CN118205848A - A high-level intelligent book handling, classification and sorting robot and its use method - Google Patents

Abstract

The invention relates to a high-rise intelligent book carrying, classifying and sorting robot and a use method thereof, wherein the robot comprises the following steps: the motion mechanism is used for driving the whole robot to move; the vehicle body telescopic mechanism is arranged on the motion mechanism and used for lifting and lowering, and the top of the vehicle body telescopic mechanism is provided with a mounting platform; the rotary classification mechanism is arranged on the mounting platform at the top of the car body telescopic mechanism and is used for accommodating, identifying and judging books to be classified; the conveying steering mechanism is arranged at the top of the rotary classification mechanism, and a mechanical claw is further arranged on the conveying steering mechanism and is driven to perform front-back and steering movement through the conveying steering mechanism so as to convey the books identified by the rotary classification mechanism to the front part of the robot; the main control module is arranged on the mounting platform and used for transmitting control instructions to the movement mechanism, the vehicle body telescopic mechanism, the rotary classification mechanism and the transmission steering mechanism so as to control the actions of all the mechanisms. The invention can improve the quality and efficiency of book arrangement.

Description

A high-level intelligent book handling, classification and sorting robot and its use method

Technical Field

The present invention relates to the technical field of book storage, and in particular to a high-level intelligent book transporting, sorting and arranging robot and a use method thereof.

Background technique

Reading has become an indispensable part of today's society. With the increase in national reading rates, libraries provide people with good conditions for reading, but the problem of inconvenient book storage and organization has emerged. The traditional way of storing and organizing books is mainly for administrators to store and organize them, which is complicated to record information and inefficient, affecting other important work of administrators and leading to waste of human resources. In large libraries, book organization is indeed a lot of work and requires administrators to have high physical strength and accuracy.

Summary of the invention

In view of the above problems, the purpose of the present invention is to provide a high-level intelligent book handling, sorting and organizing robot and its use method, so that the machine can replace manual handling and organizing of books, improve the quality and efficiency of book organization, save manpower, material and financial resources, and achieve the effect of quickly and accurately visiting books.

To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a high-level intelligent book handling, classification and sorting robot, which includes: a motion mechanism, used to drive the entire robot to move; a body telescopic mechanism, which is arranged on the motion mechanism and is used to perform lifting and lowering movements, and a mounting platform is arranged on the top of the body telescopic mechanism; a rotating classification mechanism, which is arranged on the mounting platform on the top of the body telescopic mechanism and is used to accommodate and identify and judge books to be classified; a transmission and steering mechanism, which is arranged on the top of the rotating classification mechanism, and a mechanical claw is also arranged on the transmission and steering mechanism, and the mechanical claw is driven by the transmission and steering mechanism to perform forward and backward and steering movements to transmit the books identified by the rotating classification mechanism to the front of the robot; a main control module, which is arranged on the mounting platform and is used to transmit control instructions to the motion mechanism, the body telescopic mechanism, the rotating classification mechanism and the transmission and steering mechanism to control the actions of each mechanism.

Furthermore, the vehicle body telescopic mechanism adopts a scissor-type lifting structure, which is installed on the chassis of the motion mechanism and telescopically moves along the z-axis direction; the vehicle body telescopic mechanism includes four fixed tubes, an electric push rod, two sets of parallel four-links, a mounting platform, a transmission shaft, an auxiliary link and a gas spring; the four fixed tubes are respectively arranged at the four top corners of the chassis to form a vehicle body frame; two sets of parallel four-links are arranged on the chassis located inside the vehicle body frame, and the two sets of parallel four-links are shear-type lifting structures composed of lifting links and auxiliary links arranged in parallel and staggered manner, the end of the lifting link located at the bottom is arranged on the chassis, and the end of the lifting link located at the top is provided with a mounting platform; auxiliary links are arranged on both sides of the two sets of parallel four-links; a transmission shaft is hinged between the two lifting links located at the bottom layer, one end of the electric push rod is hinged on the transmission shaft, and the other end of the electric push rod is hinged on the chassis, the electric push rod is used to provide lifting power for the entire vehicle body telescopic mechanism, and gas springs are arranged on both sides of the electric push rod.

Furthermore, a shock-absorbing rubber pad is arranged on the top of each fixing pipe to provide shock absorption for the installation platform.

Furthermore, the rotary sorting mechanism includes a gantry, a code scanning module, a rotary book bin, a special-shaped cam, a rotary disk, a book bin unit, a six-slot groove wheel, a telescopic slide rail, a book bin slider, a rotary servo, a supporting bull's eye wheel and a limiting bull's eye wheel; wherein the rotary book bin is composed of a plurality of book bin units arranged at intervals along a circle; the gantry is arranged at the four top corners of the top of the mounting platform, and a rotary book bin is arranged in the space inside the gantry; a rotary servo is arranged at the bottom of the rotary book bin, and the rotary servo is installed at the bottom of the mounting platform through a supporting frame, and the output shaft of the rotary servo transmits power to the six-slot groove wheel through a gear transmission structure, and the six-slot groove wheel is arranged at the bottom of the mounting platform; the rotary servo is connected to the main control module, and its action is controlled by the main control module, and then the rotary servo provides power to drive the rotary book bin to rotate alternately, and the screening speed of the book bin unit in the rotary book bin is controlled by the rotation speed; the special-shaped cam is fixedly arranged on the mounting platform, and a rotary disk is arranged at the top of the special-shaped cam, and the bottom of the rotary disk is connected to the six-slot groove wheel, which is controlled by the six-slot groove wheel The rotating disk is driven to rotate relative to the special-shaped cam, and a plurality of telescopic slide rails are arranged at intervals along the circumferential direction of the rotating disk, and the number of the telescopic slide rails is arranged corresponding to the number of the book bin units; a book bin slider matched with the telescopic slide rail is arranged at one end of the bottom of each book bin unit, and a supporting bull's eye wheel is arranged at the other end of the bottom of each book bin unit, which contacts the mounting platform through the supporting bull's eye wheel to provide supporting movement for the book bin unit; a limiting bull's eye wheel is also arranged at the bottom of the book bin slider, and the limiting bull's eye wheel cooperates with the special-shaped cam to realize the sliding of the book bin unit on the telescopic slide rail, and the movement law of each book bin unit is controlled by the special-shaped cam, so that the book bin unit realizes reciprocating telescopic movement on the telescopic slide rail through the book bin slider; on the mounting platform close to the front of the robot, a code scanning module is arranged on one side of the rotating book bin, and the code scanning module can be aligned with a book bin unit in the rotating book bin to scan the ISBN two-dimensional code on the books in the book bin unit, realize the recognition and judgment of the number classification, and feed back the scanning information to the main control module.

