CN112318500A - High-precision book grabbing method based on library dynamic space foundation - Google Patents
High-precision book grabbing method based on library dynamic space foundation Download PDFInfo
- Publication number
- CN112318500A CN112318500A CN202011118068.1A CN202011118068A CN112318500A CN 112318500 A CN112318500 A CN 112318500A CN 202011118068 A CN202011118068 A CN 202011118068A CN 112318500 A CN112318500 A CN 112318500A
- Authority
- CN
- China
- Prior art keywords
- book
- distribution robot
- mechanical arm
- bookshelf
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-precision book grabbing method based on a library dynamic space foundation, which comprises the following steps of: the book management background checks a book delivery robot; the book distribution robot moves to an initial position for standby; the book management background collects order information and sends the order information to the book distribution robot; the book distribution robot carries out path planning according to the order information; the book distribution robot moves to a specified bookshelf according to the planned path and executes a three-level positioning program; the book distribution robot executes a program of grabbing books by the manipulator and stores the grabbed books to a temporary storage bookshelf carried by the book distribution robot; judging whether all the orders are finished or not, and if not, executing the grabbing task of the next book; and if the order is finished, returning to the initial position to wait for receiving new order information. The invention has the advantages of low modification cost of the existing library, good user interaction experience, short waiting time and the like, and has great economic and social effects.
Description
Technical Field
The invention belongs to the field of intelligent libraries, and particularly relates to a high-precision book grabbing method based on a library dynamic space foundation.
Background
In recent years, with the rapid development of the book industry, the types of books and documents are increasing, and in order to facilitate the reading of books, most of the existing books are stored on a bookshelf, so that the bookshelf also becomes an essential device in places such as a library. The space of a plurality of books of depositing is provided with usually on the support body of traditional bookshelf, conveniently insert and put all kinds of different books, in order to utilize the space in the bookshelf furthest, books generally adopt vertical mode side by side to place, look up for making things convenient for the reader, generally all place the books of the same kind together, because books of different kinds all are in the position of same row, generally press from both sides between the adjacent books tighter, do not have the space that can supply to take, it is very inconvenient to take, and after books are taken out, original space is taken up by other books easily, it is more difficult to lead to books to insert the normal position once more, just so lead to the reader can insert books in the position of placing easily when returning books, make the position of books change easily, be not convenient for looking up of the same management and the reader of a large amount of books.
In view of the above problems of the conventional bookshelves, the related art has also proposed many improvements. For example, the Chinese patent number ZL201520242335.4, the granted announcement date is 2015, 8 and 19, and the invention creation name is as follows: the utility model provides a book case, this application relates to a book case, and the intelligent cabinet temperature adjusting device comprises a cabinet body, the internal book box that a plurality of set up side by side that is equipped with of cabinet, book box can be moved out by the internal of cabinet, and the bottom of every book box is equipped with can be with its ejecting device who moves out from the internal of cabinet, and ejecting device is including seting up the rectangle recess on the book box bottom surface, fixedly connected with rack in the recess, and the transmission is connected with drive gear on the rack, the slotted hole has been seted up on the baffle, drive gear rotates to be connected in the slotted hole, and the internal drive gear pivoted drive arrangement that can drive every book. This patent application adopts the shift fork to switch gear engagement position and realizes that motor drive book box releases, be equipped with a plurality of book boxes in one row, need adjust the shift fork to corresponding position earlier when getting the book and go out, then at the starter motor, make the book box released by the transmission, this kind of mode operation is comparatively loaded down with trivial details, and in bookshelf longer term, the distance that needs the reader to remove the shift fork is very long, it is more loaded down with trivial details to operate, lead to getting the book efficiency very low, and the blocking between the intermediate gear also can make the shift fork remove unsmoothly, the influence is got book operation and is normally gone on, the practicality is not strong.
As another example, chinese patent application No. 201710296774.7, published as 2017, 4 and 28, the name of the invention is: the utility model provides an intelligence propelling movement bookshelf, the intelligence propelling movement bookshelf of this application includes the bookshelf body, is provided with on the bookshelf body and puts the book groove, is equipped with the slide rail in the bottom of putting the book groove, is equipped with the bracket in putting the book inslot, and the bracket includes backplate and bottom plate, is provided with the pulley in the bottom of bottom plate, and the slide rail back-and-forth movement can be followed to the bottom plate, is provided with hydraulic pressure pusher at the backplate rear portion, and hydraulic pressure pusher is controlled by servo motor, is provided with the controller in this internal bookshelf, controller control servo motor. This application can realize the automatic propelling movement of books for books are taken more conveniently, but it all need set up servo motor and hydraulic pressure pusher at every book groove rear portion of putting, and structural design is comparatively complicated, and the cost of manufacture is very high, and is equally relatively poor in the practicality.
The intelligent transformation in-process in current library has following problem: the space positions of books are messy and unfixed, the thickness of the books is uneven, the size difference of the books is large, the absolute size of the books is small, readers in a hall and an execution machine mutually influence each other, the automation degree is low, the user interaction experience is poor, and the like.
Disclosure of Invention
The invention aims to provide a high-precision book grabbing method based on a library dynamic space foundation, aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a high-precision book grabbing method based on a library dynamic space foundation comprises the following steps:
s1, checking the book distribution robot by the book management background (checking every day);
s2, the book distribution robot moves to the initial position for standby;
s3, the book management background collects order information and sends the order information to the book distribution robot;
s4, the book distribution robot carries out path planning according to the order information;
s5, the book distribution robot moves to a designated bookshelf according to the planned path, and a three-level positioning program is executed;
s6, the book distribution robot executes a book grabbing program of the manipulator and stores the grabbed books on a temporary storage bookshelf carried by the book distribution robot;
s7, judging whether all orders are finished, if not, returning to the step S5 to execute the grabbing task of the next book; if all orders have been completed, the process returns to step S2 to wait for receiving new order information.
