阅读说明：本技术 图书智能自助还书分拣与整理排序的系统及其工作方法 (Intelligent self-help book returning, sorting, arranging and sequencing system for books and working method thereof ) 是由 杨奕 任晓琳 高龙 顾海勤 韩青青 于婧雅 于 2020-04-21 设计创作，主要内容包括：本发明公开了图书智能自助还书分拣与整理排序的系统及其工作方法,所述图书智能自助还书分拣与整理排序的系统按位置可以分为还书区域和管理区域,所述还书区域与管理区域之间通过隔离墙进行分隔,所述隔离墙上设有通孔,使还书区域与管理区域连通；所述图书智能自助还书分拣与整理排序的系统按功能可以分为还书模块、转运模块、分拣模块、整理模块组成,所述还书模块设置还书区域中,所述转运模块、分拣模块、整理模块设置在管理区域中,可智能自助分拣与整理的装置,有效的解决现有自主归还的图书需管理员人工分拣整理,且需要将归还至阅览室的书籍排序,方便上架等劳动强度大的工作中的问题,大大提高了工作效率。(The invention discloses a system for intelligently and automatically returning, sorting and arranging books and a working method thereof, wherein the system for intelligently and automatically returning, sorting and arranging books can be divided into a book returning area and a management area according to positions, the book returning area and the management area are separated by a partition wall, and the partition wall is provided with through holes so that the book returning area is communicated with the management area; the system of books intelligence self-service book return letter sorting and arrangement sequencing can divide into book return module, transportation module, letter sorting module, arrangement module according to the function and constitute, book return module sets up in the book return region, transportation module, letter sorting module, arrangement module set up in the management area, but the device of intelligence self-service letter sorting and arrangement, and the books that effectual solution was present independently to return need the artifical letter sorting arrangement of administrator, and need return to the books sequencing of reading room, and the problem in the work that intensity of labour is big such as convenient putting on the shelf has improved work efficiency greatly.)

1. The intelligent book self-help book returning, sorting and sorting system is characterized in that: the book intelligent self-help book returning, sorting and arranging and sequencing system can be divided into a book returning area and a management area according to positions, the book returning area and the management area are separated through a partition wall, and through holes are formed in the partition wall to enable the book returning area to be communicated with the management area; the intelligent self-help book returning, sorting and arranging and sequencing system for books can be divided into a book returning module, a transferring module, a sorting module and an arranging module according to functions, wherein the book returning module is arranged in a book returning area, the transferring module, the sorting module and the arranging module are arranged in a management area,

the book returning module consists of a book returning platform and a touch screen, the book returning platform is arranged on one side of the partition wall and is positioned below the through hole, and the touch screen is arranged on the partition wall;

the transfer module consists of a transfer guide rail sliding table, a clamping device and a camera, wherein one end of the transfer guide rail sliding table is installed on the book returning table through a through hole in an isolation wall, and the other end of the transfer guide rail sliding table is installed in the management area; the clamping device is arranged in a sliding block in the transfer guide rail sliding table, and the camera a is arranged above the guide rail sliding table and is arranged on the partition wall;

the sorting module consists of a plurality of sorting guide rail sliding tables and a plurality of mechanical arms, the sorting guide rail sliding tables correspond to the mechanical arms one by one, the sorting guide rail sliding tables stretch over the transferring guide rail sliding tables, the mechanical arms are installed on sliding blocks in the sorting guide rail sliding tables, cameras b are arranged on the mechanical arms, the mechanical arms recognize corresponding books in the clamping devices through the cameras b to capture the books, and meanwhile, book information in the sorting module is collected, so that the mechanical arms finish sorting and sequencing work of the books;

the arrangement module is composed of a plurality of movable bookcases, and the movable bookcases are distributed on two sides of the transfer guide rail sliding table and are located on one side of the sorting guide rail sliding table.

2. The system for book intelligent self-help book return sorting and arranging sequencing as claimed in claim 1, wherein: the clamping device is composed of a mounting plate and two book clamping plates, two rails are arranged in the middle of the upper surface of the mounting plate, the rails are designed to be small-gap openings, the two book clamping plates are inserted into the rails, the two book clamping plates can freely slide on the rails, and the book clamping device can be adjusted at will according to the thickness of placed books.

