Search

CN-121974072-A - Automatic library borrowing and returning equipment of storage integrated type books based on mobile compound robot

CN121974072ACN 121974072 ACN121974072 ACN 121974072ACN-121974072-A

Abstract

The invention discloses automatic library borrowing and returning equipment of a warehouse integrated book based on a mobile compound robot. The equipment comprises a central control system, a user interaction terminal, a mobile composite robot, an intelligent bookcase and a safety fence. Every books are stored in a hard book box with an information storage chip arranged inside and are orderly stored in an intelligent bookcase. The central control system integrates a storage dual system, and the operation area are divided by the safety fence through the linkage of all units of the industrial Ethernet. And the dual systems cooperate to realize authority verification, storage allocation, path planning and multi-equipment cooperation, so that the full-flow closed loop control of book borrowing and returning is completed. The mobile compound robot is accurately transported by visual positioning and flexible clamping, and the intelligent bookcase has the functions of layered pushing, lifting and aligning. The invention applies the industrial storage system to the library for the first time, realizes 24-hour unmanned service, greatly improves the borrowing and returning efficiency and the intelligent level of book management, reduces the labor cost and is suitable for venues with different scales.

Inventors

  • WANG ZHENGTUO
  • WANG JIAHAO
  • WANG ZHENG

Assignees

  • 浙江大学

Dates

Publication Date
20260505
Application Date
20260317

Claims (8)