Specifically, step S1 specifically includes:
s11, detecting basic functions of the book distribution robot: the book management background sends a starting signal to the book distribution robot, and the book distribution robot sends a first feedback signal to the book management background after receiving the starting signal; if the book management background does not receive the first feedback signal within 5 seconds, judging that the book distribution robot signals or has a power-on fault, and informing a librarian to check the book distribution robot fault; if the book management background receives the first feedback signal within 5 seconds, checking the residual electric quantity, and if the residual electric quantity is less than 12Ah, informing a librarian that the electric quantity is too low and the book distribution robot needs to be charged; if the residual electric quantity is larger than 12Ah, the book distribution robot sends a second feedback signal to the book management background;
s12, calibrating the motion parameters of the book distribution robot: the distribution robot moves forwards/backwards for 3 seconds, and the angular displacement sensor at the wheel records the angular displacement of the linear forward/backward movement of the distribution robot; comparing the recorded angular displacement with a preset angular displacement of the delivery robot moving linearly for 3 seconds, and if the difference value is greater than 0.1%, informing a librarian of the fault of the delivery robot; if the difference value is less than 0.1%, the distribution robot sends a third feedback signal to the book management background;
s13, calibrating the mechanical arm motion parameters of the book distribution robot: the mechanical arm moves linearly for 2 seconds, and linear displacement of the mechanical arm in linear motion is recorded through a linear displacement sensor arranged at a linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the mechanical arm which moves linearly for 2 seconds, and if the difference is greater than 0.1%, informing a librarian of the mechanical arm fault; if the difference is less than 0.1%, executing the rotation movement of the mechanical arm for 1 second, and recording the angular displacement of the rotation movement of the mechanical arm through an angular displacement sensor arranged at a rotation motor of the mechanical arm; comparing the recorded angular displacement with a preset angular displacement of 1 second of the rotary motion of the mechanical arm, and if the difference value is more than 0.1%, informing a librarian of the fault of the mechanical arm; and if the difference value is less than 0.1%, the distribution robot sends a fourth feedback signal to the book management background.
Specifically, in step S2, the method for the dispensing robot to move to the initial position to wait includes: scanning a mark point arranged at the initial position of the ground of the library through a camera arranged at the bottom of the distribution robot, and if the camera does not scan the mark point, moving the distribution robot along a Chinese character 'hui' -shaped outward expansion path until the mark point is scanned; and if the camera scans the mark point, the distribution robot sends a fifth feedback signal to the book management background.
Specifically, in step S3, the book management backend collects the user order information, and checks whether the number of orders is greater than 20 or the total number of books in the order is greater than 40 every one minute; and if the number of the orders is more than 20 or the total number in the orders is more than 40, the book management background packs the order information and the corresponding book information and sends the packed information to the book distribution robot.
The order information includes: a user account number, a book identification code and a position number of a storage bookshelf; the book information includes: book serial numbers, book thicknesses, book corresponding bookshelf serial numbers and positions thereof, and book corresponding positioning module serial numbers on the bookshelf.
Specifically, in step S4, the method for the book distribution robot to perform path planning includes: the method comprises the steps of firstly constructing a static map in the whole library, then projecting bookshelf position information corresponding to books to be grabbed in an order onto the static map, obtaining the shortest path of the current floor through a Dixoskra algorithm, and judging whether the current floor is the last floor. If not, analyzing the next floor to obtain the shortest path of the next floor until obtaining the shortest paths of all floors needing to be traversed. And splicing the shortest paths of all floors by combining the floor traversal sequence to finally obtain the global shortest path.
The static map includes: the position information and the width of each floor passageway, the position of an elevator, the position and the size information of a sundry placing area, the position and the size information of each bookshelf and the positioning point information corresponding to each bookshelf;
the position information comprises the floor where the books are located, the bookshelf where the books are located, and the coordinates (the row and the column) on the bookshelf where the books are located;
the method for determining the floor traversing sequence comprises the following steps: the method comprises the steps of generating spatial position data of books in an order by obtaining position information in an order information data packet, classifying the books according to floors, judging floors needing to go to (which floors needing to go to in total), and obtaining the best floor traversing sequence through an elevator dispatching algorithm by combining the floor where a delivery robot is located at the moment;
specifically, in step S5, the process of the book distribution robot moving to the designated bookshelf according to the planned path includes:
accurate positioning process: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models to a static map to obtain the absolute position and relative position relation of the book distribution robot in a library; calculating a driving state parameter of the book distribution robot according to the coordinate data in the static map and the obtained position information; meanwhile, displacement data of the book distribution robot are detected in real time through an angular displacement sensor on a wheel of the book distribution robot, and the displacement data are used for correcting position information of the book distribution robot;
dynamic map construction process: in the moving process of the distribution robot, acquiring object information in a visual field in real time through a binocular vision camera system arranged in front of the distribution robot, and projecting the acquired object information onto a static map, namely constructing a dynamic map; extracting the spatial features of the labels through binocular vision, classifying, marking, coding, establishing a model, then establishing label images for spatial retrieval and positioning, extracting the features, calculating the similarity, clustering coordinates, and finally classifying. Finally, object information in the visual field can be obtained through the camera.
Automatic obstacle avoidance process: in the process that the distribution robot moves according to a preset path, the laser radar arranged around the distribution robot periodically (every 2s) detects the information of obstacles in the range of 20cm around the distribution robot, if the obstacles are detected, the distribution robot immediately stops moving, and meanwhile, an alarm on the distribution robot is started; if no obstacles exist around the robot detected by the laser radar within 20 seconds, the robot continues to move according to the preset path; if the laser radar detects that obstacles exist around after 20 seconds, the distribution robot detours leftwards/rightwards and then returns to a preset path to move continuously;
automatic elevator taking process: when the distribution robot moves to the front of the elevator on the current floor according to the preset path, the distribution robot sends a confirmation signal and the information of the next floor to be visited to the elevator control module, the elevator control module checks the current direction after receiving the signal, and if the current direction of the elevator is not consistent with the direction of the floor to be visited by the distribution robot, the distribution robot waits for 1 minute and then checks the current direction; if the residual space in the elevator meets the requirement of entering the distribution robot, the elevator control module checks whether the residual space in the elevator meets the requirement of entering the distribution robot, and if not, the elevator control module waits for 1 minute and then checks; if the situation is met, the elevator control module controls the elevator car door to be opened on the floor where the delivery robot is located; the distribution robot enters the elevator, after the elevator reaches the floor to which the distribution robot goes, the elevator car door is opened, and the distribution robot exits the elevator.