3. The system for book intelligent self-help book return sorting and arranging sequencing as claimed in claim 1, wherein: the mechanical arm is a five-axis mechanical arm, and the five-axis mechanical arm consists of a book clamping actuator, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and an omnibearing rotary joint; the all-round revolute joint is installed on the slider in the sorting guide rail sliding table, and the all-round revolute joint is sequentially connected with the fourth connecting rod, the third connecting rod, the second connecting rod, the first connecting rod and the book clamping actuator, and books are clamped through the book clamping actuator.

4. The system for book intelligent self-help book return sorting and arranging sequencing as claimed in claim 1, wherein: the movable bookcase is composed of movable wheels, a bookcase, a handle and a rolling door, wherein the movable wheels are arranged below the bookcase, the handle is arranged at the back of the bookcase, and the rolling door is arranged at the bottom of the front side of the bookcase.

5. The system for book intelligent self-help book return sorting and arranging sequencing as claimed in claim 1, wherein: the guide rail sliding tables in the transferring guide rail sliding table and the sorting guide rail sliding table are formed by a guide rail and a sliding block, the sliding block is arranged on the sliding rail, and the sliding block moves on the sliding rail through one of a screw rod transmission mechanism, a synchronous belt transmission mechanism and a rack transmission mechanism.

6. The system for book intelligent self-help book return sorting and arranging sequencing as claimed in claim 1, wherein: when the guide rail sliding table adopts the screw rod transmission mechanism, an optical axis is further arranged in the guide rail sliding table, the optical axis is parallel to the guide rail, and the optical axis and the sliding block are installed in a sliding mode.

7. An operating method of the intelligent self-help book return sorting and arranging and sequencing system for any book according to claims 1-6, characterized in that: the user places the books to be returned on the book returning platform, adjusts the positions of two book clamping plates on the clamping device, places the returned books in the middle of the book clamping plates in a side-standing manner, adjusts the positions of the book clamping plates in the track according to the thickness of the books, enables the book searching number to face upwards, clicks the touch screen after the books are placed and fixed, returns the books, controls the slide block in the transfer guide rail sliding table to move backwards after the transfer module receives the book returning number, enters the book management area, identifies the book searching number by installing the camera a above the transfer guide rail sliding table, displays the book returning completion corresponding to the books on the touch screen after the identification is completed, determines the first two characters of the book searching number after the book searching number is identified, can judge the reading room information corresponding to the books, determines the movable bookcase corresponding to the reading room, moves the slide block in the transfer guide rail sliding table to the designated position, the corresponding mechanical arm moves, through the matched motion of the rotary joint and the connecting rod, books in the middle of book clamping plates in book clamping slide blocks fixed on the book returning guide rail sliding tables are clamped by a book clamping actuator of the mechanical arm, the mechanical arm moves the corresponding position of the movable bookshelf, the placing position of the mechanical arm is identified through the camera b, and the mechanical arm places the books on the corresponding movable bookshelf to realize sequencing.

8. The working method of the intelligent book self-help book return sorting and arranging system according to claim 7, wherein the working method comprises the following steps: the movable bookcase bookshelf is fully placed or the return task of the book is completed in the same day, a manager can pull up the roller shutter door, send the movable bookcase to the corresponding reading room, and conveniently push the movable bookcase by the manager; the rolling door is pulled up before the movable bookcase is conveyed to the corresponding reading room, so that books in the movable bookcase are prevented from falling off, and when the bookcase is placed in the book management area and book returning is carried out, the rolling door is retracted to the bottom, so that the motion process of placing the books in the movable bookcase by the mechanical arm is avoided being influenced.

Technical Field

The invention belongs to the field of automatic machinery, and particularly relates to an intelligent self-help book returning, sorting, arranging and sequencing system for books and a working method thereof.

Background

With the development of society, the living standard of people is continuously improved, people pursue spiritual life except material life more and more, the development of library business is continuously developed by the expansion of the demand of spiritual civilization, and people can borrow books or files wanted in libraries or libraries of public, private and enterprise and public institutions.

