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CN215149089U - A arm that is used for automation in library to snatch books - Google Patents

A arm that is used for automation in library to snatch books Download PDF

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Publication number
CN215149089U
CN215149089U CN202120902883.0U CN202120902883U CN215149089U CN 215149089 U CN215149089 U CN 215149089U CN 202120902883 U CN202120902883 U CN 202120902883U CN 215149089 U CN215149089 U CN 215149089U
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CN
China
Prior art keywords
mechanical arm
module
control box
books
lifting
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Expired - Fee Related
Application number
CN202120902883.0U
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Chinese (zh)
Inventor
邵明臣
杨宇亮
聂力远
舒庆理
刘阳阳
倪智贤
陈嘉伟
罗苏明
罗海梅
李钦亮
王一凡
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Jiangxi Normal University
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Jiangxi Normal University
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Priority to CN202120902883.0U priority Critical patent/CN215149089U/en
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Publication of CN215149089U publication Critical patent/CN215149089U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The application relates to a mechanical arm for automatically grabbing books in a library, which comprises a control box, a touch screen, a grabbing device and a power supply unit, wherein the touch screen is arranged on the control box; the grabbing device, the touch screen and the power supply unit are all arranged on the control box; the grabbing device and the touch screen are both in circuit connection with the control box; the power supply unit is connected with the grabbing device, the control box and the touch screen circuit; the grabbing device comprises an openmv camera and a mechanical arm. The utility model discloses man-machine interaction is realized to the accessible touch-sensitive screen, and the reader selects behind the picture book that wants to borrow through the touch-sensitive screen, the utility model discloses can carry out automatic navigation, help the reader accuracy find the position of the books that want to borrow to can realize automatic book of getting through grabbing device, help special crowds such as handicapped personage acquire the books at high-rise bookshelf.

Description

A arm that is used for automation in library to snatch books
Technical Field
The application relates to the field of robots, in particular to a mechanical arm for automatically grabbing books in a library.
Background
The library is used as a mechanism for collecting, arranging and collecting book data for reading reference of people, a large number of books are stored in the library, and when a reader reads the books in the library, the reader needs to firstly find the position of a bookshelf where the book to be borrowed is located at a consultation platform and then goes to a corresponding position to fetch the book. For people who are not familiar with the environment in the house, a certain time is needed to find a book, and the reading experience of readers is influenced. For special people such as handicapped people, the books are inconvenient to take, the library staff is often needed to provide help, and the burden of the staff in the library is increased.
Disclosure of Invention
An object of the utility model is to provide an automatic arm of snatching books for library has automatic navigation and the automatic function of getting books, and the help reader accuracy finds the position of the books that want to borrow to help special crowds such as handicapped personage acquire the books at high-rise bookshelf.
The utility model adopts the technical proposal that: a mechanical arm for automatically grabbing books in a library comprises a control box, a touch screen, a grabbing device and a power supply unit; the grabbing device, the touch screen and the power supply unit are all arranged on the control box; the grabbing device and the touch screen are both in circuit connection with the control box; the power supply unit is connected with the grabbing device, the control box and the touch screen circuit;
the control box is provided with an upper computer with an ROS system, a lower computer with a micro control unit, a laser radar, a depth camera, a laser ranging sensor, an IMU (inertial measurement unit) module, a WIFI (wireless fidelity) wireless module, a first support and a mobile power supply charging socket; the upper computer with the ROS system is connected with the lower computer with the micro control unit through a serial interface and is in data communication with the lower computer, and the upper computer with the ROS system is also connected with the touch screen; the laser radar and the depth camera are connected with the upper computer with the ROS system; the laser ranging sensor, the IMU module, the WIFI wireless module and the grabbing device are all connected with the lower computer circuit with the micro control unit; the depth camera is arranged on a front baffle of the control box, the laser ranging sensors are arranged on left and right side baffles of the control box, the laser radar and the first support are arranged at the top of the control box, and the mobile power supply charging socket is arranged on a rear baffle of the control box;
the grabbing device comprises an openmv camera and a mechanical arm, wherein the mechanical arm comprises a first base, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a first mechanical arm, a second mechanical arm, a third mechanical arm, a mechanical claw, a connecting rod, a second support, a steering wheel and a bearing; the openmv camera is arranged on the first base; a first steering engine is arranged on the first base; the first mechanical arm is connected with the first base; the second mechanical arm is connected with the first mechanical arm through a second steering engine, a third steering engine, a steering wheel and a bearing; the third mechanical arm and the second mechanical arm are connected through a rudder disc, a bearing and a connecting rod; the fourth steering engine is fixedly connected with the third mechanical arm through a second support; the second support is connected with the mechanical claw, and the mechanical claw is connected with a fifth steering engine.
