CN112692839B - Book sorting method and device based on double-arm robot - Google Patents
Book sorting method and device based on double-arm robot Download PDFInfo
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- CN112692839B CN112692839B CN202110304574.8A CN202110304574A CN112692839B CN 112692839 B CN112692839 B CN 112692839B CN 202110304574 A CN202110304574 A CN 202110304574A CN 112692839 B CN112692839 B CN 112692839B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 51
- 238000013439 planning Methods 0.000 claims abstract description 32
- 238000000926 separation method Methods 0.000 claims description 14
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 5
- 238000007726 management method Methods 0.000 claims description 5
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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
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/008—Means for collecting objects, e.g. containers for sorted mail items
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/02—Apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/10—Apparatus characterised by the means used for detection ofthe destination
- B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2301/00—Sorting according to destination
- B07C2301/0016—RFID-tags
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Abstract
The invention discloses a book sorting method and a book sorting device based on a double-arm robot, wherein the method comprises the following steps: initializing a conveying mechanical arm and a scanning mechanical arm of the double-arm robot, and guiding a user to place books on the conveying mechanical arm; triggering the scanning robot arm to move to the upper part of the conveying robot arm to scan the book bar code; when the double-arm robot obtains the information of the floors to which books belong according to the book bar codes, generating a body movement planning path by combining the layout positions of the storage cabinets; when the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path, triggering a conveying belt on the conveying robot arm to convey the books to the specific cabinet lattice; and identifying the current residual space of the specific cabinet lattice, updating the storage supply state of the specific cabinet lattice according to the comparison result between the current residual space and the early warning height, and controlling the double-arm robot to return to the starting point according to the original path of the body motion planning path. The invention can drive the double-arm robot to complete a series of procedures of returning books by a user instead and undertake primary sorting work.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to a book sorting method and device based on a double-arm robot.
Background
The existing library is a mechanism for collecting and storing book data for others to look up or borrow, and the operation process of returning books by users at present is generally as follows: after the machine identifies the identity information of the borrowing card of the user, the number of books to be returned is manually selected by the user, the books to be returned are scanned and recorded one by one, and most importantly, after the user successfully handles the book returning procedure, all the books are directly placed on the storage table at will, and after the storage table is full of various books, the books are delivered to a library manager to sort and arrange the books of various types according to floors and the storage room to which the books belong. However, this manual sorting process is time-consuming and expensive for the library manager, and the work difficulty is not small.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a book sorting method and a book sorting device based on a double-arm robot.
In order to solve the above problems, the present invention provides a book sorting method based on a dual-arm robot, the method comprising:
based on the identification of user retaining information by the double-arm robot, initializing a conveying machine arm and a scanning machine arm of the body, and correctly guiding a user to place a single book on the conveying machine arm;
a book returning command is clicked and executed on a book returning application interface popped up by a body display screen by a user, the scanning robot arm is triggered to move to the position above the conveying robot arm, and the book bar codes are scanned;
obtaining the information of the floors to which books belong through the double-arm robot according to the book bar codes, and generating a body motion planning path by combining the layout position of the storage cabinet;
triggering a conveyor belt arranged on the conveying robot arm to transfer the books to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
and identifying the current residual space of the specific cabinet lattice by using an image processing technology, updating the storage supply state of the specific cabinet lattice according to a comparison result between the current residual space and the early warning height, controlling the double-arm robot to return to a starting point according to the original path of the body motion planning path, and correcting the user profile information.
Optionally, the identifying the user profile information by the dual-arm robot includes:
triggering a body camera to collect face information of a user when a passive pyroelectric infrared probe arranged on the double-arm robot detects that the user approaches, and simultaneously popping up the book returning application interface by a body display screen;
and calling a book comprehensive management database, matching the collected face information of the user one by one, and displaying user profile information on the book returning application interface, wherein the user profile information comprises user identity information and a user book borrowing record.
Optionally, the correctly guiding the user to place the book on the transfer robot arm includes:
and displaying the book placing direction on the book returning application interface, and guiding a user to place single books to the conveying belt arranged on the conveying robot arm according to the book placing direction through voice prompt.
