CN113287873B - Book taking and returning system and method based on intelligent book returning cabinet and book taking device - Google Patents

Book taking and returning system and method based on intelligent book returning cabinet and book taking device Download PDF

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Publication number
CN113287873B
CN113287873B CN202110741608.XA CN202110741608A CN113287873B CN 113287873 B CN113287873 B CN 113287873B CN 202110741608 A CN202110741608 A CN 202110741608A CN 113287873 B CN113287873 B CN 113287873B
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book
positioning
intelligent
returning
taking
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CN113287873A (en
Inventor
王如意
李泰�
何缘缘
何迪
李金涛
李胜利
秦彤旭
赵海洋
韩冰
柴欣华
潘佳骏
陈红惠
朱档
毛明伟
曾志远
朱广帅
王荣
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B63/00—Cabinets, racks or shelf units, specially adapted for storing books, documents, forms, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B96/00—Details of cabinets, racks or shelf units not covered by a single one of groups A47B43/00 - A47B95/00; General details of furniture
    • A47B96/02—Shelves
    • A47B96/025—Shelves with moving elements, e.g. movable extensions or link elements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B96/00—Details of cabinets, racks or shelf units not covered by a single one of groups A47B43/00 - A47B95/00; General details of furniture
    • A47B96/04—Partition walls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
    • A47B97/00—Furniture or accessories for furniture, not provided for in other groups of this subclass
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/08—Methods or arrangements for sensing record carriers, e.g. for reading patterns by means detecting the change of an electrostatic or magnetic field, e.g. by detecting change of capacitance between electrodes
    • G06K7/082—Methods or arrangements for sensing record carriers, e.g. for reading patterns by means detecting the change of an electrostatic or magnetic field, e.g. by detecting change of capacitance between electrodes using inductive or magnetic sensors
    • G06K7/087—Methods or arrangements for sensing record carriers, e.g. for reading patterns by means detecting the change of an electrostatic or magnetic field, e.g. by detecting change of capacitance between electrodes using inductive or magnetic sensors flux-sensitive, e.g. magnetic, detectors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
    • G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
    • G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
    • G07F7/069—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by box-like containers, e.g. videocassettes, books

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The invention discloses a book taking and returning system and method based on an intelligent book returning cabinet and a book taking device, wherein the book taking and returning system comprises the intelligent book returning cabinet, the book taking device and a book comprehensive management module; the reader puts into the assigned position through the guide of books integrated management module to through the accurate positional information who controls books on the intelligent book case that returns of books integrated management module of books, and calculate the optimum scheme of snatching on this basis, by getting the accurate autonomous navigation of book device to the assigned position, carry out the high accuracy through getting books device and snatch to the books on the bookshelf. The invention has the advantages of improving the book returning efficiency of readers, optimizing the book returning experience of readers, reducing the waste of manpower and material resources of the library and the like, can effectively promote the intelligent upgrade of the library, has good economic benefit and has great social effect.

Description

Book taking and returning system and method based on intelligent book returning cabinet and book taking device
Technical Field
The invention belongs to the technical field of library intellectualization, and particularly relates to an intelligent book returning cabinet, a book taking device and a book taking method for automatically returning books, in particular to a book taking and returning system and a book taking method based on the intelligent book returning cabinet and the book taking device.
Background
With the progressive development of society, the concept of an intelligent library is gradually known by the public, various unmanned book distribution trolleys are also developed, the book taking device of the existing unmanned book distribution trolley mostly adopts a finger mechanism, the upper part and the lower part of a book are clamped through mechanical fingers, and the influence of the height of the book is large; in addition, the book with a long service life is easy to have a horn-shaped opening, and the book is damaged by adopting the existing book grabbing mode. Therefore, the existing book taking device has the problems that books are difficult to grasp and the books are easy to damage. In addition, the functional position of the existing book taking device is not clear, and when the book taking device and a book returning cabinet or a book changing shelf and other devices are required to be matched with each other to complete the book taking and returning process, a method matched with the book taking device is lacked to realize the accurate book taking and returning process.
Aiming at the problems of the traditional book distribution device, China with the publication number of CN111762487B specially facilitates 2020, 10 and 13, discloses an automatic book storing and taking device for a library, which comprises a bookshelf and a mechanical gripper, wherein the mechanical gripper is arranged on a book distribution vehicle; multiple layers of shelves are arranged in the bookshelf from top to bottom at equal intervals, a plurality of parallel partition plates are arranged on each layer of shelf along the horizontal direction, and books are stored between the adjacent partition plates; the book management module is used for detecting, recording and displaying the missing condition of books on the bookshelf in real time; the book information module is used for storing the serial number information of the books; the mechanical gripper is used for clamping books to finish the access action of the books. This patent manages books information through books management module, snatchs books through mechanical tongs cooperation with it, but this kind of mode of snatching books through mechanical tongs can damage books to a certain extent, and the access method is not fit for the books of specific careful process and snatchs.
The Chinese special benefit of publication number CN107945370A, 2018, 4 months and 20 days, discloses an open type intelligent book borrowing cabinet, which comprises a plurality of open type book cabinet terminals, wherein each open type book cabinet terminal comprises an open type cabinet body, an RFID scanning system and an intelligent control system; the open cabinet body is a closed electromagnetic signal shielding structure; the RFID scanning system comprises a code scanner and an RF antenna; the intelligent control system comprises a controller, and an induction electromagnetic lock and an IC card reader-writer which are connected with the controller; the system comprises a cloud intelligent system, a book borrowing management system and a cabinet body terminal management system, wherein the cloud intelligent system comprises the book borrowing management system and the cabinet body terminal management system; the book borrowing management system is used for managing user information and book borrowing and returning behavior information, and the cabinet body terminal management system is used for managing each open bookcase terminal and book inventory information; the RFID scanning system scans regularly under the control of the controller to obtain book information, and the book information is connected to the cloud intelligent system through the 4G module or the WiFi module. The patent application is mainly used for realizing unattended operation, flexible configuration, self-help reading and returning at any time.