  1. 1. Automatic equipment of borrowing and returning of storage integrated form books based on mobile compound robot, its characterized in that includes: The book borrowing system comprises a book borrowing room, a plurality of user interaction terminals (200), a safety fence (500) and a plurality of control units, wherein the user interaction terminals (200) are uniformly arranged in front of the book borrowing room at intervals and used for user interaction to borrow books and return books; a plurality of mobile compound robots (300) which are respectively positioned in the equipment operation areas and used for grabbing and conveying books; the intelligent book cabinet (400) is uniformly and alternately distributed in the equipment operation area and is used for placing and packaging standardized book boxes with books, and storage chips for recording internal book codes are arranged on the standardized book boxes; the central control system (100) is arranged in the book borrowing room, and establishes two-way communication connection with the user interaction terminal (200), the mobile composite robot (300) and the intelligent bookcase (400) through the industrial Ethernet so as to control the book borrowing and returning flow.
  2. 2. The automatic book borrowing and returning device based on the storage integrated type mobile composite robot of claim 1, wherein the user interaction terminal (200) comprises a shell (201), an operation screen (202), a host computer (203), a mobile book carrying platform (204) and a book identification sensor (205), the operation screen (202) is installed on one side of the outer top of the shell (201), the host computer (203) is installed on the inner bottom of the shell (201), the mobile book carrying platform (204) is installed on the other side of the outer top of the shell (201) and moves back and forth on the side of the operation screen (202), the book identification sensor (205) is installed on the mobile book carrying platform (204) to read an internal book code of a storage chip in a standardized book box placed on the mobile book carrying platform (204), the mobile book carrying platform (204) transfers the standardized book box containing books between a user operation area and a device operation area, the operation screen (202) is electrically connected with the host computer (203), and the host computer (203) is in communication with the central control system (100).
  3. 3. The automated book borrowing and returning device based on mobile composite robot of claim 1, wherein the mobile composite robot (300) comprises a mobile chassis (301), a mechanical arm (302), a clamping jaw (303), a camera (304) and a fixed book carrier (305), wherein a base of the mechanical arm (302) is installed on one side of the top of the mobile chassis (301), the clamping jaw (303) is installed at the tail end of the mechanical arm (302), the camera (304) is installed on the periphery of the tail end of the mechanical arm (302) and faces the front of the tail end of the mechanical arm (302) for visual identification and positioning, the fixed book carrier (305) is horizontally installed on the other side of the top of the mobile chassis (301) for temporarily carrying a standardized book box, and an industrial-Fi module which is communicated with a central control system (100) is installed in the mobile chassis (301) Wi and used for receiving a mobile command and a mechanical arm action command and transmitting the received command signal to a controller inside the mobile chassis (301) and the mechanical arm (302) for control.
  4. 4. The automatic book borrowing and returning device based on the storage integrated type mobile composite robot of claim 1, wherein the intelligent book cabinet (400) is of a vertical multi-layer structure, standardized book boxes are placed on book substrates of all layers, and a bookshelf control unit which is communicated with the central control system (100) is arranged in the intelligent book cabinet (400) to receive a book borrowing and returning instruction of the central control system (100).
  5. 5. The method for performing book borrowing operation on automatic book borrowing and returning equipment based on storage integrated type of mobile compound robot according to any one of claims 1 to 4, comprising the steps of: Step 1) book borrowing instruction triggering, namely, a user initiates a book borrowing request for a target book through an operation screen (202) of a user interaction terminal (200), and the user interaction terminal (200) receives a book code of the target book and uploads the book code to a central control system (100); step 2) preprocessing borrowing data, namely inquiring the position of a standardized book box where a target book is located on a bookshelf layer of an intelligent bookcase (400) by a central control system (100), and pre-updating the target book to be in a state to be borrowed; step 3) book borrowing scheduling and execution, wherein a central control system (100) sequentially sends control instructions to an intelligent book cabinet (400), a mobile composite robot (300) and a user interaction terminal (200), then the mobile composite robot (300) takes and places a standardized book box of a target book on a mobile book carrying platform (204) to move to the front of a user, and the central control system (100) updates the position information of the rest standardized book boxes on a bookshelf layer where the standardized book box of the target book is located; And 5) closing a book borrowing data loop, namely after a user takes off a standardized book box of a target book, feeding back a pickup completion signal to a central control system (100) by a user interaction terminal (200), and updating the target book into a borrowing state by the central control system (100).
  6. 6. The method for automatically borrowing and returning books based on the storage integrated type books of the mobile compound robots according to claim 5, wherein in the step 3), the central control system (100) controls one mobile compound robot (300) to move to the side of the intelligent book cabinet (400), controls the camera (304) to complete positioning of a bookshelf layer where a standardized book box of a target book is located, then controls the mechanical arm (302) to drive the clamping jaw (303) to grab the standardized book box of the target book, then controls the mobile compound robot (300) to transfer the standardized book box of the target book to the side of the user interaction terminal (200), controls the camera (304) to complete positioning of the mobile book carrying platform (204), and controls the clamping jaw (303) to place the standardized book box of the target book on the mobile book carrying platform (204), and after the code information of the target book is compared and checked, the central control system (100) controls the mobile book carrying platform (204) to move to the side of the target book carrying platform to contain the standardized book box of the target book.
  7. 7. The method for returning books of the automatic book borrowing and returning equipment based on the storage integrated type of the mobile compound robot according to any one of claims 1 to 4, which is characterized by comprising the following steps: Step 1) triggering a book returning instruction, namely initiating a book returning request by a user through an operation screen (202) of a user interaction terminal (200), placing a standardized book box bearing a book to be returned on a mobile book carrying platform (204), reading an embedded chip of the standardized book box of the book to be returned by a book identification sensor (205) on the mobile book carrying platform (204), and uploading the chip to a central control system (100); Step 2) book returning data preprocessing, wherein a central control system (100) distributes and controls idle storage positions of bookshelf layers in an intelligent bookcase (400) for standardized book boxes of books to be returned, and pre-updates the books to be returned into a state to be put in storage; And 3) book returning scheduling and execution, wherein a central control system (100) sequentially sends control instructions to the user interaction terminal (200), the mobile composite robot (300) and the intelligent bookcase (400), then the mobile composite robot (300) takes and places the standardized book boxes of the books to be returned in the allocated idle storage positions, the central control system (100) updates the standardized book boxes of the books to be returned and the position information of other standardized book boxes on the bookshelf layer, and the central control system (100) updates the books to be returned to a warehouse state.
  8. 8. The method for automatically borrowing and returning books of the warehouse integrated type books based on the mobile compound robot according to claim 7, wherein in the step 3), firstly, a standardized book box loaded by a book carrying platform (204) for books to be returned is moved to an operation area side of the equipment by a user, the mobile compound robot (300) is scheduled to move to the side of a user interaction terminal (200), after a control camera (304) finishes positioning of the mobile book carrying platform (204), a clamping jaw (303) is driven by a mechanical arm (302) to take the standardized book box for the books to be returned on the mobile book carrying platform (204), and the mobile compound robot (300) is scheduled to transfer the standardized book box for the books to be returned to an intelligent book cabinet (400) and place the standardized book box for the books to be returned into an allocated idle storage position.