Optionally, the triggering the scanning robot arm to move above the transfer robot arm includes:
based on the fact that the scanning robot arm is provided with the laser bar code scanner, the fixed relative distance between the central point of the laser bar code scanner and the central point of the conveying belt is obtained, the conveying robot arm is used as a static object, and the scanning robot arm is controlled to move towards the conveying robot arm in a translation mode until the fixed relative distance is shortened to zero.
Optionally, when the scanning robot arm moves above the conveying robot arm, the scanning opening of the laser barcode scanner faces the single book placed on the conveying belt at a fixed distance.
Optionally, after the book barcode is scanned, the method further includes: and controlling the original path of the scanning robot arm to return to the initial state.
Optionally, the obtaining of the information of the floors to which books belong through the double-arm robot according to the book bar codes, and the generating of the body motion planning path by combining the layout position of the storage cabinet comprises:
analyzing the floor of the book and the number of the storage room of the book in the book bar code through the double-arm robot, and searching the positions of the cabinet lattices with matched information from the layout position of the storage cabinet according to the floor of the book and the number of the storage room of the book;
screening out a specific cabinet lattice which meets the storage condition and is closest to the double-arm robot from the plurality of cabinet lattices on the basis of the book placing state of the plurality of cabinet lattices at the last moment;
acquiring transverse movement information between the position of the specific cabinet lattice and the conveyor belt, and meanwhile, calculating longitudinal movement information of a lifting assembly based on the fact that the lifting assembly is arranged at the bottom of the double-arm robot in combination with the book placing state of the specific cabinet lattice at the previous moment;
and fusing the transverse movement information and the longitudinal movement information to generate a body motion planning path of the double-arm robot.
Optionally, the identifying, by using an image processing technology, the current remaining space of the specific cabinet, and updating the storage and supply state of the specific cabinet according to a comparison result between the current remaining space and the early warning height includes:
acquiring the whole window image of the specific cabinet lattice by using the body camera;
extracting a frame and drawing a separation line of the collected whole window image, and calculating the vertical distance from the separation line to the top of the frame;
based on the fact that the vertical distance is larger than the set early warning height, the storage state of the specific cabinet lattice is kept to be sufficient in space, and the vertical distance is recorded; or,
and updating the storage state of the specific cabinet lattice to be insufficient space based on that the vertical distance is smaller than or equal to the early warning height, and making a closing mark on the specific cabinet lattice in the layout position of the storage cabinet.
Optionally, the modifying the user profile retention information includes: the user book borrowing record comprises a book directory to be returned and a book directory returned, and the returned book information is cut from the book directory to be returned to the book directory returned.
In addition, the embodiment of the invention also provides a book sorting device based on the double-arm robot, and the device comprises:
the operation initialization module is used for initializing a transmission mechanical arm and a scanning mechanical arm of the body and correctly guiding a user to place a single book on the transmission mechanical arm based on the identification of user retaining information by the double-arm robot;
the information scanning module is used for triggering the scanning robot arm to move to the upper part of the conveying robot arm to scan the book bar codes by clicking and executing a book returning command on a book returning application interface popped up by the body display screen by a user;
the path planning module is used for acquiring the information of the floors to which books belong through the double-arm robot according to the book bar codes and generating a body movement planning path by combining the layout position of the storage cabinet;
the book conveying module is used for triggering a conveying belt arranged on the conveying robot arm to convey a book to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
and the data updating module is used for identifying the current residual space of the specific cabinet lattice by using an image processing technology, updating the storage supply state of the specific cabinet lattice according to a comparison result between the current residual space and the early warning height, controlling the double-arm robot to return to the starting point according to the original path of the body motion planning path, and correcting the user profile information.
In the embodiment of the invention, the intelligent control mode can drive the double-arm robot to complete a series of procedures of returning books by a user, wherein the procedures comprise the following steps: the body camera is used for assisting in obtaining the user reservation information, so that the situation that the user cannot return the book as expected due to the fact that the user does not carry a borrowing card is avoided, and convenience is provided for the user; the scanning robot arm is used for identifying the book bar code, and the manual code scanning operation of a user is directly replaced; the delivery robot arm is used for executing the storage of the returned books in the cabinet grids, the problem that the original user cannot place the books in order after the book returning procedure is successfully handled is solved, the primary sorting work of a library manager is undertaken, and the labor time cost is greatly reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a book sorting method based on a dual-arm robot in an embodiment of the present invention;
fig. 2 is a schematic structural composition diagram of the book sorting device based on the double-arm robot in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Examples
Referring to fig. 1, fig. 1 is a schematic diagram illustrating a specific flow of a book sorting method based on a dual-arm robot according to an embodiment of the present invention.
As shown in fig. 1, a book sorting method based on a double-arm robot includes the following steps:
s101, based on the identification of user retaining information by the double-arm robot, initializing a conveying machine arm and a scanning machine arm of a body, and correctly guiding a user to place a single book on the conveying machine arm;
the specific implementation process comprises the following steps:
(1) triggering a body camera to collect face information of a user when a passive pyroelectric infrared probe arranged on the double-arm robot detects that the user approaches, and simultaneously popping up the book returning application interface by a body display screen;
(2) calling a book comprehensive management database, matching the collected face information of the user one by one, and displaying user profile information on the book returning application interface, wherein the user profile information comprises user identity information and a user book borrowing record;
(3) the conveying robot arm and the scanning robot arm of the trigger body are kept in working states, meanwhile, the book placing direction is displayed on the book returning application interface, and a user is guided to place a single book on a conveying belt arranged on the conveying robot arm according to the book placing direction through voice prompt; wherein, the books are put the direction and are limited to be pasted the one side that will have books bar code and put upwards.
S102, a book returning command is clicked and executed on a book returning application interface popped up by a body display screen by a user, the scanning robot arm is triggered to move to the position above the conveying robot arm, and the book bar codes are scanned;
the specific implementation process comprises the following steps: based on the fact that a laser bar code scanner is arranged on the scanning robot arm, a fixed relative distance between the center point of the laser bar code scanner and the center point of the conveyor belt is obtained, the conveying robot arm is used as a static object, the scanning robot arm is controlled to move horizontally towards the conveying robot arm until the fixed relative distance is shortened to zero, and at the moment, a scanning port of the laser bar code scanner faces a single book placed on the conveyor belt at a fixed distance; in addition, after the laser bar code scanner performs the scanning operation on the book bar codes, the scanning robot arm needs to be controlled to return to the initial state, which shows that the implementation purpose of the scanning robot arm is achieved in the whole book sorting process.
Wherein, the fixed relative distance is further explained as: and setting the transverse side length value of the rectangle as the fixed relative distance based on the fact that the central point of the laser bar code scanner is the upper left vertex of the rectangle and the central point of the conveyor belt is the lower right vertex of the rectangle.
S103, obtaining information of a floor to which books belong through the double-arm robot according to the book bar codes, and generating a body motion planning path by combining layout positions of the storage cabinets;
the specific implementation process comprises the following steps:
(1) analyzing the floor of the book and the number of the storage room of the book in the book bar code through the double-arm robot, and searching the positions of the cabinet lattices with matched information from the layout position of the storage cabinet according to the floor of the book and the number of the storage room of the book;
the overall layout of the storage cabinet layout positions is set according to historical book borrowing conditions of all the storage rooms arranged on all the floors in recent years, and the number of the best cabinets to be divided by each book storage room is included, so that the frequency of daily cabinet arrangement required by a library manager is reduced. Meanwhile, a three-dimensional coordinate system is established by taking the central point of the conveying belt as the origin of coordinates, and the position information of each cabinet lattice in the layout position of the storage cabinet is recorded.
(2) Screening out a specific cabinet lattice which meets the storage condition and is closest to the double-arm robot from the plurality of cabinet lattices on the basis of the book placing state of the plurality of cabinet lattices at the last moment;
more specifically, M (M is more than or equal to 0 and less than N) cabinet lattices with insufficient storage space are removed from the plurality of cabinet lattices (the number is set to N), then the position information corresponding to each of the rest (N-M) cabinet lattices is obtained, and the cabinet lattice corresponding to the minimum position information is directly defined as the specific cabinet lattice for storage.
