Intelligent library double-sided book retrieval and return system and book retrieval and return method

Abstract

The present invention discloses a double-sided book retrieval and return system and a book retrieval and return method for an intelligent library, and relates to the field of library artificial intelligence technology. The system comprises a double-sided bookshelf unit design, wherein one side of the bookshelf is a robot operation area, and the other side is a manual operation area, so as to avoid mutual interference; a multi-level spatial coding positioning system, wherein the positioning system can accurately locate the position of each book through three positioning codes; a vertical partitioning and book retrieval and return grid interaction unit design, wherein the bookshelf is vertically divided into two upper and lower areas through the vertical partitioning and book retrieval and return grid interaction units, wherein the lower area is a manual book retrieval and return area, and the upper area is a robot book retrieval and return area; and a robot book bin design, wherein the robot can clamp a bin of fixed size through two designed clamping arms, and locate and perform book retrieval and return operations by recognizing a QR code. The present invention has significant technical advantages in improving the security, accuracy, efficiency, and other aspects of library automation systems.

Description

Technical Field

[0001] The present invention relates to the field of library artificial intelligence technology, in particular to an intelligent library double-sided book retrieval and return system and a book retrieval and return method. Background Art

[0002] In existing library automation systems, robots are widely used for book placement and retrieval operations. These systems typically consist of the following components:

[0003] Automatic book retrieval robots: Equipped with a robotic arm, gripping device, and visual recognition system, these robots use vision technology to identify and grab designated books. They navigate the library using pre-set paths or by building a map and then using SLAM navigation to retrieve and place books.

[0004] Bookshelf unit: Bookshelves are typically single-sided, allowing both robotic and manual operation from the same side. Bookshelves are generally around two meters high, making access to and placement of books above this height difficult. The bookshelves are custom-made structures oriented in the same direction as the cart's travel. The book access mechanism utilizes a combination of guide rails to achieve vertical, horizontal, and forward / backward movement. At the end of the mechanism is a composite robotic arm consisting of a support arm and a book retrieval arm, capable of retracting, expanding, and clamping. Books are retrieved and placed based on camera imaging and computer control.

[0005] Positioning System: Robots rely on floor markers, QR codes, or RFID tags for navigation and positioning. These markers are typically placed on the floor or shelves to help the robot determine its own position and the location of target books. The robot actively navigates based on the library map and its own location, allowing it to navigate directly to the shelf where the book is located. Alternatively, RFID book positioning technology can be used. While advanced and accurate, it is also costly and requires a significant effort to replace all the books in a library collection with electronic tags. Currently, only a small number of libraries use RFID tags.

[0006] In existing library automation systems, robots face the following major challenges when performing book picking and placing operations:

[0007] Safety hazards: Robots and people working together in the same space, without spatial isolation, can still lead to safety accidents. For example, if a reader moves quickly or suddenly appears in the robot's path while the robot is performing a task, the robot could collide with the reader or worker, causing injury or equipment damage.

[0008] Low visual positioning accuracy: Existing visual positioning systems have accuracy issues when it comes to book positioning. For example, damaged or worn book surfaces, similar titles, titles in artistic fonts, and insufficient or overexposed ambient light can all affect the accuracy of the visual system. This can cause the robot to pick up the wrong book due to positioning errors or fail to accurately return the book to its designated location, compromising the accuracy of book management.

[0009] Difficulty retrieving books from heights: For bookshelves over 2 meters high, robots or humans have difficulty retrieving books, and manual operation poses safety risks. Retrieving books from heights requires the use of ladders or other tools, increasing operational complexity and safety risks. Summary of the Invention