Furthermore, a pressure sensor is provided at the bottom of each book storage unit for detecting whether there are books stored in the book storage unit and transmitting the detected information to the main control module.

Furthermore, the transmission and steering mechanism includes a robotic arm transmission module and a mechanical claw. The robotic arm transmission module is slidably arranged on the transmission slide rail at the top of the gantry. A mechanical claw is arranged at the front end of the robotic arm transmission module. The robotic arm transmission module and the mechanical claw cooperate to move the books in the book warehouse unit; the robotic arm transmission module serves as a mechanical arm, including a linear slide rail, a 3D pulley, a first synchronous belt, a transmission motor, a steering motor, a steering driving wheel, a steering driven wheel and a second synchronous belt; the linear slide rail is arranged on the transmission slide rail of the gantry, and the linear slide rail is arranged in the middle of the two transmission slide rails, the two sides of the 3D pulley are slidably arranged on the linear slide rail, and the middle bottom of the 3D pulley is fixed on the first synchronous belt of the linear slide rail; A transmission motor is arranged at the end of the linear slide rail, and the transmission motor 3 provides power to drive the first synchronous belt of the linear slide rail to rotate, thereby driving the 3D pulley to slide along the linear slide rail; a steering motor and a steering driving wheel are arranged on the 3D pulley, and the output shaft of the steering motor is coaxially connected to the steering driving wheel on the 3D pulley; a mounting plate is arranged at the front end of the linear slide rail, and a steering driven wheel is arranged on the mounting plate, and the rotating shaft of the steering driven wheel is passed through the mounting plate, and the steering driven wheel is transmission-connected to the steering driving wheel through the second synchronous belt; located below the mounting plate, the mechanical claw is coaxially fixedly connected to the steering driven wheel, and the steering of the mechanical claw is realized by the rotation of the steering driven wheel, and at the same time, the mechanical claw is driven by the linear slide rail to perform telescopic movement.

Furthermore, the mechanical claw includes a mechanical arm forearm, a clamping jaw servo, a clamping jaw limit block, a linear bearing, a clamping jaw, a clamping jaw plate, a clamping jaw connecting rod and a clamping jaw limit optical axis; the top of the mechanical arm forearm is fixedly connected to the rotating shaft of the steering driven wheel, the bottom of the mechanical arm forearm is provided with a clamping jaw, the middle of the clamping jaw is provided with a clamping jaw servo, a clamping jaw plate and a clamping jaw connecting rod, the clamping jaw servo drives the clamping jaw plate to move, one end of the clamping jaw connecting rod is connected to the clamping jaw plate, and the other end of the clamping jaw connecting rod is connected to one side of the clamping jaw; a linear bearing and a clamping jaw limit optical axis are provided at the rear of the clamping jaw, and a clamping jaw limit block is provided at the bottom of the clamping jaw; the clamping jaw servo provides power through the clamping jaw connecting rod to enable the clamping jaw to realize the grasping and releasing actions on the clamping jaw limit block and the clamping jaw limit optical axis; a camera is provided at the upper part of the vertical mechanical arm for collecting image information of the empty space of the target bookshelf and transmitting it to the main control module; a positioning radar is provided at the end of the linear slide rail for navigation and obstacle avoidance.

Furthermore, the main control module includes a main control drive unit and a central processing unit. The main control drive unit is mainly responsible for controlling the movement of the chassis, the mechanical claws to pick up and place books, and the book QR code recognition tasks; the central processing unit is mainly responsible for autonomous navigation and mapping, and visual recognition tasks; the central processing unit controls other units to complete the book storage task by communicating with the main control unit; the main control drive unit exchanges information with the library system to locate the bookshelves and the number of layers where the books are placed.

A method for using the above-mentioned high-level intelligent book handling, classification and sorting robot comprises: the robot loads borrowed and returned books into a rotating book bin at a designated location; obtains the ISBN QR code on the book, obtains the book partition through a pre-connected library classification system, and then transports the book to a predetermined partition through path planning, autonomous positioning, autonomous movement and autonomous obstacle avoidance; after arriving at the predetermined partition, inspects the predetermined partition, obtains environmental information through a camera, and after real-time identification of an idle position, determines the target gripper position, moves the gripper to the target gripper position, and then takes the book out of the book bin unit and places it in the target position.

Further, the target gripper position is determined, and after the gripper is moved to the target gripper position, the book is taken out of the book warehouse unit and placed in the target position, including: the initial state of the robot is that the motion mechanism is placed in the lowest position, the body telescopic module, the gantry, and the rotating classification mechanism are all parallel to the body telescopic direction; the robotic arm transmission module, the steering motor of the robotic claw, and the direction of the robotic claw are all parallel to the body travel direction; the body telescopic mechanism and the robotic arm transmission module are all in the initial limit position, the robotic claw faces the rotating classification mechanism, and the robotic claw is in an open state, and the vertical robotic arm and robotic claw direction are defined as the robot forward direction; when the book warehouse unit detects that a book has been placed in, it enters the ready state, the robot starts working, the rotating classification mechanism scans the code to identify the book information and interacts with the library management system at the same time, locates the book storage position according to the principle of the same layer, the same bookshelf, and the same partition, and reaches the target position through autonomous navigation; after reaching the target position, the motion mechanism works to define the robot forward to the bookshelf, and the electric push rod works to drive After the telescopic mechanism of the vehicle body rises to the designated bookshelf layer height, it maintains this state. At the same time, the rotating classification mechanism works to screen the target books. After the screening is completed, the transmission motor drives the mechanical arm transmission module to work, and the 3D pulley is driven by the synchronous belt to slide relatively on the gantry, so that the mechanical claw moves to the book warehouse position. When it moves to the limit position, the mechanical claw servo drives the mechanical claw clamping module to realize the clamping of the mechanical claw, and clamps the designated book. The steering motor drives the mechanical arm steering module to realize the 180° rotation of the mechanical arm forearm, and then the transmission motor drives the mechanical arm arm to transport the book to the front of the bookshelf. The camera on the mechanical arm forearm identifies the empty space on the bookshelf, and the motion module performs a translational motion along the direction of the bookshelf to fine-tune the position. The transmission motor then drives the mechanical arm arm to send the book to the designated position, the mechanical claw servo works, and the mechanical claw separates to complete the placement of the books. The telescopic module of the vehicle body remains stationary, and the mechanical arm and mechanical claw reset to place the next book until the books on this layer are placed before placing the books in the next area; the book removal process is the opposite.