Specifically, in step S5, the tertiary positioning procedure includes:
a first-level positioning process: the book distribution robot runs to a bookshelf front positioning point corresponding to a book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans a bookshelf positioning identification strip arranged on the ground in front of a bookshelf, and if the bookshelf positioning identification strip is not scanned in the current visual field of the camera, the distribution robot moves according to a 'return' -shaped outward-expanding path until the bookshelf positioning identification strip is scanned;
a secondary positioning process: the mechanical arm of the book distribution robot is rotated to a preset orientation, an orientation identification strip which is positioned on the bookshelf right in front of the book distribution robot is scanned through a camera at the tail end of the mechanical arm, and if the orientation identification strip is not scanned in a visual field, the mechanical arm is gradually rotated anticlockwise until the orientation identification strip is scanned; the mechanical arm is lifted to a preset layer height according to the layer number of the bookshelf where the book is located, then the height positioning identification strip on the bookshelf is scanned through a camera at the tail end of the mechanical arm, if the height positioning identification strip is not scanned in a visual field, the mechanical arm moves up and down by taking the current height as an original point, and the moving range is gradually expanded until the height positioning identification strip is scanned;
a third-level positioning process: scanning a bar code on a bookshelf through a camera at the tail end of the mechanical arm to obtain a book identification code stored in the bar code, comparing whether the obtained book identification code is consistent with the book identification code to be grabbed or not, if not, scanning again and comparing after the book distribution robot moves transversely for 5cm until the book identification code obtained by scanning is consistent with the book identification code to be grabbed; the book distribution robot sends a sixth feedback signal to a bookshelf where a book to be grabbed is located, after the bookshelf receives the information, 3 laser transmitters (the arrangement of the 3 laser transmitters is in an inverted triangle) on a book positioning module corresponding to the book to be grabbed on the bookshelf are started, whether any corresponding laser signal is received by three signal receivers at the tail end of the mechanical arm is detected, if any corresponding laser signal is not received, the mechanical arm moves according to a 'return' shape outward expansion path until any corresponding laser signal is received; and detecting whether the three signal receivers at the tail end of the mechanical arm all receive corresponding laser signals, if not, rotating the tail end of the mechanical arm clockwise/anticlockwise by 0.2 degrees, and gradually enlarging the rotating angle until the three signal receivers at the tail end of the mechanical arm all receive the corresponding laser signals.
Specifically, in step S6, the book distribution robot executes the procedure of grabbing the book by the manipulator as follows: controlling the opening distance of the manipulator according to the thickness information of the books in the order information, then controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure or not through a pressure sensor on the inner side of the manipulator, and if not, gradually clamping the manipulator until the current pressure detected by the pressure sensor reaches the preset pressure; and finally, the mechanical arm clamps the books and longitudinally draws the books out along the bookshelf.
Corresponding to the grabbing method, the invention also provides a high-precision book grabbing system based on the library dynamic space foundation, which comprises a book distribution robot, library hardware facilities and an intelligent bookshelf;
the book distribution robot comprises a distribution trolley and a mechanical arm;
the distribution trolley comprises a trolley body, wheels and temporary storage bookshelves, and the temporary storage bookshelves are arranged around the trolley body in a surrounding mode;
the wheels are provided with angular displacement sensors for detecting and calibrating the motion parameters of the trolley and providing auxiliary parameters for positioning the trolley;
the vehicle body is provided with a signal receiver, a laser radar, an alarm and a camera (arranged at the bottom of the vehicle);
the laser radar is arranged right in front of the vehicle body;
the mechanical arm comprises an information processing module, a mechanical arm and a signal receiver-transmitter;
the manipulator is provided with a camera, a laser receiver, an angular displacement sensor and a linear displacement sensor;
the laser receivers comprise a first laser receiver, a second laser receiver and a third laser receiver, the receiving frequencies of the first laser receiver, the second laser receiver and the third laser receiver are fixed and different from each other, and the first laser receiver, the second laser receiver and the third laser receiver are all arranged at the lower end of the manipulator;
the angular displacement sensor is arranged at a rotating shaft of the mechanical arm and used for detecting the rotation of the mechanical arm, so that the motion parameters of the mechanical arm are calibrated and auxiliary parameters are provided for the positioning of the mechanical arm;
the linear displacement sensor is arranged at a connecting rod of the mechanical arm and used for detecting the motion of the mechanical arm, so that the motion parameters of the mechanical arm are calibrated and auxiliary parameters are provided for the positioning of the mechanical arm;
the library hardware comprises mark points arranged at the initial position of the trolley, an intelligent elevator, a bookcase for storing and taking books and a book management background;
the initial position of the trolley is arranged at the position of the fixed ground of the library and serves as the initial moving point of the book distribution robot, a positioning identification strip is attached to the initial moving point, and scanning detection is carried out through a camera at the bottom of the trolley;
the intelligent elevator comprises a signal receiver and an elevator control module;
the signal receiver is used for interacting with the trolley and is arranged on the elevator control panel of each floor;
the book management background comprises an information processing module and a signal receiver;
the intelligent bookshelf comprises a positioning identification strip at the initial position of the bookshelf, a book information module and a signal transceiver;
the positioning identification strip at the initial position of the bookshelf is attached to a fixed position on the front ground of the bookshelf and is scanned and identified by a vehicle bottom camera;
the book information module comprises a bar code and a laser transmitter, is arranged on a shelf of the bookshelf and corresponds to books one by one;
the bar code is pasted in the middle of the book information module, and the book identification code can be read after the bar code is scanned by a mechanical arm camera;
the laser transmitters comprise a first laser transmitter, a second laser transmitter and a third laser transmitter, the frequencies of the lasers transmitted by the laser transmitters are fixed and different from each other, and the lasers are in one-to-one correspondence with the laser receivers; the first laser transmitter corresponds to the first laser receiver; the second laser transmitter corresponds to the second laser receiver; the third laser transmitter corresponds to a third laser receiver;
the intelligent bookshelf is also provided with a height identification strip and an orientation identification strip;
the orientation identification strips are arranged at the initial positions of the bookshelf and are longitudinally arranged on the bookshelf, and the orientation identification strips are scanned by a camera at the tail end of the mechanical arm to determine the orientation of the mechanical arm;
the height marking strips are arranged at the initial positions of the bookshelf, and each layer of shelf is provided with a device for scanning the height marking strips through a camera at the tail end of the mechanical arm so as to determine the height of the mechanical arm.