At present, the book collection of various colleges and universities reaches hundreds of network books, but the existing book management system adopts the traditional manual management; library managers register information of books obtained through school purchasing and social donation modes, labels are pasted on the books, the books need to be returned within a specified time after being lent, for current library workers, a large number of returned books need to be classified and sorted every day, the classified books are returned to each reading room in the library, and the returned books need to be arranged and sorted according to book searching numbers before being put on shelf, so that shelf time is saved. These efforts consume a great deal of effort and time in the overall process.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, and provides an intelligent self-help book returning, sorting and sorting system for books and a working method thereof.

The technical scheme is as follows: the system for intelligently and automatically returning, sorting and sorting books can be divided into a book returning area and a management area according to positions, the book returning area and the management area are separated by a partition wall, and the partition wall is provided with through holes so that the book returning area is communicated with the management area; the intelligent self-help book returning, sorting and arranging and sequencing system for books can be divided into a book returning module, a transferring module, a sorting module and an arranging module according to functions, wherein the book returning module is arranged in a book returning area, the transferring module, the sorting module and the arranging module are arranged in a management area,

the book returning module consists of a book returning platform and a touch screen, the book returning platform is arranged on one side of the partition wall and is positioned below the through hole, and the touch screen is arranged on the partition wall;

the transfer module consists of a transfer guide rail sliding table, a clamping device and a camera, wherein one end of the transfer guide rail sliding table is installed on the book returning table through a through hole in an isolation wall, and the other end of the transfer guide rail sliding table is installed in the management area; the clamping device is arranged in a sliding block in the transfer guide rail sliding table, and the camera a is arranged above the guide rail sliding table and is arranged on the partition wall;

the sorting module consists of a plurality of sorting guide rail sliding tables and a plurality of mechanical arms, the sorting guide rail sliding tables correspond to the mechanical arms one by one, the sorting guide rail sliding tables stretch over the transferring guide rail sliding tables, the mechanical arms are installed on sliding blocks in the sorting guide rail sliding tables, cameras b are arranged on the mechanical arms, the mechanical arms recognize corresponding books in the clamping devices through the cameras b to capture the books, and meanwhile, book information in the sorting module is collected, so that the mechanical arms finish sorting and sequencing work of the books;

the arrangement module is composed of a plurality of movable bookcases, and the movable bookcases are distributed on two sides of the transfer guide rail sliding table and are located on one side of the sorting guide rail sliding table.

Further preferably, the clamping device is composed of a mounting plate and two book clamping plates, two rails are arranged in the middle of the upper surface of the mounting plate, the rails are designed to be small-gap openings, the two book clamping plates are inserted into the rails, the two book clamping plates can freely slide on the rails, and the book clamping device can be adjusted freely according to the thickness of placed books.

Preferably, the mechanical arm is a five-axis mechanical arm, and the five-axis mechanical arm is composed of a book clamping actuator, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and an omnibearing rotary joint; the all-round revolute joint is installed on the slider in the sorting guide rail sliding table, and the all-round revolute joint is sequentially connected with the fourth connecting rod, the third connecting rod, the second connecting rod, the first connecting rod and the book clamping actuator, and books are clamped through the book clamping actuator.

Preferably, the movable bookcase comprises moving wheels, a bookcase, a handle and a rolling door, the moving wheels are arranged below the bookcase, the handle is arranged on the back of the bookcase, and the rolling door is arranged at the bottom of the front of the bookcase.

Further preferably, the guide rail sliding tables in the transfer guide rail sliding table and the sorting guide rail sliding table are formed by a guide rail and a sliding block, the sliding block is mounted on the sliding rail, and the sliding block moves on the sliding rail through one of a screw rod transmission mechanism, a synchronous belt transmission mechanism and a rack transmission mechanism.

Further preferably, when the guide rail sliding table adopts a screw rod transmission mechanism, an optical axis is further arranged in the guide rail sliding table, the optical axis is parallel to the guide rail, and the optical axis and the sliding block are installed in a sliding mode.