The present invention adopts the above technical solution, which has the following advantages:

1. The robot transportation target of the present invention is mainly for books in the reading room of a large library. The robot loads the borrowed and returned books at the designated location, obtains the ISBN code of the bookshelf through the QR code on the book, obtains the book classification area and queries the pre-stored target location by accessing the library classification system, and then transports the book to the designated location through path planning, autonomous positioning and autonomous obstacle avoidance. Then, the central processor and image acquisition recognition analyze the location of the empty area of the bookshelf, and returns the book to the empty area of the bookshelf, and ensures that other books around it are not disturbed. The present invention further improves the intelligent management system of books, which is of great significance to the complete unmanned operation of the library.

2. The robot of the present invention autonomously navigates to the designated position. At the same time, the books are identified and classified by the rotating classification module and taken out of the rotating book bin under the action of the mechanical claw. The body telescopic mechanism lifts the robot to the designated bookshelf layer. The mechanical arm transmission module transports the books to the designated bookshelf space and then the mechanical arm forearm and the mechanical claw are relaxed to put the books back in place. The motion mechanism adopts a wheat wheel chassis to ensure the stability of the walking process. The overall structure is simple, and can realize flexible turning and translational movement in the narrow space between bookshelves.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of a high-level intelligent book handling and sorting robot according to an embodiment of the present invention;

FIG2 is a schematic diagram of the structure of a motion mechanism according to an embodiment of the present invention;

3 is a schematic diagram of a vehicle body telescopic mechanism according to an embodiment of the present invention;

FIG4 is a top view of a rotary classification mechanism according to an embodiment of the present invention;

5 is a bottom view of the rotary classification mechanism according to an embodiment of the present invention;

FIG6 is a side view of a rotary classification mechanism according to an embodiment of the present invention;

7 is a schematic diagram of the structure of a book bin unit according to an embodiment of the present invention;

8 is a schematic diagram of the structure of the gantry, the robotic arm transmission module and the robotic arm forearm in an embodiment of the present invention;

FIG9 is a schematic diagram of the structure of a mechanical claw in an embodiment of the present invention;

Wherein, the accompanying drawings are marked as follows:

1-movement mechanism, 2-body telescopic mechanism, 3-installation platform, 4-rotation classification mechanism, 5-transmission steering mechanism, 6-mechanical claw, 7-main control module, 8-chassis, 9-fixed tube, 10-electric push rod, 11-transmission shaft, 12-auxiliary connecting rod, 13-gas spring, 14-lifting connecting rod, 15-shock-absorbing rubber pad, 16-gantry, 17-rotating book warehouse, 18-rotating steering gear, 19-six-slot groove wheel, 20-book warehouse unit, 21-special-shaped cam, 22-rotating disk, 23-telescopic slide rail, 24-book warehouse slider, 25-support bull Eye wheel, 26-bull eye wheel for limiting, 27-barcode scanning module, 28-transmission slide rail, 29-linear slide rail, 30-3D pulley, 31-first synchronous belt, 32-transmission motor, 33-steering motor, 34-steering driving wheel, 35-steering driven wheel, 36-second synchronous belt, 37-mechanical arm transmission module, 38-mechanical arm forearm, 39-grip, 40-grip servo, 41-grip plate, 42-grip connecting rod, 43-linear bearing, 44-grip limiting optical axis, 45-grip limiting block, 46-camera, 47-positioning radar.

Detailed ways

In view of the current classification difficulties and inconvenient access to high-level bookshelves in library management, in order to solve the defects of low efficiency and large labor required for traditional book storage and sorting, the present invention provides a high-level intelligent book handling, sorting and sorting robot for book handling, sorting and placement, mainly for books in the reading room of a large library. The robot loads books that have been borrowed and returned at a designated location, obtains the ISBN code of the bookshelf through the QR code on the book, obtains the book classification area and queries the pre-stored target position by accessing the library classification system, and then transports the book to the designated location through path planning, autonomous positioning and autonomous obstacle avoidance, and then identifies and analyzes the empty area of the bookshelf through the central processor and image acquisition device, returns the book to the empty area of the bookshelf, and ensures that other books around are not disturbed. The book autonomous storage vehicle of the present invention can help automatically classify and sort, place high-level books, efficiently complete the book storage work, and effectively solve the problem of book induction; and the present invention further improves the book intelligent management system, which is of great significance to the complete unmanned operation of the library.

The present invention is described in detail below with reference to the accompanying drawings and embodiments.

In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and/or combinations thereof.

In one embodiment of the present invention, a high-level intelligent book handling, sorting and arranging robot is provided. In this embodiment, as shown in FIGS. 1 to 9 , the robot comprises:

Motion mechanism 1, used to drive the entire robot to move;

The vehicle body telescopic mechanism 2 is arranged on the motion mechanism 1 and is used for lifting and lowering movement, and a mounting platform 3 is arranged on the top of the vehicle body telescopic mechanism 2;

The rotating classification mechanism 4 is arranged on the mounting platform 3 on the top of the vehicle body telescopic mechanism 2, and is used for accommodating and identifying the books to be classified;

The transmission steering mechanism 5 is arranged on the top of the rotating classification mechanism 4. A mechanical claw 6 is also arranged on the transmission steering mechanism 5. The transmission steering mechanism 5 drives the mechanical claw 6 to move forward and backward and turn, so as to transmit the books identified by the rotating classification mechanism 4 to the front of the robot;

The main control module 7 is arranged on the mounting platform 3 and is used to transmit control instructions to the motion mechanism 1, the vehicle body telescopic mechanism 2, the rotating classification mechanism 4 and the conveying and steering mechanism 5 to control the actions of each mechanism.