Compared with the prior art, the invention has the beneficial effects that: (1) according to the book distribution robot, the book management background checks the book distribution robot every day, so that the working reliability of the distribution robot is ensured, the fault rate of the distribution robot is reduced, and the service quality is improved; (2) according to the invention, the static map of the library is constructed, the position information and the book information of the books are obtained according to the order information, and the optimal path is planned for the book distribution robot by using the Dixort algorithm, so that the distribution efficiency is improved; (3) the book distribution robot has an automatic obstacle avoidance function, so that the influence of a trolley on the front of a pedestrian in a library can be effectively avoided, the distribution efficiency is improved, and the automation degree of the distribution robot is optimized; (4) according to the invention, by setting a three-stage positioning program, the relative position of the delivery robot and the target bookshelf is firstly positioned, the orientation and the height of the mechanical arm are then positioned, and finally the relative position of the mechanical arm and the target book is positioned, so that the positioning precision of clamping the target book by the mechanical arm is greatly improved.
Drawings
FIG. 1 is a schematic flow chart of a high-precision book grabbing method based on a library dynamic space basis according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a basic function testing process of a distribution robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a process for calibrating a motion parameter of a dispensing robot according to an embodiment of the present invention;
FIG. 4 is a schematic view of a robot arm motion parameter calibration process according to an embodiment of the present invention;
FIG. 5 is a schematic view of the flow chart of order information collection in the book management background according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a floor sequence determination process according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a path planning process according to an embodiment of the present invention;
FIG. 8 is a schematic view of an automatic obstacle avoidance process of a delivery trolley according to an embodiment of the present invention;
FIG. 9 is a schematic flow chart of the automatic taking elevator of the book distribution robot in the embodiment of the present invention;
FIG. 10 is a schematic view of a first-level positioning process of the book distribution robot in the embodiment of the present invention;
FIG. 11 is a schematic view of a secondary positioning process of the book distribution robot in the embodiment of the present invention;
FIG. 12 is a schematic view of a three-stage positioning process of the book distribution robot in the embodiment of the present invention;
FIG. 13 is a schematic view illustrating a flow of a book delivering robot manipulator precisely grabbing a book according to an embodiment of the present invention;
FIG. 14 is a schematic block diagram of the hardware components of the high-precision book grabbing system according to the embodiment of the present invention;
FIG. 15 is a block diagram showing the hardware components of the book distribution robot in the embodiment of the present invention;
FIG. 16 is a block diagram illustrating the hardware components of a library in an embodiment of the invention;
FIG. 17 is a schematic block diagram of the hardware components of the intelligent bookshelf according to the embodiment of the invention;
FIG. 18 is a diagram illustrating an "Hui" font outward expansion path according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the embodiment provides a high-precision book grabbing method based on a library dynamic space foundation, which includes the following steps:
s1, checking the book distribution robot by the book management background (checking every day);
s2, the book distribution robot moves to the initial position for standby;
s3, the book management background collects order information and sends the order information to the book distribution robot;
s4, the book distribution robot carries out path planning according to the order information;
s5, the book distribution robot moves to a designated bookshelf according to the planned path, and a three-level positioning program is executed;
s6, the book distribution robot executes a book grabbing program of the manipulator and stores the grabbed books on a temporary storage bookshelf carried by the book distribution robot;
s7, judging whether all orders are finished, if not, returning to the step S5 to execute the grabbing task of the next book; if all orders have been completed, the process returns to step S2 to wait for receiving new order information.
Specifically, step S1 specifically includes:
s11, as shown in FIG. 2, book distribution robot basic function detection: the book management background sends a starting signal to the book distribution robot, and the book distribution robot sends a first feedback signal to the book management background after receiving the starting signal; if the book management background does not receive the first feedback signal within 5 seconds, judging that the book distribution robot signals or has a power-on fault, and informing a librarian to check the book distribution robot fault; if the book management background receives the first feedback signal within 5 seconds, checking the residual electric quantity, and if the residual electric quantity is less than 12Ah, informing a librarian that the electric quantity is too low and the book distribution robot needs to be charged; if the residual electric quantity is larger than 12Ah, the book distribution robot sends a second feedback signal to the book management background;
s12, as shown in FIG. 3, the book distribution robot motion parameter calibration: the distribution robot moves forwards/backwards for 3 seconds, and the angular displacement sensor at the wheel records the angular displacement of the linear forward/backward movement of the distribution robot; comparing the recorded angular displacement with a preset angular displacement of the delivery robot moving linearly for 3 seconds, and if the difference value is greater than 0.1%, informing a librarian of the fault of the delivery robot; if the difference value is less than 0.1%, the distribution robot sends a third feedback signal to the book management background;
s13, as shown in FIG. 4, the mechanical arm movement parameters of the book distribution robot are calibrated: the mechanical arm moves linearly for 2 seconds, and linear displacement of the mechanical arm in linear motion is recorded through a linear displacement sensor arranged at a linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the mechanical arm which moves linearly for 2 seconds, and if the difference is greater than 0.1%, informing a librarian of the mechanical arm fault; if the difference is less than 0.1%, executing the rotation movement of the mechanical arm for 1 second, and recording the angular displacement of the rotation movement of the mechanical arm through an angular displacement sensor arranged at a rotation motor of the mechanical arm; comparing the recorded angular displacement with a preset angular displacement of 1 second of the rotary motion of the mechanical arm, and if the difference value is more than 0.1%, informing a librarian of the fault of the mechanical arm; and if the difference value is less than 0.1%, the distribution robot sends a fourth feedback signal to the book management background.
Specifically, in step S2, the method for the dispensing robot to move to the initial position to wait includes: scanning a mark point arranged at the initial position of the ground of the library through a camera arranged at the bottom of the distribution robot, if the camera does not scan the mark point, moving the distribution robot according to a 'return' shape outward expansion path (as shown in figure 18), and expanding the search distance of 5cm outwards each time until the mark point is scanned; and if the camera scans the mark point, the distribution robot sends a fifth feedback signal to the book management background. After the book management background checking book distribution robot flow once a day is completed, the robot waits for order information to be transmitted in at an initial point in a standby mode; and after completing one order, the robot returns to the initial point to wait for the next order information to be transmitted.
Specifically, as shown in FIG. 5, in step S3, the book management background collects the user' S order information and checks whether the number of orders is greater than 20 or the total number of books in the order is greater than 40 every minute; and if the number of the orders is more than 20 or the total number in the orders is more than 40, the book management background packs the order information and the corresponding book information and sends the packed information to the book distribution robot.
