CN112318500B - Library dynamic space foundation-based book high-precision grabbing method - Google Patents
Library dynamic space foundation-based book high-precision grabbing method Download PDFInfo
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- CN112318500B CN112318500B CN202011118068.1A CN202011118068A CN112318500B CN 112318500 B CN112318500 B CN 112318500B CN 202011118068 A CN202011118068 A CN 202011118068A CN 112318500 B CN112318500 B CN 112318500B
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- 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
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- 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
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- 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
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- 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]
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Abstract
The invention discloses a book high-precision grabbing method based on a library dynamic space foundation, which comprises the following steps: checking a book distribution robot by a book management background; 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 performs 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 mechanical arm to grasp a book program, and stores the grasped books on a temporary storage bookshelf of the book distribution robot; judging whether all orders are completed, if not, executing the grabbing task of the next book; if so, returning to the initial position and waiting for receiving new order information. The invention has the advantages of low reconstruction cost, good user interaction experience, short waiting time and the like for the existing library, and has larger economic and social effects.
Description
Technical Field
The invention belongs to the field of intelligent libraries, and particularly relates to a library high-precision grabbing method based on a library dynamic space basis.
Background
In recent years, with the rapid development of the book industry, books and documents are more and more, and in order to facilitate the review of books, most of the existing books are stored on a bookshelf, so that the bookshelf is also a necessary device in a library or other places. The book shelf has the advantages that the shelf body of the traditional book shelf is usually provided with a plurality of spaces for storing books, books of different types are conveniently inserted and placed, in order to utilize the space in the book shelf to the greatest extent, books are generally placed in a vertical side-by-side mode, books of the same type are generally placed together for being convenient for readers to review, as books of different types are located at the same row, adjacent books are generally clamped tightly, space for taking is not available, the books are inconvenient to take, after the books are taken out, the original space is easily occupied by other books, books are more difficult to insert into the original place again, and therefore readers can insert the books at the easily placed position when returning the books, the position of the books is easy to change, and the same management of a large number of books and review of readers are inconvenient.
In view of the above problems with conventional bookshelves, many improvements have been proposed by the related art. For example, the Chinese patent number ZL201520242335.4, the authorized bulletin date is 2015, 8, and 19, and the invention is named: the utility model provides a book case, this application relates to a book case, including the cabinet body, the internal book box that is equipped with a plurality of side by side that sets up of cabinet, book box can be shifted out by the cabinet body, and the bottom of every book box is equipped with the ejecting device that can shift out it from the cabinet is internal, and ejecting device is including seting up the rectangle recess on 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, and drive gear rotates to be connected in the slotted hole, and the cabinet is internal still to be equipped with can drive the pivoted drive arrangement of drive gear of every book box bottom respectively. This patent application adopts the shift fork to switch gear engagement position and realizes that motor drive book box release, is equipped with a plurality of book boxes in one row, need first adjust the shift fork to corresponding position play when getting the book, then at the starter motor for the book box is released by the transmission, and this kind of mode operation is comparatively loaded down with trivial details, and when the bookshelf is longer, needs the reader to remove the distance of shift fork very long, and the operation is loaded down with trivial details more, leads to getting the book inefficiency, and the blocking between the intermediate gear also can make the shift fork remove unsmoothly, influences getting the book operation and normally goes on, and the practicality is not strong.
For another example, chinese patent application No. 201710296774.7, the application publication date is 28 days of 2017, 4 months, and the invention is named: the utility model provides an intelligence propelling movement bookshelf, 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 bottom plate can follow the slide rail and reciprocate, is provided with hydraulic pushing device at the backplate rear portion, and hydraulic pushing device is by servo motor control, is provided with the controller in the bookshelf body, controller control servo motor. This application can realize the automatic propelling movement of books for books take more conveniently, but it all need set up servo motor and hydraulic pusher at every book groove rear portion of putting, and structural design is comparatively complicated, and the cost of manufacture is very high, and the practicality is relatively poor equally.
In the intelligent transformation process of the existing library, the following problems exist: the books have disordered and unfixed space positions, uneven thickness, large size difference and small absolute size, readers in the library and the execution machine are mutually influenced, the automation degree is low, the user interaction experience is poor, and the like.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a book high-precision grabbing method based on a library dynamic space basis.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a book high-precision grabbing method based on a library dynamic space foundation comprises the following steps:
s1, checking a book distribution robot (checking one day) by a book management background;
s2, the book distribution robot moves to an 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 performs path planning according to the order information;
s5, the book distribution robot moves to a specified bookshelf according to the planned path, and a three-level positioning program is executed;
s6, the book distribution robot executes a manipulator to grasp a book program, and stores the grasped books on a temporary storage bookshelf of the book distribution robot;
s7, judging whether all orders are completed, if not, returning to the step S5, and executing the grabbing task of the next book; if all orders have been completed, return to step S2, wait to receive new order information.