In a preferred embodiment, as shown in Fig. 2, the motion mechanism 1 includes a chassis 8, and two sets of Mecanum wheels and four stepper motors arranged at the bottom of the chassis 16. The four stepper motors drive a set of Mecanum wheels to achieve flexible movement in a limited space.

In this embodiment, two sets of Mecanum wheels are installed in an "O-rectangle" manner on the chassis 8. The rotation of the Mecanum wheels can generate a yaw axis torque, and the torque arm is also long, which satisfies the flexible movement in a narrow space. At the same time, the use of two sets of Mecanum wheels reduces the use of the body frame space in the body telescopic mechanism 2, making it more convenient to build and parallel the body telescopic mechanism 2, that is, to install several connecting rods for telescopic at the same time.

In this embodiment, the stepper motor adopts a DC reduction motor with an encoder, which can provide greater driving force and at the same time provide a stable speed by performing PID closed-loop control through feedback speed.

In a preferred embodiment, as shown in FIG3 , the vehicle body telescopic mechanism 2 adopts a scissor-type lifting structure, is installed on the chassis 8, and telescopically moves along the z-axis. Specifically, the vehicle body telescopic mechanism 2 includes four fixed tubes 9, an electric push rod 10, two sets of parallel four-links, a transmission shaft 11, an auxiliary link 12, and a gas spring 13.

Four fixed tubes 9 are respectively arranged at the four top corners of the chassis 8 to form a body frame; two sets of parallel four-links are arranged on the chassis 8 inside the body frame, and the two sets of parallel four-links are shear-type lifting structures composed of lifting links 14 and auxiliary links 12 arranged in parallel and staggered manner. The end of the lifting link 14 at the bottom is arranged on the chassis 8, and the end of the lifting link 14 at the top is provided with a mounting platform 3. In this embodiment, auxiliary links 12 are arranged on both sides of the two sets of parallel four-links, and the auxiliary links 12 are used for reinforcement support to avoid the problem of center of gravity offset of traditional scissor-type lifting, which is more suitable for multiple sets of high-level working modes in series. Since the center of gravity is no longer offset, this design also realizes the need to adopt two sets of parallel modes or multiple sets of parallel modes as required, thereby improving the stability of robot operation. A transmission shaft 11 is hinged between the two lifting connecting rods 14 at the bottom layer, one end of the electric push rod 10 is hinged on the transmission shaft 11, and the other end of the electric push rod 10 is hinged on the chassis 8. The electric push rod 10 provides the lifting power for the entire vehicle body telescopic mechanism 2, ensuring that the scissor-type lifting structure can achieve smooth up and down reciprocating motion. Gas springs 13 are arranged on both sides of the electric push rod 10.

When in use, the electric push rod 10 provides a push and transmits power to the transmission shaft 11 to unfold the scissor-type lifting; the transmission shaft 11 transmits power to the lifting connecting rod 14 and the auxiliary connecting rod 12, thereby driving the installation platform 3 to lift; the electric push rod 10 drives the transmission shaft 11 to perform reciprocating motion.

In this embodiment, a shock-absorbing rubber pad 15 is arranged on the top of each fixed tube 9. The shock-absorbing rubber pad 15 provides shock absorption for the installation platform 3, alleviates the shaking of the installation platform 3 during the descent process, and prevents the failure of the electric push rod 10.

In this embodiment, each set of parallel four-links is a telescopic unit, and the telescopic units can be freely added or reduced to meet the needs according to the different heights of bookshelves.

In this embodiment, a Hall encoder is provided on the chassis 8 for calculating the odometer.

In a preferred embodiment, as shown in FIGS. 4 to 7 , the rotary sorting mechanism 4 includes a gantry 16, a rotary book bin 17, a rotary steering gear 18, a six-groove sheave 19, a book bin unit 20, a special-shaped cam 21, a rotating disk 22, a telescopic slide rail 23, a book bin slider 24, a supporting bull's eye wheel 25, a limiting bull's eye wheel 26 and a code scanning module 27; wherein the rotary book bin 17 is composed of a plurality of book bin units 20 arranged at intervals along the circumference. In this embodiment, the special-shaped cam 21 has a special-shaped slide groove.

The gantry 16 is arranged at the four top corners of the top of the installation platform 3, and a rotating book bin 17 is arranged in the space inside the gantry 16. A rotating steering gear 18 is arranged at the bottom of the rotating book bin 17, and the rotating steering gear 18 is installed at the bottom of the installation platform 3 through a support frame. The output shaft of the rotating steering gear 18 transmits power to a six-slot sheave 19 through a gear transmission structure, and the six-slot sheave 19 is arranged at the bottom of the installation platform 3; the rotating steering gear 18 is connected to the main control module 7, and its action is controlled by the main control module 7, and then the rotating steering gear 18 provides power to drive the rotating book bin 17 to rotate alternately, and the screening speed of the book bin unit 20 in the rotating book bin 17 is controlled by the speed.

The special-shaped cam 21 is fixedly arranged on the mounting platform 3, and a rotating disk 22 is arranged on the top of the special-shaped cam 21. The bottom of the rotating disk 22 is connected to the six-groove groove wheel 19, and the six-groove groove wheel 19 drives the rotating disk 22 to rotate relative to the special-shaped cam 21. A plurality of telescopic slide rails 23 are arranged at intervals along the circumferential direction of the rotating disk 22, and the number of the telescopic slide rails 23 is arranged corresponding to the number of the book warehouse units 20. A book warehouse slider 24 cooperating with the telescopic slide rail 23 is arranged at one end of the bottom of each book warehouse unit 20, and a supporting bull's eye wheel 25 is arranged at the other end of the bottom of each book warehouse unit 20, and the supporting bull's eye wheel 25 contacts the mounting platform 3, so that the supporting bull's eye wheel 25 provides support for the book warehouse unit 20 and realizes movement on the mounting platform 3; a limiting bull's eye wheel 26 is also arranged at the bottom of the book warehouse slider 24, and the limiting bull's eye wheel 26 cooperates with the special-shaped cam 21 to realize the sliding of the book warehouse unit 20 on the telescopic slide rail 23. The movement of each book bin unit 20 is controlled by the special-shaped cam 21 , so that the book bin unit 20 can realize reciprocating telescopic movement on the telescopic slide rail 23 through the book bin slider 24 .

On the installation platform 3 near the front of the robot, a code scanning module 27 is arranged on one side of the rotating book bin 17. The code scanning module 27 can be aligned with a certain book bin unit 20 in the rotating book bin 17 to scan the ISBN QR code on the book in the book bin unit 20, realize the recognition and judgment of the quantity classification, and feed back the scanning information to the main control module 7.

In the above embodiment, a pressure sensor is provided at the bottom of each book storage unit 20 for detecting whether there are books stored in the book storage unit 20 and transmitting the detected information to the main control module 7 .

In the above embodiment, a supporting bull's eye wheel 25 and a limiting bull's eye wheel 26 are provided at the bottom of the book bin unit 20. The limiting bull's eye wheel 26 moves along the slide groove, and the supporting bull's eye wheel 25 follows the movement to play a supporting role, thereby ensuring the stable operation of the mechanism.

When in use, the book bin unit 20 is limited by the limiting bull's eye wheel 26 and the special-shaped slide groove on the special-shaped cam 21, and the six-groove groove wheel 19 is driven by the rotating servo 18 to realize the movement of the book bin along the direction of the special-shaped slide groove. When it reaches the code scanning position, the special-shaped slide groove protrudes to facilitate accurate identification by the code scanning module 27. The book bin slider at the bottom of each book bin unit 20 moves relative to the rotating disk 22 to realize the book classification function.

In the above embodiment, a conveying slide rail 28 is provided at the top of the gantry for conveying the installation and operation of the steering mechanism 5 .

In a preferred embodiment, as shown in Figures 8 and 9, the conveying steering mechanism 5 includes a robotic arm conveying module 37 and a mechanical claw 6. The robotic arm conveying module 37 is slidably set on the conveying slide rail 28 at the top of the gantry. The mechanical claw 6 is set at the front end of the robotic arm conveying module 37. The robotic arm conveying module 37 and the mechanical claw 6 cooperate to move the books in the book warehouse unit 20.

In this embodiment, the robotic arm transmission module 37 serves as a robotic arm, including a linear slide rail 29 , a 3D pulley 30 , a first synchronous belt 31 , a transmission motor 32 , a steering motor 33 , a steering driving wheel 34 , a steering driven wheel 35 and a second synchronous belt 36 .

The linear slide 29 is arranged on the transmission slide 28 of the gantry, and the linear slide 29 is arranged in the middle of the two transmission slides 28. The two sides of the 3D pulley 30 are slidably arranged on the linear slide 29, and the middle bottom of the 3D pulley 30 is fixed on the first synchronous belt 31 of the linear slide 29; a transmission motor 32 is arranged at the end of the linear slide 29, and the transmission motor 32 provides power to drive the first synchronous belt 31 of the linear slide 29 to rotate, thereby driving the 3D pulley 30 to slide along the linear slide 29.

The 3D pulley 30 is provided with a steering motor 33 and a steering driving wheel 34, and the output shaft of the steering motor 33 is coaxially connected to the 3D pulley 30 with the steering driving wheel 34; a mounting plate is provided at the front end of the linear slide 29, and a steering driven wheel 35 is provided on the mounting plate, and the rotating shaft of the steering driven wheel 35 is passed through the mounting plate, and the steering driven wheel 35 is connected to the steering driving wheel 34 through the second synchronous belt 36 for transmission; the mechanical claw 6 is coaxially fixedly connected with the steering driven wheel 35 below the mounting plate, and the mechanical claw 6 is turned by the rotation of the steering driven wheel 35, and at the same time, the mechanical claw is driven by the linear slide 29 to perform telescopic movement. When in use, the steering motor 33 provides power to rotate the steering driving wheel 34 to drive the second synchronous belt 36 to drive the steering driven wheel 35 to turn, so as to realize the steering movement of the mechanical claw 6; the steering function is transmitted by the synchronous belt so that the center of gravity of the synchronous belt transmission as a whole always falls within the vertical projection range of the mounting platform 3, thereby ensuring the stability of the robot during operation.

In the above embodiment, the steering motor 33 and the transmission motor 32 are both connected to the main control module 7, and their actions are controlled by the main control module 7; and the steering motor 33 and the transmission motor 32 use stepper motors with AS5600 magnetic encoders for closed-loop control, which can minimize the step loss phenomenon when the step is lost due to external force.

In the above embodiments, the mechanical claw 6 includes a mechanical arm 38, a clamp 39, a clamp steering gear 40, a clamp plate 41, a clamp connecting rod 42, a linear bearing 43, a clamp limit optical axis 44 and a clamp limit block 45. The top of the mechanical arm 38 is fixedly connected to the rotating shaft of the steering driven wheel 35, the bottom of the mechanical arm 38 is provided with a clamp 39, the middle of the clamp 39 is provided with a clamp steering gear 40, a clamp plate 41 and a clamp connecting rod 42, the clamp steering gear 40 drives the clamp plate 41 to move, one end of the clamp connecting rod 42 is connected to the clamp plate 41, and the other end of the clamp connecting rod 42 is connected to one side of the clamp 39. A linear bearing 43 and a clamp limit optical axis 44 are provided at the rear of the clamp, and a clamp limit block 45 is provided at the bottom of the clamp 39. The clamping jaw servo 40 provides power through the clamping jaw connecting rod 42 to enable the clamping jaw 39 to grasp and release the clamping jaw 39 on the clamping jaw limiting block 45 and the clamping jaw limiting optical axis 44.

A camera 46 is provided at the upper part of the vertical mechanical arm for collecting image information of empty spaces of the target bookshelf and transmitting it to the main control module 7. A positioning radar 47 is provided at the end of the linear slide rail 29 for navigation and obstacle avoidance.

During use, when the code scanning module 27 recognizes the target book, the rotating book bin 17 temporarily stops moving, the robot arm transmission module 37 moves to drive the mechanical claw 6 to align with the clamping position of the book bin unit 20 to clamp the book, and after clamping the target book, the steering motor 33 works, the robot arm forearm 38 rotates 180°, and the robot arm arm 37 drives the mechanical claw 6 to move toward the target bookshelf. The camera 46 above the mechanical claw 6 recognizes the empty space on the bookshelf, and when the mechanical claw 6 reaches the specified position, the gripper servo 40 rotates the mechanical claw 6 in the opposite direction to release the mechanical claw 6, and the robot arm arm 37 retreats to realize the placement of a category of books and prepare for the clamping of the next book; the reverse part of the bookshelf book removal work rotates relative to the z-axis, and the second synchronous belt 36 drives the robot arm forearm 38 to rotate, ensuring that the center of gravity of the robot arm forearm 38 is always located within the positive projection range of the robot along the z-axis, thereby ensuring the stability of the robot during operation.

In a preferred embodiment, the main control module 7 includes a main control drive unit and a central processing unit. The main control drive unit is mainly responsible for controlling the chassis 8 to move, the mechanical claw 6 to pick up and place books, and the book QR code recognition tasks; the central processing unit is mainly responsible for autonomous navigation and mapping, visual recognition and other tasks. The central processing unit controls other units to complete the book storage task by communicating with the main control unit. Among them, the main control drive unit exchanges information with the library system to locate the bookshelf and the number of layers where the books are placed.

When in use, the robot reaches the target position through autonomous navigation, and after the gripper 39 closes, it drives the steering motor 33 to rotate 180°, and the camera 46 identifies the empty space on the bookshelf to achieve accurate placement of books, and the book grabbing action is the opposite. The robot as a whole does not adopt the traditional long robotic arm single book transportation mode, but lifts the book bin and the robotic arm together. After reaching the specified height, it only needs to complete the three actions of the robotic arm arm 37 moving along the x-axis (gantry direction), the robotic arm arm 38 rotating along the z-axis direction, and the gripping of the robotic claw 6. This avoids the reciprocating movement of the robotic arm arm 37 during each book transportation process during the high-level book placement process, greatly saving the book transportation distance and improving the efficiency of book placement.

In this embodiment, the autonomous navigation function is achieved by running the Ubuntu version of the ROS operating system on the central processing unit, with the chassis 8 providing a wheel odometer and autonomous mobility capabilities, the main control drive unit providing imu information, and the Kalman filter fusion outputting a more stable fused odometer with the wheel odometer. The positioning radar 47 provides point cloud information, and after integrating multiple sensor data, runs a mapping navigation and positioning algorithm to achieve real-time mapping navigation.

In this embodiment, the bookshelf empty space recognition function deploys the YOLO framework on the central processing unit, uses the YOLOv3 version for target detection and training, and uses a data set containing bookshelf images and bounding box annotations to learn to recognize books and empty spaces. By dividing the data set and training the model, an accurate target detection model is obtained. Then, the trained model is used to infer the bookshelf image and identify the bounding boxes of books and empty spaces. According to the position and spacing of these bounding boxes, determine which areas may be empty spaces. At the same time, set some rules or thresholds to judge the empty spaces. Finally, mark the areas determined as empty spaces on the bookshelf image to clearly display the empty space positions on the bookshelf.

In one embodiment of the present invention, a method for using a high-level intelligent book transporting, sorting and arranging robot is provided, which comprises the following steps:

1) The robot loads the borrowed and returned books into the rotating book bin 5 at the designated location;

2) Obtain the ISBN QR code on the book, obtain the book partition through the pre-connected library classification system, and then transport the book to the predetermined partition through path planning, autonomous positioning, autonomous movement and autonomous obstacle avoidance;

3) After arriving at the predetermined partition, the predetermined partition is inspected, environmental information is obtained through the camera 46, and after real-time identification of the idle position, the target clamp position is determined, and after the clamp 39 is moved to the target clamp position, the book is taken out of the book bin unit 20 and placed in the target position.

In the above embodiment, in step 2), the book partition is obtained through the pre-connected library classification system. Specifically, the library classification system needs to be pre-connected, and the classification system is required to include an ISBN classification number query function. At the same time, the user needs to manually pre-store the location information of each partition on the map.

In the above embodiment, step 3) also includes the following steps: after entering the partition where the books to be placed are located, an empty position on the bookshelf is identified, and then the trolley moves to the empty position until it reaches the empty position. Then the mechanical arm 38 is controlled to take the books in the rotating book bin 17 and place them.

Step 3) also includes the following steps:

The initial state of the robot is that the motion mechanism 1 is placed in the lowest position, the body telescopic module, the gantry, and the rotating classification mechanism 4 are all parallel to the telescopic direction of the body; the robotic arm transmission module 37, the steering motor of the robotic claw, and the direction of the robotic claw are all parallel to the direction of travel of the body; the body telescopic mechanism 2 and the robotic arm transmission module 37 are both in the initial limit position, the robotic claw is facing the rotating classification mechanism 4, and the robotic claw is in an open state, and the vertical robotic arm and robotic claw direction are defined as the robot's positive direction; when the book warehouse unit 20 detects that a book has been put in, it enters the ready state, the robot starts working, the rotating classification mechanism 4 scans the code to identify the book information and interacts with the library management system at the same time, locates the book storage position according to the principle of the same layer, the same bookshelf, and the same partition, and reaches the target position through autonomous navigation; after reaching the target position, the motion mechanism 1 works to define the robot's positive direction to the bookshelf, and the electric push rod works to drive the body telescopic mechanism 2 to rise to the specified shelf height and maintain this state. The 3D pulley is driven by the synchronous belt to slide relatively on the gantry, so that the mechanical claw moves to the book warehouse position. After moving to the limit position, the mechanical claw servo drives the mechanical claw clamping module to realize the clamping of the mechanical claw, and clamps the specified book. The steering motor drives the mechanical arm steering module to realize the 180° rotation of the mechanical arm forearm, and then the transmission motor drives the mechanical arm arm to transport the book to the front of the bookshelf. The camera on the mechanical arm forearm identifies the empty space on the bookshelf, and the motion module performs a translational motion along the direction of the bookshelf to fine-tune the position. The transmission motor drives the mechanical arm arm to send the book to the specified position, and the mechanical claw servo works. The mechanical claw separates to complete the placement of the book. The body telescopic module remains motionless, and the mechanical arm and the mechanical claw reset to place the next book until the books on this layer are placed and then the books in the next area are placed; the book removal process is the opposite.

The method provided in this embodiment is used to execute the above-mentioned robot structure embodiments. Please refer to the above-mentioned embodiments for the specific process and detailed contents, which will not be repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A high-level intelligent book handling, classification and sorting robot, characterized by comprising: The motion mechanism is used to drive the entire robot to move; The vehicle body telescopic mechanism is arranged on the motion mechanism and is used for lifting and lowering movement, and a mounting platform is arranged on the top of the vehicle body telescopic mechanism; The rotating classification mechanism is arranged on the mounting platform on the top of the telescopic mechanism of the vehicle body, and is used to accommodate and identify and judge the books to be classified; The transmission and steering mechanism is arranged on the top of the rotating classification mechanism. A mechanical claw is also arranged on the transmission and steering mechanism. The mechanical claw is driven by the transmission and steering mechanism to perform forward and backward and steering movements to transmit the books identified by the rotating classification mechanism to the front of the robot. The main control module is arranged on the mounting platform and is used to transmit control instructions to the motion mechanism, the vehicle body telescopic mechanism, the rotating classification mechanism and the transmission steering mechanism to control the actions of each mechanism. 2. The high-level intelligent book handling, sorting and arranging robot as claimed in claim 1, characterized in that the body telescopic mechanism adopts a scissor-type lifting structure, is installed on the chassis of the motion mechanism, and telescopically moves along the z-axis direction; The vehicle body telescopic mechanism includes four fixed tubes, an electric push rod, two sets of parallel four-links, a mounting platform, a transmission shaft, an auxiliary link and a gas spring; Four fixed tubes are respectively arranged at the four top corners of the chassis to form a vehicle body frame; two sets of parallel four-linkages are arranged on the chassis inside the vehicle body frame, and the two sets of parallel four-linkages are shear-type lifting structures composed of lifting links and auxiliary links arranged in parallel and staggered manner, the end of the lifting link at the bottom is arranged on the chassis, and the end of the lifting link at the top is provided with a mounting platform; auxiliary links are arranged on both sides of the two sets of parallel four-linkages; a transmission shaft is hinged between the two lifting links at the bottom layer, one end of the electric push rod is hinged on the transmission shaft, and the other end of the electric push rod is hinged on the chassis, the electric push rod is used to provide lifting power for the entire vehicle body telescopic mechanism, and gas springs are arranged on both sides of the electric push rod. 3. The high-level intelligent book transporting, sorting and arranging robot as described in claim 2 is characterized in that a shock-absorbing rubber pad is provided on the top of each fixed tube to provide shock absorption for the installation platform. 4. The high-level intelligent book handling, sorting and arranging robot as claimed in claim 1, characterized in that the rotating sorting mechanism comprises a gantry, a code scanning module, a rotating book bin, a special-shaped cam, a rotating disk, a book bin unit, a six-slotted groove wheel, a telescopic slide rail, a book bin slider, a rotating steering gear, a supporting bull's eye wheel and a limiting bull's eye wheel; wherein the rotating book bin is composed of a plurality of book bin units arranged at intervals along the circumference; The gantry is arranged at the four top corners of the installation platform, and a rotating book bin is arranged in the space inside the gantry; A rotary steering gear is arranged at the bottom of the rotary book bin, which is installed at the bottom of the mounting platform through a support frame. The output shaft of the rotary steering gear transmits power to a six-slot sheave through a gear transmission structure, and the six-slot sheave is arranged at the bottom of the mounting platform. The rotary steering gear is connected to the main control module, and its action is controlled by the main control module, and then the rotary steering gear provides power to drive the rotary book bin to rotate alternately, and the screening speed of the book bin unit in the rotary book bin is controlled by the rotation speed. The special-shaped cam is fixedly arranged on the mounting platform, a rotating plate is arranged on the top of the special-shaped cam, the bottom of the rotating plate is connected to the six-groove groove wheel, the six-groove groove wheel drives the rotating plate to rotate relative to the special-shaped cam, and a plurality of telescopic slide rails are arranged at intervals along the circumferential direction of the rotating plate, and the number of the telescopic slide rails is arranged correspondingly to the number of the book bin units; A book bin slider matched with the telescopic slide rail is arranged at one end of the bottom of each book bin unit, and a supporting bull's eye wheel is arranged at the other end of the bottom of each book bin unit, which contacts the mounting platform through the supporting bull's eye wheel to provide supporting movement for the book bin unit; A limit bull's eye wheel is also provided at the bottom of the book bin slider, and the limit bull's eye wheel cooperates with the special-shaped cam to realize the sliding of the book bin unit on the telescopic slide rail. The special-shaped cam controls the movement law of each book bin unit, so that the book bin unit realizes reciprocating telescopic movement on the telescopic slide rail through the book bin slider; On the installation platform close to the front of the robot, a scanning module is arranged on one side of the rotating book bin. The scanning module can be aligned with a certain book bin unit in the rotating book bin to scan the ISBN QR code on the books in the book bin unit, realize the recognition and judgment of quantity classification, and feed back the scanning information to the main control module. 5. The high-level intelligent book transporting, sorting and arranging robot as described in claim 4 is characterized in that a pressure sensor is provided at the bottom of each book storage unit for detecting whether there are books stored in the book storage unit and transmitting the detected information to the main control module. 6. The high-level intelligent book transporting, sorting and arranging robot as claimed in claim 1 is characterized in that the transport and steering mechanism comprises a mechanical arm transport module and a mechanical claw, the mechanical arm transport module is slidably arranged on a transport slide rail at the top of the gantry, a mechanical claw is arranged at the front end of the mechanical arm transport module, and the mechanical arm transport module and the mechanical claw cooperate to move the books in the book bin unit; The robot arm transmission module is a mechanical arm, including a linear slide rail, a 3D pulley, a first synchronous belt, a transmission motor, a steering motor, a steering driving wheel, a steering driven wheel and a second synchronous belt; The linear slide is arranged on the transmission slide of the gantry, and the linear slide is arranged in the middle of the two transmission slides, the two sides of the 3D pulley are slidingly arranged on the linear slide, and the middle bottom of the 3D pulley is fixed on the first synchronous belt of the linear slide; a transmission motor is arranged at the end of the linear slide, and the transmission motor 3 provides power to drive the first synchronous belt of the linear slide to rotate, thereby driving the 3D pulley to slide along the linear slide; The 3D pulley is provided with a steering motor and a steering driving wheel, and the output shaft of the steering motor is coaxially connected to the 3D pulley with the steering driving wheel; a mounting plate is provided at the front end of the linear slide rail, and a steering driven wheel is provided on the mounting plate, and the rotating shaft of the steering driven wheel is passed through the mounting plate, and the steering driven wheel is connected to the steering driving wheel through a second synchronous belt; located below the mounting plate, the mechanical claw is coaxially fixedly connected with the steering driven wheel, and the steering of the mechanical claw is realized by the rotation of the steering driven wheel, and at the same time, the linear slide rail drives the mechanical claw to perform telescopic movement. 7. The high-level intelligent book handling, sorting and arranging robot as claimed in claim 6, characterized in that the mechanical claw comprises a mechanical arm forearm, a gripper servo, a gripper limit block, a linear bearing, a gripper, a gripper plate, a gripper connecting rod and a gripper limit optical axis; The top of the mechanical arm forearm is fixedly connected to the rotating shaft of the steering driven wheel, the bottom of the mechanical arm forearm is provided with a clamping claw, the middle of the clamping claw is provided with a clamping claw servo, a clamping claw plate and a clamping claw connecting rod, the clamping claw servo drives the clamping claw plate to move, one end of the clamping claw connecting rod is connected to the clamping claw plate, and the other end of the clamping claw connecting rod is connected to one side of the clamping claw; a linear bearing and a clamping claw limiting optical axis are provided at the rear of the clamping claw, and a clamping claw limiting block is provided at the bottom of the clamping claw; the clamping claw servo provides power through the clamping claw connecting rod to enable the clamping claw to realize the grasping and releasing action on the clamping claw limiting block and the clamping claw limiting optical axis; A camera is installed at the top of the vertical robotic arm to collect image information of empty spaces on the target bookshelf and transmit it to the main control module. A positioning radar is installed at the end of the linear slide rail to navigate and avoid obstacles. 8. The high-level intelligent book handling, sorting and arranging robot as claimed in claim 1 is characterized in that the main control module includes a main control drive unit and a central processing unit, the main control drive unit is mainly responsible for controlling the chassis to walk, the mechanical claw to pick up and place books, and the book QR code recognition tasks; the central processing unit is mainly responsible for autonomous navigation and mapping, and visual recognition tasks; The central processing unit controls other units to complete the book storage task by communicating with the main control unit; the main control drive unit exchanges information with the library system to locate the bookshelves and the number of layers where the books are placed. 9. A method for using the high-level intelligent book handling, classification and sorting robot according to any one of claims 1 to 8, characterized by comprising: The robot loads the borrowed and returned books into the rotating book bin at the designated location; Get the ISBN QR code on the book, obtain the book partition through the pre-connected library classification system, and then transport the book to the predetermined partition through path planning, autonomous positioning, autonomous movement and autonomous obstacle avoidance; After arriving at the predetermined area, the predetermined area is inspected, environmental information is obtained through the camera, and after real-time identification of the idle position, the target gripper position is determined. After the gripper is moved to the target gripper position, the book is taken out of the book compartment unit and placed in the target position. 10. The method of use according to claim 9, characterized in that after determining the target clamping claw position and moving the clamping claw to the target clamping claw position, taking the book out of the book bin unit and placing it in the target position comprises: The initial state of the robot is that the motion mechanism is placed in the lowest position, the body telescopic module, gantry, and rotating classification mechanism are all parallel to the body telescopic direction; the robot arm transmission module, the steering motor of the mechanical claw, and the direction of the mechanical claw are all parallel to the body travel direction; the body telescopic mechanism and the robot arm transmission module are both in the initial limit position, the mechanical claw faces the rotating classification mechanism, and the mechanical claw is in an open state, and the vertical robot arm and mechanical claw direction is defined as the robot positive direction; When the book storage unit detects that a book has been put in, it enters the ready state, and the robot starts working. The rotating classification mechanism scans the code to identify the book information and interacts with the library management system. It locates the book storage location according to the principle of the same layer, the same bookshelf, and the same partition, and reaches the target location through autonomous navigation. After reaching the target position, the motion mechanism works to make the defined robot face the bookshelf forward. The electric push rod works to drive the telescopic mechanism of the vehicle body to rise to the specified shelf height and maintain this state. At the same time, the rotating classification mechanism works to screen the target books. After the screening is completed, the transmission motor drives the mechanical arm transmission module to work. The 3D pulley is driven by the synchronous belt to slide relatively on the gantry, so that the mechanical claw moves to the book warehouse position. When it moves to the limit position, the mechanical claw servo drives the mechanical claw clamping module to realize the clamping of the mechanical claw. After clamping the specified book, the steering motor drives the mechanical arm steering module The robot arm's forearm rotates 180°, and the transmission motor drives the robot arm's upper arm to transport the book to the front of the bookshelf. The camera on the robot arm's forearm identifies the empty space on the bookshelf, and the motion module performs a translational motion along the direction of the bookshelf to fine-tune the position. The transmission motor then drives the robot arm's upper arm to deliver the book to the designated position, and the mechanical claw servo works. The mechanical claw separates to place the book, and the body telescopic module remains stationary. The robot arm and the mechanical claw reset to place the next book, and the books on this layer are placed before placing the books in the next area. The process of taking out books is the opposite.