Therefore, most of the prior art focuses on intelligent book borrowing or book returning, and the precise grabbing of the books in the book fetching process is less involved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a book taking and returning system and method based on an intelligent book returning cabinet and a book taking device, and solves the problems that books are difficult to grab and are easy to damage in the existing intelligent book borrowing and returning process.
According to one aspect of the specification of the invention, a book fetching and returning system based on an intelligent book returning cabinet and a book fetching device is provided, which comprises the intelligent book returning cabinet, the book device and a book comprehensive management module, wherein,
the intelligent book returning cabinet comprises a book cabinet frame, a first intelligent book storing unit and a first positioning and ranging unit, wherein the first positioning and ranging unit is arranged under the first intelligent book storing unit, and the first intelligent book storing unit is provided with a plurality of book storing units which are arranged in parallel in rows and are obliquely arranged in the book cabinet frame;
the book fetching device comprises a device body, a second intelligent book storing unit, a positioning and ranging scanning device, a three-stage mechanical arm and a triangular comb tooth book fetching bucket, wherein the second intelligent book storing unit is obliquely arranged in the device body in parallel, the second intelligent book storing unit is provided with a second positioning and ranging unit, the three-stage mechanical arm extends upwards from the inside of the device body and is connected with the triangular comb tooth book fetching bucket, the triangular comb tooth book fetching bucket is perpendicular to the three-stage mechanical arm, and the positioning and ranging scanning device is arranged on the triangular comb tooth book fetching bucket and is respectively matched with the first positioning and ranging unit and the second positioning and ranging unit;
the book integrated management module comprises a book information management module and a positioning module; the book information management module is used for collecting and storing publishing information, position information and book thickness information of the returned books; the positioning module is used for primary positioning of the book taking device body, secondary positioning of the three-level mechanical arm, tertiary positioning of the triangular comb-tooth book taking bucket and positioning of the triangular comb-tooth book taking bucket when a book is placed back to the intelligent book cabinet.
In the technical scheme, the book comprehensive management module guides a user to place books to be returned into the first intelligent book storage unit, carries out path planning according to position information of the books and sends the books to the book taking device, the book taking device moves to the specified position of the intelligent book returning cabinet according to the planned path to realize primary positioning of the book taking device, secondary positioning is realized by movement of the three-stage mechanical arm, and three-stage positioning and book grabbing of the triangular comb tooth book taking bucket are realized according to the mutual matching of the positioning ranging scanning device on the book taking bucket and the first positioning ranging unit or the second positioning ranging unit; after the target book is successfully grabbed, the three-stage mechanical arm is matched with the triangular comb teeth book fetching bucket to place the book into the second intelligent book storing unit, and the book fetching process is completed. According to the technical scheme, the book comprehensive management module is matched with the positioning and ranging scanning device, the first positioning and ranging unit, the second positioning and ranging unit, the three-level mechanical arm and the triangular comb tooth book taking bucket, so that the problems that books are difficult to grab and the books are easy to damage in the existing intelligent book borrowing and returning process are solved.
As a further technical scheme, a side scanning device is arranged on the bookcase frame and comprises a book temporary storage unit, a V-shaped scanning plate, a bar code scanner and a display screen, wherein the book temporary storage unit is arranged under the V-shaped scanning plate, the display screen is arranged above the V-shaped scanning plate and is connected with the top end of one side of the V-shaped scanning plate, and the bar code scanner is arranged on any inner surface of the V-shaped scanning plate.
Furthermore, the book temporary storage unit is used for temporarily storing books to be returned when the books to be returned are more, so that a user can conveniently scan the books and accurately return the books in the intelligent book returning cabinet one by one after temporarily storing all the books to be returned in the book temporary storage unit.
Furthermore, the width of the V-shaped scanning plate is the same as that of the book temporary storage unit. And a bar code scanner is arranged on the inner side of the V-shaped scanning plate and is used for scanning bar codes of books and acquiring publishing and thickness information of the books.
Furthermore, the display screen is used for displaying book scanning information and providing operation prompts and result display for readers.
As a further technical scheme, the first intelligent book storage unit comprises an electric push rod module, a comb tooth book storage fence module and a partition plate, and the electric push rod module is connected with the comb tooth book storage fence module through a rectangular through hole of the partition plate.
As a further technical scheme, the electric push rod module comprises a first motor, a sliding sheet and a push rod, wherein the first motor is connected with the push rod, a first part of the sliding sheet is fixed at the front end of the rectangular through hole, a second part of the sliding sheet is fixed at the push rod, and the first part of the sliding sheet is connected with a second door through a hinge;
the comb teeth book storage column module comprises a plurality of comb teeth, a plurality of convex teeth and grooves are arranged on each comb tooth in the middle except for two comb teeth on the outermost side, and the convex teeth and the grooves are arranged at intervals;
the partition board is provided with a book bar code scanning unit, a rectangular through hole and two positioning magnetic stripes; the book bar code scanning unit is used for acquiring publishing information of a book; the rectangular through hole is matched with a sliding sheet of the electric push rod module, so that the sliding sheet can slide and the horizontal interval of the first intelligent book storage unit can be adjusted; the two positioning magnetic stripes are oppositely arranged on two sides of the partition board and used for confirming the positions of books when the books are taken and returned.
Further, the push rod is connected with the first motor, and the sliding sheet is connected to the push rod. The push rod carries out radial concertina movement under the effect of first motor, drives the gleitbretter horizontal direction motion for realize the regulation of first intelligence book storage unit horizontal width, make books can keep vertical.
Furthermore, the comb teeth book storage column module comprises a comb teeth book storage plate, a partition plate and an indicator light. The side shape of the comb-tooth-shaped book storage plate is L-shaped, the comb-tooth-shaped book storage plate is fixed on the partition plate in an inclined 45-degree mode, each tooth is parallel to each other, the distance between the teeth is equal, small teeth and grooves perpendicular to the teeth are arranged on the right side of each tooth except for the side teeth on the two sides and used for preventing books from falling off due to the fact that the books are too thin, and meanwhile the comb-tooth-shaped book storage plate is respectively 5cm wide and 10cm wide and used for storing the books with different widths.
Furthermore, the partition board is connected with the electric push rod module, and a rectangular through hole is formed above the inner side of the partition board and used for moving the push rod in the horizontal direction. The baffle outside is provided with the pilot lamp, is located electric putter module below for remind the reader to go back the correct position of book.