Specifically, step S1 specifically includes:
s11, basic function detection of a 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 signal or the power-on fault exists, and informing a book manager 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 smaller than 12Ah, informing a book manager that the electric quantity is too low, and charging the book distribution robot; 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 motion parameters of the book distribution robot: the dispensing robot moves forwards/backwards for 3 seconds, and the angular displacement of the linear forward/backward movement of the dispensing robot is recorded through an angular displacement sensor at the wheel; comparing the recorded angular displacement with the angular displacement of the preset dispensing robot in a linear motion mode for 3 seconds, and if the difference is greater than 0.1%, informing a librarian of the failure of the dispensing robot; if the difference is less than 0.1%, the distribution robot sends a third feedback signal to the book management background;
S13, calibrating mechanical arm motion parameters of the book distribution robot: the mechanical arm moves linearly for 2 seconds, and the linear displacement of the linear motion of the mechanical arm is recorded by a linear displacement sensor arranged at the linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the preset mechanical arm in 2 seconds, and if the difference is greater than 0.1%, notifying a librarian of mechanical arm faults; if the difference is less than 0.1%, performing the rotational movement of the mechanical arm for 1 second, and recording the angular displacement of the rotational movement of the mechanical arm by an angular displacement sensor arranged at the mechanical arm rotating motor; comparing the recorded angular displacement with the angular displacement of the preset mechanical arm in 1 second of rotational movement, and informing a librarian of mechanical arm faults if the difference is greater than 0.1%; if the difference 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 moving the dispensing robot to the initial position for standby is as follows: 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 according to a reverse-shaped expanding 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 background collects user order information, and checks whether the number of orders is greater than 20 or whether the total number of books in the order is greater than 40 every one minute; if the number of orders is more than 20 or the total number in the orders is more than 40, the book management background packages the order information and the corresponding book information and sends the packaged information to the book distribution robot.
The order information includes: user account number, book identification code, bookshelf position number; the book information includes: book number, book thickness, bookshelf number corresponding to books and position thereof, and positioning module number corresponding to books on the bookshelf.
Specifically, in step S4, the method for path planning by the book distribution robot includes: firstly, a static map in the whole library is constructed, bookshelf position information corresponding to books to be grabbed in an order is projected onto the static map, the shortest path of the current floor is obtained through a Dike Style algorithm, and whether the current floor is the last floor is judged. If not, analyzing the next floor to obtain the shortest path of the next floor until the shortest paths of all floors needing to be traversed are obtained. And splicing the shortest paths of all floors according to the floor traversing sequence to finally obtain the global shortest path.
The static map includes: the information of the aisle position of each floor, the width of each floor, the elevator position, the position and the size information of a sundry placement area, the position and the size information of each bookshelf and the positioning point information corresponding to each bookshelf;
the position information comprises a floor where books are located, a bookshelf where books are located and coordinates (a row and a 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 acquiring position information in an order information data packet, classifying books according to floors, judging the floors to which the books need to go (which floors the books need to go in total), and obtaining the optimal floor traversing sequence through an elevator dispatching algorithm by combining the floors where the delivery robots are located at the moment;
specifically, in step S5, the process of moving the book distribution robot to the designated bookshelf according to the planned path includes:
and (3) accurate positioning flow: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models into a static map to obtain the absolute position and the relative position relation of the book distribution robot in a library; calculating running state parameters 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;
The dynamic map construction flow is as follows: 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 to construct a dynamic map; and extracting the spatial characteristics of the tag through binocular vision, classifying, marking, encoding and establishing a model, then establishing a tag image for spatial retrieval and positioning, extracting the characteristics, calculating the similarity, carrying out coordinate clustering, and finally classifying. Finally, the object information in the field of view can be obtained through the camera.