[0010] To address these challenges, the present invention proposes a smart library double-sided book retrieval system and positioning method. This system utilizes a double-sided bookshelf design to effectively isolate the human and robot workspaces. One side serves as the robot workspace, while the other side is the manual workspace. This physical isolation significantly reduces the risk of collisions between robots, borrowers, and staff operating in the same space, thereby improving system safety. Multi-level spatial coding positioning utilizes bin location codes, shelf location codes, and floor location codes to precisely locate each book. This positioning method significantly improves book positioning accuracy and avoids issues such as surface damage and insufficient lighting that can occur with visual systems. This efficient and precise positioning method enables robots to quickly and accurately retrieve and place books, improving the operational efficiency of the library automation system. Furthermore, the design of vertical partitions and the interactive unit for book retrieval and return openings rationally divides the operating ranges of humans and robots. Robots are responsible for retrieval and return operations in elevated areas, addressing the difficulty of retrieving books from heights. The processing flow of the borrowing and return process further optimizes collaboration between humans and robots. During the book borrowing process, readers enter their borrowing information through the computer at the entrance. The system uses a multi-level spatial coding and positioning system to guide the robot to accurately find the book bin containing the target book. The robot then extracts the bin and places it in the entrance area for the reader to retrieve the book. During the book return process, readers enter their return information into the computer at the entrance. After the system confirms the location of the returned book, the robot places the empty bin in the entrance area. After the reader places the book in the bin, the robot uses the multi-level spatial coding system to accurately return the bin to its original position. This design not only optimizes the division of labor between manual and robotic operations, but also ensures that the robot can efficiently and safely handle book retrieval and return work in high-altitude areas, avoiding the complexity and safety risks of manual operations, especially those that may arise when auxiliary tools such as ladders are required.

[0011] Therefore, the present invention solves the problems of safety hazards, limited positioning accuracy and difficulty in high-altitude book retrieval in the existing technology through double-sided bookshelf design, multi-level spatial coding positioning and vertical partitioning and book retrieval and return grid interaction unit design, thereby improving the safety, accuracy and efficiency of the library automation system.

[0012] The technical solution adopted by the present invention to solve the technical problem is: an intelligent library double-sided book retrieval and return system, comprising:

[0013] The double-sided bookshelf unit design has one side for the robot operation area and the other side for the manual operation area, ensuring that the robot and manual operations are in different areas, avoiding mutual interference and improving system safety;

[0014] Multi-level spatial coding positioning system: The multi-level spatial coding positioning system uses three positioning codes to accurately locate the location of each book, ensuring that the robot can complete the book retrieval and return operations accurately and quickly;

[0015] The vertical partitioning and book retrieval and return interface design divides the bookshelf vertically into two areas: the lower area is for manual book retrieval and return, making it convenient for readers to directly retrieve books. The upper area is for robot book retrieval and return, where robots are responsible for retrieving and placing books from high places.

[0016] The robot is designed to grip book boxes. The robot can clamp boxes of fixed sizes through its two designed clamping arms, and locate them by recognizing QR codes to perform book retrieval and return operations.

[0017] Preferably, the multi-level spatial coding positioning system includes:

[0018] Z zone code: corresponds to the ground positioning code, identifying the area where the robot and the book box are located;

[0019] Y-layer code: corresponds to the bookshelf layer positioning code, identifying the specific layer of the bookshelf where the book box is located;

[0020] X-position code: corresponds to the book bin location code, identifying the bin's location on that layer. The combination of Z-zone, Y-layer, and X-position code uniquely identifies each book's location, eliminating accuracy issues in the visual system caused by factors like insufficient light and damaged paper.

[0021] Preferably, the vertical partition and the interactive unit design of the book retrieval and return opening are such that the lower area (0-2160 mm) is the manual book retrieval and return area, and the upper area (2160-5200 mm) is the robot book retrieval and return area.

[0022] The preferred design for the vertical partition and book access interface unit includes a book access interface and a touchscreen computer. The access interface is equipped with a QR code for book access, allowing the robot to accurately locate the access interface and retrieve and return books from the book bin. The recommended distance from the access interface's cargo placement surface to the ground is 700-1000mm, making it easier for readers and staff to access books. The touchscreen computer is equipped with the library's borrowing and returning system for easier management and operation.

[0023] Preferably, the book retrieval and return slot also includes a slot guide system for guiding the robot to accurately transport the book box to the slot position.

[0024] Preferably, the two clamping arms of the robot can ensure that the book box is locked. When the robot recognizes the ground positioning QR code, it rotates 90 degrees to face the bookshelf, and then recognizes the corresponding bookshelf layer positioning QR code, and then recognizes the corresponding book box QR code. After finding the corresponding book box QR code, the robot posture is adjusted so that the entire box faces the book box, and then the two clamping arms are opened, and the robot moves forward a fixed distance to insert the robotic arms into both sides of the book box. Then the robotic arms move inward through the motor to lock the box. The robot moves backward a fixed distance, rotates 90 degrees, and looks for the next ground positioning QR code.

[0025] A preferred method for retrieving books in a double-sided book retrieval and return system of an intelligent library comprises the following steps:

[0026] S1. The reader enters the borrowing information at the terminal at the entrance;

[0027] S2, the library book borrowing and returning system guides the robot to the target location through a multi-level spatial coding positioning system;

[0028] S3: The robot takes out the corresponding book box and transports it to the slot;

[0029] S4. Readers take books from the box.

[0030] A preferred method for returning books in a double-sided book retrieval and return system of an intelligent library comprises the following steps:

[0031] S1. The reader enters the book return information at the terminal at the entrance;

[0032] S2, the library's book borrowing and returning system instructs the robot to transport the empty book bin to the slot;

[0033] S3. Readers put the returned books into the box;

[0034] S4. The robot puts the material box back to its original position through a multi-level spatial coding system.

[0035] The preferred upper robotic work area features seven layers of standard shelving units, with 350mm spacing to accommodate the size of book bins. Each layer is marked with a DM code. A safety door with an electromagnetic lock is located to the right of the robotic work area, along with prominent warning signs and lights. The lower manual work area utilizes standard bookshelves, facing the library's open area. For safety, the robotic work area is equipped with sensors, emergency stop buttons, surveillance cameras, and other safety features. The manual work area features a non-slip floor treatment and an emergency lighting system. The central acrylic isolation panel has protective strips along its edges to prevent scratches. Its transparent design ensures safe isolation without compromising visual monitoring.

[0036] The preferred book bins feature a unique QR code on the outside, binding the books to the bins and identifying the bin's specific location on the corresponding shelf. The bins measure 300×300×200mm, each housing one book. A fully loaded bin can hold up to 30kg, accommodating most book sizes and weights. A holder at the bottom of the bins secures the books in the center, preventing them from falling and making it easy to place them in the bins when returning them.

[0037] The beneficial effects of the present invention are as follows: the intelligent library double-sided book retrieval and return system and book retrieval and return method proposed by the present invention have significant beneficial effects, which are specifically reflected in the following aspects:

[0038] (1) Safety is significantly improved. The double-sided bookshelf design physically isolates the robot operation area from the manual operation area. One side is the robot operation area, and the other side is the manual operation area. The robot and manual operations are completely separated in space. This physical isolation design significantly reduces the risk of collisions between robots and readers and staff, and improves the safety of the library automation system. The robot is responsible for retrieving and returning books in high areas and will not overlap with the manual operation area, avoiding safety hazards when humans borrow and return books. Therefore, the present invention is significantly improved in terms of safety compared to the existing technology.

[0039] (2) Positioning accuracy is significantly improved. This invention utilizes a "multi-level spatial coding positioning system" that combines bin positioning QR codes, shelf positioning QR codes, and floor positioning QR codes to provide precise location information for each book. This positioning method does not rely on complex visual systems, but instead utilizes multiple levels of QR code identification to ensure that the system can accurately locate the position of each book regardless of environmental conditions (such as poor lighting or damaged book surfaces).

[0040] This precise multi-level positioning technology can greatly improve the accuracy of library automation systems, avoid common problems in visual positioning systems, and improve the efficiency of book retrieval and placement, thereby improving the management level of the library.

[0041] (3) The safety and efficiency of high-altitude book retrieval operations are improved. The present invention rationally divides the bookshelf area into two upper and lower areas through a "vertical partition design": the lower area is the manual book retrieval and return area, suitable for daily book borrowing and returning; the upper area is the robot book retrieval and return area, and the robot is specifically responsible for the book retrieval task in the high-altitude area. The robot is responsible for the book retrieval operation in the high-altitude area, which solves the safety hazard of manual operation requiring the use of auxiliary tools such as ladders. Through this vertical partition design, the overlap of the manual and robot working areas is avoided, and the safety and efficiency of the operation are improved.

[0042] (IV) Optimization of the collaborative process between humans and robots. This invention achieves seamless integration of the human and robot work processes through the "book retrieval and return grid interaction unit design." During the borrowing process, readers input their borrowing information through the computer at the grid. The system guides the robot to the target location through multi-level spatial coding positioning technology, ensuring that the robot accurately finds the target book's bin and delivers it to the grid area for the reader to use. During the return process, after the reader inputs the return information, the system directs the robot to deliver the empty bin to the grid area. After the reader places the book in the bin, the robot is responsible for returning the bin to its original position.

[0043] This design not only optimizes the collaborative process between humans and robots but also improves work efficiency. Readers can borrow and return books more conveniently, while the robots ensure accuracy and efficiency through a precise positioning system, further enhancing the library's automation level.

[0044] Therefore, the present invention has significant technical advantages in improving the security, accuracy, efficiency, etc. of library automation systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall layout of the present invention;

[0046] Figure 2 is a schematic diagram of a multi-level spatial coding positioning system of the present invention;

[0047] Figure 3 Schematic diagram of a book bin in the multi-level spatial coding and positioning system of the present invention;

[0048] Figure 4 This is a schematic diagram of the design of the vertical partition and book return interface interaction unit of the present invention Figure 1 ;

[0049] Figure 5 This is a schematic diagram of the design of the vertical partition and book return interface interaction unit of the present invention Figure 2 ;

[0050] Figure 6It is a schematic diagram of the design of the robot gripping a book box of the present invention.

[0051] In the figure: 1. Double-sided bookshelf main structure; 2. Robot; 3. Robot running track; 4. Charging pile; 5. Ground navigation positioning QR code; 6. Safety protection door; 7. Upper area; 8. Lower area; 9. Book retrieval and return opening; 10. Bookshelf layer positioning QR code; 11. Book material box positioning QR code; 12. Book material box; 13. Books; 14. Touch screen computer; 15. Mechanical clamping arm. DETAILED DESCRIPTION

[0052] Example 1

[0053] This embodiment describes in detail a specific implementation of a double-sided book retrieval and return system and a book retrieval and return method for an intelligent library, including the overall architecture of the system, the functional implementation of each unit, the book retrieval and return process, etc.

[0054] like Figure 1-6 As shown in the figure, the overall architecture of this system includes:

[0055] Double-Sided Bookshelf Unit Design: The bookshelf is divided into two areas: the lower area (8) (0-2160mm) is for manual book retrieval and return, and the upper area (7) (2160-5200mm) is for Robot 2. One side of the bookshelf is for Robot 2, while the other side is for manual work. This design ensures that Robot 2 and manual work operate in separate areas, avoiding interference. The double-sided bookshelf unit utilizes a layered design with a total height of 5200mm. The main frame is constructed of Q235 steel to ensure overall structural stability. The layers are made of 25mm thick high-density fiberboard, with a single layer load-bearing capacity of no less than 100kg. At a height of 2160mm, the entire bookshelf is divided into upper and lower sections by a 10-30mm thick transparent acrylic partition: the upper section is for Robot 2 (2160-5200mm), and the lower section is for manual work (0-2160mm). The upper work area for Robot 2 features seven layers of standard shelving units, with a 350mm spacing to accommodate the size of book bins 12. Each layer is marked with a DM code. A safety door 6 with an electromagnetic lock is located to the right of Robot 2's work area, along with prominent warning signs and lights. The lower manual work area utilizes standard bookshelves, facing the library's open area. For safety, Robot 2's work area is equipped with sensors, emergency stop buttons, and surveillance cameras. The manual work area features a non-slip floor and emergency lighting. The central acrylic partition features protective strips along its edges to prevent scratches. Its transparent design ensures safe isolation without compromising visual monitoring. A ground navigation QR code 5 is used by Robot 2 to locate its Z-zone coordinates. The book retrieval and return slot 9 (including a computer) facilitates human-machine interaction and facilitates book retrieval and return operations. The overall design, through rational spatial division and material selection, achieves safe separation between human and machine operations and ensures efficient system operation. All materials and components are of commercially available specifications, simplifying procurement and maintenance and ensuring the feasibility of the solution. The present invention utilizes a double-sided bookshelf design to physically isolate the robot 2 operating area from the manual work area. One side houses the robot 2 operating area, while the other side houses the manual work area, completely separating the robot 2 and manual work areas. This physical isolation significantly reduces the risk of collisions between the robot 2 and readers and staff, improving the safety of the library automation system. Robot 2 is responsible for retrieving and returning books in the elevated area, avoiding overlap with the manual work area and minimizing safety hazards associated with manual borrowing and returning books. Therefore, the present invention offers significant improvements in safety compared to existing technologies.

[0056] Multi-level spatial coding positioning system: Through the positioning QR code mentioned above, the system implements multi-level spatial coding of the book location, as follows:

[0057] Z zone code: corresponds to the ground positioning QR code, identifying the area where robot 2 is located.

[0058] Y layer code: corresponds to the bookshelf layer positioning QR code 10, identifying the specific layer number of the bookshelf.

[0059] X position code: corresponds to the book bin positioning QR code 11, identifying the location of the bin on that floor.

[0060] Therefore, the combined code of Z zone, Y layer, and X position uniquely identifies the specific location of each book. Each book bin 12 corresponds to a book 13. A unique QR code is placed on the outside of each bin 12, binding the book 13 to the bin and identifying the bin's specific location on the corresponding layer. The bins measure 300 × 300 × 200 mm, with a maximum full-load weight of 30 kg, accommodating most book sizes and weights. A holder is located at the bottom of the bin to ensure that books are centered, preventing them from falling and making it easier to place them in the bin when returning them.

[0061] refer to Figure 2 , Figure 3 The book bin 12 location code (X position) of the present invention is a QR code located on the outside of the storage bin, used to identify the specific book storage location. The shelf level location code (Y level) is a QR code located on each shelf level, used to identify the specific level. The ground location code (Z zone) is a QR code located on the ground within the robot 2 operating area, used to identify the area where the robot 2 is located. The multi-level spatial coding positioning system uses these three location codes (a combination of the Z zone, Y level, and X position codes) to accurately locate each book, ensuring that the robot 2 can accurately and quickly complete book retrieval and return operations. The present invention utilizes a "multi-level spatial coding positioning system" that combines the bin location QR code, the shelf level location QR code 10, and the ground location QR code to provide precise location information for each book. This positioning method does not rely on a complex visual system, but instead utilizes multiple levels of QR code identifiers, ensuring that the system can accurately locate each book regardless of environmental conditions (such as poor lighting or damaged book surfaces).

[0062] Vertical partition and book return opening 9 interactive unit design: Figure 4 Figure 5As shown, the present invention divides the bookcase vertically. The vertical partition and the interactive unit of the book retrieval and return opening 9 divide the bookshelf vertically into two areas, upper and lower. The lower area 8 (0-2160mm) is the manual book retrieval and return area, which is convenient for readers to directly retrieve books. The upper area 7 (2160-5200mm) is the book retrieval and return area for the robot 2, which is responsible for retrieving and placing books at high places. The book retrieval and return opening 9 is set at an appropriate position on the bookshelf for readers to borrow and return books. The book retrieval and return opening 9 reserves sufficient space for the robot 2 to retrieve and place the book material box 12 into the opening, and the depth is recommended to be ≥500MM; the design of the book retrieval and return opening 9 takes into account sufficient height and width: 500mm (depth) * 300mm (height) * 500mm (width) to ensure that the robot 2 can smoothly retrieve and place the book material box 12. A book retrieval and return QR code is set on the book retrieval and return opening 9 to facilitate the robot 2 to accurately locate the book retrieval and return opening 9 and realize the retrieval and return of books from the book material box 12. The recommended distance from the surface where goods are placed in the compartment to the ground is 700-1000mm to facilitate readers and staff to store and access books (830mm in the figure).

[0063] The design components of the interactive unit 9 at the book return entrance are as follows:

[0064] Book check-in and check-out slot 9: It is set at an appropriate position on the bookshelf for readers to borrow and return books.

[0065] The slot guide system guides the robot 2 to accurately transport the book box 12 to the slot position.

[0066] The touch screen computer 14 in the grid is equipped with the library's borrowing and returning book system, which is convenient for management and operation.

[0067] Borrowing method:

[0068] S1. The reader enters the borrowing information at the terminal at the entrance.

[0069] S2. The library book borrowing and returning system guides the robot 2 to the target location through a multi-level spatial coding positioning system.

[0070] S3. The robot 2 takes out the corresponding book box 12 and transports it to the slot.

[0071] S4. The reader takes the book 13 from the box.

[0072] How to return books:

[0073] S1. The reader enters the book return information at the terminal at the entrance.

[0074] S2. The library book borrowing and returning system instructs the robot 2 to transport the empty book box 12 to the slot.

[0075] S3. The reader puts the returned book 13 into the material box.

[0076] S4. Robot 2 puts the box back to its original position through a multi-level spatial coding system.

[0077] This invention utilizes a "vertical zoning design" to rationally divide the bookshelf area into two upper and lower zones: the lower zone 8 is for manual book retrieval and return, suitable for daily borrowing and returning books; the upper zone 7 is for robot 2, which is specifically responsible for retrieval and return of books from high altitude areas. Robot 2 is responsible for retrieval operations from high altitude areas, eliminating the safety hazard of manual operation requiring the use of tools such as ladders. This vertical zoning design avoids overlap between the manual and robot work areas, improving operational safety and efficiency.

[0078] Furthermore, when operating at high altitudes, Robot 2 utilizes a high-precision positioning system, enabling it to efficiently complete book retrieval and placement tasks. This not only reduces the safety risks associated with manual book retrieval, but also improves library operational efficiency. Compared to existing technologies, this design ensures safer operations at high altitudes and reduces the risk of human-caused accidents.

[0079] The design of robot 2 picking up book box 12: Figure 6 As shown, the robot 2 is designed to clamp a material box of a fixed size by means of two mechanical clamping arms 15. The two mechanical clamping arms 15 can withstand a weight of 30 kg and can ensure that the material box is locked. When the robot 2 recognizes the ground positioning QR code, it rotates 90 degrees to face the bookshelf, and then recognizes the corresponding bookshelf layer positioning QR code 10, and then recognizes the corresponding material box QR code. After finding the corresponding material box QR code, the robot 2 posture is adjusted so that the robot 2 faces the material box as a whole, and then the two clamping arms are opened to 400 mm, and the mechanical arms are inserted into both sides of the material box by moving forward a fixed distance. Then, the mechanical arms are moved inward 10 mm by the motor to lock the material box. The robot 2 moves backward a fixed distance, rotates 90 degrees, and searches for the next ground positioning QR code, such as the ground positioning QR code corresponding to the book retrieval opening 9 to perform the book retrieval operation. The present invention realizes the seamless connection between the manual and robot 2 operation processes through the "interactive unit design of the book retrieval opening 9". During the borrowing process, the reader enters their borrowing information through the computer at the drawer. The system then uses multi-level spatial coding and positioning technology to guide Robot 2 to the target location, ensuring that Robot 2 accurately finds the bin containing the target book and delivers it to the drawer for the reader to retrieve. During the return process, the reader enters their return information, and the system directs Robot 2 to deliver the empty book bin 11 to the drawer. After the reader places the book in the bin, Robot 2 is responsible for returning the bin to its original location.

[0080] This design not only optimizes the collaborative process between humans and Robot 2 but also improves work efficiency. Readers can borrow and return books more conveniently, while Robot 2's precise positioning system ensures accuracy and efficiency, further enhancing the library's automation level.

[0081] Through the above technical solution, the present invention is superior to the existing technology in many aspects:

[0082] In terms of safety, the double-sided bookshelf design effectively isolates the manual and robot working areas, avoiding safety hazards;

[0083] In terms of positioning accuracy, the multi-level spatial coding positioning system has greatly improved the accuracy of book positioning;

[0084] For high-altitude operations, the vertical partition design solves the safety and efficiency issues of taking books at high altitudes;

[0085] In terms of human-computer collaboration, the book borrowing and returning process is optimized and overall efficiency is improved through reasonably designed interactive units.

[0086] Therefore, the present invention has significant technical advantages in improving the security, accuracy, efficiency, etc. of library automation systems.

[0087] Example 2

[0088] This embodiment is optimized based on the first embodiment, and the optimization mainly includes the following aspects:

[0089] Alternatives to double-sided bookshelf designs:

[0090] Virtual Isolation: Virtual isolation is achieved by setting up ground sensors and virtual areas. Robot 2 can only work within a specific virtual boundary. When Robot 2 approaches the manual operation area, the sensor triggers an alarm and automatically shuts down.

[0091] This alternative solution provides flexible spatial isolation in different environments, ensuring the safety of Robot 2 and human operators while maintaining reliable sensors. While the double-sided bookshelf design is currently the best solution, this alternative solution can still effectively prevent accidents and improve system safety to a certain extent.

[0092] Alternatives to multi-level spatial coding positioning systems:

[0093] RFID technology: Radio frequency identification (RFID) technology can be used as an alternative. This involves equipping each book, shelf, and bin with an RFID tag, allowing readers to precisely locate the book. This solution eliminates the need for visual positioning or multi-level coding and is highly resistant to interference. However, since each book requires manual RFID tagging, it is costly and takes a long time to implement.

[0094] Machine vision and deep learning: Combining deep learning algorithms with high-resolution machine vision systems allows cameras to capture images of the environment and use image recognition technology to locate the location of books. However, in complex environments, vision systems struggle to flexibly adapt to varying lighting conditions.

[0095] These alternatives offer different technical approaches to locate books. RFID can improve location accuracy and reduce environmental impact, while machine vision and deep learning can enhance system flexibility. However, these approaches have high lighting requirements and demand high surface quality for books, which must not be blurred by wear and tear. They also have difficulty recognizing titles in artistic fonts. These alternatives may be more suitable in certain circumstances, such as special environments or due to cost considerations.

[0096] Alternatives to vertical partitioning designs:

[0097] Adjustable bookshelf height design: The height of the bookshelf can be adjusted through a motorized lifting system, allowing different levels of the bookshelf to be automatically adjusted to a height that can be reached by humans or by the robot 2 as needed. This design reduces the requirements for the robot 2's operating area and allows for flexible adjustment of the working space.

[0098] This alternative offers a different solution to optimize the use of bookshelves. Adjustable bookshelf height design can increase the flexibility and scalability of the space, but it is more expensive and requires the load capacity and reliability of the electric lifting system.

[0099] Alternatives to the interactive unit 9 for book return:

[0100] Automatic door system: An automatic door system can replace the existing interactive grid unit. In this design, a book bin is fed into an automatically opened door frame by a robotic arm. The reader simply touches or scans the door frame to open and check out the book.

[0101] Alternative effects:

[0102] Automatic door systems simplify manual operations and improve convenience; however, costs will increase.

[0103] The above-mentioned alternative solutions can effectively replace the various technical solutions in the present invention and also achieve the goals of security, accuracy, efficiency and the like of the library automation system under specific scenarios.

Claims

1. An intelligent library double-sided book retrieval and return system, characterized by: include: The double-sided bookshelf unit design has one side for the robot operation area and the other side for the manual operation area, ensuring that robots and humans operate in different areas; Multi-level spatial coding positioning system: The multi-level spatial coding positioning system uses three positioning codes to allow the system to accurately locate the location of each book; The vertical partition and book retrieval and return interface design divides the bookshelf vertically into two areas: the lower area is for manual book retrieval and the upper area is for robot book retrieval. The robot is designed to grip book boxes. The robot can use its two gripping arms to clamp fixed-size boxes and identify them by QR code to retrieve and return books. The multi-level spatial coding positioning system includes: Z zone code: corresponds to the ground positioning code, identifying the area where the robot and the book box are located; Y-layer code: corresponds to the bookshelf layer positioning code, identifying the specific layer of the bookshelf where the book box is located; X-position code: corresponds to the book bin location code, identifying the location of the book bin on that layer; the combination of Z zone, Y layer, and X-position code uniquely identifies the specific location of each book; The vertical partition and book retrieval slot interaction unit design includes a book retrieval slot and a touch screen computer. The retrieval slot is equipped with a QR code for book retrieval and return, allowing the robot to accurately locate the retrieval slot and retrieve and return books from the book bin. The distance from the surface where the retrieval slot places goods to the ground is 700-1000mm. The touch screen computer is equipped with the library's borrowing and returning system for easy management and operation. The two clamping arms of the robot can ensure that the book box is locked. When the robot recognizes the ground positioning QR code, it rotates 90 degrees to face the bookshelf, and then recognizes the corresponding bookshelf layer positioning QR code, and then recognizes the corresponding book box QR code. After finding the corresponding book box QR code, the robot's posture is adjusted so that the entire box faces the book box. Then the two clamping arms open, move forward a fixed distance to insert the clamping arms into both sides of the book box, and then the clamping arms move inward through the motor to lock the box. The robot moves backward a fixed distance, rotates 90 degrees, and looks for the next ground positioning QR code.

2. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: The vertical partition and the interactive unit design of the book retrieval and return grid are such that the lower area (0-2160mm) is the manual book retrieval and return area, and the upper area (2160-5200mm) is the robot book retrieval and return area.

3. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: The book retrieval and return slot also includes a slot guide system for guiding the robot to accurately transport the book box to the slot position.

4. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: The upper robotic work area features seven layers of standard shelving units, with a 350mm spacing to accommodate the size of book bins. Each layer is equipped with a DM code location marker. A safety door with an electromagnetic lock is located on the right side of the robotic work area, along with prominent warning signs and lights. The lower manual work area features standard bookshelves, facing the open area of ​​the library. For safety, the robotic work area is equipped with sensors, emergency stop buttons, and surveillance cameras. The manual working area has a non-slip floor treatment and an emergency lighting system installed; protective strips are set on the edges of the acrylic isolation board in the middle to avoid scratches, and its transparent design ensures safe isolation without affecting visual monitoring.

5. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: A unique QR code is set on the outside of the book box to bind the books and the box, and to identify the specific position of the box on the corresponding layer; the box size is 300×300×200mm, each box corresponds to one book, and the maximum full load weight of a single box is 30kg, which can meet the needs of most book sizes and weights. A seat is set at the bottom of the box to ensure that the book is in the middle position.

6. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: The book retrieval method of the double-sided book retrieval and return system of the intelligent library includes the following steps: S1. The reader enters the borrowing information at the terminal at the entrance; S2, the library book borrowing and returning system guides the robot to the target location through a multi-level spatial coding positioning system; S3: The robot takes out the corresponding book box and transports it to the slot; S4. Readers take books from the box.

7. The intelligent library double-sided book retrieval and return system according to claim 1, characterized in that: The book returning method of the double-sided book retrieval and return system of the intelligent library comprises the following steps: S1. The reader enters the book return information at the terminal at the entrance; S2, the library's book borrowing and returning system instructs the robot to transport the empty book bin to the slot; S3. Readers put the returned books into the box; S4. The robot puts the material box back to its original position through a multi-level spatial coding system.

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