The intelligent self-help book returning, sorting and sorting system for books comprises a book storage table, a book retrieving table, a clamping device, a book retrieving module, a transferring module, a book returning module, a book reading room information judging module, a book searching module, a book reading module and a book reading module, wherein the book retrieving table is arranged on the book storage table, the book reading room information judging module is arranged on the book retrieving table, the book reading room information judging module is arranged on the book reading room information judging module, the book reading room information judging module is arranged on the book retrieving table, the book retrieving table is arranged on the book storage table, the book retrieving table is arranged on the, the slider in the transfer guide rail sliding table moves to a designated position, the corresponding mechanical arm moves, through the matched movement of a rotary joint and a connecting rod, a book clamping actuator of the mechanical arm is used for clamping books in the middle of a book clamping plate in a book returning sliding block fixed on the book returning guide rail sliding table, the mechanical arm moves the corresponding position of the movable bookshelf, the placing position of the movable bookshelf is identified through the camera b, and the mechanical arm places the books on the corresponding movable bookshelf to realize sequencing.

Preferably, the movable bookcase bookshelf is fully placed or the return task of the book is completed in the same day, the rolling door can be pulled up by a manager, the movable bookcase is delivered to the corresponding reading room, and the manager can push the movable bookcase conveniently by the handle; the rolling door is pulled up before the movable bookcase is conveyed to the corresponding reading room, so that books in the movable bookcase are prevented from falling off, and when the bookcase is placed in the book management area and book returning is carried out, the rolling door is retracted to the bottom, so that the motion process of placing the books in the movable bookcase by the mechanical arm is avoided being influenced.

Has the advantages that: according to the book placing method, books are placed on a book returning table at a book clamping device of a sliding block on a transfer guide rail sliding table, the book searching number of the books at the book clamping device is identified by using a visual identification technology, a bookshelf of the books returned to a corresponding reading room is determined, the sliding block in the guide rail sliding table is sorted by corresponding to a mechanical arm to move, the mechanical arm reaches a specified position, the books on the transfer guide rail sliding table are clamped by an actuator in the mechanical arm, and the books are placed on the bookshelf by using the movement of the mechanical arm according to the judgment of the sequence position of the book searching number on a moving bookshelf; compare in manual sorting, labour saving and time saving not only helps the staff to reduce the link of big manual classification in batches and arrangement to and reduced the time of putting on the shelf preorder number range, make the mistake of letter sorting and sequencing little through visual identification technology, carry out books letter sorting arrangement and the work of sequencing effectively, be favorable to the user to manage books.

Drawings

FIG. 1 is a schematic view of an apparatus in a book return area;

FIG. 2 is a schematic view of an apparatus of the book management area;

FIG. 3 is a schematic structural view of a transfer guide rail sliding table;

FIG. 4 is a mechanical schematic of the robotic arm;

FIG. 5 is a schematic view of a mechanical structure of the movable bookshelf;

FIG. 6 is a control system architecture block diagram;

1. returning to the book table; 2. a touch screen; 3. a transfer rail slide; 4. a slider; 5. a screw rod; 6. an optical axis; 7. a clamping device; 8. a track; 9. a book clamping plate; 10. a mechanical arm; 11. a book clamping actuator; 12. a first connecting rod; 13. a second connecting rod; 14. a third connecting rod; 15. a connecting rod IV; 16. an omni-directional rotary joint; 17. a movable bookcase; 18. a moving wheel; 19. placing a bookshelf; 20. a handle; 21. a roller shutter door; 22. sorting the guide rail sliding table; 23. a partition wall; 24. and (7) mounting the plate.

Detailed Description

Example one

As shown in fig. 1-5, the system for intelligently and automatically returning, sorting and sorting books can be divided into a book returning area and a management area according to positions, the book returning area and the management area are separated by a partition wall 23, and the partition wall 23 is provided with through holes to communicate the book returning area with the management area; the intelligent self-help book returning, sorting and arranging and sequencing system for books can be divided into a book returning module, a transferring module, a sorting module and an arranging module according to functions, wherein the book returning module is arranged in a book returning area, the transferring module, the sorting module and the arranging module are arranged in a management area,

the book returning module consists of a book returning platform and a touch screen 2, the book returning platform is arranged on one side of the partition wall 23 and is positioned below the through hole, and the touch screen 2 is arranged on the partition wall 23;

the transfer module consists of a transfer guide rail sliding table 3, a clamping device 7 and a camera, wherein one end of the transfer guide rail sliding table 3 is installed on the book returning table 1 through a through hole in a partition wall 23, and the other end of the transfer guide rail sliding table 3 is installed in a management area; the clamping device 7 is arranged in a sliding block 4 in the transfer guide rail sliding table 3, and the camera a is arranged above the guide rail sliding table and is arranged on the partition wall 23;