Description

Automatic library borrowing and returning equipment of storage integrated type books based on mobile compound robot Technical Field The invention relates to automatic book borrowing and returning equipment, relates to the field of cross fusion of intelligent warehousing technologies, mobile robot technologies and intelligent library service equipment, and in particular relates to automatic book borrowing and returning equipment of warehouse integrated books based on a mobile composite robot. Background Under the trend of digital and intelligent transformation, the library is used as a public culture service core carrier, and the operation mode of the library faces the deep adaptation challenges of the traditional service system and the requirements of modern users. The traditional library relies on manual completion of core business such as book borrowing and returning, shelving and inventory checking, and has a plurality of difficult-to-break limitations that on one hand, manual service is strictly constrained by work hours, only can cover limited work time periods, can not meet the fragmentation and instant borrowing demands of modern users, and the blank of service in non-work time periods such as night, holidays and the like becomes a common pain point, on the other hand, the library needs to be configured with a large number of professional librarian to maintain daily operation, the labor cost is high in annual total expenditure, the manual operation is easily influenced by subjective factors, the inventory checking period is long, the fault tolerance is low, the problems such as book loss, account reality discrepancy and the like often occur, and the standardization and the accuracy of inventory management are seriously influenced. In order to alleviate the contradiction, partial self-help borrowing and returning terminal products appear on the market, but the technical short plates with single functions and insufficient synergies of the equipment generally exist, and the full-process unmanned in the true sense cannot be realized. The existing equipment can only finish basic operations such as book identification, borrowing and returning information registration, and the like, can not realize automatic transfer and accurate shelf returning of books from a terminal to a bookcase, still needs manual intervention to finish secondary carrying and shelf loading of books, is not basically separated from dependence on manual assistance, and can not fundamentally solve the core problems of high labor cost and low service efficiency. Meanwhile, the requirements of intelligent library construction on service high efficiency and management refinement are continuously upgraded, the gap between the technical limitation of traditional equipment and the actual demands of libraries is increasingly highlighted, the existing equipment lacks a warehouse-level intelligent management architecture and cannot realize the dynamic optimal allocation of book positions and real-time accurate synchronization of the inventory, the deep linkage of a mobile execution unit and a warehouse management system is not formed, the problems of action conflict, path redundancy and the like are easy to occur when multiple equipment cooperatively operate, and large-scale and high-concurrency borrowing scenes are difficult to support. Therefore, there is a need to develop a full-automatic book borrowing and returning device integrating the execution capacity of a mobile compound robot and the storage integrated management architecture, which breaks through the technical bottleneck of single-point automation of the traditional device, realizes unmanned closed-loop operation of the whole flow of book borrowing and returning, returning and inventory management and control, and meets the core requirements of cost reduction, efficiency enhancement, accurate management and all-weather service of modern libraries. Disclosure of Invention In order to solve the problems in the background technology, the invention provides automatic borrowing and returning equipment for the warehouse integrated books based on the mobile compound robot. The invention aims to break through the technical limitation and management bottleneck of the traditional book borrowing and returning mode and realize full-flow automatic closed-loop operation of book borrowing and returning, transferring, returning and inventory management and control. The technical scheme adopted by the invention is as follows: The invention relates to automatic library borrowing and returning equipment based on a storage integrated type of a mobile compound robot, which comprises the following components: the user interaction terminals are uniformly arranged in front of the book borrowing room at intervals and are used for user interaction to perform book borrowing and book returning operations; and a security fence is arranged between the user interaction terminals, and the book borrowing room is div