CN118952236B

CN118952236B - Intelligent book positioning and sorting system and method based on virtual reality enhancement technology

Info

Publication number: CN118952236B
Application number: CN202411450566.4A
Authority: CN
Inventors: 喻亚琴
Original assignee: Jiangsu Vocational and Technical Shipping College
Current assignee: Jiangsu Vocational and Technical Shipping College
Priority date: 2024-10-17
Filing date: 2024-10-17
Publication date: 2024-12-24
Anticipated expiration: 2044-10-17
Also published as: CN118952236A

Abstract

The present invention relates to the field of virtual reality enhancement technology, and in particular to an intelligent book positioning and sorting system and method based on virtual reality enhancement technology. The method comprises the following steps: acquiring environmental scanning data and environmental perception images; performing internal space contour feature recognition on the environmental scanning data to obtain internal geometric contour feature data of the library; performing library geometric contour feature recognition on the environmental perception image to obtain internal geometric contour feature data of the library; constructing a library virtual reality environment through the internal space structure data of the library and the internal geometric contour feature data of the library to generate a virtual three-dimensional library. The present invention improves the accuracy, real-time update, environmental modeling and operation efficiency of traditional book positioning and sorting by integrating virtual reality enhancement technology, UWB positioning, intelligent path planning and automatic control.

Description

Intelligent book positioning and sorting system and method based on virtual reality enhancement technology

Technical Field

The invention relates to the technical field of virtual reality augmentation, in particular to an intelligent book positioning and sorting system and method based on a virtual reality augmentation technology.

Background

Originally, libraries used bar codes and RFID technology to increase the automation level of book management. Bar code technology simplifies borrowing and returning of books, but has limitations in the accuracy and efficiency of positioning and sorting. The introduction of RFID technology makes book tracking and inventory management more efficient, but still lacks adaptability to real-time positioning and complex environments. With the rise of virtual reality and augmented reality technologies, library management systems have been innovated. The virtual reality technology provides a more visual book positioning and management mode for library administrators by constructing a three-dimensional virtual environment. The augmented reality technology helps management personnel to quickly identify and position books by superposing virtual information in an actual library environment, so that sorting accuracy and sorting efficiency are improved. In recent years, an intelligent book positioning and sorting method based on a virtual reality enhancement technology is started to be applied by combining a machine learning technology and an artificial intelligence technology, however, at present, space data and book information of a traditional library are often not fully integrated, so that the construction and enhancement effects of a virtual environment are limited, meanwhile, the real-time environment change and obstacle avoidance requirements are usually ignored in path planning, the path is not optimized enough, and further, the high efficiency and the low accuracy in the book positioning and sorting process are caused.

Disclosure of Invention

Based on the foregoing, it is necessary to provide an intelligent book positioning and sorting system and method based on virtual reality augmentation technology to solve at least one of the above-mentioned technical problems.

In order to achieve the above purpose, an intelligent book positioning and sorting method based on virtual reality augmentation technology comprises the following steps:

The method comprises the steps of S1, obtaining environment scanning data and environment sensing images, carrying out internal space contour feature recognition on the environment scanning data to obtain library internal geometric contour feature data, carrying out library geometric contour feature recognition on the environment sensing images to obtain library internal geometric contour feature data, carrying out library virtual reality environment construction through library internal space structure data and library internal geometric contour feature data, and generating a virtual three-dimensional library;

Step S2, library book data including library book text type data and library book image type data are obtained, the library book type data are classified according to the library book text type data to generate library book type data, cover image feature extraction is carried out on the library book image type data based on the library book type data to obtain book cover image feature data;

Step S3, a UWB signal base station is deployed by utilizing a virtual three-dimensional library, UWB label attachment is carried out on books according to virtual reality enhanced interface data based on the UWB signal base station to generate book label data, node connection is carried out between the UWB signal base station and the book label data to generate a UWB book positioning network, dynamic book position update is carried out on the virtual reality enhanced interface data according to the UWB book positioning network to generate real-time book position data;

Step S4, acquiring current position information data of a user, performing shortest obstacle avoidance book taking path calculation based on real-time book position data and a virtual three-dimensional library to generate book taking optimization path data, mapping the book taking optimization path data into virtual reality enhanced interface data for path dynamic display to generate a path dynamic display interface, and performing robot grabbing path navigation instruction generation according to the path dynamic display interface to obtain a robot path navigation instruction so as to execute intelligent book positioning and sorting operation.

According to the invention, the geometric outline characteristics of the library can be accurately identified by acquiring the environment scanning data and the environment perception image, so that the real and detailed construction of the virtual three-dimensional library is ensured. The generated virtual three-dimensional library provides a visual environment for subsequent operations, and helps a user to more intuitively know and manage the internal structure of the library. By classifying and extracting the characters and the image data of the books in the library, the information of each book can be accurately displayed in the virtual three-dimensional library. The generation of the virtual reality augmentation interface enables a user to intuitively browse and locate books in a virtual environment, and improves the operation efficiency and user experience of the library. The UWB signal base station and the tag are utilized to realize high-precision positioning of books, and the real-time position of the books can be accurately tracked. The real-time book position data is dynamically updated, so that the instantaneity of the book position in the library is ensured, and the accuracy and reliability of book positioning are improved. And the shortest obstacle avoidance book taking path is calculated to generate book taking optimization path data, so that the book taking efficiency is improved, and the operation time and errors are reduced. The intelligent operation is realized by the dynamic path display and the generation of the robot path navigation instruction, the book positioning and sorting tasks are automatically completed, and the overall working efficiency is improved. Therefore, the invention improves the problems of precision, real-time updating, environmental modeling and operation efficiency in the traditional book positioning and sorting by integrating virtual reality enhancement technology, UWB positioning, intelligent path planning and automatic control.

Preferably, step S1 comprises the steps of:

S11, acquiring environment scanning data and an environment sensing image through a laser radar sensor and a depth camera;

Step S12, performing image preprocessing on the environment-aware image to generate a standard environment-aware image, wherein the image preprocessing comprises image filtering, image brightness enhancement and image gray value transformation;

Step S13, analyzing the internal space structure of the library for the environment scanning data to generate the internal space structure data of the library, and identifying the geometric outline characteristics of the library for the multi-view fusion image to obtain the internal geometric outline characteristic data of the library;

and S14, constructing a virtual reality environment of the library through the internal space structure data of the library and the internal geometric outline characteristic data of the library, and generating a virtual three-dimensional library.

