devices is as shown in Figure 2.
The detail of fork type elevator 2 is as shown in Figure 3 in Fig. 1.Scissor-type bracket 2-1 peace in fork type elevator
On bottom plate 2-2, one end of scissor-type frame bottom is fixed on bottom plate 2-2 by way of hinge 2-3, other end installation
On pulley 2-4.One end of lifting push-rod electric machine 2-5 is fixed on hinge 2-3, and the other end is fixed together with pulley 2-4, is risen
Drop push-rod electric machine 2-5 slides the lifting for realizing fork type elevator by telescopic band movable pulley 2-4 on bottom plate 2-2.In scissor
The infall of the every level-one of formula bracket 2-1 is separately installed with lower telescopic putter motor 2-6, middle telescopic putter motor 2-7 and upper flexible
Push-rod electric machine 2-8 is separately installed with lower RFID sensor 2-9, middle RFID sensor 2-10 on the top of these three push-rod electric machines
With upper RFID sensor 2-11.When robot carries out Books scanning operation, first passes through control lifting push-rod electric machine 2-5 and make three
A RFID sensor 2-9,2-10,2-11 are vertical contour with the 4th, 5,6 layer of books of two sides bookshelf respectively, then control three again
Telescopic putter motor 2-6,2-7,2-8 keep the horizontal distance of three RFID sensors 2-9,2-10,2-11 and books close enough, from
And guarantee the accuracy rate of Books scanning.It works when completing Books scanning, when scissors type elevating frame is contracted to robot enclosure interior,
Its effect is as shown in Figure 4.
Books make an inventory robot checking method include the location navigation of robot, book information scanning compare two portions
Point.
As shown in figure 5, the location navigation of robot is divided into three phases: one, robot goes to place of working by standby starting point
The stage of point bookshelf；Two, robot shuttle tracking between bookshelf carries out the stage of book RFID scanning operation；Three, robot is complete
The stage of standby starting point is returned at scanning.
In the first stage and phase III, robot pass through the laser navigation radar 1 in Fig. 1, and sense of autonomy answers ambient enviroment,
Erect a library the grating map of interior environment.Robot is gone between target point most by gradient descent algorithm, real-time selection
Shortest path.By the avoiding obstacles by supersonic wave sensor 10,11,12 in Fig. 1, it can find a lower height of short distance barrier, avoid
Robot collides with barrier.
As shown in fig. 6, robot reaches between bookshelf, and robot body 13 is between bookshelf along center in second stage
Line 14 travels.Robot relies on the laser range sensor 7,8,15,16 of two sides, road of the sniffing robot apart from bookshelf lower edge
Diameter 17,18,19,20 apart from length, control robot and walk along center line 14.It is super below robot in this stage
Sound wave avoidance radar 10,11,12, the short distance barrier in front of sniffing robot, prevents robot from colliding the barrier in aisle
Hinder object；The long-distance barrier object before and after 1 sniffing robot of laser navigation radar above robot, the movement road of planning robot
Diameter.Robot Books scanning operation is as shown in Figure 7.
It is as shown in Figure 8 that book information scans comparison method.RFID sensor 21 in robot can sense the upper figure of bookshelf
Book labels 23 in book 22 read the book number in book labels.RFID sensor 21 is compiled books by wired connection
The data processing unit 24 number being transferred in robot, data processing unit 24 in robot is by book number, scanning to should
The RFID sensor number of book number, the information such as bookshelf position in library pass through wireless network together at present for robot
It is sent to the desk-top server 25 in library in real time, desk-top server 25 will be in the location information of books and library data base 26
Books position be compared, the book information of placement position mistake is retained to get up by desk-top server 25.
Books of the invention robot workflow of making an inventory is as described below:
[1] books make an inventory robot be parked in it is fully charged in library, wait library close shop.
[2] after library closes shop, books make an inventory robot load where floor map, open robot on Laser Measuring
Away from sensors such as sensor 7,8,15,16, avoiding obstacles by supersonic wave sensor 10,11,12, laser navigation radars 1.
[3] books make an inventory robot according to the distribution of the bookshelf of present position, floor maps and place floor, and planning books are swept
Retouch the traverse path of operation.
[4] books robot controller of making an inventory reads the data of laser navigation radar 1, in conjunction with the map of library's floor,
Robot location is positioned in real time, independent navigation to bookshelf job site.
[5] by laser range sensor 7,8,15,16 and laser navigation radar 1, the position of fine tuned robot to target
Scan the inlet in bookshelf channel.
[6] books make an inventory robot control two sides fork type elevator 2 and 12 horizontal extension push rod on RFID pass
Sensor is expanded to suitable position, opens the reading data of all RFID sensors.
[7] by laser range sensor 7,8,15,16 control books make an inventory robot between bookshelf in channel along center
Straight line 14 is walked, and the book number information that all RFID sensors scan is successively read.
[8] scanning is arrived book number, corresponding RFID sensor number, robot by the data processing unit 24 of robot
The information such as position are uploaded to the desk-top server 25 in library.Desk-top server 25 will be in books position and library data base 26
Books position is compared, and misregistration position book information.
[9] the books robot that makes an inventory completes the Books scanning of current goal bookshelf, by laser range sensor 7,8,15,
16 and laser navigation radar 1 judge whether robot reaches the end of bookshelf；If not reaching the bookshelf end, weigh step [7] and
Step [8] is scanned current bookshelf books；If reaching the current bookshelf end, step [10] are carried out.
[10] the books robot that makes an inventory closes the reading data of all RFID sensors, controls robot two sides scissor-type liter
Drop machine 2 and the two sides sensor of horizontal extension RFID3,4,5 are shunk into robot shell, avoid going to during next row bookshelf
RFID sensor collides bookshelf.
[11] the Books scanning traverse path planned according to step [3], is gone to using 1 navigating robot of laser navigation radar
The inlet in next target bookshelf channel.
[12] step [5]-[10] are repeated, until completing the Books scanning operation of all bookshelves in library.
[13] by laser navigation radar 1, the standby point for navigating to robot carries out automatic charging.
[14] robot completes the Books scanning operation on the same day, closes all the sensors, and next day library is waited to close
It is continued to scan on when shop.
The robot in short, books of the invention are made an inventory is mounted with 12 RFID sensors, can be scanned work parallel simultaneously
Industry controls the lifting of RFID sensor by way of foldable telescopic frame, when without Books scanning operation, appearance
It is similar with general robot；When carrying out Books scanning operation, RFID sensor is released by machine by foldable telescopic frame
People's shell carries out Books scanning operation, can be controlled separately the flexible of 12 RFID sensor horizontal directions, improves work effect
Rate.
Claims (1)
- The checking method of robot 1. a kind of books are made an inventory, the quick books of the multi-arm being applicable in are made an inventory robot, including fuselage, bottom Driving wheel and follower under chassis is arranged in disk, is located at two fork type elevators that fuselage leans on upper bit two sides, more A telescopic putter and corresponding motor and RFID sensor, robot controller, whereinFuselage is provided with the cavity for storing two sides fork type elevator by upper bit, under the fork type elevator of every side Side, it is high according to bookshelf layer, it is provided with different holes, for storing each telescopic putter and corresponding motor, each flexible The end of push rod is fixed with RFID sensor；Each fork type elevator includes the scissor-type bracket being arranged on bottom plate, and one end of scissor-type frame bottom passes through hinge Mode is fixed on bottom plate, and the other end is fixed on pulley, and the one end for going up and down push-rod electric machine is fixedly connected with hinge, the other end with Pulley is fixedly connected, and the telescopic band movable pulley by going up and down push-rod electric machine slides the liter for realizing fork type elevator on bottom plate Drop；In the infalls at different levels of scissor-type bracket, it is respectively fixed with telescopic putter and corresponding motor, on the top of each telescopic putter End is respectively fixed with RFID sensor；It is fixed with laser navigation radar in fuselage roof, is respectively arranged with laser range sensor in chassis two sides；Before chassis Portion is provided with avoiding obstacles by supersonic wave sensor；The method that books are made an inventory is carried out using such robot to include the following steps:[1] books make an inventory robot controller load where floor map, open each laser range sensor of robot, Avoiding obstacles by supersonic wave sensor and laser navigation radar；[2] books make an inventory robot controller according to the distribution of the bookshelf of present position, floor maps and place floor, plan books The traverse path of scanning operation；[3] books robot controller of making an inventory reads the data of laser navigation radar, in conjunction with floor maps, to robot location into Row positioning in real time, independent navigation to bookshelf job site；[4] according to the input signal of each laser range sensor and laser navigation radar, the position of robot is adjusted to target Scan the inlet in bookshelf channel；[5] books make an inventory robot control two sides fork type elevator and each telescopic putter be expanded to suitable position, open All RFID sensors carry out reading data；[6] according to laser range sensor input signal control books make an inventory robot between bookshelf in channel along central line row It walks, is successively read the book number information that all RFID sensors scan；[7] books are made an inventory, and robot numbers scanning to book number, corresponding RFID sensor, robot location's information uploads To server, books position is compared desk-top server with the books position in library data base, and misregistration position Set book information；[8] books make an inventory robot complete current goal bookshelf Books scanning, pass through each laser range sensor and laser Pathfinder judges whether to reach the end of bookshelf；If not reaching the bookshelf end, heavy step [6] and step [7] are scanned Current bookshelf books；If reaching the current bookshelf end, step [9] are carried out；[9] the books robot that makes an inventory closes the reading data of all RFID sensors, controls two sides fork type elevator and two sides Telescopic putter is shunk into robot shell, avoids that RFID sensor during next row bookshelf is gone to collide bookshelf.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111814935A (en) * | 2020-08-27 | 2020-10-23 | 天津德沃尔智能科技有限公司 | Book positioning method based on checking robot |
| CN111947657A (en) * | 2020-06-12 | 2020-11-17 | 南京邮电大学 | Mobile robot navigation method suitable for dense bent frame environment |
| CN112656135A (en) * | 2021-01-05 | 2021-04-16 | 杭州京胜航星科技有限公司 | Archives intelligent management storage device |
| CN115439069A (en) * | 2022-09-24 | 2022-12-06 | 北京融安特智能科技股份有限公司 | Intelligent checking method, device and equipment for unmanned archive warehouse and storage medium |
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Application publication date: 20181207 |