Automatic obstacle avoidance flow: in the moving process of the distribution robot according to a preset path, the distribution robot immediately stops moving and simultaneously starts an alarm on the distribution robot if the distribution robot detects an obstacle in the range of 20cm around the periodic detection of the laser radar (every 2 s); if the laser radar detects that no obstacle exists around within 20 seconds, the distribution robot continues to move according to a preset path; if the laser radar detects that the surrounding obstacle exists after 20 seconds, the distribution robot goes around leftwards/rightwards and returns to a preset path to continue moving;
The automatic elevator riding process comprises the following steps: when the delivery robot moves to the front of the elevator of the current floor according to the preset path, the delivery robot sends a confirmation signal and floor information of the next step 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 inconsistent with the floor direction to which the delivery robot is going, the elevator is checked after waiting for 1 minute; if the residual space in the elevator meets the requirement, the elevator control module checks whether the residual space in the elevator meets the requirement of the delivery robot, and if the residual space in the elevator does not meet the requirement, the elevator control module waits for 1 minute and then checks; if yes, the elevator control module controls the elevator door to be opened on the floor where the distribution robot is located; the delivery robot enters the elevator, after the elevator reaches the floor to which the delivery robot is going, the elevator door is opened, and the delivery robot exits the elevator.
Specifically, in step S5, the three-level positioning procedure includes:
and (3) a primary positioning process: the book distribution robot moves to a front positioning point of the bookshelf corresponding to the book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans bookshelf positioning identification strips arranged on the ground in front of the bookshelf, and if the bookshelf positioning identification strips are not scanned in the current field of view of the camera, the distribution robot moves according to a reverse-shaped expanding path until the bookshelf positioning identification strips are scanned;
And (3) a secondary positioning process: the mechanical arm of the book distribution robot rotates to a preset direction, a camera at the tail end of the mechanical arm scans the direction marking strip on the bookshelf right in front, and if the direction marking strip is not scanned in the visual field, the mechanical arm rotates anticlockwise gradually until the direction marking strip is scanned; the mechanical arm is lifted to the preset layer height according to the layer number of the book, then a camera at the tail end of the mechanical arm is used for scanning the height positioning identification strip on the bookshelf, 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 origin, and the moving range is gradually enlarged until the height positioning identification strip is scanned;
three-stage positioning flow: scanning a bar code on a bookshelf through a camera at the tail end of the mechanical arm, acquiring a book identification code stored in the bar code, comparing whether the acquired book identification code is consistent with the book identification code to be grabbed, if not, scanning again and comparing the book identification code after the book distribution robot transversely moves for 5cm until the book identification code acquired 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 books to be grabbed are located, after the bookshelf receives information, 3 laser transmitters (the arrangement of the 3 laser transmitters is in an inverted triangle) on a book positioning module corresponding to the books 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 or not is detected, and if any corresponding laser signal is not received, the mechanical arm moves according to a reverse-shaped expanding 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 by 0.2 degrees, and gradually expanding the rotation 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 distributing robot performs a process of grabbing books by a manipulator as follows: controlling the stretching distance of the manipulator according to the thickness information of the books in the order information, controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure through a pressure sensor at 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; finally, the book clamped by the mechanical arm is pulled out longitudinally along the bookshelf.
The invention also provides a book high-precision grabbing system based on the library dynamic space foundation, which comprises a book distribution robot, a library hardware facility 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 a temporary storage bookshelf, wherein the temporary storage bookshelf is arranged around the trolley body;
the wheels are provided with angular displacement sensors for detecting the motion parameters of the calibration trolley and providing auxiliary parameters for positioning the trolley;
the vehicle body is provided with a signal transceiver, 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 transceiver;
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 which are fixed and different from each other, and are all arranged at the lower end of the manipulator;
the angular displacement sensor is arranged at the 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 the connecting rod of the mechanical arm and used for detecting the movement of the mechanical arm so as to calibrate the movement parameters of the mechanical arm and provide auxiliary parameters for the positioning of the mechanical arm;
the library hardware comprises a marking point, an intelligent elevator, an access book cabinet and a book management background, wherein the marking point, the intelligent elevator, the access book cabinet and the book management background are arranged at the initial position of the trolley;
the initial position of the trolley is arranged at a fixed ground position of the library and is used as a movement initial point of the book distribution robot, a positioning identification strip is attached to the initial position of the trolley, and the initial position is scanned and detected through a camera at the bottom of the trolley;
the intelligent elevator comprises a signal transceiver and an elevator control module;
The signal transceiver is used for interacting with the trolley and is arranged on the elevator control panel of each layer;
the book management background comprises an information processing module and a signal transceiver;
the intelligent bookshelf comprises a locating 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 stuck to a fixed position on the ground in front of the bookshelf and is scanned and identified by the vehicle bottom camera;
the book information module comprises bar codes and laser transmitters, and is arranged at the shelf of the bookshelf and corresponds to books one by one;
the bar code is stuck in the middle of the book information module, and the identification code of the book can be read after the bar code is scanned by the camera of the manipulator;
the laser transmitters comprise a first laser transmitter, a second laser transmitter and a third laser transmitter, and the frequencies of the laser transmitted by the laser transmitters are fixed and different from each other and correspond to the laser receivers one by one; 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 the third laser receiver;
the intelligent bookshelf is also stuck with a height identification strip and an orientation identification strip;
The orientation marking strips are arranged at the initial position of the bookshelf, are longitudinally arranged on the bookshelf and are used for determining the orientation of the mechanical arm through scanning the orientation marking strips by a camera at the tail end of the mechanical arm;
the height identification strips are arranged at the initial positions of the bookshelf, and each layer of shelf is provided with a camera at the tail end of the mechanical arm for scanning the height identification strips to determine the height of the mechanical arm.