the sorting module is composed of a plurality of sorting guide rail sliding tables 22 and a plurality of mechanical arms 10, the sorting guide rail sliding tables 22 correspond to the mechanical arms 10 one by one, the sorting guide rail sliding tables 22 stretch over the transferring guide rail sliding tables 3, the mechanical arms 10 are installed on sliding blocks 4 in the sorting guide rail sliding tables 22, cameras b are arranged on the mechanical arms 10, the mechanical arms 10 recognize corresponding books in the clamping devices 7 through the cameras b for grabbing, and meanwhile, book information in the sorting module is collected, so that the mechanical arms 10 finish sorting and sequencing work of the books;

the arrangement module is composed of a plurality of movable bookcases 17, and the movable bookcases 17 are distributed on two sides of the transfer guide rail sliding table 3 and are positioned on one side of the sorting guide rail sliding table 22.

In this embodiment, the clamping device 7 is composed of a mounting plate 24 and two book clamping plates 9, two rails 8 are arranged in the middle of the upper surface of the mounting plate 24, the rails 8 are designed to have small gap openings, and the two book clamping plates 9 are inserted into the rails 8, so that the two book clamping plates 9 can freely slide on the rails 8 and can be adjusted according to the thickness of the placed books.

Further in this example, the mechanical arm 10 is a five-axis mechanical arm 10, and the five-axis mechanical arm 10 is composed of a book clamping actuator 11, a first connecting rod 12, a second connecting rod 13, a third connecting rod 14, a fourth connecting rod 15 and an omni-directional rotary joint 16; the omnibearing rotary joint 16 is arranged on the sliding block 4 in the sorting guide rail sliding table 22, the omnibearing rotary joint 16 is sequentially connected with the four connecting rods 15, the three connecting rods 14, the two connecting rods 13, the one connecting rod 12 and the book clamping actuator 11, and books are clamped through the book clamping actuator 11.

Further in this example, the movable bookcase 17 is composed of a moving wheel 18, a bookcase 19, a handle 20 and a roller shutter 21, wherein the moving wheel 18 is disposed below the bookcase 19, the handle 20 is disposed at the back of the bookcase 19, and the roller shutter 21 is disposed at the bottom of the front of the bookcase 19.

Further in this example, the guide rail sliding tables in the transfer guide rail sliding table 3 and the sorting guide rail sliding table 22 are formed by a guide rail and a sliding block 4, the sliding block 4 is installed on the sliding rail, and the sliding block 4 moves on the sliding rail through one of a screw rod 5 transmission mechanism, a synchronous belt transmission mechanism and a rack transmission mechanism.

Further in this example, letter sorting guide rail slip table 22 installs perpendicularly in transporting guide rail slip table 3 top, and letter sorting guide rail slip table 22 is greater than 40cm with transporting guide rail slip table 3 erection distance in the vertical direction to satisfy the smooth conveying of books of centre gripping.

In the example, the arrangement module is provided with 4 movable bookcases 17, and the sorting module is provided with 2 sorting guide rail sliding tables 22 and 2 mechanical arms 10; the guide rail sliding table adopts a lead screw 5 transmission mechanism, the lead screw 5 transmission mechanism is composed of a lead screw 5 and a nut seat, the nut seat is installed below the sliding block 4, wherein an optical axis 6 is further arranged in the guide rail sliding table, the optical axis 6 is parallel to the guide rail and the lead screw 5, and the optical axis 6 and the sliding block 4 are installed in a sliding mode.