Further, the book barcode scanning unit is arranged at the lower left corner of the inner side of the partition board and used for scanning book barcodes, so that book information can be checked conveniently. The positioning magnetic strips A are arranged at the upper left corner of the inner side of the partition board, and the positioning magnetic strips B are arranged at the lower right corner of the inner side of the partition board and used for confirming the positions of the triangular comb teeth book fetching bucket when a book is fetched and put.
As a further technical scheme, the first positioning and ranging unit comprises a bar code display and an infrared positioner, wherein the infrared positioner comprises three infrared signal transceivers, and the three infrared signal transceivers are arranged in an equilateral triangle.
Furthermore, the bar code display is a micro display screen, is connected to the rectangular plane where the first positioning and ranging unit is located, is located below the infrared positioner, and is used for displaying book bar code information of the corresponding first intelligent book storage unit, so that the book information can be conveniently confirmed during subsequent book taking.
As a further technical scheme, the triangular comb teeth book fetching bucket comprises a left baffle, a right baffle, a second motor and a positioning and ranging scanning device, wherein a comb teeth-shaped book storing plate is arranged between the left baffle and the right baffle, the right baffle is connected with the second motor, and the positioning and ranging scanning device is arranged under the second motor.
Furthermore, the left baffle and the right baffle are in a triangular hollow shape, wherein the left baffle is connected with the comb-shaped book storage plate and is immovable; the right baffle is movable and connected with the second motor, and can move left and right through the work of the second motor, so that books with different thicknesses can be taken out by adjusting the width of the triangular comb-tooth book taking bucket.
Furthermore, the positioning and ranging scanning device consists of a three-point infrared device and a miniature camera, wherein the miniature camera can scan a front designated position and is used for scanning book bar codes displayed by a bar code display on a first positioning and ranging unit of the intelligent book returning cabinet so as to determine whether the taken book is a target book.
As a further technical scheme, the left baffle is provided with two magnetic stripe scanning devices which are respectively positioned at the left lower part and the right lower part of the left baffle; the two magnetic stripe scanning devices correspond to the two positioning magnetic stripes on the first intelligent book storage unit respectively.
Furthermore, the two magnetic stripe scanning devices are a magnetic stripe scanning device A and a magnetic stripe scanning device B which are fixed on the outer side of the left baffle, wherein the magnetic stripe scanning device A is positioned below the right side of the magnetic stripe scanning device A, is matched with a positioning magnetic stripe A in the book bar code scanning unit and is used for determining the position of a book during book fetching; the magnetic stripe scanning device B is positioned at the left lower part of the book holder, is matched with the positioning magnetic stripe B and is used for determining the position when a book is placed.
According to one aspect of the specification of the invention, a book fetching and returning method based on an intelligent book returning cabinet and a book fetching device is provided, and is realized by adopting the method, and the method comprises the following steps:
the books to be returned are placed in the designated positions of the intelligent book returning cabinets;
confirming the position information of the book, and fixing the current book when the position information of the book is correct;
judging whether a book taking condition is met, if so, carrying out the next step, and if not, returning to the previous step and waiting for next book return;
navigating the book fetching device to a specified position, and sequentially executing primary positioning of the book fetching device, secondary positioning of a three-stage mechanical arm and tertiary positioning of a triangular comb-tooth book fetching bucket;
determining the position of the book according to the matching of the positioning ranging scanning device and the first positioning ranging unit or the second positioning ranging unit, and accurately grabbing the determined target book;
determining the end point of the grabbing process according to the matching of the magnetic stripe scanning device and the positioning magnetic stripe, and placing the grabbed books into a second intelligent book storage unit of the book grabbing device;
and judging whether the cyclic book fetching condition is met, if so, executing next book grabbing.
Among the above-mentioned technical scheme, go back book case and get book device's mutual realization through intelligence and get the book process of returning, through the one-level location of getting the book device, the accurate location of waiting to snatch books to the target is realized to the second grade location of tertiary arm and the tertiary location of triangle broach book bucket, through location range finding scanning device and first location range finding unit, the matching of second location range finding unit realizes the affirmation and the accurate snatching of books position, confirm the termination that books snatched the action through the cooperation of magnetic stripe scanning device and location magnetic stripe, and then accomplish whole book of returning and get the book process.
As a further technical solution, the step of judging whether the book-fetching condition is satisfied further comprises:
detecting the residual quantity of the second intelligent book storing units on the book fetching device;
if the total amount is less than one third, the next step is carried out, and if not, the next book returning is waited;
calculating a book taking route by combining the position information of the existing books of the intelligent book returning cabinet;
and sending the calculated route to the book fetching device.
As a further technical solution, the step of accurately capturing the target book further includes:
scanning a book bar code displayed by a first positioning ranging unit on the intelligent book returning cabinet;
comparing the publication information with the publication information of the target book, stopping capturing the target book if the publication information is different from the publication information of the target book, and feeding back an error to the book comprehensive management module; if the two are the same, the three-stage mechanical arm drives the triangular comb tooth book taking bucket to vertically move upwards, and meanwhile, the electric push rod returns to the original position;
if the moving-up process is detected, the magnetic stripe scanning device on the triangular comb tooth book fetching bucket is matched with the two positioning magnetic stripes on the first intelligent book storing unit, the target book is transferred into the triangular comb tooth book fetching bucket from the first intelligent book storing unit, the triangular comb tooth book fetching bucket finishes the grabbing of the target book, and the moving-up process is stopped.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention provides a system, which guides a user to put books to be returned into a first intelligent book storage unit through a book integrated management module, plans a path according to position information of the books and sends the book to a book taking device, the book taking device moves to a specified position of an intelligent book returning cabinet according to the planned path to realize primary positioning of the book taking device, then secondary positioning is realized by movement of a three-stage mechanical arm, and three-stage positioning and book grabbing of a triangular comb tooth book taking bucket are realized according to the mutual matching of a positioning ranging scanning device and a first positioning ranging unit or a second positioning ranging unit; after the target book is successfully grabbed, the three-stage mechanical arm is matched with the triangular comb teeth book fetching bucket to place the book into the second intelligent book storing unit, and the book fetching process is completed. According to the technical scheme, the book comprehensive management module is matched with the positioning and ranging scanning device, the first positioning and ranging unit, the second positioning and ranging unit, the three-level mechanical arm and the triangular comb tooth book taking bucket, so that the problems that books are difficult to grab and the books are easy to damage in the existing intelligent book borrowing and returning process are solved.