According to the invention, the laser radar sensor and the depth camera are utilized to acquire high-precision environment scanning data and perceived images, so that the comprehensive perception of the internal environment of the library is ensured. Through image preprocessing technology (filtering, brightness enhancement and gray value conversion), the image quality is obviously improved, and the details in the library are clearer. The multi-view image fusion technology provides stereoscopic perception of the inner space of the library, and enhances spatial understanding and visual effect. The analysis of the environment scanning data generates accurate library internal space structure data, and a reliable basis is provided for the subsequent virtual reality environment construction. And the geometric outline characteristic data inside the library is accurately identified, and the sense of reality and detail presentation of the virtual three-dimensional library are ensured. The generated virtual three-dimensional library provides a realistic virtual reality environment, so that user experience is improved, and a user can explore and navigate in the library in the virtual environment. The virtual three-dimensional library is not only used for user experience, but also can be used for library management and planning, and space layout and resource allocation are optimized.

Preferably, step S14 includes the steps of:

S141, library space corner analysis is carried out through library inner space structure data and library inner geometric outline feature data, and library space corner data are generated;

step S142, performing point cloud conversion on the library space corner point data to obtain library space corner point cloud data;

step S143, carrying out three-dimensional grid modeling of a dot-line-surface mode according to library space corner point cloud data to generate library three-dimensional grid data;

and step S144, performing texture mapping on the library three-dimensional grid data to generate library three-dimensional texture mapping data, and performing texture mapping on the library three-dimensional texture mapping data and the library three-dimensional grid data to generate a virtual three-dimensional library.

According to the library space corner data analysis method, library space corner analysis is performed through the library inner space structure data and the geometric outline feature data, and library space corner data are generated. This step ensures that key points of the library internal structure are captured, providing a basis for subsequent modeling. And converting the library space corner point data into point cloud data to obtain library space corner point cloud data. The point cloud data provides three-dimensional coordinate information of the space corner points, so that three-dimensional representation of the internal structure of the library is more accurate. And carrying out three-dimensional grid modeling in a point, line and surface mode according to the library space corner point cloud data, and generating library three-dimensional grid data. The step converts the point cloud data into grid data with a geometric structure, and a three-dimensional framework inside the library is constructed. And performing texture mapping on the library three-dimensional grid data to generate library three-dimensional texture mapping data. Texture mapping increases the realism of a three-dimensional model by attaching image information to a three-dimensional grid. And carrying out texture mapping on the library three-dimensional texture mapping data and the three-dimensional grid data, thereby generating a virtual three-dimensional library. This step ensures that the three-dimensional model has a realistic appearance, making the virtual three-dimensional library more immersive. Through library space corner analysis, key points of the internal structure of the library are accurately captured, and high precision of subsequent modeling is ensured. The point cloud conversion provides detailed three-dimensional coordinate information, so that the representation of the internal structure of the library is more accurate, and high-precision three-dimensional modeling is facilitated. And converting the point cloud data into grid data with a geometric structure through three-dimensional grid modeling of point, line and surface modes, and constructing a three-dimensional framework inside the library. The texture mapping and mapping enable the three-dimensional model to have a realistic appearance, and the sense of reality and immersion of the virtual three-dimensional library are enhanced. The high-precision and high-realism virtual three-dimensional library improves the user experience, so that the user can better explore and navigate the interior of the library in the virtual environment.

Preferably, step S2 comprises the steps of:

step S21, library book data are obtained, wherein the library book data comprise library book text type data and library book image type data;

s22, carrying out data preprocessing on the library book text type data to generate standard library book text type data, wherein the data preprocessing comprises data cleaning, data denoising, data missing value filling and data standardization;

Step S23, performing book cover text extraction on standard library book text type data to obtain book cover text information data, classifying the library book data according to the book cover text information data to generate library book type data;

And step S24, importing the book cover text information data and the book cover image characteristic data into a virtual three-dimensional library to generate a virtual reality enhancement interface, and obtaining virtual reality enhancement interface data.

The invention ensures the accuracy and the integrity of the text type data of the library books through the preprocessing step, and provides a reliable basis for the subsequent data analysis and processing. Through book cover text extraction and book type classification, automatic classification of book information is realized, and the efficiency and accuracy of book management are improved. The image data of the library books can be effectively utilized by extracting the image features of the covers, so that the diversity and the richness of book information are enhanced. The text information and the image characteristic data are imported into the virtual three-dimensional library, and virtual reality enhancement interface data are generated, so that a user can experience enhanced book information display in a virtual environment, and the interactive experience of the user is improved. The virtual reality enhancement interface provides a more visual and immersive book browsing mode for users, and improves the service quality and user satisfaction of libraries. Through comprehensive processing and application of book text and image data, the utilization rate of the data is improved, and the value of the book data of the library is fully exerted.

Preferably, step S24 includes the steps of:

Step S241, analyzing book key word information of the book cover word information data to obtain the book cover key information data, wherein the book cover key information data comprises a book name, an author and ISBN;

Step S242, extracting key points and descriptors of the book image feature data to obtain book image key points and book image descriptors;

Step S243, importing the book name, the author and the ISBN into a database in the virtual three-dimensional library for field inquiry to obtain preliminary text matching data;

step S244, performing book comprehensive matching degree analysis through the preliminary text matching data and the book image feature similarity data to generate book comprehensive matching degree data;

step S245, performing virtual scene position mapping on the virtual three-dimensional library based on the candidate matching book data to generate book positioning data, performing book scene modeling on the candidate matching book data through the book positioning data to generate virtual scene book model data, and performing virtual reality enhancement interface integration on the virtual three-dimensional library through the virtual scene book model data to obtain virtual reality enhancement interface data.

The invention improves the efficiency and accuracy of data processing through the extraction and analysis of character and image characteristics. By integrating text matching and image similarity calculation, accurate book matching is realized, and matching degree and user satisfaction of the virtual three-dimensional library are improved. Through book scene modeling and position mapping, the reality and user experience of the virtual three-dimensional library are improved. The integration of the virtual reality augmentation interface provides a richer and visual interaction mode for the user, and improves the immersion and participation of the user. The multi-dimensional characteristics of the text and image data of the books are combined, the data resources of the library are fully utilized, and more comprehensive book information display is provided for users. Through data integration and management of the virtual three-dimensional library, unified processing and display of book information are realized, and library management flow is simplified.

