基于分布式结构的图书整理机器人系统设计
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摘要
针对图书馆图书借阅、上下架和传送整理的智能化需求,设计、开发了一种基于分布式结构的图书整理机器人系统。该系统由循迹移动底盘、图书夹取机械臂和人机交互界面3部分组成。图书整理机器人系统采用PLC和单片机作为主控单元,利用超声波传感器和灰度循迹传感器作为障碍检测及巡线定位模块,采用XYZ三轴直角坐标运动平台和MG995舵机作为机械臂的三维运动机械臂的驱动装置。通过visu+开发的人机交互界面选取图书信息,可以在无人干预的情况下,实现机器人的巡线定位、超声波避障、自动取/还书籍和实时通信。经过原理样机的搭建和实际测试,验证了系统的可行性和正确性。该系统设计简单、节能环保、自动化执行效率高,能够降低图书馆员的劳动强度,适用于各类大、中、小型图书馆和阅览室,具有广阔的应用空间。
In view of the intelligent demands for books lending,loading and unloading,transferring and sorting out in library,a book sorting out robot system based on distributed structure is designed and developed. The system consists of three parts: the tracking motion chassis,the book manipulator and the man machine interaction interface. The PLC and single-chip computer are used as main control unit of this book sorting out robot system. Ultrasonic sensors and gray tracking sensors are used for obstacle detection and patrol line positioning module. The XYZ coordinate motion platform and MG995 steering gear are used as a driving device for three dimensional motion. Through the man machine interaction interface developed based on visu +,the book information can be selected,thus the functions of patrol robot positioning,ultrasonic obstacle avoidance,automatic book lending,and real-time communication are realized under unattended condition. The principle prototype is constructed and tested; the correctness and feasibility of the system are verified. The designed system is simple and features energy conservation,environmental protection,automation and high efficiency. The book sorting out robot system can reduce the labor intensity in librarians,and can be applied to a variety of large,medium and small sized library and reading room,thus it has a wide applicable space.
In view of the intelligent demands for books lending,loading and unloading,transferring and sorting out in library,a book sorting out robot system based on distributed structure is designed and developed. The system consists of three parts: the tracking motion chassis,the book manipulator and the man machine interaction interface. The PLC and single-chip computer are used as main control unit of this book sorting out robot system. Ultrasonic sensors and gray tracking sensors are used for obstacle detection and patrol line positioning module. The XYZ coordinate motion platform and MG995 steering gear are used as a driving device for three dimensional motion. Through the man machine interaction interface developed based on visu +,the book information can be selected,thus the functions of patrol robot positioning,ultrasonic obstacle avoidance,automatic book lending,and real-time communication are realized under unattended condition. The principle prototype is constructed and tested; the correctness and feasibility of the system are verified. The designed system is simple and features energy conservation,environmental protection,automation and high efficiency. The book sorting out robot system can reduce the labor intensity in librarians,and can be applied to a variety of large,medium and small sized library and reading room,thus it has a wide applicable space.
引文
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[3]冯凌,杨华夏,魏东.分体式电缆隧道检测机器人的移动结构研究[J].自动化仪表,2017,38(6):46-50.
[4]张振,张琪,王新,等.基于主从式结构的智能图书整理机器人的设计[J].电子设计工程,2014,22(3):120-123.
[5]卢尧,任晓明,吴勇志,等.智能仓储控制系统的设计与实现[J].自动化仪表,2017,38(2):28-30.
[6]曹斌,董伯麟,柯振辉.基于运动控制卡的桁架机器人控制系统设计[J].制造技术与机床,2017(3):25-28.
[7]李森,潘小琴,钦盼琛,等.基于远程控制的双轮安防机器人系统设计[J].自动化与仪表,2017,32(5):30-34.
[8]彭攀来,马娅婕,刘智旸.基于Arduino的移动机器人控制系统设计[J].自动化与仪表,2016,31(3):14-16.
[9]栾禄祥.室内移动机器人机器视觉定位系统的设计[J].自动化仪表,2017,38(2):49-52.
[10]赵扬,刘庆花,赵玉奇.基于PLC的间歇反应装置控制系统的设计[J].自动化仪表,2017,38(2):15-17.