Compared with the prior art, the invention has the beneficial effects that: (1) According to the invention, the book distribution robot is checked every day through the book management background, so that the working reliability of the distribution robot is ensured, the failure rate of the distribution robot is reduced, and the service quality is improved; (2) According to the library distribution robot, 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 Dikk algorithm is utilized to plan an optimal path for the library distribution robot, so that the distribution efficiency is improved; (3) The book distribution robot has an automatic obstacle avoidance function, can effectively avoid the influence of the trolley and the pedestrians in the library, improves the distribution efficiency, and optimizes the automation degree of the distribution robot; (4) According to the invention, through setting the three-level positioning program, the relative position of the distribution 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 the mechanical arm for clamping the target book is greatly improved.
Drawings
FIG. 1 is a flow diagram of a library dynamic space foundation-based book high-precision grabbing method in an embodiment of the invention;
FIG. 2 is a schematic diagram of a basic function detection flow of a dispensing robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a calibration flow for motion parameters of a dispensing robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a calibration flow for motion parameters of a mechanical arm according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a process for collecting order information in a background of book management in an embodiment of the 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 procedure in an embodiment of the present invention;
FIG. 8 is a schematic diagram of an automatic obstacle avoidance process of a delivery truck according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an automatic riding elevator flow of the book-dispensing robot in an embodiment of the invention;
FIG. 10 is a schematic diagram of a primary positioning process of the book distribution robot in an embodiment of the invention;
FIG. 11 is a schematic diagram of a two-stage positioning process of the book distribution robot in an embodiment of the invention;
FIG. 12 is a schematic diagram of a three-stage positioning process of the book distribution robot in an embodiment of the invention;
FIG. 13 is a schematic diagram of a book grabbing process performed by a book dispensing robot manipulator according to an embodiment of the invention;
FIG. 14 is a schematic block diagram of the hardware components of the book high-precision grabbing system in an embodiment of the invention;
FIG. 15 is a schematic block diagram of the hardware components of the book dispensing robot in an embodiment of the invention;
FIG. 16 is a schematic block diagram of the hardware components of the library in an embodiment of the present invention;
FIG. 17 is a schematic block diagram of the hardware components of the intelligent bookshelf in an embodiment of the invention;
fig. 18 is a schematic diagram of a "back" shaped expansion path according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, the present embodiment provides a book high-precision grabbing method based on a library dynamic space basis, which includes the following steps:
s1, checking a book distribution robot (checking one day) by a book management background;
s2, the book distribution robot moves to an 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 performs path planning according to the order information;
s5, the book distribution robot moves to a specified bookshelf according to the planned path, and a three-level positioning program is executed;
s6, the book distribution robot executes a manipulator to grasp a book program, and stores the grasped books on a temporary storage bookshelf of the book distribution robot;
s7, judging whether all orders are completed, if not, returning to the step S5, and executing the grabbing task of the next book; if all orders have been completed, return to step S2, wait to receive new order information.