(2) The invention provides a method, which realizes a book fetching and returning process through interaction of an intelligent book returning cabinet and a book fetching device, realizes accurate positioning of a target book to be grabbed through primary positioning of the book fetching device, secondary positioning of a tertiary mechanical arm and tertiary positioning of a triangular comb tooth book fetching bucket, realizes the position determination and accurate grabbing of the book through the mutual matching of a positioning distance measuring and scanning device, a first positioning distance measuring unit and a second positioning distance measuring unit, and determines the termination of book grabbing action through the matching of a magnetic stripe scanning device and a positioning magnetic stripe so as to complete the whole book returning and fetching process, thereby solving the problem of no humanization in the book returning and arranging process.
(3) According to the invention, the first intelligent book storage unit on the intelligent book returning cabinet is arranged to be provided with the comb-tooth-shaped book storage plates, the comb-tooth-shaped book storage plates are parallel to each other, the book taking bucket on the book taking device is arranged to be provided with the comb-tooth-shaped book storage plates, the width of the book taking bucket is adjustable, the comb-tooth-shaped book storage plates on the first intelligent book storage unit are matched with the book taking bucket, so that the target book can be accurately grabbed through the coupling of the comb-tooth-shaped book storage plates and the book taking bucket, and the difficulty in grabbing the book is greatly reduced.
(4) According to the invention, the electric push rod module is arranged in the first intelligent book storage unit, and the effective horizontal space of the first intelligent book storage unit is adjusted through the electric push rod, so that books with different thicknesses are adapted, the books can be kept in a vertical state in the intelligent book storage unit regardless of the thickness, and the books can be conveniently picked subsequently.
Drawings
Fig. 1 is a block diagram of a book fetching and returning system based on an intelligent book returning cabinet and a book fetching device in the embodiment of the invention.
Fig. 2 is an overall structural view of the intelligent book returning cabinet in the embodiment of the invention.
FIG. 3 is a position view of a side scanning device according to an embodiment of the present invention.
FIG. 4 is a schematic structural diagram of a side scanning apparatus according to an embodiment of the present invention.
Fig. 5 is a structural view of a first intelligent book storing unit in the embodiment of the present invention.
Fig. 6 is a left side view of a first intelligent book storing unit in an example of the present invention.
Fig. 7 is a schematic structural diagram of an electric putter module according to an embodiment of the present invention.
FIG. 8 is a schematic structural diagram of a comb-shaped book storage plate according to an embodiment of the present invention.
FIG. 9 is a schematic right view of a baffle in an example of the invention.
Fig. 10 is a schematic structural diagram of a first positioning and ranging unit according to an embodiment of the present invention.
FIG. 11 is an overall structural view of the book grasping car in the example of the present invention.
Fig. 12 is a schematic structural diagram of a triangular comb teeth book fetching bucket in the embodiment of the invention.
Fig. 13 is a schematic structural view of a left baffle plate in an example of the invention.
FIG. 14 is a schematic diagram of the structure of the right baffle plate in the example of the invention.
FIG. 15 is a schematic diagram of a positioning and ranging scanning device according to an embodiment of the present invention.
FIG. 16 is a flow chart of a texting algorithm in an example of the present invention.
FIG. 17 is a flowchart of the algorithm for the texting algorithm 4-1-1 in an example of the present invention.
FIG. 18 is a flowchart of the algorithm for the texting algorithm 4-1-2 in an example of the present invention.
FIG. 19 is a flowchart of the algorithm for the texting algorithm 4-1-3 in an example of the present invention.
FIG. 20 is a flowchart of the algorithm for the texting algorithm 4-2-2 in an example of the present invention.
FIG. 21 is a flowchart of the algorithm for the texting algorithm 4-2-3 in an example of the present invention.
FIG. 22 is a flowchart of the algorithm for the texting algorithm 4-2-4 in an example of the present invention.
FIG. 23 is a flowchart of the algorithm for the texting algorithm 4-3 in an example of the present invention.
FIG. 24 is a flowchart of the algorithm for the fetch algorithm 4-4-1 in an example of the present invention.
FIG. 25 is a flowchart of the algorithm for the fetch algorithm 4-4-2 in an example of the present invention.
In the figure: 1. the intelligent book cabinet is returned; 2. a book grabbing vehicle; 3. a book integrated management module; 1-1, a bookcase frame; 1-1-1, a side scanning device; 1-1-1-1, a book temporary storage device; 1-1-1-2, V-shaped scanning plate; 1-1-1-3, a barcode scanner; 1-1-1-4, a display screen; 1-2 a first intelligent book storage unit; 1-2-1, an electric push rod module; 1-2-1-1, a first motor; 1-2-1-2, a slip sheet; 1-2-1-3, push rod; 1-2-2, comb book storage column module; 1-2-2-1, a comb-shaped book storage plate; 1-2-3, a partition board; 1-2-3-1, a book barcode scanning unit; 1-2-3-2, positioning a magnetic strip A; 1-2-3-3, rectangular through holes; 1-2-3-4, positioning the magnetic strip B; 1-3, a first positioning ranging unit; 1-3-1, a bar code display; 1-3-2, a three-point infrared device; 2-5, a triangular comb-tooth book fetching bucket; 2-5-1, a left baffle of the triangular comb teeth book fetching bucket; 2-5-1-1, a magnetic stripe scanning device B; 2-5-1-2, a magnetic stripe scanning device A; 2-5-2, a right baffle of the triangular comb teeth book fetching bucket; 2-5-3, a second motor; 2-5-4, positioning and ranging a scanning device; 2-5-4-1, a three-point type infrared positioning device; 2-5-4-2 and a micro camera.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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 of the present invention without any inventive step, are within the scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1, the invention provides a book taking and returning system based on an intelligent book returning cabinet and a book taking device, which comprises an intelligent book cabinet 1, a book grabbing vehicle 2 and a book comprehensive management module 3.