Further, the upper computer with the ROS system comprises a map creating module, a target positioning module, a global path planning module, a local path planning module and a man-machine interaction module; the map creation module is in data connection with the laser radar and the depth camera and creates a global electronic map and a local electronic map according to feedback data of the laser radar and the depth camera; the target positioning module and the global path planning module are in data connection with the map creation module; the local path planning module is connected with the IMU module, determines the position and mileage information of a map where the mechanical arm is located according to data fed back by the IMU module, and plans an optimal driving route in real time; the human-computer interaction module is connected with the touch screen and used for realizing human-computer interaction.
Further, the first mechanical arm rotates in a horizontal range, and the rotation angle is 0-270 degrees; the second mechanical arm rotates within a vertical range, and the rotation angle is 0-180 degrees; the third mechanical arm rotates within a vertical range, and the rotating angle is 0-270 degrees; the mechanical claw rotates in a vertical range, the rotating angle is 0-270 degrees, and the opening and closing distance is 0-11 cm.
Further, the power supply unit comprises a lithium battery and a voltage stabilizing module, and the lithium battery is in circuit connection with the voltage stabilizing module.
The lifting platform is arranged on the control box and is in circuit connection with the control box and the power supply unit; the gripping device is arranged on the lifting platform.
Furthermore, the lifting platform comprises a second base, a bearing platform, a lifting arm, a flat shaft, a blocking plate, an adjusting shaft, an adjusting motor and a connecting shaft; an even number of pairs of lifting arms are arranged between the second base and the bearing platform, two pairs of lifting arms corresponding to the same horizontal plane are connected through the flat shaft, each lifting arm comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frames are in cross rotating connection to form a pair of lifting arms; the first lifting frame and the second lifting frame of two adjacent lifting arms on the same side are connected through the connecting shaft; the first lifting frame and the second lifting frame of the two pairs of lifting arms corresponding to the same horizontal plane are fixedly connected through the blocking plate; the adjusting motor is connected with the adjusting shaft, and the adjusting shaft is connected with the connecting shaft; the adjusting motor is connected with a lower computer circuit with a micro control unit.
Further, the number of pairs of lifting arms is 2, 4 or 6.
The beneficial effects of the utility model reside in that:
(1) the reader can select a desired book through the interface on the touch screen, the utility model can automatically position the bookshelf position of the book desired to be read by the reader and automatically navigate the reader, and lead the reader to go to the target bookshelf;
(2) meanwhile, the fusion map building of the visual SLAM and the laser SLAM is used to improve the map fusion efficiency and improve the building precision, the observation area, the robustness and the fault tolerance of the electronic map; the Kalman filtering algorithm is adopted to process inertial data acquired by the IMU module to obtain pose information of the mechanical arm, so that the accuracy of pose estimation of the mechanical arm is improved; the global path planning and the local path planning are respectively realized by adopting an A-star algorithm and a DWA algorithm, and the position correction is carried out by using a Monte Carlo positioning algorithm, so that the positioning of the mechanical arm is more accurate, and the accurate navigation is realized;
(3) the bookshelf can effectively assist special people such as disabled people to obtain books on the high-rise bookshelf, and the burden of library staff is reduced; the grabbing operation of the targets on the bookshelf layers with different heights on the bookshelf can be realized through the lifting platform, and the openmv camera is used for coordinate positioning, so that the grabbing operation accuracy is higher, and the speed is higher.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of the control box according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a gripping device according to embodiment 1 of the present invention.
Fig. 4 is a control schematic diagram of embodiment 1 of the present invention.
Fig. 5 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 6 is a schematic structural view of a lifting platform according to embodiment 2 of the present invention.
Fig. 7 is a control schematic diagram of embodiment 2 of the present invention.
The reference signs explain: the system comprises a control box 1, a control box 2, a touch screen 3, a grabbing device 4, a power supply unit 5, a lifting platform 101, an upper computer with an ROS system 102, a lower computer with a micro-control unit 103, a laser radar 104, a depth camera 105, a laser ranging sensor 106, an IMU module 107, a WIFI wireless module 108, a first support 109, a mobile power supply charging socket 301, an openmv camera 302, a first base 302, a first steering engine 303, a second steering engine 304, a third steering engine 305, a fourth steering engine 306, a fifth steering engine 307, a fifth steering engine 308, a first mechanical arm 309, a second mechanical arm 310, a third mechanical arm 310, a mechanical claw 311, a connecting rod 312, a connecting rod 313, a second support 314, a steering wheel 315, a bearing 501, a second base 502, a bearing table, a lifting platform 108, a mobile power supply (ROS) charging socket, a mobile power supply charging socket 301, a mobile phone 104, a first base, a second steering engine, a second base, a second steering engine, a third base, a second base, a third steering engine, a fourth steering arm, 503. The lifting arm 504, the flat shaft 505, the blocking plate 506, the adjusting shaft 507, the adjusting motor 508, the first lifting frame 509, the second lifting frame 510 and the connecting shaft.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and the present invention is not limited to the specific embodiments disclosed below.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The use of "first," "second," and similar terms in the description and claims of this patent application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
Example 1:
as shown in fig. 1 to 4, a mechanical arm for automatically grabbing books for a library comprises a control box 1, a touch screen 2, a grabbing device 3 and a power supply unit 4; the grabbing device 3, the touch screen 2 and the power supply unit 4 are all arranged on the control box 1; the grabbing device 3 and the touch screen 2 are both in circuit connection with the control box 1; the power supply unit 4 is in circuit connection with the grabbing device 3, the control box 1 and the touch screen 2;
the control box 1 is provided with an upper computer 101 with an ROS system, a lower computer 102 with a micro-control unit, a laser radar 103, a depth camera 104, a laser ranging sensor 105, an IMU module 106, a WIFI wireless module 107, a first support 108 and a mobile power supply charging socket 109; the upper computer 101 with the ROS system and the lower computer 102 with the micro-control unit are connected and in data communication through serial interfaces, and the upper computer 101 with the ROS system is also connected with the touch screen 2; the laser radar 103 and the depth camera 104 are connected with the upper computer 101 with the ROS system; the laser ranging sensor 105, the IMU module 106, the WIFI wireless module 107 and the gripping device 3 are all in circuit connection with the lower computer 102 with the micro control unit; the depth camera 104 is arranged on a front baffle of the control box 1, the laser ranging sensor 105 is arranged on left and right baffles of the control box 1, the laser radar 103 and the first support 108 are arranged on the top of the control box 1, and the mobile power supply charging socket 109 is arranged on a rear baffle of the control box 1;
the grabbing device 3 comprises an openmv camera 301 and a mechanical arm, wherein the mechanical arm comprises a first base 302, a first steering engine 303, a second steering engine 304, a third steering engine 305, a fourth steering engine 306, a fifth steering engine 307, a first mechanical arm 308, a second mechanical arm 309, a third mechanical arm 310, a mechanical claw 311, a connecting rod 312, a second support 313, a steering wheel 314 and a bearing 315; the openmv camera 301 is arranged on the first base 302; a first steering engine 303 is arranged on the first base 302; the first robot arm 308 is connected to the first base 302; the second mechanical arm 309 and the first mechanical arm 308 are connected through a second steering gear 304, a third steering gear 305, a steering wheel 314 and a bearing 315; the third mechanical arm 310 and the second mechanical arm 309 are connected through a rudder disc 314, a bearing 315 and a connecting rod 312; the fourth steering engine 306 is fixedly connected with the third mechanical arm 310 through a second bracket 313; the second bracket 313 is connected with the gripper 311, and the gripper 311 is connected with a fifth steering engine 307.
The embodiment of the utility model provides an embodiment 1 can establish global electronic map and local electronic map in the use, and the positional information of automatic positioning books carries out route planning, avoids static or dynamic barrier, carries out human-computer interaction through touch-sensitive screen 2 and user, realizes helping the reader to take books. The control box 1 is used for realizing the path planning and automatic navigation running functions of embodiment 1 of the utility model, the upper computer 101 with the ROS system can realize map creation, target positioning, line planning, obstacle identification and man-machine interaction, and the lower computer 102 with the micro control unit is used for receiving the instruction of the upper computer 101 with the ROS system, acquiring the pose information of embodiment 1 of the utility model and controlling the gripping device 3; the touch screen 2 is used for realizing human-computer interaction, and readers browse and select books to be read through the touch screen 2, the embodiment 1 of the utility model positions and automatically navigates the books selected by the readers, and displays the navigation circuit on the touch screen 2; the grabbing device 3 can grab the books on the bookshelf; the power supply unit 4 is used for providing electric energy for embodiment 1 of the present invention.
The laser radar 103 can send collected laser information to the upper computer 101 with the ROS system, the depth camera 104 can send collected three-dimensional point cloud data to the upper computer 101 with the ROS system, and the upper computer 101 with the ROS system can edit a map according to the laser information and the three-dimensional point cloud data; the laser distance measuring sensor 105 is in circuit connection with the lower computer 102 with the micro control unit, and is used for adjusting the embodiment 1 of the present invention and the target bookshelf to a parallel relationship and an appropriate distance when the positioning and grabbing device 3 works; the WIFI wireless module 107 is used for communicating with the lower computer 102 with the micro control unit and a remote cloud server to acquire book information in a cloud; the power supply unit 4 comprises a lithium battery and a voltage stabilizing module, the lithium battery is in circuit connection with the voltage stabilizing module, and the lithium battery provides electric energy for each component in embodiment 1 of the utility model after being stabilized by the voltage stabilizing module, so that the power supply stability is improved; a mobile power charging socket 109 is arranged on the rear baffle of the control box 1, and the power supply unit 4 can be charged by using an external power supply.
The openmv camera 301 tilts upwards by 30 degrees and is fixed on the first base 302, and is used for identifying an object to be grabbed, acquiring a three-dimensional coordinate position of the object, sending the three-dimensional coordinate position to the mechanical arm, and grabbing and placing the object by the mechanical arm. The first steering engine 303 is used for controlling the rotation angle of the first mechanical arm 308 in the horizontal direction, and the rotation range of the first mechanical arm 308 is 0-270 degrees; the second steering engine 304 and the third steering engine 305 are used for controlling the rotation angle of the second mechanical arm 309 in the vertical direction, and the rotation range of the second mechanical arm 309 is 0-180 degrees; the rudder disc 314 is used for controlling the rotation angle of the third mechanical arm 310 in the vertical direction, and the rotation range of the third mechanical arm 310 is 0-270 degrees; the fourth steering engine 306 is used for controlling the rotation angle of the mechanical claw 311 in the vertical direction, and the rotation range of the mechanical claw 311 is 0-270 degrees; fifth steering wheel 307 is used for controlling the distance of opening and shutting of gripper 311, and gripper 311 opens and shuts the distance and be 0~11cm, can realize the rotation of multi-angle, improves the flexibility of arm, and gripper's the book that the distance of opening and shutting can match various thickness satisfies user's user demand.
In embodiment 1 of the present invention, the host computer 101 with the ROS system uses a RaspBerry 4 Pi model B processor, and is equipped with a Linux system and an ROS system. The lower computer 102 with the micro control unit uses an STM32F429 single chip microcomputer as a main processor. The upper computer 101 with the ROS system comprises a map creating module, a target positioning module, a global path planning module, a local path planning module and a man-machine interaction module; the map creation module is in data connection with the laser radar 103 and the depth camera 104, and creates a global electronic map and a local electronic map by using an SLAM algorithm according to feedback data of the laser radar 103 and the depth camera 104, the map creation module simultaneously uses a laser SLAM and a visual SLAM to fuse and create the map, a source opening function package in ROS is utilized, firstly, the visual SLAM algorithm is used for converting surrounding point cloud three-dimensional data acquired by the depth camera 104 into 2D laser data, then, the 2D laser SLAM algorithm based on gmapping is used for converting data acquired by the laser radar 103 into a grid map, and a Bayesian rule is used for map fusion to obtain the global electronic map and the local electronic map, so that the map fusion efficiency is improved, and meanwhile, the construction precision, the observation area, the robustness and the fault tolerance of the electronic map are improved; the target positioning module and the global path planning module are in data connection with the map creation module, and the target positioning module is used for acquiring and positioning information such as a bookshelf number of a target book, a bookshelf layer, a book number and a position of the target book in the electronic map; the global path planning module is used for planning the optimal driving path according to the created electronic map, the position of the mechanical arm and the target bookshelf, planning the global path by using an A-algorithm in navigation and calculating the optimal path from the embodiment 1 of the utility model to the target position as the global path of the embodiment 1 of the utility model; the local path planning module is connected with the IMU module 106, and determines the position and mileage information of a map where the local path planning module is located according to data fed back by the IMU module 106 by adopting a Kalman filtering algorithm, performs pose estimation, utilizes a Monte Carlo positioning algorithm for position correction, and simultaneously searches a plurality of paths for avoiding and advancing by using a DWA algorithm, helps a reader to avoid static or dynamic obstacles in the actual navigation process, plans an optimal driving route in real time, and realizes accurate navigation; the human-computer interaction module is connected with the touch screen 2 and used for realizing human-computer interaction. The lower computer 102 with the micro control unit can receive the return signal of the laser ranging sensor 105, judge the distance of the obstacle, and send an instruction to the grabbing device 3 to take the book; the lower computer 102 with the micro control unit can communicate with the upper computer 101 with the ROS system, sends the collected and calculated pose information and the target bookshelf position information to the upper computer 101 with the ROS system, and receives a control instruction sent by the upper computer 101 with the ROS system.
The embodiment of the utility model provides an embodiment 1 is when carrying out the task of fetching the book, and concrete step is as follows:
(1) the reader will after getting into the library the utility model discloses embodiment 1 hand-carries, through the utility model discloses embodiment 1's touch-sensitive screen 2 browses the books information in the library to confirm the target books that will borrow.
(2) The upper computer 101 with the ROS system positions the borrower and the target book through the target positioning module, and then automatically navigates through the global path planning module and the local path planning module to lead the reader to reach the bookshelf where the target book is located.
(3) After arriving target bookshelf position, adjust through laser rangefinder sensor 105 the utility model discloses the relative position of embodiment 1 and bookshelf through openmv camera 301 scanning books, treats to discern the target books after, uses the arm to snatch the target to deliver for the reader.
(4) And (4) if the reader borrows a plurality of books, repeating the steps (1) to (3) to capture the next target.
Through above-mentioned step, the reader can find the books that want to read fast, to special crowds such as handicapped personage, accessible grabbing device 3 acquires the books of placing in the eminence, need not the staff of troublesome library, has alleviateed library's staff's work burden.
Example 2:
as shown in fig. 5 to 7, on the basis of embodiment 1 of the present invention, embodiment 2 of the present invention further includes a lifting platform 5, where the lifting platform 5 is disposed on the control box 1 and is electrically connected to the control box 1 and the power supply unit 4; the gripping device 3 is arranged on a lifting platform 5.
The lifting platform comprises a second base 501, a bearing table 502, a lifting arm 503, a flat shaft 504, a blocking plate 505, an adjusting shaft 506, an adjusting motor 507 and a connecting shaft 510; an even number of pairs of lifting arms 503 are arranged between the second base 501 and the bearing platform 502, two pairs of lifting arms 503 corresponding to the same horizontal plane are connected through the flat shaft 504, the lifting arms 503 comprise a first lifting frame 508 and a second lifting frame 509, and the first lifting frame 508 and the second lifting frame 509 are in cross rotation connection to form a pair of lifting arms 503; the first lifting frame 508 and the second lifting frame 509 of the two adjacent lifting arms 503 on the same side are connected through the connecting shaft 510; the first lifting frame 508 and the second lifting frame 509 of the two pairs of lifting arms 503 corresponding to the same horizontal plane are fixedly connected through the blocking plate 505; the adjusting motor 507 is connected with the adjusting shaft 506, the adjusting shaft 507 is connected with the connecting shaft 510, a through hole is formed in the connecting shaft 510 close to the adjusting motor 507, and the adjusting shaft 506 penetrates through the through hole and is connected with the connecting shaft 510 far away from the adjusting motor 507 through threads. The adjusting motor 507 is in circuit connection with the lower computer 102 with the micro control unit, the lower computer 102 with the micro control unit controls the adjusting motor 507 to rotate, the adjusting motor 507 drives the adjusting shaft 506 to rotate, a connecting shaft 510 close to the adjusting motor 507 is not provided with threads, the adjusting shaft 506 cannot move in the rotating process, the connecting shaft 510 far away from the adjusting motor 507 moves along the adjusting shaft 506 under the action of the threads, the included angle between the first lifting frame 508 and the second lifting frame 509 is changed, and the height adjustment of the lifting platform 5 is achieved. According to the practical application scenario, the number of pairs of the lifting arms 503 can be set to 2 pairs, 4 pairs or 6 pairs, so that embodiment 2 of the present invention matches different bookshelf heights. The embodiment of the present invention provides an elevator, wherein the number of pairs of the lifting arms 503 is 4, and the vertical lifting height interval is 5cm to 80 cm.
The embodiment 2 of the utility model provides a when carrying out the task of fetching books, concrete step is as follows:
(1) the reader will after getting into the library the utility model discloses embodiment 2 hand-carries, through the utility model discloses the interior books information of library is browsed to touch-sensitive screen 2 of embodiment 2 to confirm the target books that will borrow.
(2) The upper computer 101 with the ROS system positions the borrower and the target book through the target positioning module, and then automatically navigates through the global path planning module and the local path planning module to lead the reader to reach the bookshelf where the target book is located.
(3) After reacing target bookshelf position, adjust through laser rangefinder sensor 105 the utility model discloses the relative position of 2 and bookshelf, the height of rethread adjustment lift platform 2 makes grabbing device 3 reach and corresponds the bookshelf layer, scans books through openmv camera 301, treats to discern behind the target books, uses the arm to snatch the target to deliver for the reader.
(4) And (4) if the reader borrows a plurality of books, repeating the steps (1) to (3) to capture the next target.
Through addding lift platform 5, make the utility model discloses embodiment 2 can match different bookshelf height, enlarges grabbing device 3's operation scope.
The embodiment of the utility model provides an use the integration of vision SLAM and laser SLAM to build the picture and improve map fusion efficiency simultaneously, promote electronic map's the precision of construction, observation area, robustness and fault-tolerance; the Kalman filtering algorithm is adopted to process inertial data acquired by the IMU module to obtain pose information of the mechanical arm, so that the accuracy of pose estimation of the mechanical arm is improved; the global path planning and the local path planning are respectively realized by adopting an A-x algorithm and a DWA algorithm, and the position correction is carried out by using a Monte Carlo positioning algorithm, so that the positioning of the mechanical arm is more accurate, and the accurate navigation is realized. The reader accessible goes out the interface selection books that want on the touch-sensitive screen 2, the embodiment of the utility model provides a can fix a position the place bookshelf position of books that the reader wants to read automatically and carry out automatic navigation for the reader, take the reader to go to the target bookshelf. The embodiment of the utility model can effectively assist special people such as disabled people to obtain books on the high-rise bookshelf, and reduce the burden of library staff; the grabbing operation of the targets on the bookshelf layers with different heights on the bookshelf can be realized through the lifting platform 5, and meanwhile, the openmv camera is used for coordinate positioning, so that the grabbing operation accuracy is higher, and the speed is higher.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. A mechanical arm for automatically grabbing books in a library is characterized by comprising a control box, a touch screen, a grabbing device and a power supply unit; the grabbing device, the touch screen and the power supply unit are all arranged on the control box; the grabbing device and the touch screen are both in circuit connection with the control box; the power supply unit is connected with the grabbing device, the control box and the touch screen circuit;
the control box is provided with an upper computer with an ROS system, a lower computer with a micro control unit, a laser radar, a depth camera, a laser ranging sensor, an IMU (inertial measurement unit) module, a WIFI (wireless fidelity) wireless module, a first support and a mobile power supply charging socket; the upper computer with the ROS system is connected with the lower computer with the micro control unit through a serial interface and is in data communication with the lower computer, and the upper computer with the ROS system is also connected with the touch screen; the laser radar and the depth camera are connected with the upper computer with the ROS system; the laser ranging sensor, the IMU module, the WIFI wireless module and the grabbing device are all connected with the lower computer circuit with the micro control unit; the depth camera is arranged on a front baffle of the control box, the laser ranging sensors are arranged on left and right side baffles of the control box, the laser radar and the first support are arranged at the top of the control box, and the mobile power supply charging socket is arranged on a rear baffle of the control box;
the grabbing device comprises an openmv camera and a mechanical arm, wherein the mechanical arm comprises a first base, a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine, a first mechanical arm, a second mechanical arm, a third mechanical arm, a mechanical claw, a connecting rod, a second support, a steering wheel and a bearing; the openmv camera is arranged on the first base; a first steering engine is arranged on the first base; the first mechanical arm is connected with the first base; the second mechanical arm is connected with the first mechanical arm through a second steering engine, a third steering engine, a steering wheel and a bearing; the third mechanical arm and the second mechanical arm are connected through a rudder disc, a bearing and a connecting rod; the fourth steering engine is fixedly connected with the third mechanical arm through a second support; the second support is connected with the mechanical claw, and the mechanical claw is connected with a fifth steering engine.
2. The mechanical arm for automatically grabbing books in a library according to claim 1, wherein the upper computer with the ROS system comprises a map creation module, a target positioning module, a global path planning module, a local path planning module and a human-computer interaction module; the map creation module is in data connection with the laser radar and the depth camera and creates a global electronic map and a local electronic map according to feedback data of the laser radar and the depth camera; the target positioning module and the global path planning module are in data connection with the map creation module; the local path planning module is connected with the IMU module, determines the position and mileage information of a map where the mechanical arm is located according to data fed back by the IMU module, and plans an optimal driving route in real time; the human-computer interaction module is connected with the touch screen and used for realizing human-computer interaction.
3. The mechanical arm for automatically grabbing books in a library as claimed in claim 1, wherein said first mechanical arm rotates in a horizontal range with a rotation angle of 0-270 °; the second mechanical arm rotates within a vertical range, and the rotation angle is 0-180 degrees; the third mechanical arm rotates within a vertical range, and the rotating angle is 0-270 degrees; the mechanical claw rotates in a vertical range, the rotating angle is 0-270 degrees, and the opening and closing distance is 0-11 cm.
4. The mechanical arm for automatically grabbing books in a library as claimed in claim 1, wherein said power supply unit comprises a lithium battery and a voltage stabilizing module, said lithium battery is electrically connected with said voltage stabilizing module.
5. The mechanical arm for automatically grabbing books in a library as claimed in claim 1, further comprising a lifting platform, wherein said lifting platform is disposed on said control box and is electrically connected with said control box and said power supply unit; the gripping device is arranged on the lifting platform.
6. The mechanical arm for automatically grabbing books in a library as claimed in claim 5, wherein said lifting platform comprises a second base, a bearing platform, a lifting arm, a flat shaft, a blocking plate, an adjusting shaft, an adjusting motor and a connecting shaft; an even number of pairs of lifting arms are arranged between the second base and the bearing platform, two pairs of lifting arms corresponding to the same horizontal plane are connected through the flat shaft, each lifting arm comprises a first lifting frame and a second lifting frame, and the first lifting frame and the second lifting frames are in cross rotating connection to form a pair of lifting arms; the first lifting frame and the second lifting frame of two adjacent lifting arms on the same side are connected through the connecting shaft; the first lifting frame and the second lifting frame of the two pairs of lifting arms corresponding to the same horizontal plane are fixedly connected through the blocking plate; the adjusting motor is connected with the adjusting shaft, and the adjusting shaft is connected with the connecting shaft; the adjusting motor is connected with a lower computer circuit with a micro control unit.
7. The robotic arm for automatically grabbing books for libraries of claim 6, wherein the number of pairs of lifting arms is 2, 4 or 6.
CN202120902883.0U 2021-04-29 2021-04-29 A arm that is used for automation in library to snatch books Expired - Fee Related CN215149089U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115476334A (en) * 2022-10-13 2022-12-16 广州大学 Automatic book taking and returning robot for library
CN115476334B (en) * 2022-10-13 2024-11-15 广州大学 Automatic book taking and returning robot for library

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115476334A (en) * 2022-10-13 2022-12-16 广州大学 Automatic book taking and returning robot for library
CN115476334B (en) * 2022-10-13 2024-11-15 广州大学 Automatic book taking and returning robot for library

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