Specifically, step S1 specifically includes:
s11, as shown in FIG. 2, basic function detection 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 signal or the power-on fault exists, and informing a book manager 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 smaller than 12Ah, informing a book manager that the electric quantity is too low, and charging the book distribution robot; 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 is calibrated: the dispensing robot moves forwards/backwards for 3 seconds, and the angular displacement of the linear forward/backward movement of the dispensing robot is recorded through an angular displacement sensor at the wheel; comparing the recorded angular displacement with the angular displacement of the preset dispensing robot in a linear motion mode for 3 seconds, and if the difference is greater than 0.1%, informing a librarian of the failure of the dispensing robot; if the difference 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 motion parameters of the book distribution robot are calibrated: the mechanical arm moves linearly for 2 seconds, and the linear displacement of the linear motion of the mechanical arm is recorded by a linear displacement sensor arranged at the linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the preset mechanical arm in 2 seconds, and if the difference is greater than 0.1%, notifying a librarian of mechanical arm faults; if the difference is less than 0.1%, performing the rotational movement of the mechanical arm for 1 second, and recording the angular displacement of the rotational movement of the mechanical arm by an angular displacement sensor arranged at the mechanical arm rotating motor; comparing the recorded angular displacement with the angular displacement of the preset mechanical arm in 1 second of rotational movement, and informing a librarian of mechanical arm faults if the difference is greater than 0.1%; if the difference 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 moving the dispensing robot to the initial position for standby is as follows: 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, the distribution robot moves according to a reverse-shaped outward expansion path (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 finishing the process of checking the book distribution robot by the book management background once a day, the robot waits for the input of order information at an initial point; 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 user order information, checks whether the number of orders is greater than 20 or whether the total number of books in the order is greater than 40 every one minute; if the number of orders is more than 20 or the total number in the orders is more than 40, the book management background packages the order information and the corresponding book information and sends the packaged information to the book distribution robot.
The order information includes: user account number, book identification code, bookshelf position number; the book information includes: book number, book thickness, bookshelf number corresponding to books and position thereof, and positioning module number corresponding to books on the bookshelf.
Specifically, in step S4, as shown in fig. 7, the method for path planning by the book distribution robot includes: firstly, a static map in the whole library is constructed, bookshelf position information corresponding to books to be grabbed in an order is projected onto the static map, the shortest path of the current floor is obtained through a Dike Style algorithm, and whether the current floor is the last floor is judged. If not, analyzing the next floor to obtain the shortest path of the next floor until the shortest paths of all floors needing to be traversed are obtained. And splicing the shortest paths of all floors according to the floor traversing sequence to finally obtain the global shortest path.
The static map includes: the information of the aisle position of each floor, the width of each floor, the elevator position, the position and the size information of a sundry placement area, the position and the size information of each bookshelf and the positioning point information corresponding to each bookshelf;
The position information comprises a floor where books are located, a bookshelf where books are located and coordinates (a row and a 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 acquiring position information in an order information data packet, classifying books according to floors, judging the floors to which the books need to go (which floors the books need to go in total), and obtaining the optimal floor traversing sequence through an elevator dispatching algorithm by combining the floors where the delivery robots are located at the moment;
specifically, in step S5, the process of moving the book distribution robot to the designated bookshelf according to the planned path includes:
and (3) accurate positioning flow: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models into a static map to obtain the absolute position and the relative position relation of the book distribution robot in a library; calculating running state parameters 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;
The dynamic map construction flow is as follows: 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 to construct a dynamic map; and extracting the spatial characteristics of the tag through binocular vision, classifying, marking, encoding and establishing a model, then establishing a tag image for spatial retrieval and positioning, extracting the characteristics, calculating the similarity, carrying out coordinate clustering, and finally classifying. Finally, the object information in the field of view can be obtained through the camera.
As shown in fig. 8, the automatic obstacle avoidance process: in the moving process of the distribution robot according to a preset path, the distribution robot immediately stops moving if the obstacle is detected by the obstacle information in the range of 20cm around the periodic detection of the laser radar (every 2 s) arranged around the distribution robot, and simultaneously starts an alarm on the distribution robot to give out buzzes to remind pedestrians to avoid; if no obstacle is detected around by the laser radar after the pedestrians are avoided within 20 seconds, the distribution robot continues to move according to a preset path; if the laser radar detects that the surrounding obstacle still exists after 20 seconds, the distribution robot goes around leftwards/rightwards and then returns to a preset path to continue moving (specifically, firstly moves rightwards by 20cm, moves in the original direction by 50cm and then moves leftwards by 20cm to return to the preset path);
As shown in fig. 9, the automatic ride elevator procedure: when the delivery robot moves to the front of the elevator of the current floor according to the preset path, the delivery robot sends a confirmation signal and floor information of the next step 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 inconsistent with the floor direction to which the delivery robot is going, the elevator is checked after waiting for 1 minute; if the residual space in the elevator meets the requirement, the elevator control module checks whether the residual space in the elevator meets the requirement of the delivery robot, and if the residual space in the elevator does not meet the requirement, the elevator control module waits for 1 minute and then checks; if yes, the elevator control module controls the elevator door to be opened on the floor where the distribution robot is located; the delivery robot enters the elevator, after the elevator reaches the floor to which the delivery robot is going, the elevator door is opened, and the delivery robot exits the elevator.
The four processes are not required to be sequentially and completely carried out, but are carried out according to the situation when the book distribution robot goes to the appointed intelligent bookshelf.