As shown in fig. 2, the specific structure of the intelligent book returning cabinet comprises a cabinet frame 1-1, a first intelligent book storing unit 1-2, and a first positioning and ranging unit 1-3. The first intelligent book storage unit 1-2 is provided with a plurality of books which are parallelly arranged in parallel in a row and obliquely placed in the bookcase frame 1-1, and is used for storing books by readers. The first intelligent book storage units 1-2 are arranged in parallel in multiple rows, and the distance of each row is ensured not to influence the subsequent flow. The first positioning and ranging units 1-3 are arranged right below each first intelligent book storing unit 1-2 and used for positioning during book fetching.
As shown in FIG. 3, the side scanning device 1-1-1 is located at a specific position on the bookcase frame 1-1.
As shown in FIG. 4, the side scanning device 1-1-1 is composed of a book temporary storage unit 1-1-1, a V-shaped scanning board 1-1-2, a bar code scanner 1-1-3 and a display screen 1-1-4. And a bar code scanner 1-1-3 is arranged at the left lower part of the plane of the V-shaped scanning plate 1-1-2 and is used for scanning bar codes of books and acquiring publishing information and thickness information of the books. Is connected with the V-shaped scanning plate 1-1-2, and is provided with a display screen 1-1-4 vertical to the V-shaped scanning plate 1-1-2 for operation prompt and result display for readers. The book temporary storage unit 1-1-1 is arranged right below the V-shaped scanning plate 1-1-2, and is specifically a rectangular slotted hole, and the width of the rectangular slotted hole is the same as that of the V-shaped scanning plate. When the reader has more books, the books can be put in the book storage box, and convenience is provided for the book returning process.
As shown in FIGS. 5-6, the first intelligent book storage unit 1-2 comprises an electric push rod module 1-2-1, a comb book storage fence module 1-2-2, and a partition plate 1-2-3, wherein the electric push rod module 1-2-1 is connected with the comb book storage fence module 1-2-2 through a rectangular through hole of the partition plate 1-2-3.
Specifically, as shown in fig. 7, the electric push rod module 1-2-1 includes a motor 1-2-1-1, a slide sheet 1-2-1-2, and a push rod 1-2-1-3. The motor 1-2-1-1 is connected with the push rod 1-2-1-3 to provide power for radial movement of the push rod 1-2-1-3, the slide sheet 1-2-1-2 is divided into a part a and a part b, the part a is fixed at the front end of the rectangular through hole 1-2-3-3, the part b is fixed at the position of the push rod 1-2-1-3, and the part a and the part b are connected through a hinge. A protective shell is arranged above the motor 1-2-1-1 to prevent the motor from being damaged by external factors.
In addition, as shown in fig. 8, for the comb book storage column module 1-2-2, besides the left and right comb teeth, each comb tooth in the middle is provided with a certain number of comb teeth and grooves for preventing books from falling due to thinner books, and the comb teeth correspond to the comb teeth in the triangular comb book fetching bucket, so that the smooth book fetching process is ensured.
In addition, as shown in fig. 9, a book barcode scanning unit 1-2-3-1, a positioning magnetic stripe a1-2-3-2, a rectangular through hole 1-2-3-3, and a positioning magnetic stripe B1-2-3-4 are disposed on the partition board 1-2-3. The book bar code scanning unit 1-2-3-1 is a rectangular infrared scanning device which is large enough and used for scanning a bar code of a book to acquire book publishing information, and is arranged at the lower left corner of the partition board 1-2-3. The rectangular through hole 1-2-3-3 is arranged at the upper part of the middle part of the partition board 1-2-3, and the specific length and width are matched with the sliding sheet 1-2-1-2, so that the effective horizontal space of the first intelligent book storage unit 1-2-1 can be adjusted by ensuring the sliding sheet to freely slide. The positioning magnetic strip A1-2-3-2 and the positioning magnetic strip B1-2-3-4 are respectively arranged at the left lower corner and the right lower corner of the inner side of the clapboard 1-2-3 and are used for confirming the positions of the book bucket when taking and putting books.
As shown in fig. 10, for the first positioning and ranging unit 1-3, the first positioning and ranging unit is composed of a bar code display 1-3-1 and a three-point infrared device 1-3-2, the two devices are fixed on a rectangular plane of a cuboid, the other two symmetrical planes of the cuboid are respectively connected with two smaller cuboids, a circular through hole is arranged above the cuboid and used for being fixedly connected with a connecting rod through a bolt, and the specific position of the rectangular through hole is as shown in the figure.
In addition, the three-point infrared device 1-3-2 is composed of three round infrared signal transmitting and receiving devices which are fixed on a rectangular plane in an equilateral triangle shape. The three-beam infrared laser is used for ensuring that the triangular comb teeth book fetching bucket 2-5 and the first intelligent book storing unit 1-2 are in a parallel space state during book fetching and positioning, and the three beams of infrared laser limit the position of the triangular comb teeth book fetching bucket so that the triangular comb teeth book fetching bucket cannot deflect and the book fetching cannot be carried out. The bar code display 1-3-1 is a micro display, and when a book is placed in the intelligent book storage unit, the display automatically displays the corresponding book bar code for book information confirmation in the subsequent book fetching process.
As shown in FIG. 11, the book grabbing vehicle 2 comprises a universal chassis 2-1, a second intelligent book storage unit 2-2, a second positioning and ranging unit 2-3, a three-level mechanical arm 2-4 and a triangular comb-tooth book fetching bucket 2-5. The triangular comb teeth book taking bucket 2-5 is arranged on the three-stage mechanical arm 2-4 and is arranged on the universal chassis 2-1 together. The three-stage mechanical arm 2-4 can drive the triangular comb teeth book taking bucket 2-5 to complete horizontal first-stage motion and vertical second-stage motion; meanwhile, an electric guide rod is arranged at the connecting part of the triangular comb teeth book fetching bucket 2-5, and the triangular comb teeth book fetching bucket 2-5 can be driven to complete the extending-in and extending-out horizontal three-stage motion. In addition, the second intelligent book storage unit 2-2 is obliquely arranged at the front cover and the rear cover of the general chassis 2-1 in parallel, and the second positioning distance measuring unit 2-3 is arranged right above the second intelligent book storage unit 2-2 and is also fixed at the front cover and the rear cover of the general chassis 2-1, so that the distance between the second positioning distance measuring unit and the second intelligent book storage unit 2-2 is ensured not to influence the subsequent book placing process.