(3) Acquiring transverse movement information between the position of the specific cabinet lattice and the conveyor belt, and meanwhile, calculating longitudinal movement information of a lifting assembly based on the fact that the lifting assembly is arranged at the bottom of the double-arm robot in combination with the book placing state of the specific cabinet lattice at the previous moment;
wherein, the lateral movement information sequentially comprises: the double-arm robot translates left/right to the distance information right in front of the row of the specific cabinet, and the selection of the translation direction depends on the position of the double-arm robot; the central axis of the body of the double-arm robot is taken as a rotating shaft, the double-arm robot rotates leftwards/rightwards to face angle information in the front of the row of the specific cabinet lattice, and the selection of the left-right rotating direction is defined by technicians; and the double-arm robot translates forwards to the distance information of the position, right in front of the row of the specific cabinet, of the conveyor belt. In association, the longitudinal movement information includes information of a distance that the dual-arm robot translates upward/downward to a position just in front of the specific cabinet, and the direction of the upward/downward translation is selected according to a vertical distance that the position of the conveyor belt is located at and the specific cabinet has been recorded at the previous time, and the vertical distance is obtained in the same manner as set forth in step S105.
(4) And fusing the transverse movement information and the longitudinal movement information to generate a body motion planning path of the double-arm robot.
S104, triggering a conveyor belt arranged on the conveying robot arm to transfer the books to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
and S105, identifying the current residual space of the specific cabinet lattice by using an image processing technology, updating the storage and supply state of the specific cabinet lattice according to the comparison result between the current residual space and the early warning height, controlling the double-arm robot to return to the starting point along the original path of the body motion planning path, and correcting the user profile information.
The specific implementation process comprises the following steps:
(1) acquiring the whole window image of the specific cabinet lattice by using the body camera;
(2) extracting a frame and drawing a separation line of the collected whole window image, and calculating the vertical distance from the separation line to the top of the frame;
wherein, the frame extraction result for the whole window image is actually expressed as: extracting the size of a square inner frame of the specific cabinet lattice (namely the maximum space of the specific cabinet lattice which is actually allowed to be superposed and horizontally placed with books), establishing a plane coordinate system by taking the leftmost upper corner point of the square inner frame as a coordinate origin, and taking the top of the square inner frame (namely a frame line which takes the leftmost upper corner point as a fixed point and extends rightwards) as a positive X axis of the plane coordinate system; the result of drawing the separation line for the whole window image is actually expressed as: since the order of placing books in the specific cabinet is from bottom to top, and in addition, only the total thickness of the books currently stacked in the specific cabinet can be visually represented in the whole window image, the side line of the books placed at the top in the specific cabinet (i.e. the side line approximately parallel and closer to the positive X axis) is depicted; in summary, the calculation process for the vertical distance actually appears as follows: extracting a data point closest to the positive X axis from the book side line, and calculating the vertical distance from the data point to the positive X axis, namely the vertical distance from the separation line to the top of the frame, which is also expressed as the current remaining space which can be provided for other books to be stored in the specific cabinet lattice.
(3) Based on the fact that the vertical distance is larger than the set early warning height, the storage state of the specific cabinet lattice is kept to be sufficient in space, and the vertical distance is recorded to assist longitudinal movement information calculation when the specific cabinet lattice is used for storage next time; or based on that the vertical distance is smaller than or equal to the early warning height, updating the storage state of the specific cabinet lattice to be insufficient space, and making a closing label for the specific cabinet lattice in the layout position of the storage cabinet to indicate that the specific cabinet lattice is not listed in a candidate list when next matching of the floor information to which the book belongs is performed;
(4) controlling the double-arm robot to return to the starting point according to the original path of the body motion planning path to wait for the triggering execution of the next book sorting work;
(5) the user book borrowing record comprises a book directory to be returned and a book directory returned, and the returned book information is cut from the book directory to be returned to the book directory returned.
In the embodiment of the invention, the intelligent control mode can drive the double-arm robot to complete a series of procedures of returning books by a user, wherein the procedures comprise the following steps: the body camera is used for assisting in obtaining the user reservation information, so that the situation that the user cannot return the book as expected due to the fact that the user does not carry a borrowing card is avoided, and convenience is provided for the user; the scanning robot arm is used for identifying the book bar code, and the manual code scanning operation of a user is directly replaced; the delivery robot arm is used for executing the storage of the returned books in the cabinet grids, the problem that the original user cannot place the books in order after the book returning procedure is successfully handled is solved, the primary sorting work of a library manager is undertaken, and the labor time cost is greatly reduced.
Examples
Referring to fig. 2, fig. 2 is a schematic structural composition diagram of a book sorting apparatus based on a dual-arm robot according to an embodiment of the present invention.
As shown in fig. 2, a book sorting apparatus based on a double-arm robot, the apparatus comprising:
the operation initialization module 201 is used for initializing a transmission mechanical arm and a scanning mechanical arm of the body and correctly guiding a user to place a single book on the transmission mechanical arm based on the identification of user retaining information by the double-arm robot;
the specific implementation process comprises the following steps:
(1) triggering a body camera to collect face information of a user when a passive pyroelectric infrared probe arranged on the double-arm robot detects that the user approaches, and simultaneously popping up the book returning application interface by a body display screen;
(2) calling a book comprehensive management database, matching the collected face information of the user one by one, and displaying user profile information on the book returning application interface, wherein the user profile information comprises user identity information and a user book borrowing record;
(3) the conveying robot arm and the scanning robot arm of the trigger body are kept in working states, meanwhile, the book placing direction is displayed on the book returning application interface, and a user is guided to place a single book on a conveying belt arranged on the conveying robot arm according to the book placing direction through voice prompt; wherein, the books are put the direction and are limited to be pasted the one side that will have books bar code and put upwards.
The information scanning module 202 is used for triggering the scanning robot arm to move to the upper part of the conveying robot arm to scan the book bar codes by clicking and executing a book returning command on a book returning application interface popped up by the body display screen by a user;
the specific implementation process comprises the following steps: based on the fact that a laser bar code scanner is arranged on the scanning robot arm, a fixed relative distance between the center point of the laser bar code scanner and the center point of the conveyor belt is obtained, the conveying robot arm is used as a static object, the scanning robot arm is controlled to move horizontally towards the conveying robot arm until the fixed relative distance is shortened to zero, and at the moment, a scanning port of the laser bar code scanner faces a single book placed on the conveyor belt at a fixed distance; in addition, after the laser bar code scanner performs the scanning operation on the book bar codes, the scanning robot arm needs to be controlled to return to the initial state, which shows that the implementation purpose of the scanning robot arm is achieved in the whole book sorting process.
Wherein, the fixed relative distance is further explained as: and setting the transverse side length value of the rectangle as the fixed relative distance based on the fact that the central point of the laser bar code scanner is the upper left vertex of the rectangle and the central point of the conveyor belt is the lower right vertex of the rectangle.
The path planning module 203 is used for acquiring the information of the floors to which books belong through the double-arm robot according to the book bar codes and generating a body motion planning path by combining the layout position of the storage cabinet;
the specific implementation process comprises the following steps:
(1) analyzing the floor of the book and the number of the storage room of the book in the book bar code through the double-arm robot, and searching the positions of the cabinet lattices with matched information from the layout position of the storage cabinet according to the floor of the book and the number of the storage room of the book;
the overall layout of the storage cabinet layout positions is set according to historical book borrowing conditions of all the storage rooms arranged on all the floors in recent years, and the number of the best cabinets to be divided by each book storage room is included, so that the frequency of daily cabinet arrangement required by a library manager is reduced. Meanwhile, a three-dimensional coordinate system is established by taking the central point of the conveying belt as the origin of coordinates, and the position information of each cabinet lattice in the layout position of the storage cabinet is recorded.
(2) Screening out a specific cabinet lattice which meets the storage condition and is closest to the double-arm robot from the plurality of cabinet lattices on the basis of the book placing state of the plurality of cabinet lattices at the last moment;
more specifically, M (M is more than or equal to 0 and less than N) cabinet lattices with insufficient storage space are removed from the plurality of cabinet lattices (the number is set to N), then the position information corresponding to each of the rest (N-M) cabinet lattices is obtained, and the cabinet lattice corresponding to the minimum position information is directly defined as the specific cabinet lattice for storage.
(3) Acquiring transverse movement information between the position of the specific cabinet lattice and the conveyor belt, and meanwhile, calculating longitudinal movement information of a lifting assembly based on the fact that the lifting assembly is arranged at the bottom of the double-arm robot in combination with the book placing state of the specific cabinet lattice at the previous moment;
wherein, the lateral movement information sequentially comprises: the double-arm robot translates left/right to the distance information right in front of the row of the specific cabinet, and the selection of the translation direction depends on the position of the double-arm robot; the central axis of the body of the double-arm robot is taken as a rotating shaft, the double-arm robot rotates leftwards/rightwards to face angle information in the front of the row of the specific cabinet lattice, and the selection of the left-right rotating direction is defined by technicians; and the double-arm robot translates forwards to the distance information of the position, right in front of the row of the specific cabinet, of the conveyor belt. In association, the longitudinal movement information includes information of a distance that the dual-arm robot translates upward/downward to a position just in front of the specific cabinet, and the direction of the upward/downward translation is selected according to a vertical distance that the conveyor belt is located at and the specific cabinet has been recorded at the previous time, and the vertical distance is obtained in the same manner as that provided by the data update module 205.
(4) And fusing the transverse movement information and the longitudinal movement information to generate a body motion planning path of the double-arm robot.
The book conveying module 204 is used for triggering a conveying belt arranged on the conveying robot arm to convey a book to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
and the data updating module 205 is configured to identify the current remaining space of the specific cabinet by using an image processing technology, update the storage and supply state of the specific cabinet according to a comparison result between the current remaining space and the early warning height, control the dual-arm robot to return to the starting point according to the original path of the body motion planning path, and modify the user profile information.
The specific implementation process comprises the following steps:
(1) acquiring the whole window image of the specific cabinet lattice by using the body camera;
(2) extracting a frame and drawing a separation line of the collected whole window image, and calculating the vertical distance from the separation line to the top of the frame;
wherein, the frame extraction result for the whole window image is actually expressed as: extracting the size of a square inner frame of the specific cabinet lattice (namely the maximum space of the specific cabinet lattice which is actually allowed to be superposed and horizontally placed with books), establishing a plane coordinate system by taking the leftmost upper corner point of the square inner frame as a coordinate origin, and taking the top of the square inner frame (namely a frame line which takes the leftmost upper corner point as a fixed point and extends rightwards) as a positive X axis of the plane coordinate system; the result of drawing the separation line for the whole window image is actually expressed as: since the order of placing books in the specific cabinet is from bottom to top, and in addition, only the total thickness of the books currently stacked in the specific cabinet can be visually represented in the whole window image, the side line of the books placed at the top in the specific cabinet (i.e. the side line approximately parallel and closer to the positive X axis) is depicted; in summary, the calculation process for the vertical distance actually appears as follows: extracting a data point closest to the positive X axis from the book side line, and calculating the vertical distance from the data point to the positive X axis, namely the vertical distance from the separation line to the top of the frame, which is also expressed as the current remaining space which can be provided for other books to be stored in the specific cabinet lattice.
(3) Based on the fact that the vertical distance is larger than the set early warning height, the storage state of the specific cabinet lattice is kept to be sufficient in space, and the vertical distance is recorded to assist longitudinal movement information calculation when the specific cabinet lattice is used for storage next time; or based on that the vertical distance is smaller than or equal to the early warning height, updating the storage state of the specific cabinet lattice to be insufficient space, and making a closing label for the specific cabinet lattice in the layout position of the storage cabinet to indicate that the specific cabinet lattice is not listed in a candidate list when next matching of the floor information to which the book belongs is performed;
(4) controlling the double-arm robot to return to the starting point according to the original path of the body motion planning path to wait for the triggering execution of the next book sorting work;
(5) the user book borrowing record comprises a book directory to be returned and a book directory returned, and the returned book information is cut from the book directory to be returned to the book directory returned.
In the embodiment of the invention, the intelligent control mode can drive the double-arm robot to complete a series of procedures of returning books by a user, wherein the procedures comprise the following steps: the body camera is used for assisting in obtaining the user reservation information, so that the situation that the user cannot return the book as expected due to the fact that the user does not carry a borrowing card is avoided, and convenience is provided for the user; the scanning robot arm is used for identifying the book bar code, and the manual code scanning operation of a user is directly replaced; the delivery robot arm is used for executing the storage of the returned books in the cabinet grids, the problem that the original user cannot place the books in order after the book returning procedure is successfully handled is solved, the primary sorting work of a library manager is undertaken, and the labor time cost is greatly reduced.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The book sorting method and device based on the double-arm robot provided by the embodiment of the invention are described in detail, the principle and the implementation mode of the invention are explained by adopting a specific embodiment, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A book sorting method based on a double-arm robot is characterized by comprising the following steps:
based on the identification of user retaining information by the double-arm robot, initializing a conveying machine arm and a scanning machine arm of the body, and correctly guiding a user to place a single book on the conveying machine arm;
a book returning command is clicked and executed on a book returning application interface popped up by a body display screen by a user, the scanning robot arm is triggered to move to the position above the conveying robot arm, and the book bar codes are scanned;
obtaining the information of the floors to which books belong through the double-arm robot according to the book bar codes, and generating a body motion planning path by combining the layout position of the storage cabinet;
triggering a conveyor belt arranged on the conveying robot arm to transfer the books to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
identifying the current residual space of the specific cabinet lattice by using an image processing technology, updating the storage supply state of the specific cabinet lattice according to a comparison result between the current residual space and the early warning height, controlling the double-arm robot to return to a starting point according to the original path of the body motion planning path, and correcting the user profile information;
the dual-arm robot recognizing the user profile information includes:
triggering a body camera to collect face information of a user when a passive pyroelectric infrared probe arranged on the double-arm robot detects that the user approaches, and simultaneously popping up the book returning application interface by a body display screen;
calling a book comprehensive management database, matching the collected face information of the user one by one, and displaying user profile information on the book returning application interface, wherein the user profile information comprises user identity information and a user book borrowing record;
the identifying the current remaining space of the specific cabinet by using the image processing technology, and the updating the storage and supply state of the specific cabinet according to the comparison result between the current remaining space and the early warning height comprises:
acquiring the whole window image of the specific cabinet lattice by using the body camera;
extracting a frame and drawing a separation line of the collected whole window image, and calculating the vertical distance from the separation line to the top of the frame;
based on the fact that the vertical distance is larger than the set early warning height, the storage state of the specific cabinet lattice is kept to be sufficient in space, and the vertical distance is recorded; or,
and updating the storage state of the specific cabinet lattice to be insufficient space based on that the vertical distance is smaller than or equal to the early warning height, and making a closing mark on the specific cabinet lattice in the layout position of the storage cabinet.
2. The method for book sorting based on a dual-arm robot of claim 1, wherein the properly guiding the user to place a single book on the transfer robot arm comprises:
and displaying the book placing direction on the book returning application interface, and guiding a user to place single books to the conveying belt arranged on the conveying robot arm according to the book placing direction through voice prompt.
3. The dual-arm robot-based book sorting method of claim 2, wherein the triggering the scanning robot arm to move above the transferring robot arm comprises:
based on the fact that the scanning robot arm is provided with the laser bar code scanner, the fixed relative distance between the central point of the laser bar code scanner and the central point of the conveying belt is obtained, the conveying robot arm is used as a static object, and the scanning robot arm is controlled to move towards the conveying robot arm in a translation mode until the fixed relative distance is shortened to zero.
4. The method for book sorting based on a dual-arm robot of claim 3, wherein the scanning port of the laser barcode scanner is directed to the single book placed on the conveyor belt at a fixed distance when the scanning robot arm moves above the conveyor arm.
5. The method for book sorting based on a dual-arm robot as claimed in claim 4, further comprising after scanning the book barcode: and controlling the original path of the scanning robot arm to return to the initial state.
6. The book sorting method based on the double-arm robot as claimed in claim 1, wherein the obtaining of the book belonging floor information by the double-arm robot according to the book bar code and the generation of the body movement planning path by combining the layout position of the storage cabinet comprise:
analyzing the floor of the book and the number of the storage room of the book in the book bar code through the double-arm robot, and searching the positions of the cabinet lattices with matched information from the layout position of the storage cabinet according to the floor of the book and the number of the storage room of the book;
screening out a specific cabinet lattice which meets the storage condition and is closest to the double-arm robot from the plurality of cabinet lattices on the basis of the book placing state of the plurality of cabinet lattices at the last moment;
acquiring transverse movement information between the position of the specific cabinet lattice and the conveyor belt, and meanwhile, calculating longitudinal movement information of a lifting assembly based on the fact that the lifting assembly is arranged at the bottom of the double-arm robot in combination with the book placing state of the specific cabinet lattice at the previous moment;
and fusing the transverse movement information and the longitudinal movement information to generate a body motion planning path of the double-arm robot.
7. The dual-arm robot-based book sorting method according to claim 1, wherein the correcting the user profile information comprises: the user book borrowing record comprises a book directory to be returned and a book directory returned, and the returned book information is cut from the book directory to be returned to the book directory returned.
8. A book sorting device based on a double-arm robot, characterized in that the device comprises:
the operation initialization module is used for initializing a transmission mechanical arm and a scanning mechanical arm of the body and correctly guiding a user to place a single book on the transmission mechanical arm based on the identification of user retaining information by the double-arm robot;
the information scanning module is used for triggering the scanning robot arm to move to the upper part of the conveying robot arm to scan the book bar codes by clicking and executing a book returning command on a book returning application interface popped up by the body display screen by a user;
the path planning module is used for acquiring the information of the floors to which books belong through the double-arm robot according to the book bar codes and generating a body movement planning path by combining the layout position of the storage cabinet;
the book conveying module is used for triggering a conveying belt arranged on the conveying robot arm to convey a book to a specific cabinet lattice based on the fact that the conveying robot arm reaches the front of the specific cabinet lattice according to the body motion planning path;
the data updating module is used for identifying the current residual space of the specific cabinet lattice by using an image processing technology, updating the storage supply state of the specific cabinet lattice according to the comparison result between the current residual space and the early warning height, controlling the double-arm robot to return to the starting point according to the original path of the body motion planning path, and correcting the user profile information;
the dual-arm robot recognizing the user profile information includes:
triggering a body camera to collect face information of a user when a passive pyroelectric infrared probe arranged on the double-arm robot detects that the user approaches, and simultaneously popping up the book returning application interface by a body display screen;
calling a book comprehensive management database, matching the collected face information of the user one by one, and displaying user profile information on the book returning application interface, wherein the user profile information comprises user identity information and a user book borrowing record;
the identifying the current remaining space of the specific cabinet by using the image processing technology, and the updating the storage and supply state of the specific cabinet according to the comparison result between the current remaining space and the early warning height comprises:
acquiring the whole window image of the specific cabinet lattice by using the body camera;
extracting a frame and drawing a separation line of the collected whole window image, and calculating the vertical distance from the separation line to the top of the frame;
based on the fact that the vertical distance is larger than the set early warning height, the storage state of the specific cabinet lattice is kept to be sufficient in space, and the vertical distance is recorded; or,
and updating the storage state of the specific cabinet lattice to be insufficient space based on that the vertical distance is smaller than or equal to the early warning height, and making a closing mark on the specific cabinet lattice in the layout position of the storage cabinet.
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