Specifically, in step S5, the three-level positioning procedure includes:
as shown in fig. 10, the primary positioning procedure: the book distribution robot moves to a front positioning point of the bookshelf corresponding to the book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans bookshelf positioning identification strips arranged on the ground in front of the bookshelf, if the bookshelf positioning identification strips are not scanned in the current field of view of the camera, the distribution robot moves according to a reverse-shaped outward expansion path (shown in figure 18), and expands the searching distance by 2cm outwards each time until the bookshelf positioning identification strips are scanned;
As shown in fig. 11, the two-stage positioning process: the mechanical arm of the book distribution robot rotates to a preset orientation, a camera at the tail end of the mechanical arm scans an orientation mark strip positioned on the bookshelf in a 5-degree view field in front, and if the orientation mark strip is not scanned in the view field, the mechanical arm rotates gradually anticlockwise for 3 degrees and scans again until the orientation mark strip is scanned; the mechanical arm is lifted to the preset layer height according to the layer number of the book, then a camera at the tail end of the mechanical arm scans the height positioning identification strip on the bookshelf in a 10cm visual field, 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 origin, the moving range is gradually enlarged, and each time the moving range is enlarged by 2cm until the height positioning identification strip is scanned;
as shown in fig. 12, the three-stage positioning procedure: scanning a bar code on a bookshelf in a 5cm visual field through a camera at the tail end of the mechanical arm, acquiring a book identification code stored in the bar code, comparing whether the acquired book identification code is consistent with a book identification code to be grabbed or not, and if not, scanning again and comparing again after the book distribution robot transversely moves for 5cm until the book identification code acquired 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 books to be grabbed are located, after the bookshelf receives information, 3 laser transmitters (the arrangement of the 3 laser transmitters is in an inverted triangle) on a book positioning module corresponding to the books 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 reverse-shaped expansion path (shown in fig. 18), and the searching distance is expanded outwards for 1cm each time 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 by 0.2 degrees, and gradually expanding the rotation 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 distributing robot performs a process of grabbing books by a mechanical arm: controlling the stretching distance of the manipulator according to the thickness information of the books in the order information, controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure through a pressure sensor at the inner side of the manipulator, if not, gradually clamping the manipulator, and clamping for 0.1cm each time until the current pressure detected by the pressure sensor reaches the preset pressure; finally, the book clamped by the mechanical arm is pulled out longitudinally along the bookshelf.
Corresponding to the grabbing method, as shown in fig. 14, the embodiment also provides a book high-precision grabbing system based on a library dynamic space basis, which comprises 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 a temporary storage bookshelf, wherein the temporary storage bookshelf is arranged around the trolley body;
the wheels are provided with angular displacement sensors for detecting the motion parameters of the calibration trolley and providing auxiliary parameters for positioning the trolley;
The vehicle body is provided with a signal transceiver, 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 transceiver;
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 which are fixed and different from each other, and are all arranged at the lower end of the manipulator;
the angular displacement sensor is arranged at the 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 the connecting rod of the mechanical arm and used for detecting the movement of the mechanical arm so as to calibrate the movement parameters of the mechanical arm and provide auxiliary parameters for the positioning of the mechanical arm;
as shown in fig. 16, the library hardware includes a marker point arranged at the initial position of the trolley, an intelligent elevator, an access book cabinet and a book management background;
the initial position of the trolley is arranged at a fixed ground position of the library and is used as a movement initial point of the book distribution robot, a positioning identification strip is attached to the initial position of the trolley, and the initial position is scanned and detected through a camera at the bottom of the trolley;
The intelligent elevator comprises a signal transceiver and an elevator control module;
the signal transceiver is used for interacting with the trolley and is arranged on the elevator control panel of each layer;
the book management background comprises an information processing module and a signal transceiver;
as shown in fig. 17, 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 stuck to a fixed position on the ground in front of the bookshelf and is scanned and identified by the vehicle bottom camera;
the book information module comprises bar codes and laser transmitters, and is arranged at the shelf of the bookshelf and corresponds to books one by one;
the bar code is stuck in the middle of the book information module, and the identification code of the book can be read after the bar code is scanned by the camera of the manipulator;
the laser transmitters comprise a first laser transmitter, a second laser transmitter and a third laser transmitter, and the frequencies of the laser transmitted by the laser transmitters are fixed and different from each other and correspond to the laser receivers one by one; 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 the third laser receiver;
The intelligent bookshelf is also stuck with a height identification strip and an orientation identification strip;
the orientation marking strips are arranged at the initial position of the bookshelf, are longitudinally arranged on the bookshelf and are used for determining the orientation of the mechanical arm through scanning the orientation marking strips by a camera at the tail end of the mechanical arm;
the height identification strips are arranged at the initial positions of the bookshelf, and each layer of shelf is provided with a camera at the tail end of the mechanical arm for scanning the height identification strips to determine the height of the mechanical arm.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A book high-precision grabbing method based on a library dynamic space foundation is characterized by comprising the following steps:
s1, checking a book distribution robot by a book management background, wherein the method specifically comprises the following steps of: s11, basic function detection of a 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 signal or the power-on fault exists, and informing a book manager 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 smaller than 12Ah, informing a book manager that the electric quantity is too low, and charging the book distribution robot; 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 motion parameters of the book distribution robot: the dispensing robot moves forwards/backwards for 3 seconds, and the angular displacement of the linear forward/backward movement of the dispensing robot is recorded through an angular displacement sensor at the wheel; comparing the recorded angular displacement with the angular displacement of the preset dispensing robot in a linear motion mode for 3 seconds, and if the difference is greater than 0.1%, informing a librarian of the failure of the dispensing robot; if the difference is less than 0.1%, the distribution robot sends a third feedback signal to the book management background;
s13, calibrating mechanical arm motion parameters of the book distribution robot: the mechanical arm moves linearly for 2 seconds, and the linear displacement of the linear motion of the mechanical arm is recorded by a linear displacement sensor arranged at the linear motor of the mechanical arm; comparing the recorded linear displacement with the linear displacement of the preset mechanical arm in 2 seconds, and if the difference is greater than 0.1%, notifying a librarian of mechanical arm faults; if the difference is less than 0.1%, performing the rotational movement of the mechanical arm for 1 second, and recording the angular displacement of the rotational movement of the mechanical arm by an angular displacement sensor arranged at the mechanical arm rotating motor; comparing the recorded angular displacement with the angular displacement of the preset mechanical arm in 1 second of rotational movement, and informing a librarian of mechanical arm faults if the difference is greater than 0.1%; if the difference is smaller than 0.1%, the distribution robot sends a fourth feedback signal to the book management background;
S2, the book distribution robot moves to an initial position for standby;
s3, the book management background collects order information and sends the order information to the book distribution robot; the order information includes: user account number, book identification code, bookshelf position number; the book information includes: book numbering, book thickness, bookshelf numbering corresponding to books and positions thereof, and positioning module numbering corresponding to books on the bookshelf;
s4, the book distribution robot performs path planning according to the order information;
s5, the book distribution robot moves to a specified bookshelf according to the planned path, and a three-level positioning program is executed; the bookshelf is an intelligent bookshelf and comprises a positioning identification strip at the initial position of the bookshelf, a book information module and a signal receiver;
the positioning identification strip at the initial position of the bookshelf is stuck to a fixed position on the ground in front of the bookshelf and is scanned and identified by the vehicle bottom camera;
the book information module comprises bar codes and laser transmitters, and is arranged at the shelf of the bookshelf and corresponds to books one by one;
the bar code is stuck in the middle of the book information module, and the identification code of the book can be read after the bar code is scanned by the camera of the manipulator;
The laser transmitters comprise a first laser transmitter, a second laser transmitter and a third laser transmitter, and the frequencies of the laser transmitted by the laser transmitters are fixed and different from each other and correspond to the laser receivers one by one; 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 the third laser receiver;
the intelligent bookshelf is also stuck with a height identification strip and an orientation identification strip;
the orientation marking strips are arranged at the initial position of the bookshelf, are longitudinally arranged on the bookshelf and are used for determining the orientation of the mechanical arm through scanning the orientation marking strips by a camera at the tail end of the mechanical arm;
the height identification strips are arranged at the initial positions of the bookshelf, and each layer of shelf is provided with a camera at the tail end of the mechanical arm for scanning the height identification strips to determine the height of the mechanical arm;
the three-stage positioning procedure includes:
and (3) a primary positioning process: the book distribution robot moves to the front of the bookshelf corresponding to the book to be grabbed according to a preset path, a camera arranged at the bottom of the book distribution robot scans bookshelf positioning identification strips arranged on the ground in front of the bookshelf, and if the bookshelf positioning identification strips are not scanned in the current visual field of the camera, the distribution robot moves according to a reverse-shaped expanding path until the bookshelf positioning identification strips are scanned;
And (3) a secondary positioning process: the mechanical arm of the book distribution robot rotates to a preset direction, a camera at the tail end of the mechanical arm scans the direction marking strip on the bookshelf right in front, and if the direction marking strip is not scanned in the visual field, the mechanical arm rotates anticlockwise gradually until the direction marking strip is scanned; the mechanical arm is lifted to the preset layer height according to the layer number of the book, then a camera at the tail end of the mechanical arm is used for scanning the height positioning identification strip on the bookshelf, 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 origin, and the moving range is gradually enlarged until the height positioning identification strip is scanned;
three-stage positioning flow: scanning a bar code on a bookshelf through a camera at the tail end of the mechanical arm, acquiring a book identification code stored in the bar code, comparing whether the acquired book identification code is consistent with the book identification code to be grabbed, if not, scanning again and comparing the book identification code after the book distribution robot transversely moves for 5cm until the book identification code acquired 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 books to be grabbed are located, after the bookshelf receives information, 3 laser transmitters on a book positioning module corresponding to the books 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 or not is detected, and if any corresponding laser signal is not received, the mechanical arm moves according to a reverse-shaped expansion path until any corresponding laser signal is received; 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;
S6, the book distribution robot executes a manipulator to grasp a book program, and stores the grasped books on a temporary storage bookshelf of the book distribution robot;
s7, judging whether all orders are completed, if not, returning to the step S5, and executing the grabbing task of the next book; if all orders have been completed, return to step S2, wait to receive new order information.