As shown in the figure 12-13, the triangular comb teeth book fetching bucket 2-5 comprises a left baffle 2-5-1 of the triangular comb teeth book fetching bucket, a right baffle 2-5-2 of the triangular comb teeth book fetching bucket, a second motor 2-5-3, a positioning ranging scanning device 2-5-4 and a comb teeth book storing plate. The left baffle and the right baffle of the triangular comb tooth book fetching bucket are triangular hollow shapes, the comb-tooth-shaped book storing plate is fixed in the middle, the left baffle 2-5-1 of the triangular comb tooth book fetching bucket is fixed with the comb-tooth-shaped book storing plate and cannot move, the right baffle 2-5-2 of the triangular comb tooth book fetching bucket is connected with the second motor 2-5-3 behind, and can move left and right under the action of the second motor 2-5-3, so that the effective width of the triangular comb tooth book fetching bucket 2-5 can be adjusted to adapt to grabbing of books with different widths. The positioning and ranging scanning device 2-5-4 is fixed under the second motor 2-5-3 and used for positioning and ranging and bar code scanning in the book fetching process.
Specifically, as shown in fig. 14, the left baffle 2-5-1 of the triangular comb-tooth book fetching bucket is provided with a magnetic stripe scanning device B2-5-1-1 and a magnetic stripe scanning device a2-5-1-2 which are respectively arranged at the left lower part and the right lower part of the left baffle and respectively correspond to a positioning magnetic stripe B1-2-3-4 and a positioning magnetic stripe a1-2-3-2 on the baffle 1-2-3, and are used for determining the ending position of the book fetching device during book fetching and placing. When the two are matched, the book fetching device reaches the designated position, and the book fetching or placing process is finished.
For the positioning and ranging scanning device 2-5-4, as shown in fig. 15, it is composed of a three-point infrared positioning device 2-5-4-1 and a micro camera 2-5-4-2, the position structure is similar to the positioning and ranging device, and it is fixed on a semicircular column, wherein the micro camera 2-5-4-2 is used to scan the book bar code displayed by the bar code display 1-3-1 to determine the correctness of the book.
Corresponding to the device, the invention also provides a book fetching method suitable for automatically grabbing books. As shown in fig. 16-25, the method specifically comprises the following steps:
waiting for the reader to put the book at the designated position 4-1-1, and the process is as follows: the reader scans the returned books through the side scanning device firstly, and then obtains the publishing information and the thickness information of the books, if more books exist, the books can be placed in the book temporary storage unit below the scanning device. And after the information is acquired, the book comprehensive management module allocates positions for the books on the intelligent book returning cabinet according to the thickness information of the books. The reader is prompted by a display screen of the side scanning device and an indicator lamp at a corresponding position. The reader then places the book in the designated location as prompted and the process ends.
Book position information confirmation and book fixation 4-1-2, the process is as follows: the book bar code scanning unit scans the side bar shape codes of the books to obtain the publishing information of the books, and compares the publishing information with the publishing information of the target books, if the publishing information of the books is different from the publishing information of the target books, the indicator light turns red, and the reader is prompted to fail in returning the books through voice; if the information of the two is the same, the indicator light turns green, and the voice prompts the reader that the book return is successful. And then the book comprehensive management module calculates the distance that the electric push rod should move according to the thickness information of the books and the width information of the book storage column, starts a motor and drives the electric push rod to move to a preset position, the vertical state of the books is ensured at the moment, and the process is finished.
Judging whether the book fetching condition 4-1-3 is met, wherein the process is as follows: and the book integrated management module counts the number of the intelligent book storage units which are left in the intelligent book returning cabinet at present, and when the number is more than one third, the book integrated management module continues to wait for the next book returning of the reader. When the book position information is less than one third, the positioning module of the book integrated management module integrates the position information of the existing books of the current bookcase, calculates the optimal grabbing route of the book fetching device, then sends the optimal grabbing route to the book grabbing vehicle, and the process is finished.
The book grabbing vehicle (primary) positioning 4-2-2 comprises the following processes: and the book grabbing vehicle moves to a specified position in front of the intelligent book cabinet according to the calculated optimal route. The magnetic strip positioning device is used for specifically positioning the positioning magnetic strip in front of the intelligent bookcase and the magnetic strip positioning device of the universal chassis. If the magnetic stripe positioning device is not matched successfully, the trolley moves for 2cm according to the Z shape until the matching position is successful, and the process is ended.
The three-level mechanical arm (two-level) positioning is 4-2-3, and the process is as follows: the three-stage mechanical arm moves according to a preset route, after the three-stage mechanical arm reaches a preset position of a bookcase, a positioning device at the leftmost horizontal side of the bookcase corresponding to the taken book is started, and the three-stage mechanical arm moving route is divided into two routes according to the fact whether the thickness information of the book is special or not. If the thickness of the book is special, the three-stage mechanical arm moves vertically downwards, the book taking device scans the path, and the three-stage mechanical arm stops moving downwards after being matched with the horizontal leftmost positioning distance measuring device (namely the first-stage positioning device) of the bookshelf layer corresponding to the taken book; if the thickness of the books is general, the three-stage mechanical arm moves vertically upwards, the to-be-taken device scans the path, and the to-be-taken device stops moving upwards after being matched with the horizontal leftmost positioning distance measuring device (namely the first-stage positioning device) of the bookshelf layer corresponding to the taken books. And then closing the positioning and ranging device at the leftmost horizontal side of the bookshelf layer corresponding to the taken book, and starting the positioning and ranging device corresponding to the taken book (namely, a secondary positioning device). If the book fetching device is matched with the positioning and distance measuring device corresponding to the fetched book, the process is finished. And if the book taking device is not matched with the positioning and distance measuring device corresponding to the taken book, the three-stage mechanical arm horizontally moves to the right by 1 cm. And ending the flow until the two are matched.