A working method of a system for intelligently and automatically returning, sorting and sequencing books comprises the steps that a user places books to be returned on a book returning platform 1, adjusts the positions of two book clamping plates 9 on a clamping device 7, places the returned books between the book clamping plates 9 in a side-standing mode, adjusts the positions of the book clamping plates 9 in a track 8 according to the thickness of the books, enables the book searching number to face upwards, clicks a touch screen 2 after the books are placed and fixed, returns the books, controls a sliding block 4 in a transfer guide rail sliding table 3 to move backwards after a transfer module receives a book returning signal, enters a book management area, installs a camera above the transfer guide rail sliding table 3 to identify the book searching number, displays the book returning completion corresponding to the books on the touch screen 2 after the book searching number is identified, determines characters before the book searching number after two book searching numbers are identified, and can determine reading room information corresponding to the books, the method comprises the steps that a movable bookcase 17 corresponding to a reading room is determined, a sliding block 4 in a transfer guide rail sliding table 3 moves to a designated position, a corresponding mechanical arm 10 moves, books in the middle of a book clamping plate 9 in the book returning sliding block 4 fixed on the book returning guide rail sliding table are clamped by a book clamping actuator 11 of the mechanical arm 10 through the matched movement of a rotary joint and a connecting rod, the mechanical arm 10 moves the position of the corresponding movable bookcase, the placing position of the movable bookcase is identified through a camera b, and the mechanical arm 10 places the books on the corresponding movable bookcase to realize sequencing.

The movable bookcase 17 is full or the return task of the book is completed in the same day, the rolling door 21 can be pulled up by a manager, the movable bookcase is conveyed to the corresponding reading room, and the handle 20 facilitates the manager to push the movable bookcase 17; before the movable bookcase is conveyed to the corresponding reading room, the rolling door 21 is pulled up to prevent books in the movable bookcase 17 from falling off, and when the bookcase is placed in a book management area and book returning is carried out, the rolling door 21 is retracted to the bottom, so that the motion process of placing the books in the movable bookcase by the mechanical arm 10 is avoided being influenced.

The mechanical control of the transfer guide rail sliding table 3, the mechanical arm 10 and the sorting guide rail sliding table 22 is controlled by a servo motor.

The automatic sorting and sorting system is also provided with a control system, wherein the control system consists of an MCU and a CPU, the MCU is a sorting and sorting module control processor, and the CPU can realize the functions of image processing and transfer control; the camera a realizes a function of identifying the book number, and the camera b identifies the position of a book in the book clamping device and also identifies the installation position information of the book in the movable bookcase 17 when the book is placed; the MCU and the CPU are communicated with each other through a serial port, so that data between the two processors are used together, and the system is ensured to call the data; the MCU respectively controls the work of the servo motors in the mechanical arm 10 and the sorting guide rail sliding table 22 and the work of the camera b, the camera b sends shot images to the MCU, the CPU controls the work of the servo motors in the guide rail sliding tables and the work of the camera a, the camera a sends the shot images to the CPU for processing, and the touch screen 2 is communicated with the CPU.

The structural block diagram is shown in fig. 6, and the following is the main control process:

the camera b is used for acquiring book distribution information on the movable bookcase 17 and book position information on the book clamping device, caching the acquired image data into FIFO (first in first out) and transmitting the image data to the MCU for processing the information, so as to control the movement of the mechanical arm 10, the mechanical arm 10 captures books in the book clamping device, or the mechanical arm 10 places the books in a holder at a fixed position, so that the mechanical arm 10 captures the books and the books on the movable bookcase 17 are sequentially arranged; the camera a collects spine images of books on the transfer sliding block 4, and after the images are transmitted to the CPU for analysis and processing, information of book searching numbers on the spine can be identified, and the corresponding sorting guide rail sliding table 22 is controlled to work.

Placing books on a book returning table 1 at a book clamping device of a sliding block 4 on a transfer guide rail sliding table 3, identifying book searching numbers of the books at the book clamping device by using a visual identification technology, determining the books returned to the bookshelves corresponding to a reading room, sorting the sliding block 4 in the guide rail sliding table 22 by corresponding to a mechanical arm 10, enabling the mechanical arm 10 to reach a specified position, clamping the books on the transfer guide rail sliding table 3 by using an actuator in the mechanical arm 10, and placing the books on the bookshelves by using the mechanical arm 10 to move according to the position of the books on the movable bookshelves, which is judged to be the book searching numbers; compare in manual sorting, labour saving and time saving not only helps the staff to reduce the link of big manual classification in batches and arrangement to and reduced the time of putting on the shelf preorder number range, make the mistake of letter sorting and sequencing little through visual identification technology, carry out books letter sorting arrangement and the work of sequencing effectively, be favorable to the user to manage books.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.