2. The method for grabbing books with high precision based on the library dynamic space foundation according to claim 1, wherein in step S2, the method for moving the distribution robot to the initial position for standby is as follows: 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 according to a reverse-shaped expanding 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.
3. The method for grabbing books with high precision based on the library dynamic space foundation according to claim 1, wherein in step S3, the book management background collects the user order information and checks whether the number of orders is greater than 20 or whether the total number of books in the orders is greater than 40 every one minute; if the number of orders is more than 20 or the total number in the orders is more than 40, the book management background packages the order information and the corresponding book information and sends the packaged information to the book distribution robot.
4. The method for grabbing books with high precision based on the library dynamic space foundation according to claim 1, wherein in step S4, the method for planning paths by the book distribution robot is as follows: firstly, a static map in the whole library is constructed, bookshelf position information corresponding to books to be grabbed in an order is projected onto the static map, and finally, the global shortest path of the book distribution robot to the bookshelf position corresponding to each book to be grabbed is calculated through a Dike Style algorithm.
5. The method for grabbing books with high precision based on the dynamic space foundation of a library according to claim 1, wherein in step S5, the procedure of moving the book distribution robot to a designated bookshelf according to the planned path comprises:
and (3) accurate positioning flow: firstly, abstracting a book distribution robot model and a driving road model, and then projecting the models into a static map to obtain the absolute position and the relative position relation of the book distribution robot in a library; calculating running state parameters 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;
The dynamic map construction flow is as follows: 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 to construct a dynamic map;
automatic obstacle avoidance flow: in the moving process of the distribution robot according to a preset path, the laser radar arranged around the distribution robot periodically detects surrounding obstacle information, if an obstacle is detected, the distribution robot immediately stops moving, and meanwhile, an alarm on the distribution robot is started; if the laser radar detects that no obstacle exists around within 20 seconds, the distribution robot continues to move according to a preset path; if the laser radar detects that the surrounding obstacle exists after 20 seconds, the distribution robot goes around leftwards/rightwards and returns to a preset path to continue moving;
the automatic elevator riding process comprises the following steps: when the delivery robot moves to the front of the elevator of the current floor according to the preset path, the delivery robot sends a confirmation signal and floor information of the next step 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 inconsistent with the floor direction to which the delivery robot is going, the elevator is checked after waiting for 1 minute; if the residual space in the elevator meets the requirement, the elevator control module checks whether the residual space in the elevator meets the requirement of the delivery robot, and if the residual space in the elevator does not meet the requirement, the elevator control module waits for 1 minute and then checks; if yes, the elevator control module controls the elevator door to be opened on the floor where the distribution robot is located; the delivery robot enters the elevator, after the elevator reaches the floor to which the delivery robot is going, the elevator door is opened, and the delivery robot exits the elevator.
6. The method for grabbing books with high precision based on the library dynamic space foundation according to claim 1, wherein in step S6, the book distribution robot performs a process of grabbing books by a manipulator: controlling the stretching distance of the manipulator according to the thickness information of the books in the order information, controlling the manipulator to longitudinally extend to a preset depth along the bookshelf, detecting whether the current pressure reaches the preset pressure through a pressure sensor at 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; finally, the book clamped by the mechanical arm is pulled out longitudinally along the bookshelf.
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| CN104875177B (en) * | 2015-05-19 | 2017-03-22 | 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 |
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