The triangular comb teeth book fetching bucket (three-level) positioning is 4-3-3, and the flow is as follows: the book taking device goes deep inwards along the longitudinal direction of the intelligent book returning cabinet, and the positioning ranging scanning device is matched with the positioning ranging units corresponding to the books and measures the distance between the positioning ranging scanning device and the books. If the distance is smaller than the preset distance, the book taking device continues to move inwards. And if the distance is equal to the preset distance, stopping the book taking device from moving inwards. At the moment, the positioning and ranging scanning device scans the book information code displayed by the book positioning and ranging unit in front, compares the scanned and acquired book information with the target book information, abandons the capturing if the information is different, and uploads the error to the book integrated management module. And if the information is correct, judging the thickness information of the target book. If the thickness of the target book is special, the right baffle of the triangular comb teeth book fetching bucket starts to move under the action of the second motor, so that the width of the triangular comb teeth book fetching bucket is equal to the width of the special book storage column, and the process is finished. If the thickness of the target book is normal, the process is directly ended.
The book bucket carries out accurate grabbing on books 4-3, and the flow is that the positioning ranging scanning device scans the book bar codes displayed by the front positioning ranging device, the book bar codes are compared with the published information of the target books, if the book bar codes are different from the published information of the target books, the grabbing is stopped, and errors are fed back to the book comprehensive management module; if the two are the same, the book taking device moves vertically upwards, meanwhile, the electric push rod returns to the original position, if the magnetic stripe scanning device is matched with the positioning magnetic stripe in the upward moving process, the book taking bucket stops moving vertically upwards, at the moment, the triangular comb tooth book taking bucket reaches the position where the follow-up movement cannot be influenced, and the book is explained to be transferred into the book taking device from the intelligent book storage unit. And then the book taking device moves outwards along the longitudinal direction of the intelligent book returning cabinet, and the distance of the book taking device is the same as the distance of the book taking device moving inwards in the longitudinal direction. The flow ends.
The three-stage mechanical arm is matched with the book taking device to place a book into the book grabbing vehicle 4-4-1, and the flow is as follows: the book comprehensive management module distributes positions on the book grabbing vehicle for the book comprehensive management module according to the thickness information of the fetched books, then the three-stage mechanical arm returns to the preset position of the trolley according to the preset route, the book fetching device turns to the direction of the distributed positions, and then the positioning and ranging device (namely the first-stage positioning device of the trolley) at the leftmost side of the book storage columns on the layer corresponding to the distributed positions is started. And the positioning ranging scanning device scans the front position, and if the positioning ranging scanning device at the leftmost side of the book storage column of the layer corresponding to the distributed position is not detected, the positioning ranging scanning device moves by 1cm in a Z shape. And if the positioning ranging scanning device is not matched with the positioning ranging unit corresponding to the distributed position, the book taking device horizontally moves rightwards until the two devices are matched. And if the positioning and ranging scanning device is matched with the positioning and ranging unit corresponding to the distributed position, the book taking bucket vertically moves downwards until the side scanning device is matched with the positioning magnetic stripe. And stopping moving downwards at the moment, enabling the book taking device to reach a position where the subsequent movement cannot be influenced, transferring the books from the book taking device to the intelligent book storing unit in the book grabbing vehicle, and ending the process.
The book comprehensive management module judges whether the current book fetching condition 4-4-2 is met, and the flow is as follows: and the book comprehensive management module collects the information of the current residual intelligent book storage unit and the thickness information of the books to be fetched, and if the current book grabbing in-car intelligent book storage unit has no residual, the book grabbing is abandoned, and the grabbing cycle is exited. And if the number of the special book storing columns in the book grabbing vehicle is insufficient, the grabbing of the books with special thickness is abandoned, the grabbing of the books with common thickness is preferentially carried out, the three-stage mechanical arm (second-stage) positioning is returned to 4-2-3, and the grabbing cycle is entered. If the number of the special book storing columns in the book grabbing vehicle is sufficient, the books with special thickness are preferentially grabbed, the three-stage mechanical arm (second-stage) positioning is returned to 4-2-3, and the grabbing cycle is started. After the judgment is completed, the flow is ended.
The data interaction process is provided between the book integrated management module and the intelligent book returning cabinet and between the book fetching device, the communication module for realizing the data interaction is not described herein, and similarly, the controller for controlling the actions of other components according to the information instruction of the book integrated management module, which is provided on the book fetching device, is well known by those skilled in the art, and is not described herein.
The book integrated management module is arranged locally, such as on an intelligent book returning cabinet or on the background, and the implementation of the book integrated management module is not influenced.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.

Claims (9)

1. The book taking and returning system based on the intelligent book returning cabinet and the book taking device is characterized by comprising the intelligent book returning cabinet, the book taking device and a book comprehensive management module, wherein,
the intelligent book returning cabinet comprises a book cabinet frame, a first intelligent book storing unit and a first positioning and ranging unit, wherein the first positioning and ranging unit is arranged under the first intelligent book storing unit, and the first intelligent book storing unit is provided with a plurality of book storing units which are arranged in parallel in rows and are obliquely arranged in the book cabinet frame; the first positioning and ranging unit comprises a bar code display and an infrared locator, the infrared locator comprises three infrared signal transceivers, and the three infrared signal transceivers are distributed in an equilateral triangle;
the book fetching device comprises a device body, a second intelligent book storing unit, a positioning and ranging scanning device, a three-stage mechanical arm and a triangular comb tooth book fetching bucket, wherein the second intelligent book storing unit is obliquely arranged in the device body in parallel, the second intelligent book storing unit is provided with a second positioning and ranging unit, the three-stage mechanical arm extends upwards from the inside of the device body and is connected with the triangular comb tooth book fetching bucket, the triangular comb tooth book fetching bucket is perpendicular to the three-stage mechanical arm, and the positioning and ranging scanning device is arranged on the triangular comb tooth book fetching bucket and is respectively matched with the first positioning and ranging unit and the second positioning and ranging unit; the positioning and ranging scanning device consists of a three-point infrared positioning device and a miniature camera, and the position structure of the three-point infrared positioning device is similar to that of the first positioning and ranging unit and the second positioning and ranging unit;
the book integrated management module comprises a book information management module and a positioning module; the book information management module is used for collecting and storing publishing information, position information and book thickness information of the returned books; the positioning module is used for primary positioning of the book taking device body, secondary positioning of the three-stage mechanical arm, tertiary positioning of the triangular comb tooth book taking bucket and positioning of the triangular comb tooth book taking bucket when a book is placed back to the intelligent book cabinet; the book comprehensive management module guides a user to place books to be returned into the first intelligent book storage unit, carries out path planning according to position information of the books and sends the books to the book taking device, the book taking device moves to the specified position of the intelligent book returning cabinet according to a planned path, primary positioning of the book taking device is achieved, secondary positioning is achieved through movement of the three-level mechanical arm, and three-level positioning and book grabbing of the triangular comb tooth book taking bucket are achieved according to mutual matching of the positioning ranging scanning device on the book taking bucket and the first positioning ranging unit or the second positioning ranging unit.