Preferably, step S3 comprises the steps of:

step S31, deploying UWB signal base stations by utilizing a virtual three-dimensional library;

Step S32, UWB label attachment is carried out on books according to virtual reality enhancement interface data based on a UWB signal base station, and book label data are generated;

Step S33, virtual edge computing node address selection is carried out on the virtual three-dimensional library through a preset edge computing node range to generate edge node address selection data, edge computing node configuration is carried out on book label data according to the edge node address selection data to generate edge computing node configuration data, and the edge computing node configuration data is connected with a UWB signal base station in a node mode to generate a UWB book positioning network;

And step S34, dynamic book position updating is carried out on the virtual reality enhanced interface data according to the UWB book positioning network, and real-time book position data are generated.

According to the invention, through the deployment of the UWB signal base station and the UWB tag, the book is positioned with high precision, and the position of the book in the virtual three-dimensional library is ensured to be updated and tracked in real time. And by utilizing a UWB book positioning network, the book position data in the virtual reality enhancing interface is ensured to be updated in real time, and the latest book position information is provided for a user. The configuration and the deployment of the edge computing nodes improve the efficiency of data processing and transmission, reduce delay and improve the response speed and the user experience of the virtual three-dimensional library. Through intelligent books position update and management system, library can manage books position more high-efficient, reduces the seek time, improves operating efficiency. The real-time and accurate book positioning and dynamic updating enhance the experience of the user in the virtual three-dimensional library, so that the user can find the required books more easily, and the satisfaction degree is improved. The flexible deployment of the UWB signal base station and the edge computing node ensures the whole coverage of the virtual three-dimensional library, and simultaneously has good expansibility, and can be adjusted and optimized according to the requirements.

Preferably, step S34 includes the steps of:

step S341, pulse arrival time measurement is carried out on UWB book positioning network and book label data based on UWB signal base station, and preliminary distance data is generated;

Step S342, performing book arrival time difference calculation on the preliminary distance data through an arrival time difference algorithm to generate book arrival time difference position data;

Step S343, performing central local area network transmission storage on the book optimization position data to generate book position storage data;

step S344 is to virtually and dynamically refresh the book position of the virtual reality augmentation interface data through the book position update data, thereby generating real-time book position data.

According to the invention, the high-precision real-time positioning of books is realized by combining the pulse arrival time measurement and arrival time difference algorithm of the UWB signal base station and the Kalman filtering data fusion. And the Kalman filtering is utilized to carry out smoothing treatment on the book position data, so that noise interference is reduced, and the stability and accuracy of the data are improved. The combination of the transmission of the central local area network and the edge computing nodes ensures the real-time update of the book position data, so that the book position in the virtual three-dimensional library can be refreshed in real time. The real-time and accurate book position updating enhances the experience of the user in the virtual three-dimensional library, enables the user to quickly find the required books, and improves the operation efficiency and user satisfaction of the library. The dynamic refreshing and the high-precision positioning of the real-time book position data are beneficial to realizing intelligent management of libraries, and the time and the labor cost for searching books are reduced. Through the flexible deployment of UWB book positioning network and edge computing nodes, the system has good expansibility and flexibility, and can be adjusted and optimized according to the library requirements.

Preferably, step S4 comprises the steps of:

step 41, acquiring current position information data of a user, carrying out book taking path planning on the basis of the real-time book position data and a virtual three-dimensional library, and generating initial book taking path planning data;

Step S42, performing shortest obstacle avoidance book taking path calculation on the initial book taking path planning data according to the current position information data of the user, and generating book taking optimization path data;

And step S43, mapping the book taking optimization path data to the virtual reality enhanced interface data for path dynamic display to generate a path dynamic display interface, and generating a robot grabbing path navigation instruction according to the path dynamic display interface to obtain a robot path navigation instruction so as to execute intelligent book positioning and sorting operation.

According to the method and the device for the book management, the current position information of the user is obtained, path planning and optimization are carried out, the user can easily find and obtain the needed book in the virtual three-dimensional library, and user experience is improved. The shortest path and the obstacle are considered, so that a user and a robot can be ensured to successfully find the target book, and time waste and potential collision are reduced. The book taking path is dynamically displayed in the virtual reality enhancing interface, so that a user can clearly know and follow the path, and the intuitiveness and accuracy of operation are improved. Through generating robot path navigation instruction, realize intelligent books location and letter sorting operation, reduced manual operation, improved automation level and the work efficiency in library. By combining the user position information and the real-time book position data, efficient book taking path planning and optimization are realized, and intelligent management of the library is facilitated. Through obstacle avoidance calculation, the collision risk of the user and the robot in the library is reduced, and the operation safety is improved. Through UWB books positioning network and path planning technique, ensure accurate location and tracking of books and user position, improved the reliability of system.

Preferably, step S42 includes the steps of:

Step S421, static obstacle recognition is carried out on the multi-view fusion image, and static obstacle distribution data are generated;

step S422, performing time sequence position analysis on the current position information data of the user to generate user movement path data;

Step S423, carrying out data set division on the user movement path data to generate a model training set and a model testing set, carrying out model training on the model training set by utilizing a random forest algorithm to generate a user dynamic movement training model, carrying out model testing on the user dynamic movement training model by utilizing the model testing set, and generating a user dynamic movement prediction model;

And step 424, performing user movement prediction on the user movement path data by using a user dynamic movement prediction model to generate dynamic user movement prediction data, and performing shortest obstacle avoidance book taking path calculation on the initial book taking path planning data according to the dynamic user movement prediction data and the static obstacle distribution data to generate book taking optimization path data.

According to the invention, the book taking path can be accurately planned through the static obstacle data acquired by the laser radar and the dynamic movement prediction model of the user, so that static and dynamic obstacles are avoided, and an optimal path is provided. By using the user movement prediction model, the future movement path of the user can be predicted, so that the path planning is more prospective and intelligent, and potential collision and conflict are avoided. Through the optimized book taking path, a user can more quickly find the required books, the moving time in the library is reduced, and the user experience is improved. The random forest algorithm provides an efficient user movement prediction model, can rapidly respond and adjust path planning, and ensures real-time performance and accuracy of paths. Accurate path planning and dynamic prediction enable libraries to better manage and control the internal book picking and placing processes, and improve overall operation efficiency. The obstacle avoidance path calculation can effectively avoid collision between the user and the robot in the library, and improve the safety of the user and the equipment. And through time sequence analysis and a machine learning algorithm, path optimization decision is carried out by utilizing data, so that the scientificity and reliability of the decision are improved.