The order information includes: a user account number, a book identification code and a position number of a storage bookshelf; the book information includes: book serial numbers, book thicknesses, book corresponding bookshelf serial numbers and positions thereof, and book corresponding positioning module serial numbers on the bookshelf.
Specifically, in step S4, as shown in fig. 7, the method for the book distribution robot to perform path planning includes: the method comprises the steps of firstly constructing a static map in the whole library, then projecting bookshelf position information corresponding to books to be grabbed in an order onto the static map, obtaining the shortest path of the current floor through a Dixoskra algorithm, and judging whether the current floor is the last floor. If not, analyzing the next floor to obtain the shortest path of the next floor until obtaining the shortest paths of all floors needing to be traversed. And splicing the shortest paths of all floors by combining the floor traversal sequence to finally obtain the global shortest path.
The static map includes: the position information and the width of each floor passageway, the position of an elevator, the position and the size information of a sundry placing area, the position and the size information of each bookshelf and the positioning point information corresponding to each bookshelf;
the position information comprises the floor where the books are located, the bookshelf where the books are located, and the coordinates (the row and the column) on the bookshelf where the books are located;
as shown in fig. 6, the method for determining the floor traversal order includes: the method comprises the steps of generating spatial position data of books in an order by obtaining position information in an order information data packet, classifying the books according to floors, judging floors needing to go to (which floors needing to go to in total), and obtaining the best floor traversing sequence through an elevator dispatching algorithm by combining the floor where a delivery robot is located at the moment;
specifically, in step S5, the process of the book distribution robot moving to the designated bookshelf according to the planned path includes:
accurate positioning process: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models to a static map to obtain the absolute position and relative position relation of the book distribution robot in a library; calculating a driving state parameter of the book distribution robot according to the coordinate data in the static map and the obtained position information; meanwhile, displacement data of the book distribution robot are detected in real time through an angular displacement sensor on a wheel of the book distribution robot, and the displacement data are used for correcting position information of the book distribution robot;
dynamic map construction process: in the moving process of the distribution robot, acquiring object information in a visual field in real time through a binocular vision camera system arranged in front of the distribution robot, and projecting the acquired object information onto a static map, namely constructing a dynamic map; extracting the spatial features of the labels through binocular vision, classifying, marking, coding, establishing a model, then establishing label images for spatial retrieval and positioning, extracting the features, calculating the similarity, clustering coordinates, and finally classifying. Finally, object information in the visual field can be obtained through the camera.
As shown in fig. 8, the automatic obstacle avoidance process: in the process that the distribution robot moves according to a preset path, the laser radar arranged around the distribution robot periodically (every 2s) detects the information of obstacles in the range of 20cm around the distribution robot, if the obstacles are detected, the distribution robot immediately stops moving, and meanwhile, an alarm on the distribution robot is started to give out buzzes to remind pedestrians to avoid; if no obstacles exist around the distribution robot when the laser radar detects that the pedestrians leave the distribution robot within 20 seconds, the distribution robot continues to move according to the preset path; if the laser radar detects that obstacles still exist around after 20 seconds, the distribution robot detours leftwards/rightwards and then returns to the preset path to move continuously (specifically moves 20cm rightwards, then moves 50cm in the original direction, and then moves 20cm leftwards to detour to the preset path);
as shown in fig. 9, the automatic elevator riding process: when the distribution robot moves to the front of the elevator on the current floor according to the preset path, the distribution robot sends a confirmation signal and the information of the next floor to be visited to the elevator control module, the elevator control module checks the current direction after receiving the signal, and if the current direction of the elevator is not consistent with the direction of the floor to be visited by the distribution robot, the distribution robot waits for 1 minute and then checks the current direction; if the residual space in the elevator meets the requirement of entering the distribution robot, the elevator control module checks whether the residual space in the elevator meets the requirement of entering the distribution robot, and if not, the elevator control module waits for 1 minute and then checks; if the situation is met, the elevator control module controls the elevator car door to be opened on the floor where the delivery robot is located; the distribution robot enters the elevator, after the elevator reaches the floor to which the distribution robot goes, the elevator car door is opened, and the distribution robot exits the elevator.
The four processes are not required to be sequentially and completely carried out, and are carried out according to conditions in the process that the book distribution robot goes to the appointed intelligent bookshelf.
Specifically, in step S5, the tertiary positioning procedure includes:
as shown in fig. 10, the first-level positioning process: the book distribution robot runs to a bookshelf front positioning point corresponding to a book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans a bookshelf positioning identification strip arranged on the ground in front of a bookshelf, if the bookshelf positioning identification strip is not scanned in the current visual field of the camera, the distribution robot moves according to a 'return' shaped outward expansion path (as shown in figure 18), and the searching distance of 2cm is expanded outwards each time until the bookshelf positioning identification strip is scanned;
as shown in fig. 11, the secondary positioning process: the mechanical arm of the book distribution robot is rotated to a preset orientation, an orientation identification strip on the bookshelf in a 5-degree view in front is scanned through a camera at the tail end of the mechanical arm, and if the orientation identification strip is not scanned in the view, the mechanical arm rotates 3 degrees anticlockwise step by step and scans again until the orientation identification strip is scanned; the mechanical arm is lifted to a preset layer height according to the layer number of the bookshelf where the book is located, then the height positioning identification strip on the bookshelf in a 10cm visual field is scanned through a camera at the tail end of the mechanical arm, if the height positioning identification strip is not scanned in the visual field, the mechanical arm moves up and down by taking the current height as an original point, the moving range is gradually expanded, and 2cm is expanded each time until the height positioning identification strip is scanned;
as shown in fig. 12, a three-level positioning process: scanning a bar code on a bookshelf within a 5cm visual field through a camera at the tail end of the mechanical arm to obtain a book identification code stored in the bar code, comparing whether the obtained book identification code is consistent with a book identification code to be grabbed, if not, scanning again and comparing after the book distribution robot moves transversely for 5cm until the book identification code obtained by scanning is consistent with the book identification code to be grabbed; the book distribution robot sends a sixth feedback signal to a bookshelf where a book to be grabbed is located, after the bookshelf receives the information, 3 laser transmitters (the arrangement of the 3 laser transmitters is in an inverted triangle) on a book positioning module corresponding to the book to be grabbed on the bookshelf are started, whether any corresponding laser signal is received by three signal receivers at the tail end of the mechanical arm is detected, if any corresponding laser signal is not received, the mechanical arm moves according to a 'return' shape outward expansion path (as shown in figure 18), the searching distance of 1cm is expanded outwards each time, and until any corresponding laser signal is received; and detecting whether the three signal receivers at the tail end of the mechanical arm all receive corresponding laser signals, if not, rotating the tail end of the mechanical arm clockwise/anticlockwise by 0.2 degrees, and gradually enlarging the rotating angle until the three signal receivers at the tail end of the mechanical arm all receive the corresponding laser signals.