2. The book taking and returning system based on the intelligent book returning cabinet and the book taking device as claimed in claim 1, wherein a side scanning device is arranged on the book cabinet frame, the side scanning device comprises a book temporary storage unit, a V-shaped scanning board, a bar code scanner and a display screen, the book temporary storage unit is arranged under the V-shaped scanning board, the display screen is arranged above the V-shaped scanning board and connected with the top end of one side of the V-shaped scanning board, and the bar code scanner is arranged on any inner surface of the V-shaped scanning board.
3. The book taking and returning system based on the intelligent book returning cabinet and the book taking device as claimed in claim 1, wherein the first intelligent book storing unit comprises an electric push rod module, a comb-tooth book storing fence module and a partition plate, and the electric push rod module is connected with the comb-tooth book storing fence module through a rectangular through hole of the partition plate.
4. The book taking and returning system based on the intelligent book returning cabinet and the book taking device as claimed in claim 3, wherein the electric push rod module comprises a first motor, a sliding sheet and a push rod, the first motor is connected with the push rod, a first part of the sliding sheet is fixed at the front end of the rectangular through hole, a second part of the sliding sheet is fixed at the push rod, and a first part of the sliding sheet is connected with a second part of the sliding sheet through a hinge;
the comb teeth book storage column module comprises a plurality of comb teeth, a plurality of convex teeth and grooves are arranged on each comb tooth in the middle except for two comb teeth on the outermost side, and the convex teeth and the grooves are arranged at intervals;
the partition board is provided with a book bar code scanning unit, a rectangular through hole and two positioning magnetic stripes; the book bar code scanning unit is used for acquiring publishing information of a book; the rectangular through hole is matched with a sliding sheet of the electric push rod module, so that the sliding sheet can slide and the horizontal interval of the first intelligent book storage unit can be adjusted; the two positioning magnetic stripes are oppositely arranged on two sides of the partition board and used for confirming the positions of books when the books are taken and returned.
5. The book taking and returning system based on the intelligent book returning cabinet and the book taking device as claimed in claim 1, wherein the triangular comb-shaped book taking bucket comprises a left baffle, a right baffle, a second motor and a positioning ranging and scanning device, a comb-shaped book storing plate is arranged between the left baffle and the right baffle, the right baffle is connected with the second motor, and the positioning ranging and scanning device is arranged under the second motor.
6. The book taking and returning system based on the intelligent book returning cabinet and the book taking device as claimed in claim 5, wherein the left baffle is provided with two magnetic stripe scanning devices which are respectively positioned at the left lower part and the right lower part of the left baffle; the two magnetic stripe scanning devices correspond to the two positioning magnetic stripes on the first intelligent book storage unit respectively.
7. The book taking and returning method based on the intelligent book returning cabinet and the book taking device is realized by adopting the system of any one of claims 1 to 6, and is characterized in that the method comprises the following steps:
the books to be returned are placed in the designated positions of the intelligent book returning cabinets;
confirming the position information of the book, and fixing the current book when the position information of the book is correct;
judging whether a book taking condition is met, if so, carrying out the next step, and if not, returning to the previous step and waiting for next book return;
navigating the book fetching device to a specified position, and sequentially executing primary positioning of the book fetching device, secondary positioning of a three-stage mechanical arm and tertiary positioning of a triangular comb-tooth book fetching bucket;
determining the position of the book according to the matching of the positioning ranging scanning device and the first positioning ranging unit or the second positioning ranging unit, and accurately grabbing the determined target book;
determining the end point of the grabbing process according to the matching of the magnetic stripe scanning device and the positioning magnetic stripe, and placing the grabbed books into a second intelligent book storage unit of the book grabbing device;
and judging whether the cyclic book fetching condition is met, if so, executing next book grabbing.
8. The book fetching and returning method based on the intelligent book returning cabinet and the book fetching device according to claim 7, wherein the step of judging whether the book fetching condition is met further comprises the steps of:
detecting the residual quantity of the second intelligent book storing units on the book fetching device;
if the total amount is less than one third, the next step is carried out, and if not, the next book returning is waited;
calculating a book taking route by combining the position information of the existing books of the intelligent book returning cabinet;
and sending the calculated route to the book fetching device.
9. The book taking and returning method based on the intelligent book returning cabinet and the book taking device as claimed in claim 7, wherein the step of precisely grabbing the target book further comprises:
scanning a book bar code displayed by a first positioning ranging unit on the intelligent book returning cabinet;
comparing the publication information with the publication information of the target book, stopping capturing the target book if the publication information is different from the publication information of the target book, and feeding back an error to the book comprehensive management module; if the two are the same, the three-stage mechanical arm drives the triangular comb tooth book taking bucket to vertically move upwards, and meanwhile, the electric push rod returns to the original position;
if the moving-up process is detected, the magnetic stripe scanning device on the triangular comb tooth book fetching bucket is matched with the two positioning magnetic stripes on the first intelligent book storing unit, the target book is transferred into the triangular comb tooth book fetching bucket from the first intelligent book storing unit, the triangular comb tooth book fetching bucket finishes the grabbing of the target book, and the moving-up process is stopped.
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