CN111274465B - Digital twin method for arranging books in unmanned book warehouse pile - Google Patents
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Abstract
The invention discloses a digital twin method for arranging books in an unmanned book warehouse in a stacking manner, which comprises the following steps: the system comprises a stacked book placing mode, an unmanned carrying trolley, a 3D-RGBD depth camera and an RFID scanner. The books on the bookshelf are put in a stacking mode, namely, the books are stacked horizontally and stacked to form a stack, and the distance between the stacks is the same. According to the invention, the unmanned carrying trolley is taken as an autonomous carrier, the 3D-RGBD depth camera and the RFID scanning equipment are carried, and the digital twin biochemistry of three-dimensional positioning information, book text information and book quantity information of all books put on the bookshelf in a stacking manner is realized through the autonomous movement of the unmanned carrying trolley. According to the invention, the digital twin biochemistry of the stacked books can be realized, and the intelligent book taking and returning robot can be effectively guided to realize accurate independent book taking and returning processes of the target stacked books, so that the full unmanned and intelligent large-scale book warehouse system is realized.
Description
Technical Field
The invention relates to a digital twin method for arranging books in a stack manner in an unmanned library, and belongs to the field of large-scale unmanned libraries in large-scale entity libraries.
Background
Digital twin biochemistry is a key technology for constructing an unmanned system and realizing thorough perception of a robot on an unmanned scene, and is a core foundation of the unmanned system with intelligence and dynamic cognitive ability on the unmanned scene. In a large-scale library of a traditional large-scale entity library, due to the fact that a large number of books are placed out of specification, a complete unmanned process of a large-scale library system is difficult to achieve only by means of an RFID (radio frequency identification) wireless radio frequency technology. According to the digital twin method for stacking books in the unmanned book warehouse, disclosed by the invention, the book placing form on a large-scale unmanned book warehouse bookshelf is standardized through the stacking book placing mode, meanwhile, the 3D-RGBD depth camera is innovatively introduced, and the digital twin of stacking books can be realized by combining a traditional RFID scanner, so that the accurate independent book taking and returning processes of a target stacked book can be realized by guiding an intelligent book taking and returning robot, and the complete unmanned and intelligent large-scale book warehouse system can be realized.
According to the digital twin method for stacking books in the unmanned book warehouse, disclosed by the invention, the three-dimensional positioning information, the book quantity information and the book text information of the stacked books at the core are provided for the realization of a large-scale unmanned book warehouse system by utilizing the 3D-RGBD depth camera, the RFID scanner and the unmanned carrying trolley and through the equidistant moving linear scanning process of the unmanned carrying trolley along the bookshelf, the digital twin of all the stacked books on the bookshelf can be finally realized.
Disclosure of Invention
Aiming at the prior art, the invention aims to provide a digital twin method for providing the most core three-dimensional positioning information, the book quantity information and the book text information of the stacked books for the realization of the unmanned book warehouse system.
In order to solve the technical problems, the digital twinning method for arranging books in the unmanned book warehouse in a stacking manner comprises the following steps:
step 1: starting operation of an unmanned carrying trolley, starting a carried 3D-RGBD depth camera, capturing 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of a bookshelf and a piled book, extracting longest horizontal straight line characteristics of the bookshelf, determining a trolley motion track, and performing equidistant moving straight line scanning on the piled book along the bookshelf all the time in the motion process of the unmanned carrying trolley;
step 2: in the moving process of the unmanned carrying trolley, extracting a key frame in 3D-RGBD three-dimensional point cloud data through a 2D target detection algorithm, determining a relative three-dimensional space positioning coordinate system of a target stacked book through normal line and curvature estimation of the point cloud data, and finally determining and obtaining high-precision three-dimensional positioning information of the target stacked book by combining projection rotation transformation of a plane;
step 3: controlling an RFID scanner carried by an unmanned carrying trolley to move to the right front of the target stacked books according to the three-dimensional positioning information of each stacked book obtained in the step 2, determining the book quantity information and the book text information of the target stacked book area by utilizing the directional fixed area scanning of the RFID scanner, and constructing digital twin biochemical mapping from the three-dimensional positioning information of the stacked books to the book quantity information and the book text information;
step 4: judging whether the digital twin tasks of all the stacks of books of the whole bookshelf are completed or not, and if not, returning to the step 1; otherwise, finishing the scanning task of the bookshelf layer and finishing digital twin-biochemistry of all the stacked books on the bookshelf layer.
The invention also includes:
the book is put on a pile in step 1 specifically comprises: the books are horizontally stacked in a stacking mode, a certain distance is kept between the stacks, and a certain height difference is kept between the top surface of each stack of books and the highest position of the bookshelf.
The invention has the beneficial effects that: the invention mainly relates to an autonomous scanning detection process of an unmanned carrying platform along a bookshelf, and a digital twin biochemical process of placing books on the basis of a pile of a 3D-RGBD depth camera and an RFID scanner. The automatic movement of the unmanned carrying trolley with the 3D-RGBD depth camera and the RFID scanner can realize digital twin biochemistry of three-dimensional positioning information, book text information and book quantity information of all stacked books on the bookshelf, and can effectively guide the intelligent book taking and returning robot to realize accurate automatic book taking and returning processes of target stacked books, thereby realizing complete unmanned and intelligent large-scale book library system.
The robot can realize digital twin biochemistry of a large number of stacked books by independently moving the linear scanning process along the bookshelf at equal intervals in an unmanned book library scene, and capture three-dimensional positioning information, book quantity information and book text information of all stacked books. The invention has low realization cost, can be directly transplanted into a large-scale library system of each large-scale entity library, and can effectively solve the unmanned process of the large-scale library system.
Drawings
FIG. 1 is a block diagram of a digital twin biochemical system for arranging books in stacks of unmanned book stores;
FIG. 2 is a book-storage bookshelf-stack book placement mode without humanization;
FIG. 3 is a schematic illustration of an unmanned carrier vehicle;
FIG. 4 is a schematic illustration of an unmanned carriage operation flow;
fig. 5 is an algorithm flow of the digital twin method for arranging books in the unmanned book warehouse.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Referring to fig. 1, the digital twin biochemical system for arranging books in stacks in an unmanned book warehouse has the following structure:
as shown in fig. 1, the digital twin biochemical system structure for stacking books in an unmanned book warehouse mainly comprises a stacked book placing mode and an unmanned carrying trolley, wherein the unmanned carrying trolley is provided with a 3D-RGBD depth camera and an RFID scanner. And the unmanned trolley performs equidistant linear scanning process along the bookshelf according to the longest horizontal linear characteristic of the bookshelf determined by the 3D depth camera, and completes the digital twin biochemical process of the stacked books one by one for each layer of the bookshelf.
After the unmanned trolley starts to work, 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of the bookshelf and the stacked books are captured through the 3D-RGBD depth camera, and three-dimensional positioning information of the target stacked books is determined. Based on the three-dimensional positioning information of the target stacked books, the RFID scanner is moved to complete the directional fixed-area scanning process of the target stacked book areas, so that book quantity information and book text information which are in a mapping relation with the three-dimensional positioning information of the target stacked books are obtained, and the digital twin process of the stacked books is completed.
In connection with fig. 2, the stacked book placement mode:
the stacking book placing mode is shown in fig. 2, the books are stacked horizontally, a certain distance is kept between the stacks, and a certain height difference is kept between the top surface of each stack of books and the highest position of the bookshelf. By adjusting the height of each bookshelf layer, the stacked book placing mode can save 50% -80% of the using space compared with the traditional vertical book placing mode, and the book placing mode is convenient for a large-scale book warehouse system to realize digital twin biochemistry and unmanned mass books while standardizing book placing.
With reference to fig. 3 and 4, the unmanned carrier vehicle operation flow is schematically shown:
as shown in FIG. 3, the unmanned carrying trolley adopts a four-wheel drive and differential steering mode, and realizes 360-degree free in-situ steering in a bookstore environment. The 3D-RGBD depth camera and the RFID scanner can be carried on the unmanned carrying trolley, and the automatic movement control of the trolley depends on detection information of the 3D-RGBD depth camera, namely, according to the detection of the longest horizontal straight line characteristic of the bookshelf, the equidistant movement straight line scanning process of the trolley relative to the bookshelf is realized by combining the gesture of the camera, as shown in fig. 4. The 3D-RGBD depth camera and the RFID scanner carried by the unmanned carrying trolley can be lifted to finish the scanning process of placing books on different layers of the bookshelf.
Referring to fig. 5, an algorithm flow of the digital twin method for placing books in the stack of the unmanned book warehouse is described:
1. the unmanned trolley starts to operate, a 3D-RGBD depth camera is started, 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of books placed on a bookshelf and a pile are captured, longest horizontal straight line characteristics of the bookshelf are extracted, and a trolley moving path is determined. In the movement process, the unmanned carrying trolley always carries out equidistant moving linear scanning process of placing books in a stacking manner along the bookshelf;
2. starting digital twin biochemical operation on all stacked books on a certain bookshelf layer, namely extracting key frames in 3D-RGBD three-dimensional point cloud data through a 2D target detection algorithm, determining a relative three-dimensional space positioning coordinate system of a target stacked book through normal line and curvature estimation of the point cloud data, and finally determining and obtaining high-precision three-dimensional positioning information of the target stacked book by combining projection rotation transformation of a plane;
3. combining three-dimensional positioning information (absolute coordinate system) of each stacked book, controlling an unmanned carrying trolley to carry an RFID scanner, moving to the right front of a target stacked book, and rapidly determining book quantity information and book text information of a target stacked book area by utilizing the directional fixed-area scanning characteristics of the RFID scanner, so as to construct digital twin biochemical mapping from the three-dimensional positioning information of the stacked book to the book quantity information and the book text information;
4. and judging whether the digital twin task of all the stacked books of the whole bookshelf is finished, if not, repeating the process, otherwise, ending the scanning task of the bookshelf, and finally finishing the digital twin task of all the stacked books on the bookshelf.
The specific embodiment of the invention also comprises the following steps:
the invention discloses a digital twin method for arranging books in an unmanned book warehouse stack, which comprises the following steps: the system comprises a stacked book placing mode, an unmanned carrying trolley, a 3D-RGBD depth camera and an RFID scanner. The invention mainly solves the problem of digital twinning of a robot for placing books on a bookshelf in a large-scale library. The books on the bookshelf adopt a stacking mode, namely the books are stacked horizontally, the stacks are kept at the same distance, and the mode is beneficial to realizing digital twin of the books in the large-scale book warehouse and is beneficial to realizing the complete unmanned process of the large-scale book warehouse system. According to the invention, the unmanned carrying trolley is taken as an autonomous carrier, the 3D-RGBD depth camera and the RFID scanning equipment are carried, and the digital twin biochemistry of three-dimensional positioning information, book text information and book quantity information of all books put on the bookshelf in a stacking manner is realized through the autonomous movement of the unmanned carrying trolley. According to the invention, the digital twin biochemistry of the stacked books can be realized, and the intelligent book taking and returning robot can be effectively guided to realize accurate independent book taking and returning processes of the target stacked books, so that the full unmanned and intelligent large-scale book warehouse system is realized.
The digital twin method for arranging books in the unmanned book warehouse in a stacked mode comprises a stacked book arranging mode, an unmanned carrying trolley, a 3D-RGBD depth camera and an RFID scanner.
The book on the bookshelf adopts a stacked book placing mode, namely the book is stacked horizontally with the bookshelf, a certain interval is kept between the stacks, and a certain height difference is kept between the upper top surface of each stack of books and the highest position of the bookshelf.
Unmanned carrier vehicle: and a four-wheel drive and differential steering mode is adopted, so that 360-degree free in-situ steering is realized in a bookstore environment. The autonomous movement control of the trolley depends on detection information of a 3D-RGBD depth camera, namely, according to detection of longest horizontal straight line characteristics of the bookshelf, the movement path of the trolley is determined by combining the gesture of the camera, and the equidistant movement straight line scanning process of the trolley relative to the bookshelf is realized.
3D-RGBD depth camera: the 3D-RGBD depth camera is used as a core detection sensor and used for capturing 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of the bookshelf and the stacked books, so that the three-dimensional geometric characteristics of the bookshelf and the stacked books are extracted, and the accurate three-dimensional positioning of the stacked books is realized. The longest horizontal linear characteristic of the bookshelf is extracted through the 3D-RGBD depth camera, so that the equidistant moving linear scanning process of the unmanned carrying trolley along the bookshelf is realized.
An RFID scanner: according to three-dimensional positioning information of the stacked books, the mobile RFID scanner performs directional fixed-area scanning on the stacked books in the area, and rapidly captures the book quantity information and the book text information of the stacked books in the area, so that digital twin biochemistry of the stacked books is realized.
The digital twin method for arranging books in the unmanned book warehouse stack comprises the following steps:
1. starting operation of an unmanned carrying trolley, starting a 3D-RGBD depth camera, capturing 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of a bookshelf and a book placed in a stacking mode, extracting longest horizontal straight line characteristics of the bookshelf, determining a trolley motion track, and controlling the trolley to perform equidistant moving straight line scanning along the bookshelf;
2. in the moving process of the unmanned carrying trolley, extracting three-dimensional geometric features of the bookshelf and the stacked books according to 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of the bookshelf and the stacked books, so as to realize accurate three-dimensional positioning of the stacked books;
3. combining the three-dimensional positioning information of the stacked books, moving the RFID scanner to perform directional fixed-area scanning on the stacked books in the area, and rapidly capturing the book quantity information and the book text information of the stacked books in the area, thereby realizing digital twin biochemistry of the stacked books.
Claims (2)
1. The digital twin method for arranging books in the unmanned book warehouse stack is characterized by comprising the following steps of:
step 1: starting operation of an unmanned carrying trolley, starting a carried 3D-RGBD depth camera, capturing 2D-RGB color images and 3D-RGBD three-dimensional point cloud data of a bookshelf and a piled book, extracting longest horizontal straight line characteristics of the bookshelf, determining a trolley motion track, and performing equidistant moving straight line scanning on the piled book along the bookshelf all the time in the motion process of the unmanned carrying trolley;
step 2: in the moving process of the unmanned carrying trolley, extracting a key frame in 3D-RGBD three-dimensional point cloud data through a 2D target detection algorithm, determining a relative three-dimensional space positioning coordinate system of a target stacked book through normal line and curvature estimation of the point cloud data, and finally determining and obtaining high-precision three-dimensional positioning information of the target stacked book by combining projection rotation transformation of a plane;
step 3: controlling an RFID scanner carried by an unmanned carrying trolley to move to the right front of the target stacked books according to the three-dimensional positioning information of each stacked book obtained in the step 2, determining the book quantity information and the book text information of the target stacked book area by utilizing the directional fixed area scanning of the RFID scanner, and constructing digital twin biochemical mapping from the three-dimensional positioning information of the stacked books to the book quantity information and the book text information;
step 4: judging whether the digital twin tasks of all the stacks of books of the whole bookshelf are completed or not, and if not, returning to the step 1; otherwise, finishing the scanning task of the bookshelf layer and finishing digital twin-biochemistry of all the stacked books on the bookshelf layer.
2. The digital twinning method for arranging books in an unmanned book bank stack according to claim 1, wherein the method comprises the following steps: the book is put on a pile specifically as follows: the books are horizontally stacked in a stacking mode, a certain distance is kept between the stacks, and a certain height difference is kept between the top surface of each stack of books and the highest position of the bookshelf.
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