Specifically, in step S6, as shown in fig. 13, the book distribution robot executes a flow of grabbing a book by the manipulator: controlling the opening distance of the manipulator according to the thickness information of the books in the order information, then controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure or not through a pressure sensor on the inner side of the manipulator, and if not, gradually clamping the manipulator by 0.1cm each time until the current pressure detected by the pressure sensor reaches the preset pressure; and finally, the mechanical arm clamps the books and longitudinally draws the books out along the bookshelf.
Corresponding to the above grabbing method, as shown in fig. 14, the present embodiment further provides a high-precision book grabbing system based on a library dynamic space foundation, including a book distribution robot, a library hardware facility, and an intelligent bookshelf;
as shown in FIG. 15, the book dispensing robot includes a dispensing cart and a robot arm;
the distribution trolley comprises a trolley body, wheels and temporary storage bookshelves, and the temporary storage bookshelves are arranged around the trolley body in a surrounding mode;
the wheels are provided with angular displacement sensors for detecting and calibrating the motion parameters of the trolley and providing auxiliary parameters for positioning the trolley;
the vehicle body is provided with a signal receiver, a laser radar, an alarm and a camera (arranged at the bottom of the vehicle);
the laser radar is arranged right in front of the vehicle body;
the mechanical arm comprises an information processing module, a mechanical arm and a signal receiver-transmitter;
the manipulator is provided with a camera, a laser receiver, an angular displacement sensor and a linear displacement sensor;
the laser receivers comprise a first laser receiver, a second laser receiver and a third laser receiver, the receiving frequencies of the first laser receiver, the second laser receiver and the third laser receiver are fixed and different from each other, and the first laser receiver, the second laser receiver and the third laser receiver are all arranged at the lower end of the manipulator;
the angular displacement sensor is arranged at a rotating shaft of the mechanical arm and used for detecting the rotation of the mechanical arm, so that the motion parameters of the mechanical arm are calibrated and auxiliary parameters are provided for the positioning of the mechanical arm;
the linear displacement sensor is arranged at a connecting rod of the mechanical arm and used for detecting the motion of the mechanical arm, so that the motion parameters of the mechanical arm are calibrated and auxiliary parameters are provided for the positioning of the mechanical arm;
as shown in fig. 16, the library hardware includes a mark point arranged at the initial position of the cart, an intelligent elevator, a bookcase for storing and taking books, and a book management background;
the initial position of the trolley is arranged at the position of the fixed ground of the library and serves as the initial moving point of the book distribution robot, a positioning identification strip is attached to the initial moving point, and scanning detection is carried out through a camera at the bottom of the trolley;
the intelligent elevator comprises a signal receiver and an elevator control module;
the signal receiver is used for interacting with the trolley and is arranged on the elevator control panel of each floor;
the book management background comprises an information processing module and a signal receiver;
as shown in fig. 17, the intelligent bookshelf comprises a positioning identification strip at an initial position of the bookshelf, a book information module and a signal transceiver;
the positioning identification strip at the initial position of the bookshelf is attached to a fixed position on the front ground of the bookshelf and is scanned and identified by a vehicle bottom camera;
the book information module comprises a bar code and a laser transmitter, is arranged on a shelf of the bookshelf and corresponds to books one by one;
the bar code is pasted in the middle of the book information module, and the book identification code can be read after the bar code is scanned by a mechanical arm camera;
the laser transmitters comprise a first laser transmitter, a second laser transmitter and a third laser transmitter, the frequencies of the lasers transmitted by the laser transmitters are fixed and different from each other, and the lasers are in one-to-one correspondence with the laser receivers; the first laser transmitter corresponds to the first laser receiver; the second laser transmitter corresponds to the second laser receiver; the third laser transmitter corresponds to a third laser receiver;
the intelligent bookshelf is also provided with a height identification strip and an orientation identification strip;
the orientation identification strips are arranged at the initial positions of the bookshelf and are longitudinally arranged on the bookshelf, and the orientation identification strips are scanned by a camera at the tail end of the mechanical arm to determine the orientation of the mechanical arm;
the height marking strips are arranged at the initial positions of the bookshelf, and each layer of shelf is provided with a device for scanning the height marking strips through a camera at the tail end of the mechanical arm so as to determine the height of the mechanical arm.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A high-precision book grabbing method based on a library dynamic space foundation is characterized by comprising the following steps:
s1, checking the book distribution robot by the book management background;
s2, the book distribution robot moves to the initial position for standby;
s3, the book management background collects order information and sends the order information to the book distribution robot;
s4, the book distribution robot carries out path planning according to the order information;
s5, the book distribution robot moves to a designated bookshelf according to the planned path, and a three-level positioning program is executed;
s6, the book distribution robot executes a book grabbing program of the manipulator and stores the grabbed books on a temporary storage bookshelf carried by the book distribution robot;
s7, judging whether all orders are finished, if not, returning to the step S5 to execute the grabbing task of the next book; if all orders have been completed, the process returns to step S2 to wait for receiving new order information.
2. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein the step S1 specifically comprises:
s11, detecting basic functions of the book distribution robot: the book management background sends a starting signal to the book distribution robot, and the book distribution robot sends a first feedback signal to the book management background after receiving the starting signal; if the book management background does not receive the first feedback signal within 5 seconds, judging that the book distribution robot signals or has a power-on fault, and informing a librarian to check the book distribution robot fault; if the book management background receives the first feedback signal within 5 seconds, checking the residual electric quantity, and if the residual electric quantity is less than 12Ah, informing a librarian that the electric quantity is too low and the book distribution robot needs to be charged; if the residual electric quantity is larger than 12Ah, the book distribution robot sends a second feedback signal to the book management background;
s12, calibrating the motion parameters of the book distribution robot: the distribution robot moves forwards/backwards for 3 seconds, and the angular displacement sensor at the wheel records the angular displacement of the linear forward/backward movement of the distribution robot; comparing the recorded angular displacement with a preset angular displacement of the delivery robot moving linearly for 3 seconds, and if the difference value is greater than 0.1%, informing a librarian of the fault of the delivery robot; if the difference value is less than 0.1%, the distribution robot sends a third feedback signal to the book management background;
s13, calibrating the mechanical arm motion parameters of the book distribution robot: the mechanical arm moves linearly for 2 seconds, and linear displacement of the mechanical arm in linear motion is recorded through a linear displacement sensor arranged at a linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the mechanical arm which moves linearly for 2 seconds, and if the difference is greater than 0.1%, informing a librarian of the mechanical arm fault; if the difference is less than 0.1%, executing the rotation movement of the mechanical arm for 1 second, and recording the angular displacement of the rotation movement of the mechanical arm through an angular displacement sensor arranged at a rotation motor of the mechanical arm; comparing the recorded angular displacement with a preset angular displacement of 1 second of the rotary motion of the mechanical arm, and if the difference value is more than 0.1%, informing a librarian of the fault of the mechanical arm; and if the difference value is less than 0.1%, the distribution robot sends a fourth feedback signal to the book management background.
3. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S2, the method for the distribution robot to move to the initial position for standby comprises: scanning a mark point arranged at the initial position of the ground of the library through a camera arranged at the bottom of the distribution robot, and if the camera does not scan the mark point, moving the distribution robot along a Chinese character 'hui' -shaped outward expansion path until the mark point is scanned; and if the camera scans the mark point, the distribution robot sends a fifth feedback signal to the book management background.
4. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S3, the book management backend collects the user order information, and checks every minute whether the order number is greater than 20 or whether the total number of books in the order is greater than 40; and if the number of the orders is more than 20 or the total number in the orders is more than 40, the book management background packs the order information and the corresponding book information and sends the packed information to the book distribution robot.
5. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S4, the method for the book distribution robot to perform path planning is as follows: the method comprises the steps of firstly constructing a static map in the whole library, then projecting bookshelf position information corresponding to books to be grabbed in an order onto the static map, and finally calculating the global shortest path from a book distribution robot to the bookshelf position corresponding to each book to be grabbed through a Dikes Tesla algorithm.
6. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S5, the process of moving the book distribution robot to the designated bookshelf according to the planned path includes:
accurate positioning process: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models to a static map to obtain the absolute position and relative position relation of the book distribution robot in a library; calculating a driving state parameter of the book distribution robot according to the coordinate data in the static map and the obtained position information; meanwhile, displacement data of the book distribution robot are detected in real time through an angular displacement sensor on a wheel of the book distribution robot, and the displacement data are used for correcting position information of the book distribution robot;
dynamic map construction process: in the moving process of the distribution robot, acquiring object information in a visual field in real time through a binocular vision camera system arranged in front of the distribution robot, and projecting the acquired object information onto a static map, namely constructing a dynamic map;
automatic obstacle avoidance process: in the process that the distribution robot moves according to a preset path, laser radars arranged around the distribution robot periodically detect surrounding obstacle information, if obstacles are detected, the distribution robot immediately stops moving, and meanwhile, an alarm on the distribution robot is started; if no obstacles exist around the robot detected by the laser radar within 20 seconds, the robot continues to move according to the preset path; if the laser radar detects that obstacles exist around after 20 seconds, the distribution robot detours leftwards/rightwards and then returns to a preset path to move continuously;
automatic elevator taking process: when the distribution robot moves to the front of the elevator on the current floor according to the preset path, the distribution robot sends a confirmation signal and the information of the next floor to be visited to the elevator control module, the elevator control module checks the current direction after receiving the signal, and if the current direction of the elevator is not consistent with the direction of the floor to be visited by the distribution robot, the distribution robot waits for 1 minute and then checks the current direction; if the residual space in the elevator meets the requirement of entering the distribution robot, the elevator control module checks whether the residual space in the elevator meets the requirement of entering the distribution robot, and if not, the elevator control module waits for 1 minute and then checks; if the situation is met, the elevator control module controls the elevator car door to be opened on the floor where the delivery robot is located; the distribution robot enters the elevator, after the elevator reaches the floor to which the distribution robot goes, the elevator car door is opened, and the distribution robot exits the elevator.
7. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S5, the three-level positioning procedure comprises:
a first-level positioning process: the book distribution robot runs to the front of a bookshelf corresponding to a book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans a bookshelf positioning identification strip arranged on the ground in front of the bookshelf, and if the bookshelf positioning identification strip is not scanned in the current visual field of the camera, the distribution robot moves according to a 'return' -shaped outward-expanding path until the bookshelf positioning identification strip is scanned;
a secondary positioning process: the mechanical arm of the book distribution robot is rotated to a preset orientation, an orientation identification strip which is positioned on the bookshelf right in front of the book distribution robot is scanned through a camera at the tail end of the mechanical arm, and if the orientation identification strip is not scanned in a visual field, the mechanical arm is gradually rotated anticlockwise until the orientation identification strip is scanned; the mechanical arm is lifted to a preset layer height according to the layer number of the bookshelf where the book is located, then the height positioning identification strip on the bookshelf is scanned through a camera at the tail end of the mechanical arm, if the height positioning identification strip is not scanned in a visual field, the mechanical arm moves up and down by taking the current height as an original point, and the moving range is gradually expanded until the height positioning identification strip is scanned;
a third-level positioning process: scanning a bar code on a bookshelf through a camera at the tail end of the mechanical arm to obtain a book identification code stored in the bar code, comparing whether the obtained book identification code is consistent with the book identification code to be grabbed or not, if not, scanning again and comparing after the book distribution robot moves transversely for 5cm until the book identification code obtained by scanning is consistent with the book identification code to be grabbed; the book distribution robot sends a sixth feedback signal to a bookshelf where a book to be grabbed is located, after the bookshelf receives the information, the 3 laser transmitters on the book positioning modules corresponding to the book to be grabbed on the bookshelf are started, whether any corresponding laser signal is received by the three signal receivers at the tail end of the mechanical arm is detected, if any corresponding laser signal is not received, the mechanical arm moves according to a 'return' shaped outward expansion path until any corresponding laser signal is received; and detecting whether the three signal receivers at the tail end of the mechanical arm all receive the corresponding laser signals, if not, rotating the tail end of the mechanical arm clockwise/anticlockwise until the three signal receivers at the tail end of the mechanical arm all receive the corresponding laser signals.