In this specification, an intelligent book positioning and sorting system based on a virtual reality augmentation technology is provided, which is used for executing the intelligent book positioning and sorting method based on the virtual reality augmentation technology, and the intelligent book positioning and sorting system based on the virtual reality augmentation technology includes:

The system comprises a virtual reality environment construction module, a library internal geometric outline feature recognition module, a library virtual reality environment construction module and a virtual three-dimensional library, wherein the virtual reality environment construction module is used for acquiring environment scanning data and environment perception images;

The virtual book generation module is used for acquiring library book data, wherein the library book data comprises library book text type data and library book image type data, classifying book types according to the library book text type data to generate library book type data, extracting cover image characteristics of the library book image type data based on the library book type data to obtain book cover image characteristic data;

The book label module is used for deploying the UWB signal base station by utilizing the virtual three-dimensional library, carrying out UWB label attachment on books according to the virtual reality augmentation interface data based on the UWB signal base station to generate book label data, carrying out node connection on the UWB signal base station and the book label data to generate a UWB book positioning network, carrying out dynamic book position update on the virtual reality augmentation interface data according to the UWB book positioning network to generate real-time book position data;

The path planning module is used for acquiring current position information data of a user, performing shortest obstacle avoidance book taking path calculation based on real-time book position data and a virtual three-dimensional library to generate book taking optimization path data, mapping the book taking optimization path data into virtual reality enhanced interface data for path dynamic display to generate a path dynamic display interface, and performing robot grabbing path navigation instruction generation according to the path dynamic display interface to obtain a robot path navigation instruction so as to execute intelligent book positioning and sorting operation.

The system has the beneficial effects that the system can construct a high-precision virtual three-dimensional library environment through environment scanning data and image recognition technology, and the high-quality virtual environment can provide realistic virtual reality experience for users. Through processing the text and image data of the books in the library, the system can automatically classify and extract the characteristics of the books, so that the book management is more systematic, and the operation efficiency of the library is improved. The UWB signal base station is utilized to carry out book labeling and positioning, the system can update the position of books in real time, an accurate book positioning network is generated, the technology supports efficient book searching and management, and time and errors of manual positioning are reduced. Based on the current position of the user and the real-time book position data, the system can calculate the shortest obstacle avoidance book taking path, and the function enables the user to find and take the required books faster and more conveniently. And mapping the book taking optimization path to a virtual reality enhancement interface, so that a user can view the book taking path in real time in a virtual environment, and the interactive experience of the user is enhanced. Through generating robot path navigation instruction, the system can realize intelligent book positioning and sorting operation, and this function has reduced manual operation's demand, has improved library's work efficiency and accuracy. Therefore, the invention improves the problems of precision, real-time updating, environmental modeling and operation efficiency in the traditional book positioning and sorting by integrating virtual reality enhancement technology, UWB positioning, intelligent path planning and automatic control.

Drawings

FIG. 1 is a schematic flow chart of steps of an intelligent book positioning and sorting method based on virtual reality augmentation technology;

FIG. 2 is a flowchart illustrating the detailed implementation of step S2 in FIG. 1;

FIG. 3 is a flowchart illustrating the detailed implementation of step S3 in FIG. 1;

FIG. 4 is a flowchart illustrating the detailed implementation of step S4 in FIG. 1;

the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following is a clear and complete description of the technical method of the present invention, taken in conjunction with the accompanying drawings, and it is evident that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.

Furthermore, the drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. The functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor methods and/or microcontroller methods.

It will be understood that, although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments, with the term "and/or" as used herein including any and all combinations of one or more of the associated items listed.

To achieve the above objective, please refer to fig. 1 to 4, an intelligent book positioning and sorting method based on virtual reality augmentation technology, the method comprises the following steps:

In the embodiment of the present invention, as described with reference to fig. 1, the step flow diagram of the intelligent book positioning and sorting method based on the virtual reality augmentation technology of the present invention is provided, and in this example, the intelligent book positioning and sorting method based on the virtual reality augmentation technology includes the following steps:

In the embodiment of the invention, the environment scanning data in the library is acquired by using a laser scanner, a structured light scanner, a LIDAR (light-induced radar) or other equipment. A high resolution camera or panoramic camera is used to acquire an environmentally perceived image of the interior of the library. Scanning and shooting are performed at a plurality of positions inside the library, so that various areas of the library are covered, including a bookshelf, a reading area, a channel and the like. Preprocessing the acquired environmental scanning data, removing noise and redundant data, and cleaning the data. Three-dimensional point cloud processing software (such as PCL, meshlab and the like) is used for internal space contour feature recognition. Geometric outline features inside the library, such as the shape and position of walls, ceilings, floors, and shelves, are extracted. The extracted geometric profile feature data is formatted into a data format that can be used for modeling, such as OBJ, PLY, etc. Preprocessing the environment-perceived image, removing noise, performing color correction, and the like. Geometric contour feature recognition is performed using image processing techniques (e.g., openCV) and deep learning algorithms (e.g., convolutional neural networks). Geometric outline features inside the library, such as the shape of a bookshelf, the texture of a wall and the like, are extracted. And matching and fusing the extracted geometric profile characteristic data with the environment scanning data to ensure the consistency and the integrity of the data. And integrating the environment scanning data and the perceived image data into a unified coordinate system to ensure the accurate positioning of the geometric outline features. Three-dimensional modeling is performed according to the integrated data using three-dimensional modeling software (e.g., blender, 3ds Max, maya, etc.). Three-dimensional models of the interior of the library are generated, including walls, floors, ceilings, shelves, tables, chairs, and the like. And adding textures to the three-dimensional model by using the environment-aware image, so that the appearance of the virtual library is more real. The three-dimensional model is imported into a virtual reality development platform (e.g., unity, unreal Engine). And configuring the lamplight, the materials, the interactive functions and the like of the virtual reality environment. A final virtual three-dimensional library is generated. A complete virtual reality environment, including precise geometric contours and realistic textures. The user can go through the virtual reality device (such as VR head display) and carry out immersive experience, browse each region inside the library.

In the embodiment of the invention, the text data of the book, including the book name, the author, the ISBN, the category, the publishing date and the like, is acquired through a management system (such as ILS or OPAC) of the library. The acquisition of the cover images of the book may be obtained by extracting them directly from the Library's management system, scanning or photographing the actual book covers, and downloading them from an online database (e.g., google Books, open Library). Preprocessing the acquired text data, including removing duplicate items, correcting error data, standardizing formats and the like. The image data is preprocessed, including adjusting resolution, removing noise, cropping, and the like. The selection of the appropriate classification method based on the text data of the book may be based on a predefined classification system (e.g., du Wei decimal classification, library classification) or automatic classification using a machine learning method. The text data of the book is analyzed and classified using Natural Language Processing (NLP) technology. Common NLP techniques include TF-IDF, word embedding (Word 2Vec, gloVe), classification algorithms (SVM, naive Bayes, neural networks, etc.). And generating library book type data according to the classification result, wherein the data format is JSON or CSV. Image feature extraction is performed using a computer vision tool (e.g., openCV) and a deep learning framework (e.g., tensorFlow, pyTorch). Features of the cover image are extracted using a pre-trained Convolutional Neural Network (CNN) model (e.g., VGG, resNet, inception). And extracting the characteristics of the cover image to obtain the characteristic vector of the image. The extracted cover image feature data is formatted into JSON or CSV format. The text information data and the cover image feature data are integrated into a virtual three-dimensional library. Ensuring consistency and integrity of the data. Book display interfaces are designed in the virtual three-dimensional library, and comprise arrangement of bookshelf, placement of books, display of cover images and the like. And an interaction function is added, so that a user can click on the book to view detailed information. The integrated data is imported and an enhanced interface is generated using a virtual reality development platform (e.g., unity, unreal Engine). Visual effects and interactive functions of the interface are configured.

In the embodiment of the invention, the coverage area of the base station can be ensured to cover the whole library by selecting the proper UWB signal base station. Common UWB base station brands include Decawave, zebra, etc. And selecting a plurality of proper positions in the library to install UWB signal base stations, so as to ensure even signal coverage. The installation location of the base station should include various main areas of the library, such as a bookshelf, viewing area, aisle, etc. In the installation process, the distance and the height between the base stations are required to be ensured to be suitable, so that signal interference and coverage blind areas are avoided. After the installation is completed, the base stations are calibrated, and the positioning precision of each base station is ensured to meet the requirement. Calibration may be performed using a specialized UWB calibration tool or software. Proper UWB labels are selected, so that the labels are small and light and cannot influence the use and storage of books. The tag should have good signal transmission performance and long battery life. The UWB label is attached to the book, and can be selectively adhered to the back cover or the inner side of the book, so that the appearance and the use of the book are not affected. And generating a unique tag ID for each book, and recording the corresponding relation between the ID and book information. Corresponding tag data is generated for each book, including book ID, tag ID, book name, author, category, and the like. The tag data is stored in a database, so that subsequent inquiry and updating are facilitated. And establishing connection with the UWB tag on the book through the UWB signal base station to form a UWB book positioning network. Each base station periodically communicates with the tag to obtain real-time location information of the tag. The real-time location of each book is calculated using triangulation or other positioning algorithms. Common positioning algorithms include TDOA (time difference of arrival), AOA (angle of arrival), etc. And processing the acquired book position data, filtering abnormal data, and ensuring positioning accuracy. Dynamic book position data is generated according to the real-time position information of the books. And integrating the book position data acquired in real time with the book information in the virtual three-dimensional library. And the real-time performance and the accuracy of the book position data are ensured. The locations of the books are updated in real time in the enhanced interface of the virtual three-dimensional library. The dynamic display function of the book position is provided, so that a user can intuitively check the current position of the book.

In the embodiment of the invention, the current position of the user is obtained by using a UWB positioning system, a Wi-Fi positioning system, a Bluetooth positioning system or a combined positioning system. And acquiring the current position coordinates of the user through the positioning equipment or the mobile equipment. The internal structure of the library is modeled in a virtual three-dimensional library, including bookshelf, channels, obstacles, etc. And the environment model is ensured to be consistent with reality, so that path planning is facilitated. The shortest path calculation is performed by using a Dijkstra algorithm or a path planning algorithm such as RRT (fast random tree). And the obstacle avoidance factors are considered, so that the safety and feasibility of the path are ensured. And integrating the calculated path data with the environment data in the virtual three-dimensional library. The dynamic property and the real-time property of the path data are ensured. The path is dynamically displayed in the enhanced interface of the virtual three-dimensional library, so that the user and the robot are helped to know the optimal book taking path. Providing path guidance and real-time update functions. And generating a robot navigation instruction based on the calculated shortest path. The instructions include information on direction of movement, speed, turning angle, etc. And the robot receives the navigation instruction, performs path navigation according to the instruction, and grabs the target book. The path is adjusted through the sensor and the feedback system, so that accurate positioning and grabbing are ensured.

Preferably, step S1 comprises the steps of:

In the embodiment of the invention, the laser radar sensor and the depth camera are arranged in the library to ensure that the whole internal space of the library is covered. The laser radar is used for acquiring high-precision spatial distance data, and the depth camera is used for capturing depth information of an image. The laser radar scans the interior of the library, acquires environment scanning data, and records the three-dimensional coordinates of each point. The depth camera captures an ambient perceived image of the interior of the library, including a depth image and an RGB image. And denoising the image by using a Gaussian filter or a median filter, so as to reduce noise interference. Image brightness is enhanced by using histogram equalization or adaptive histogram equalization (CLAHE), and an RGB image is converted into a gray image, so that subsequent processing is simplified. And sequentially carrying out filtering, brightness enhancement and gray value transformation on the environment-perceived image to generate a standard environment-perceived image. And fusing the images acquired from different visual angles to generate a multi-visual angle fused image, so that the integrity and detail of the image are enhanced. And analyzing the environmental scanning data, and extracting the structural data of the inner space of the library, such as walls, ceilings, floors and the like. And (3) carrying out geometric outline feature recognition on the multi-view fusion image, and extracting geometric features in the library, such as a bookshelf, a desk and a chair. In combination with the library interior space structure data and the geometric outline feature data, 3D modeling software (such as Unity or Unreal Engine) is used to construct the virtual reality environment of the library. And importing the extracted space structure data and geometric outline characteristic data into a virtual reality environment, and performing scene rendering. The structure and layout of the virtual three-dimensional library are ensured to be consistent with those of the actual library, and realism and interactivity are provided.

Preferably, step S14 includes the steps of:

In the embodiment of the invention, the corner detection algorithm (such as Harris corner detection and Shi-Tomasi corner detection) is used for detecting the corner in the library inner space structure data and the geometric outline characteristic data, and the detected corner coordinates are stored as library space corner data. And converting the library space corner data into a point cloud data format (such as PCL point cloud format). And carrying out three-dimensional grid modeling by using the point cloud data to generate three-dimensional grid data of the library. The generated three-dimensional grid data may be stored as library three-dimensional grid data using Delaunay triangulation or Poisson surface reconstruction algorithms. And performing texture mapping on the three-dimensional grid data, mapping the texture image onto the three-dimensional grid, and generating three-dimensional texture mapping data of the library. Combining the texture mapping data with the three-dimensional grid data to generate a virtual three-dimensional library.

As an example of the present invention, referring to fig. 2, the step S2 in this example includes:

In the embodiment of the invention, all book data including text type data and image type data of books are acquired from a library database. The text type data includes text information such as the title, author, introduction, etc. of the book. The image type data includes a cover picture of the book and related images. And clearing redundant information and error data in the book text type data. Excess spaces, symbols, and formatting errors are removed. Noise in the text data, such as erroneous characters in an OCR (optical character recognition) process, is removed by an algorithm. For missing book text information, the filling is performed using a suitable method, for example, by searching other databases to supplement the missing information or using a statistical method. And (3) carrying out standardization processing on the book text type data, and obtaining standard library book text type data by adopting unified data formats such as unified character codes, date formats and the like. And extracting the text information on the book covers from the text type data of the standard library by using an OCR technology to obtain the text information data of the book covers. According to the text information data of the book covers, books are classified into different types (such as novels, non-novels, science and technology, art and the like), and library book type data are generated. Image processing techniques are used to extract image features of book covers from library book image type data. The feature extraction comprises color features, texture features, shape features and the like, and the book cover image feature data is obtained. And integrating the text information data of the book covers and the image characteristic data of the book covers. Based on the integrated data, a virtual three-dimensional library environment is created, in which a bookshelf, a book display area, and the like are laid out. And importing the integrated book cover text information and image characteristic data into a virtual three-dimensional library to generate virtual reality enhanced interface data, wherein the virtual reality enhanced interface data comprises virtual covers of books, book information display and the like. And designing an interaction mode of the user and the virtual three-dimensional library, such as browsing, borrowing and inquiring book information through gestures, voices or controllers, and generating a complete virtual reality enhancement interface so that the user can access and interact through the virtual reality equipment.

Preferably, step S24 includes the steps of:

In the embodiment of the invention, the key text information of the book, including the book name, the author and the ISBN, is extracted by analyzing the text information data of the book cover. In the analysis process, the word segmentation and recognition are carried out on the text information by using a Natural Language Processing (NLP) technology, so that the key information data of the book covers are generated. The key points and descriptors of the book cover images are extracted by using an image processing algorithm (such as SIFT, SURF and the like), and the key points and the descriptors of the book images are generated. Principal Component Analysis (PCA) is performed on the extracted book image key points and descriptors to reduce the dimension and highlight important features, and a book image feature vector is generated. The title, author and ISBN are imported into a database in the virtual three-dimensional library for field querying. And obtaining preliminary text matching data through database query. And importing the book image feature vectors into an image database in the virtual three-dimensional library, and performing image similarity calculation to obtain book image feature similarity data. And integrating the preliminary text matching data and the book image feature similarity data. And carrying out comprehensive matching degree analysis on the books through weighted calculation or other algorithms to generate comprehensive matching degree data of the books. And screening books in the virtual three-dimensional library according to the comprehensive matching degree data of the books, and generating candidate matching book data. And determining the virtual scene position of the book in the virtual three-dimensional library according to the candidate matching book data, and generating book positioning data. And performing virtual scene modeling on the candidate matching books by using the book positioning data to generate virtual scene book model data. And integrating the virtual scene book model data into a virtual three-dimensional library to generate virtual reality enhanced interface data.

As an example of the present invention, referring to fig. 3, the step S3 in this example includes:

In the embodiment of the invention, the Ultra Wideband (UWB) signal base stations are deployed at each key position of the virtual three-dimensional library. The deployment of the signal base station needs to consider the coverage area and signal strength of the library to ensure that books in the whole library can be effectively positioned. Based on the deployed UWB signal base stations, UWB tags are attached to each book. The UWB tag will communicate with the base station via wireless signals to generate book tag data. And presetting a range of edge computing nodes in the virtual three-dimensional library, selecting proper positions for node address selection, and generating edge node address selection data. And configuring book label data to corresponding edge computing nodes according to the selected edge node positions, and generating edge computing node configuration data. And (3) connecting the edge computing node configuration data with the UWB signal base station in a node mode to form a complete UWB book positioning network. And dynamically updating the book position in the virtual reality enhancing interface according to the UWB tag signal of the book by utilizing the UWB book positioning network, and generating real-time book position data. A plurality of UWB signal base stations are deployed in each floor and main area of the library, so that no dead angle of signal coverage is ensured. Each book is added with a UWB tag, and book tag data is generated through the signal receiving and transmitting functions of the base station. And selecting a plurality of edge computing node positions according to the layout and the signal coverage range of the library, and generating edge node address selection data. The edge computing node is configured to receive and process book label data to generate edge computing node configuration data. And connecting the edge computing node with the UWB signal base station to form a UWB book positioning network. And updating the book position in the virtual three-dimensional library in real time according to the UWB tag signal of the book. And combining the real-time book position data with the virtual reality enhanced interface data to provide an accurate position of the book.

Preferably, step S34 includes the steps of:

In the embodiment of the invention, the pulse arrival time of the UWB signal from the base station to the book tag is measured by using the deployed UWB signal base station. The collected pulse arrival time data is used to calculate preliminary distance data. The measured pulse arrival time is converted into distance data, and the position of the book is estimated preliminarily. The preliminary distance data is analyzed using a time difference of arrival algorithm to calculate the relative position of the book. The calculated time difference position data is used for accurately positioning the book. And inputting the calculated book arrival time difference position data into a Kalman filter. And the Kalman filter fuses and optimizes the data to generate the optimized position data of the book, so that the positioning accuracy is improved. And transmitting the generated book optimization position data to a data storage system through a central local area network. The storage system stores the data as book location storage data for further analysis and processing. And calculating the book position storage data in real time by utilizing the edge calculation node to obtain the latest book position data. Book location update data is generated for dynamically updating the location of the book. And dynamically refreshing the book position in the virtual reality augmentation interface according to the generated book position updating data. The updated virtual reality interface displays the real-time position of the book, and provides accurate book positioning information for the user.

As an example of the present invention, referring to fig. 4, the step S4 includes, in this example:

In the embodiment of the invention, the real-time position information data of the user is acquired by using the mobile equipment or the positioning sensor of the user. Ensuring that the acquired data includes the accurate location coordinates and positioning time of the user. And carrying out book taking path planning on the basis of the real-time book position data and the virtual three-dimensional library layout. An initial path from the current location of the user to the location of the target book is calculated. And generating initial book taking path planning data comprising path points, path lengths and estimated time. And (3) carrying out path calculation by using a shortest path algorithm (such as an A-based algorithm) according to the current position of the user and the initial book-taking path planning data. Obstacle avoidance calculation is performed by considering obstacles (such as bookshelf, wall, etc.) in the library. Generating the shortest path after obstacle avoidance, and optimizing the book taking path to avoid the obstacle. And generating optimized book taking path data according to the shortest obstacle avoidance path calculation result. Including optimized path points, total path length, and estimated time. And mapping the book taking optimization path data into a virtual reality enhancement interface. The dynamic display of the path is realized, and the dynamic display comprises a path line, a path point and a real-time positioning mark. And displaying an optimized path from the user to the book in the virtual reality interface, and providing real-time navigation information for the user. The interactivity of the path dynamic display interface is ensured, and a user is allowed to view the path details and adjust the view. And formulating a robot grabbing path navigation instruction according to the path data generated by the path dynamic display interface. The instructions include robot travel route, turning points, speed control, and path tracking information. The robot receives the path navigation instruction and performs intelligent book positioning and sorting operation. The robot can accurately reach the book position according to the optimized path, and book taking and sorting of books are completed.

Preferably, step S42 includes the steps of:

In the embodiment of the invention, the multi-view fusion image data of the virtual three-dimensional library is collected, and the multi-view fusion image data comprises view images (such as bookshelf, wall and the like) of static obstacles. Static obstructions in the image are identified using image processing algorithms (e.g., edge detection, segmentation algorithms). Static obstacle distribution data is generated, including the position, size, and type of obstacle. And recording the space distribution information of the identified static obstacle, and generating a static obstacle map for obstacle avoidance calculation in path planning. The current position information data of the user is acquired, and accurate coordinates and time stamps are ensured to be included. And analyzing the real-time position data of the user, generating moving path data of the user, identifying moving trend and track change of the user, and recording the moving path of the user, wherein the moving path comprises historical position points, moving direction and speed information. The user movement path data is divided into a model training set and a model testing set for training and testing of the model. Training the model training set by using a random forest algorithm, and learning a movement mode by constructing a plurality of decision trees by using a random forest to obtain a dynamic movement training model of the user, wherein the dynamic movement training model is used for predicting the future position and path of the user. And testing the trained user dynamic movement model by using a model test set, evaluating the prediction accuracy of the model, optimizing model parameters, and generating an optimized user dynamic movement prediction model through a model test result. And predicting the moving path of the user by using the user dynamic moving prediction model to generate dynamic user moving prediction data comprising future moving positions and path trends. And combining the dynamic user movement prediction data with the static obstacle distribution data to update the initial book taking path planning data. And carrying out obstacle avoidance calculation by using a shortest path algorithm, ensuring that the path bypasses the static obstacle and accords with the dynamic movement prediction of the user, and generating optimized book taking path data comprising path points, path length, obstacle avoidance information and estimated time.

The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent book positioning and sorting method based on virtual reality augmented technology, characterized in that it comprises the following steps:

Step S1: Acquire environmental scanning data and environmental perception images; perform internal space contour feature recognition on the environmental scanning data to obtain internal geometric contour feature data of the library; perform library geometric contour feature recognition on the environmental perception image to obtain internal geometric contour feature data of the library; construct a library virtual reality environment through the internal space structure data of the library and the internal geometric contour feature data of the library to generate a virtual three-dimensional library; Step S1 includes the following steps:

Step S11: Obtaining environment scanning data and environment perception images through a laser radar sensor and a depth camera;

Step S12: performing image preprocessing on the environment perception image to generate a standard environment perception image, wherein the image preprocessing includes image filtering, image brightness enhancement and image grayscale value transformation; performing multi-view image fusion on the standard environment perception image to generate a multi-view fusion image;

Step S13: Performing library internal space structure analysis on the environmental scanning data to generate library internal space structure data; performing library geometric contour feature recognition on the multi-view fusion image to obtain library internal geometric contour feature data;

Step S14: constructing a virtual reality environment of the library through the internal spatial structure data of the library and the internal geometric contour feature data of the library to generate a virtual three-dimensional library; Step S14 includes the following steps:

Step S141: performing library space corner point analysis based on the library internal space structure data and the library internal geometric contour feature data to generate library space corner point data;

Step S142: performing point cloud conversion on the library space corner point data to obtain the library space corner point cloud data;

Step S143: performing point-line-surface pattern three-dimensional grid modeling according to the library space corner point cloud data to generate the library three-dimensional grid data;

Step S144: texture mapping the library 3D mesh data to generate library 3D texture mapping data; texture mapping the library 3D texture mapping data and the library 3D mesh data to generate a virtual 3D library;

Step S2: obtaining library book data, including library book text type data and library book image type data; classifying book types according to the library book text type data to generate library book type data; extracting cover image features of the library book image type data based on the library book type data to obtain book cover image feature data; importing the book cover text information data and the book cover image feature data into a virtual three-dimensional library to generate a virtual reality enhanced interface to obtain virtual reality enhanced interface data; Step S2 includes the following steps:

Step S21: obtaining library book data, including library book text type data and library book image type data;

Step S22: preprocessing the library book text type data to generate standard library book text type data, wherein the data preprocessing includes data cleaning, data denoising, data missing value filling and data standardization;

Step S23: extracting book cover text from the standard library book text type data to obtain book cover text information data; classifying the library book data into book types according to the book cover text information data to generate library book type data; extracting cover image features from the library book image type data based on the library book type data to obtain book cover image feature data;

Step S24: importing the book cover text information data and the book cover image feature data into the virtual three-dimensional library to generate a virtual reality enhanced interface, thereby obtaining virtual reality enhanced interface data; Step S24 includes the following steps:

Step S241: parsing the book cover text information data for book key text information to obtain the book cover key information data, wherein the book cover key information data includes the book title, author and ISBN;

Step S242: extracting key points and descriptors from the book image feature data to obtain book image key points and book image descriptors; performing principal component analysis based on the book image key points and book image descriptors to generate a book image feature vector;

Step S243: importing the book title, author and ISBN into the database in the virtual three-dimensional library to perform field query to obtain preliminary text matching data; importing the book image feature vector into the virtual three-dimensional library to perform image similarity calculation to obtain book image feature similarity data;

Step S244: performing comprehensive book matching analysis based on the preliminary text matching data and the book image feature similarity data to generate comprehensive book matching data; using the comprehensive book matching data to screen candidate matching books for the virtual three-dimensional library to generate candidate matching book data;

Step S245: mapping the virtual scene position of the virtual three-dimensional library based on the candidate matching book data to generate book positioning data; performing book scene modeling on the candidate matching book data through the book positioning data to generate virtual scene book model data; integrating the virtual three-dimensional library with a virtual reality enhanced interface through the virtual scene book model data to obtain virtual reality enhanced interface data;

Step S3: Deploy UWB signal base stations using the virtual three-dimensional library; attach UWB tags to books based on the virtual reality enhanced interface data based on the UWB signal base stations to generate book tag data; connect nodes through the UWB signal base stations and the book tag data to generate a UWB book positioning network; dynamically update the virtual reality enhanced interface data based on the UWB book positioning network to generate real-time book location data;

Step S4: obtaining the user's current location information data; calculating the shortest obstacle-avoiding book-picking path based on the real-time book location data and the virtual three-dimensional library, and generating optimized book-picking path data; mapping the optimized book-picking path data to the virtual reality enhanced interface data for dynamic path display, and generating a dynamic path display interface; generating robot grasping path navigation instructions according to the dynamic path display interface, and obtaining robot path navigation instructions to perform intelligent book positioning and sorting operations.

2. The intelligent book positioning and sorting method based on virtual reality augmented technology according to claim 1 is characterized in that step S3 comprises the following steps:

Step S31: deploying UWB signal base stations using a virtual three-dimensional library;

Step S32: Based on the UWB signal base station, a UWB tag is added to the book according to the virtual reality enhanced interface data to generate book tag data;

Step S33: performing virtual edge computing node site selection for the virtual three-dimensional library through a preset edge computing node range to generate edge node site selection data; performing edge computing node configuration for the book tag data according to the edge node site selection data to generate edge computing node configuration data; performing node connection between the edge computing node configuration data and the UWB signal base station to generate a UWB book positioning network;

Step S34: dynamically updating the book position of the virtual reality enhanced interface data according to the UWB book positioning network to generate real-time book position data.

3. The intelligent book positioning and sorting method based on virtual reality augmented technology according to claim 2 is characterized in that step S34 comprises the following steps:

Step S341: Based on the UWB signal base station, the pulse arrival time of the UWB book positioning network and the book tag data is measured to generate preliminary distance data;

Step S342: Calculate the book arrival time difference on the preliminary distance data by using the arrival time difference algorithm to generate the book arrival time difference position data; perform Kalman filter data fusion on the book arrival time difference position data to generate the book optimized position data;

Step S343: The optimized book location data is transmitted and stored in the central local area network to generate book location storage data; the edge computing node is used to obtain the real-time location calculation result of the book location storage data to generate book location update data;

Step S344: dynamically refreshing the virtual reality augmented interface data based on the book position using the book position update data, thereby generating real-time book position data.

4. The intelligent book positioning and sorting method based on virtual reality augmented technology according to claim 1 is characterized in that step S4 comprises the following steps:

Step S41: obtaining the user's current location information data; performing book retrieval path planning based on the real-time book location data and the virtual three-dimensional library, and generating initial book retrieval path planning data;

Step S42: Calculate the shortest obstacle-avoiding book-picking path for the initial book-picking path planning data according to the user's current location information data, and generate optimized book-picking path data;

Step S43: Mapping the optimized book-picking path data to the virtual reality enhanced interface data for dynamic path display, generating a dynamic path display interface; generating robot grabbing path navigation instructions according to the dynamic path display interface, obtaining robot path navigation instructions, so as to perform intelligent book positioning and sorting operations.

5. The intelligent book positioning and sorting method based on virtual reality augmented technology according to claim 4 is characterized in that step S42 comprises the following steps:

Step S421: performing static obstacle recognition on the multi-view fusion image to generate static obstacle distribution data;

Step S422: performing time series position analysis on the user's current location information data to generate user movement path data;

Step S423: Divide the user movement path data into data sets to generate a model training set and a model test set; perform model training on the model training set using a random forest algorithm to generate a user dynamic movement training model; perform model testing on the user dynamic movement training model using a model test set to generate a user dynamic movement prediction model;

Step S424: Use the user dynamic movement prediction model to predict the user movement path data and generate dynamic user movement prediction data; calculate the shortest obstacle avoidance book picking path for the initial book picking path planning data based on the dynamic user movement prediction data and the static obstacle distribution data to generate optimized book picking path data.

6. An intelligent book positioning and sorting system based on virtual reality enhancement technology, characterized in that it is used to execute the intelligent book positioning and sorting method based on virtual reality enhancement technology as claimed in claim 1, and the intelligent book positioning and sorting system based on virtual reality enhancement technology comprises:

A virtual reality environment construction module is used to obtain environment scanning data and environment perception images; perform internal space contour feature recognition on the environment scanning data to obtain the internal geometric contour feature data of the library; perform library geometric contour feature recognition on the environment perception image to obtain the internal geometric contour feature data of the library; construct a library virtual reality environment through the library internal space structure data and the library internal geometric contour feature data to generate a virtual three-dimensional library;

The virtual book generation module is used to obtain library book data, including library book text type data and library book image type data; classify the book types according to the library book text type data to generate the library book type data; extract the cover image features of the library book image type data based on the library book type data to obtain the book cover image feature data; import the book cover text information data and the book cover image feature data into the virtual three-dimensional library to generate a virtual reality enhanced interface to obtain the virtual reality enhanced interface data;

The book tag module is used to deploy UWB signal base stations using a virtual three-dimensional library; based on the UWB signal base station, UWB tags are added to books according to the virtual reality enhanced interface data to generate book tag data; nodes are connected through the UWB signal base station and the book tag data to generate a UWB book positioning network; the virtual reality enhanced interface data is dynamically updated according to the UWB book positioning network to generate real-time book location data;

The path planning module is used to obtain the user's current location information data; calculate the shortest obstacle-avoiding book-picking path based on the real-time book location data and the virtual three-dimensional library, and generate optimized book-picking path data; map the optimized book-picking path data to the virtual reality enhanced interface data for dynamic path display, and generate a dynamic path display interface; generate robot grasping path navigation instructions based on the dynamic path display interface, and obtain robot path navigation instructions to perform intelligent book positioning and sorting operations.