8. The method for high-precision book grabbing based on the library dynamic space foundation of claim 1, wherein in step S6, the book delivering robot performs the procedure of grabbing the book by the manipulator: controlling the opening distance of the manipulator according to the thickness information of the books in the order information, then controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure or not through a pressure sensor on the inner side of the manipulator, and if not, gradually clamping the manipulator until the current pressure detected by the pressure sensor reaches the preset pressure; and finally, the mechanical arm clamps the books and longitudinally draws the books out along the bookshelf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011118068.1A CN112318500B (en) | 2020-10-19 | 2020-10-19 | Library dynamic space foundation-based book high-precision grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011118068.1A CN112318500B (en) | 2020-10-19 | 2020-10-19 | Library dynamic space foundation-based book high-precision grabbing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112318500A true CN112318500A (en) | 2021-02-05 |
| CN112318500B CN112318500B (en) | 2023-05-05 |
Family
ID=74314001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011118068.1A Active CN112318500B (en) | 2020-10-19 | 2020-10-19 | Library dynamic space foundation-based book high-precision grabbing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112318500B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113538812A (en) * | 2021-06-10 | 2021-10-22 | 武汉理工大学 | Library book borrowing device and method based on order form |
| CN113848918A (en) * | 2021-09-27 | 2021-12-28 | 上海景吾智能科技有限公司 | Robot rapid, efficient and low-cost deployment method and system |
| CN116061148A (en) * | 2023-03-17 | 2023-05-05 | 上海仙工智能科技有限公司 | Method and system for teaching interaction of mechanical arm and pack basket and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204566123U (en) * | 2015-04-07 | 2015-08-19 | 济南大学 | A kind of intelligent finishing book robot |
| CN104875177A (en) * | 2015-05-19 | 2015-09-02 | 上海交通大学 | Intelligent book management robot |
| CN107203793A (en) * | 2017-05-09 | 2017-09-26 | 浙江大学 | A kind of Library services system and method based on robot |
| CN107329469A (en) * | 2017-04-21 | 2017-11-07 | 南京邮电大学 | A kind of random frame book management system of autonomous robot |
| CN108839035A (en) * | 2018-07-04 | 2018-11-20 | 西北工业大学 | A method of it takes and borrows books |
| CN110458251A (en) * | 2018-05-07 | 2019-11-15 | 南京图易科技有限责任公司 | A kind of taking care of books method based on autonomous mobile robot |
| CN111762487A (en) * | 2020-06-19 | 2020-10-13 | 武汉理工大学 | Automatic book storing and taking device and method for library |
-
2020
- 2020-10-19 CN CN202011118068.1A patent/CN112318500B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204566123U (en) * | 2015-04-07 | 2015-08-19 | 济南大学 | A kind of intelligent finishing book robot |
| CN104875177A (en) * | 2015-05-19 | 2015-09-02 | 上海交通大学 | Intelligent book management robot |
| CN107329469A (en) * | 2017-04-21 | 2017-11-07 | 南京邮电大学 | A kind of random frame book management system of autonomous robot |
| CN107203793A (en) * | 2017-05-09 | 2017-09-26 | 浙江大学 | A kind of Library services system and method based on robot |
| CN110458251A (en) * | 2018-05-07 | 2019-11-15 | 南京图易科技有限责任公司 | A kind of taking care of books method based on autonomous mobile robot |
| CN108839035A (en) * | 2018-07-04 | 2018-11-20 | 西北工业大学 | A method of it takes and borrows books |
| CN111762487A (en) * | 2020-06-19 | 2020-10-13 | 武汉理工大学 | Automatic book storing and taking device and method for library |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113538812A (en) * | 2021-06-10 | 2021-10-22 | 武汉理工大学 | Library book borrowing device and method based on order form |
| CN113848918A (en) * | 2021-09-27 | 2021-12-28 | 上海景吾智能科技有限公司 | Robot rapid, efficient and low-cost deployment method and system |
| CN116061148A (en) * | 2023-03-17 | 2023-05-05 | 上海仙工智能科技有限公司 | Method and system for teaching interaction of mechanical arm and pack basket and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112318500B (en) | 2023-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112318500A (en) | High-precision book grabbing method based on library dynamic space foundation | |
| CN103782247B (en) | Method and apparatus for using pre-positioned objects to localize an industrial vehicle | |
| US10429833B2 (en) | Method and industrial truck for ascertaining and representing the position of storage bins in a warehouse | |
| Kelly et al. | Field and service applications-an infrastructure-free automated guided vehicle based on computer vision-an effort to make an industrial robot vehicle that can operate without supporting infrastructure | |
| RU2570571C2 (en) | Method and system for determining exact location of industrial vehicle | |
| RU2565011C1 (en) | Method and system of use of distinctive reference points for locating of industrial vehicles at beginning of work | |
| CA2539334C (en) | Transponder-assisted positioning system | |
| US20150379704A1 (en) | Lost vehicle recovery utilizing associated feature pairs | |
| US20180213160A1 (en) | Information collecting apparatus, information collecting system and information collecting method | |
| US7679527B2 (en) | Method and apparatus for automated parking assistance | |
| CN111638530B (en) | Fork truck positioning method, fork truck and computer readable storage medium | |
| US12014320B2 (en) | Systems, devices, and methods for estimating stock level with depth sensor | |
| CN107664504A (en) | A kind of path planning apparatus | |
| CN110390831A (en) | Travelling route determination device | |
| DE102006054083A1 (en) | Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods | |
| CN110766444A (en) | Automatic shopping method for shopping mall, storage medium, electronic device and equipment | |
| CN111290403A (en) | Transport method for transporting automated guided vehicle and automated guided vehicle | |
| CN115009748A (en) | Accurate addressing method and system for stacking industrial robot system | |
| CN114706070A (en) | Automatic parking space searching method and system based on 4D millimeter wave radar | |
| CN115042806B (en) | Method and device for displaying paths of passenger car parking and electronic equipment | |
| CN116481541A (en) | Vehicle autonomous return control method, device and medium without satellite navigation | |
| CN115009271A (en) | Parking route determining method and device and electronic equipment | |
| EP4016459A1 (en) | Systems and methods for calibrating sensors of autonomous vehicles | |
| CN113703460B (en) | Method, device and system for identifying vacant position of navigation vehicle | |
| Schanz et al. | Autonomous parking in subterranean garages-a look at the position estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |