Automated book retrieval and placement device and method

Abstract

The application provides a book automatic taking and placing device and method, relates to the field of book intelligent management, and comprises bookshelves, first positioning identification components, a taking and placing robot, first positioning identification components and a first controller. A plurality of first positioning identification components are fixedly connected to each bookshelf, and each first book storage cavity is correspondingly provided with a first positioning identification component. A walking device can drive a grabbing assembly to move along the length direction of the bookshelf, a first telescopic device can drive the grabbing assembly to move along the height direction of the bookshelf, a second controller can control the walking device and the first telescopic device to be turned on or turned off, and the grabbing assembly can grab or release books. The first positioning identification component can identify the first positioning identification component when moving horizontally and send an identification completion signal to the second controller, and the first positioning identification component can identify the first positioning identification component when moving vertically and send an identification completion signal to the second controller. The application is beneficial to improving work efficiency and improving the utilization rate of books.

Description

Technical Field

[0001] This invention relates to the field of intelligent book management technology, and in particular to an automatic book retrieval and placement device and method. Background Technology

[0002] Books are typically stored on shelves according to different categories. Traditional book management involves staff searching for and retrieving books from the corresponding shelves according to their category when they are borrowed or sold; and placing them back on the appropriate shelves when they are returned or put into storage. This method is labor-intensive and time-consuming. Furthermore, when a large number of books are returned, staff cannot immediately organize and return each book; they are usually organized and archived only after a certain number have accumulated. Manual organization and archiving are prone to errors, impacting book utilization.

[0003] Chinese patent CN201710404756.6 discloses a bookstore book search and location system, which includes a unique barcode affixed to each bookshelf, a shelf database, a scanning input module, a retrieval module, a map module, and a display module. The shelf database stores book storage information, including book number, quantity, and shelf number. The scanning input module is used to input the book number and scan the shelf number barcode. The retrieval module retrieves the shelf number and quantity of the book from the shelf database based on the input book number. The map module stores a floor plan of the bookstore. The display module shows the floor plan of the bookstore, the location of the shelf number of the book, and the location of the current shelf number. This bookstore book search and location system allows users or managers to quickly find books by inputting the book number through the scanning input module, retrieving the shelf number through the retrieval module, and displaying the location of the shelf number on the floor plan. However, this system still requires manual handling of books, resulting in low efficiency and a high error rate. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic book retrieval and placement device and method to solve the problems existing in the prior art. It eliminates the need for manual searching and retrieval, which helps to improve work efficiency, thereby enabling books to be sorted and archived more promptly, reducing the error rate, and improving the utilization rate of books.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides an automatic book retrieval and placement device, characterized in that it includes a bookshelf, a first positioning marker component, a retrieval and placement robot, a first positioning recognition component, and a first controller, wherein:

[0007] There are at least two bookshelves, and each bookshelf has multiple first book storage cavities for storing books, all of which are arranged in a rectangular array.

[0008] There are multiple first positioning marker components, and multiple first positioning marker components are fixedly connected to each bookshelf, and each first book storage cavity corresponds to one first positioning marker component;

[0009] The pick-and-place robot includes a walking device, a first telescopic device, a gripping component, and a second controller. The first telescopic device, the gripping component, and the second controller are all mounted on the walking device. The gripping component is connected to the output end of the first telescopic device, and the second controller is connected to both the walking device and the first telescopic device. The walking device can drive the gripping component to move along the length of the bookshelf, the first telescopic device can drive the gripping component to move along the height of the bookshelf, and the second controller can control the walking device and the first telescopic device to open or close. The gripping component can grab or release books.

[0010] The first positioning and identification component is fixedly connected to the grasping component. The first positioning and identification component is signal-connected to the second controller. Movement along the length direction of the bookshelf is horizontal movement, and movement along the height direction of the bookshelf is vertical movement. The first positioning and identification component can identify the first positioning identification component and send an identification completion signal to the second controller when moving horizontally. The first positioning and identification component can also identify the first positioning identification component and send an identification completion signal to the second controller when moving vertically.

[0011] The first controller is signal-connected to the second controller.

[0012] Preferably, the retrieval robot further includes a vehicle-mounted bookshelf, a mobile drive device, and multiple second positioning marker components. The vehicle-mounted bookshelf and the mobile drive device are both fixedly connected to the walking device. The vehicle-mounted bookshelf has multiple second book storage cavities and at least one retrieval / placement port. The multiple second positioning marker components are all fixedly connected to the vehicle-mounted bookshelf, and each second book storage cavity corresponds to one second positioning marker component. The gripping assembly includes a support body, a gripper assembly, and a second telescopic device. The first telescopic device is fixedly connected to the support body, the second telescopic device is connected to the output end of the first telescopic device, and the gripper assembly is fixedly connected to the output end of the second telescopic device. The support body... The device is capable of forming a sliding connection with the vehicle-mounted bookshelf along a path perpendicular to the height of the bookshelf. The moving drive device is connected to the support body and can drive the support body to slide relative to the length direction of the vehicle-mounted bookshelf. The gripper assembly can grip or release the book. The second telescopic device can drive the gripper assembly to extend and retract in the horizontal direction. The gripper assembly can pass through the pick-and-place port to remove the book from the first storage cavity and place it into the second storage cavity. The gripper assembly can also pass through the pick-and-place port to place the book in the second storage cavity into the first storage cavity. The first positioning and identification component can identify the second positioning identification component and send an identification completion signal to the second controller.

[0013] Preferably, the system further includes a transverse track, a longitudinal track, and multiple third positioning marker components. The bookshelves are arranged in multiple rows, with at least one bookshelf in each row. Each row of bookshelves has a transverse track on both sides, running along the length of the bookshelf. At least one side of the multiple rows of bookshelves has a longitudinal track, and each longitudinal track is connected to all the transverse tracks. A third positioning marker component is provided on each longitudinal track at a position corresponding to each transverse track. The pick-and-place robot also includes a second positioning recognition component, which is provided on the walking device. The walking device can move along the transverse track or the longitudinal track. When moving along the longitudinal track, the second positioning recognition component can recognize the third positioning marker component on the longitudinal track. The second positioning recognition component is signal-connected to the second controller.

[0014] Preferably, the walking device includes a base frame, a horizontal wheel drive device, a vertical wheel drive device, at least five horizontal wheel assemblies, and at least five vertical wheel assemblies. Each horizontal wheel assembly includes a third telescopic device and at least one horizontal wheel body. Each vertical wheel assembly includes at least one vertical wheel body. The vehicle-mounted bookshelf is fixedly connected to one side of the base frame, and all the vertical wheel assemblies are disposed on the other side of the base frame. One end of each third telescopic device is fixedly connected to the other side of the base frame, and the other end of the third telescopic device of each horizontal wheel assembly is rotatably connected to all the horizontal wheel bodies of the corresponding horizontal wheel assembly. Each third telescopic device is signal-connected to the second controller. Each third telescopic device is capable of telescoping along the height direction of the vehicle-mounted bookshelf. The horizontal wheel drive device is capable of connecting to at least two horizontal wheel bodies, and the horizontal wheel bodies connected to the horizontal drive device are horizontal drive wheels. The horizontal wheel drive device is capable of driving each horizontal drive wheel to rotate. The vertical wheel drive device is capable of connecting to at least two vertical wheel bodies, and the vertical wheel bodies connected to the vertical drive device are vertical drive wheels. The vertical wheel drive device is capable of driving each vertical drive wheel to rotate.

[0015] The transverse track includes three spaced-apart transverse rail bodies, each transverse wheel body capable of moving along one of the transverse rail bodies, and each transverse rail body corresponds to at least one transverse wheel assembly; the longitudinal track includes three spaced-apart longitudinal rail bodies, each longitudinal wheel body capable of moving along one of the longitudinal rail bodies, and each longitudinal rail body corresponds to at least two longitudinal wheel bodies; each transverse rail body intersects with all the longitudinal rail bodies, and a notch is formed at the intersection of each transverse rail body and each longitudinal rail body; when each transverse wheel body is at the corresponding notch, at least three transverse wheel bodies are on the corresponding transverse rail body, and when each transverse wheel body is at the corresponding notch, at least one transverse drive wheel is on the corresponding transverse rail body; when each longitudinal wheel body is at the corresponding notch, at least three longitudinal wheel bodies are on the corresponding longitudinal rail body, and when each longitudinal wheel body is at the corresponding notch, at least one longitudinal drive wheel is on the corresponding longitudinal rail body.

[0016] Preferably, it also includes a face recognition system and an interactive device, the interactive device including a barcode scanning module, both the face recognition system and the interactive device being used to communicate with the first controller, and the barcode scanning module being able to recognize the barcode of the book.

[0017] The present invention also provides an automatic book retrieval and placement method, comprising the following steps:

[0018] S1. The first controller presets a correspondence between the book identity information of multiple books and the first position information of the books on the bookshelf, and obtains the book identity information of the book to be retrieved; the first controller obtains the first position information of the book to be retrieved based on the book identity information of the book to be retrieved, wherein the first position information of the book to be retrieved includes the first horizontal position coordinate and the first vertical position coordinate of the first book storage cavity corresponding to the book to be retrieved;

[0019] S2. The second controller controls the walking device and / or the first telescopic device to drive the grasping component to move laterally and / or vertically; the first positioning marker is used to identify the first positioning marker in the lateral and / or vertical movement path, and an identification completion signal is sent to the second controller; the second controller obtains the second lateral position coordinates of the grasping component in the first book storage cavity passed through in the lateral movement path based on the accumulated number of identification completion signals received during the lateral movement of the grasping component, and obtains the second vertical position coordinates of the grasping component in the first book storage cavity passed through in the vertical movement path based on the accumulated number of identification completion signals received during the vertical movement of the grasping component; when the second lateral position coordinate is the same as the first lateral position coordinate and the second vertical position coordinate is the same as the first vertical position coordinate, the second controller controls the grasping component to stop moving;

[0020] S3. Grab or release the book to be picked up or placed using the grasping component.

[0021] Preferably, the bookshelves are arranged in multiple rows, with at least one bookshelf in each row. Each row of bookshelves has a transverse track on both sides, running along its length. At least one side of each row of bookshelves has a longitudinal track, and each longitudinal track is connected to all the transverse tracks. A third positioning identifier is located on each longitudinal track at a position corresponding to each transverse track. The walking device is equipped with a second positioning identification component, enabling it to move along either the transverse or longitudinal tracks. The second positioning identification component can identify the third positioning identifier on the longitudinal track and is signal-connected to the second controller.

[0022] The first position information of the book to be retrieved also includes the row number information of the bookshelf where the book to be retrieved is located. Before obtaining the horizontal and vertical position coordinates of the first book storage cavity corresponding to the book to be retrieved, the row number information of the bookshelf where the book to be retrieved is located is obtained first. The method for obtaining the row number information of the bookshelf where the book to be retrieved is located includes: driving the gripping component to move along the longitudinal track by the walking device; identifying the third positioning mark component on the longitudinal track by the second positioning identification component and sending an identification completion signal to the second controller; the second controller obtains the row number information of the bookshelf corresponding to the position of the walking device based on the cumulative number of identification completion signals received by the walking device during its movement along the longitudinal track; when the row number information of the bookshelf corresponding to the position of the walking device obtained by the second controller is consistent with the row number information of the bookshelf where the book to be retrieved is located, then the row number information of the bookshelf corresponding to the position of the walking device is the row number information of the bookshelf where the book to be retrieved is located.

[0023] When the walking device reaches the location of the book to be retrieved or placed on the bookshelf, the second controller controls the walking device to stop moving along the longitudinal track, and the second controller controls the walking device to move along the transverse track on one side of the bookshelf where the book to be retrieved or placed is located.

[0024] Preferably, the picking and placing robot further includes a vehicle-mounted bookshelf and multiple second positioning marker components. The vehicle-mounted bookshelf is fixedly connected to the walking device. The vehicle-mounted bookshelf has multiple second book storage cavities. The multiple second positioning marker components are all fixedly connected to the vehicle-mounted bookshelf, and each second book storage cavity corresponds to one second positioning marker component. The gripping component and the vehicle-mounted bookshelf form a sliding connection along the length direction of the vehicle-mounted bookshelf. The first positioning identification component can identify the second positioning marker component and send an identification completion signal to the second controller.

[0025] When storing books, at least one book to be retrieved is placed in the second book storage cavity, and the correspondence between the identity information of each book to be retrieved and the second position information of the corresponding second book storage cavity is stored in the second controller. The second controller controls the grasping component to move along the length of the vehicle bookshelf and / or controls the first telescopic device to move vertically until it reaches the second book storage cavity. The second controller obtains the second position information of the second book storage cavity at the location of the grasping component. The second controller obtains the identity information of the corresponding book to be retrieved through each second position information, and places each book to be retrieved into the corresponding first book storage cavity.

[0026] When retrieving a book, the second controller obtains the identity information of the book to be retrieved through the first position information of each of the first book storage cavities. The second controller controls the grasping component to move along the length direction of the vehicle bookshelf and / or controls the first telescopic device to move vertically to place the book to be retrieved into the second book storage cavity. The second controller can also obtain the second position information of the second book storage cavity at the location of the grasping component.

[0027] The method for the second controller to obtain the second position information of the second book storage cavity at the location of the grasping component includes: the second position information of the second book storage cavity includes a third lateral position coordinate and a third vertical position coordinate; the second controller controls the grasping component to move along the length direction of the vehicle bookshelf and / or controls the first telescopic device to move vertically, and identifies the second positioning identification component through the first positioning identification component; the second controller obtains the third lateral position coordinate of the second book storage cavity based on the cumulative number of identification completion signals received during the movement of the grasping component along the length direction of the vehicle bookshelf; the second controller obtains the third vertical position coordinate of the second book storage cavity based on the cumulative number of identification completion signals received during the vertical movement of the grasping component.

[0028] Preferably, each bookshelf includes a first bookshelf and a second bookshelf arranged sequentially along the length of the longitudinal track, and a plurality of first book storage cavities are provided on the side of the first bookshelf away from the second bookshelf and on the side of the second bookshelf away from the first bookshelf.

[0029] The picking and placing robot also includes a mobile drive device. The vehicle-mounted bookshelf includes a first vehicle-mounted frame and a second vehicle-mounted frame. The first vehicle-mounted frame, the second vehicle-mounted frame, and the mobile drive device are all fixedly connected to the walking device, with a gap between the first vehicle-mounted frame and the second vehicle-mounted frame. The grasping component includes a support body, a gripper assembly, and a second telescopic device. The first telescopic device is fixedly connected to the support body. The second telescopic device and the output end of the first telescopic device can form a rotational connection around a first axis parallel to the vertical direction. The gripper assembly is fixedly connected to the output end of the second telescopic device. The second telescopic device can drive the gripper assembly to extend and retract in the horizontal direction. When the second telescopic device is in the non-extended state, the grasping component can carry books and rotate around the first axis.

[0030] When the retrieval robot is positioned between two rows of bookshelves, the extension direction of the gap is perpendicular to the length direction of the bookshelves.

[0031] The system obtains the position of the book to be retrieved or placed on the bookshelf. Based on the position of the book to be retrieved or placed on the bookshelf, the second controller controls the second telescopic device to rotate around the first axis until the gripper assembly faces the first vehicle rack or the second vehicle rack. The second controller also controls the second telescopic device to extend the gripper assembly horizontally. The system then uses the gripping assembly to retrieve or place the book on the vehicle bookshelf.

[0032] The second controller controls the second telescopic device to rotate around the first axis according to the first lateral position coordinate of the first book storage cavity corresponding to the book to be retrieved or placed, until the gripper assembly faces the first bookshelf or the second bookshelf. The second controller then controls the second telescopic device to extend the gripper assembly horizontally, and the gripping assembly completes the retrieval or placement of the book on the bookshelf.

[0033] Preferably, the method for the second controller to obtain the accumulated number of recognition completion signals during the lateral movement of the grasping component includes: defining lateral movement in the second controller as moving from the starting point of the lateral track to the ending point of the lateral track; if the second controller controls the walking device to move laterally in the positive direction along the lateral track, the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the walking device to move laterally in the negative direction along the lateral track, the second controller decrements the count by 1 for each recognition completion signal received.

[0034] The method for the second controller to obtain the accumulated number of recognition completion signals during the longitudinal movement of the grasping component includes: defining upward or downward movement as positive vertical movement in the second controller; if the second controller controls the first telescopic device to drive the grasping component to move in a positive vertical movement, then the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the first telescopic device to drive the grasping component to move in a reverse vertical movement, then the second controller decrements the count by 1 for each recognition completion signal received.

[0035] The method for the second controller to obtain the cumulative number of recognition completion signals during the movement of the walking device along the longitudinal track includes: defining the movement from the starting point of the longitudinal track to the ending point of the longitudinal track as positive longitudinal movement in the second controller; if the second controller controls the walking device to move positively longitudinally along the longitudinal track, the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the walking device to move negatively longitudinally along the longitudinal track, the second controller decrements the count by 1 for each recognition completion signal received.

[0036] The present invention achieves the following technical effects compared to the prior art:

[0037] The automatic book retrieval and placement device and method provided by the present invention includes a bookshelf, a first positioning marker component, a retrieval and placement robot, a first positioning recognition component, and a first controller. Multiple first positioning marker components are provided, with multiple first positioning marker components fixedly connected to each bookshelf, and each first book storage cavity corresponding to one first positioning marker component. A walking device can drive a gripping component to move along the length direction of the bookshelf, and a first telescopic device can drive the gripping component to move along the height direction of the bookshelf. A second controller can control the walking device and the first telescopic device to open or close. The gripping component can grab or release books. The first positioning marker component can recognize other first positioning marker components and send a recognition completion signal to the second controller when moving laterally, and the first positioning marker component can also recognize other first positioning marker components and send a recognition completion signal to the second controller when moving vertically.

[0038] The automatic book retrieval and placement device of the present invention can preset a correspondence between multiple book identity information and the first position information of the book on the bookshelf in a first controller. When retrieving or placing a book, the device first obtains the book identity information of the book to be retrieved or placed; the first controller obtains the first position information of the book to be retrieved or placed based on the book identity information, the first position information of the book to be retrieved or placed including the first horizontal position coordinates and the first vertical position coordinates of the first storage cavity corresponding to the book to be retrieved or placed; the second controller controls the walking device and / or the first telescopic device to drive the grasping component to move horizontally and / or vertically; and the first positioning mark component identifies the horizontal and / or vertical movement path. The first positioning marker component in the device sends a recognition completion signal to the second controller. The second controller obtains the second lateral position coordinates of the first book storage cavity traversed by the grasping component in the lateral movement path based on the accumulated number of recognition completion signals received during the lateral movement. The second controller obtains the second vertical position coordinates of the first book storage cavity traversed by the grasping component in the vertical movement path based on the accumulated number of recognition completion signals received during the vertical movement. When the second lateral position coordinates are the same as the first lateral position coordinates and the second vertical position coordinates are the same as the first vertical position coordinates, the second controller controls the grasping component to stop moving. The grasping component grasps or releases the book to be retrieved. The automatic book retrieval and placement device of the present invention automatically moves the retrieval and placement robot to the first book storage cavity corresponding to the book to be retrieved and places it, and uses the retrieval and placement robot to quickly and accurately place the book in the corresponding first book storage cavity or retrieve it from the corresponding first book storage cavity. There is no need for manual searching and retrieval, which helps to improve work efficiency, thereby enabling more timely organization and filing of books, reducing the error rate, and improving the utilization rate of books. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the automatic book retrieval and placement device in Example 1;

[0041] Figure 2 This is a schematic diagram of the bookshelf structure in Example 1;

[0042] Figure 3 for Figure 2 Enlarged view of A in the middle;

[0043] Figure 4 This is a schematic diagram of the pick-and-place robot in Example 1;

[0044] Figure 5 This is a schematic diagram of the walking device in Example 1;

[0045] Figure 6 This is a schematic diagram of the vehicle-mounted bookshelf in Example 1;

[0046] Figure 7 This is a schematic diagram of the gripping component in Example 1;

[0047] Figure 8 for Figure 7 Enlarged view of B in the middle;

[0048] Figure 9 This is a schematic diagram of the gripper assembly in Example 1;

[0049] Figure 10 for Figure 9 Enlarged view of C in the middle;

[0050] Figure 11 This is a schematic diagram of the transverse and longitudinal tracks in Example 1;

[0051] Figure 12 This is a block diagram of the automatic book retrieval and placement device in Example 1;

[0052] Figure 13 This is a flowchart of the automatic book saving process in Example 2;

[0053] Figure 14 This is a flowchart of the automatic book retrieval process in Example 2;

[0054] Figure 15 This is a schematic diagram of the transverse and longitudinal tracks in Example 1;

[0055] Figure 16 for Figure 15 Enlarged view of D;

[0056] In the diagram: 100. Automatic book retrieval and placement device; 1. Bookshelf; 101. First book storage cavity; 102. First bookshelf; 103. Second bookshelf; 104. Partition plate; 2. First positioning marker component; 3. Retrieval and placement robot; 301. Walking device; 3011. Base frame; 3012. Longitudinal wheel assembly; 30121. Longitudinal support rod; 30122. Longitudinal wheel support frame; 30123. Longitudinal wheel; 30124. Longitudinal wheel motor; 3013. Lateral wheel body; 30131. Lateral wheel support frame; 30132. Lateral wheel; 30133. Lateral wheel motor; 3014. Third telescopic device; 302. First telescopic device; 303. Gripping assembly; 3031. Support body; 30311. Sliding wheel; 3032. Gripper assembly; 30321. Gripper plate; 30322. Slider; 30323 30324. Support block; 30325. Grab control module; 30326. Spring; 3037. Second telescopic device; 3038. Pressure detection device; 309. Second controller; 3000. Vehicle-mounted bookshelf; 3051. Second book storage cavity; 3052. Retrieval port; 3053. First vehicle-mounted frame; 3054. Second vehicle-mounted frame; 3055. Vehicle-mounted track; 306. Motion drive device; 307. Second positioning mark component; 308. Second positioning recognition component; 4. First positioning recognition component; 5. First controller; 6. Horizontal track; 7. Longitudinal track; 8. Third positioning mark component; 9. Face recognition system; 10. Interactive device; 11. Rotation drive device; 12. Transmitting component; 13. Receiving component; 14. Fourth positioning mark component; 15. Third positioning recognition component; 16. Notch. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] The purpose of this invention is to provide an automatic book retrieval and placement device and method to solve the problems existing in the prior art. It eliminates the need for manual searching and retrieval, which helps to improve work efficiency, thereby enabling books to be sorted and archived more promptly, reducing the error rate, and improving the utilization rate of books.

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Example 1

[0061] like Figure 1-15As shown, this embodiment provides an automatic book retrieval and placement device 100, including a bookshelf 1, a first positioning marker component 2, a retrieval and placement robot 3, a first positioning identification component 4, and a first controller 5. Specifically: there are at least two bookshelves 1, each bookshelf 1 having multiple first book storage cavities 101 for storing books, all first book storage cavities 101 arranged in a rectangular array; there are multiple first positioning marker components 2, each bookshelf 1 fixedly connected to multiple first positioning marker components 2, and each first book storage cavity 101 corresponds to one first positioning marker component 2; the retrieval and placement robot 3 includes a walking device 301, a first telescopic device 302, a gripping component 303, and a second controller 304. The first telescopic device 302, the gripping component 303, and the second controller 304 are all mounted on the walking device 301. The gripping component 303 is connected to the output end of the first telescopic device 302, and the second controller 304 is connected to both the walking device 301 and the first telescopic device 302. The system is connected to the following components: the walking device 301 drives the gripping component 303 to move along the length of the bookshelf 1; the first telescopic device 302 drives the gripping component 303 to move along the height of the bookshelf 1; the second controller 304 controls the opening and closing of the walking device 301 and the first telescopic device 302; the gripping component 303 can grip or release books; the first positioning identification component 4 is fixedly connected to the gripping component 303 and is signal-connected to the second controller 304; movement along the length of the bookshelf 1 is lateral movement, and movement along the height of the bookshelf 1 is vertical movement; the first positioning identification component 4 can identify the first positioning marker component 2 and send an identification completion signal to the second controller 304 during lateral movement, and the first positioning identification component 4 can identify the first positioning marker component 2 and send an identification completion signal to the second controller 304 during vertical movement; the first controller 5 is signal-connected to the second controller 304.

[0062] The automatic book retrieval and placement device 100 of the present invention can preset the correspondence between multiple book identity information and the first position information of the book on the bookshelf 1 in the first controller 5. When retrieving or placing a book, the device first obtains the book identity information of the book to be retrieved or placed; the first controller 5 obtains the first position information of the book to be retrieved or placed based on the book identity information, the first position information of the book to be retrieved or placed including the first horizontal position coordinate and the first vertical position coordinate of the first book storage cavity 101 corresponding to the book to be retrieved or placed; the second controller 304 controls the walking device 301 and / or the first telescopic device 302 to drive the gripping component 303 to move horizontally and / or vertically; and the first positioning and identification component 4 identifies the first position in the horizontal and / or vertical movement path. The identifier 2 is used to send an identification completion signal to the second controller 304. The second controller 304 obtains the second lateral position coordinates of the first book storage cavity 101 passed by the grasping component 303 in the lateral movement path based on the cumulative number of identification completion signals received during the lateral movement. The second controller 304 obtains the second vertical position coordinates of the first book storage cavity 101 passed by the grasping component 303 in the vertical movement path based on the cumulative number of identification completion signals received during the vertical movement. When the second lateral position coordinate is the same as the first lateral position coordinate and the second vertical position coordinate is the same as the first vertical position coordinate, the second controller 304 controls the grasping component 303 to stop moving. The grasping component 303 grasps or releases the books to be retrieved or placed. The automatic book retrieval and placement device 100 of the present invention automatically moves to the first book storage cavity 101 corresponding to the book to be retrieved or placed by the retrieval and placement robot 3, and quickly and accurately places the book in the corresponding first book storage cavity 101 or retrieves it from the corresponding first book storage cavity 101 without the need for manual searching and retrieval, which helps to improve work efficiency, thereby enabling books to be sorted and archived more promptly, reducing the error rate, and improving the utilization rate of books.

[0063] In this embodiment, the bookshelf 1 includes a support frame and a book storage frame. Multiple book storage frames are fixedly connected to the support frame. Each book storage frame includes a shelf and multiple partitions 104. The partitions 104 divide the book storage frame into multiple first book storage cavities 101, each of which stores only one book. A first positioning marker 2 is provided on the surface of each shelf near the book access opening, and the first positioning marker 2 corresponding to each first book storage cavity 101 is located on the longitudinal section of the first book storage cavity 101.

[0064] In this embodiment, the retrieval robot 3 further includes a vehicle-mounted bookshelf 305, a mobile drive device 306, and multiple second positioning marker components 307. The vehicle-mounted bookshelf 305 and the mobile drive device 306 are both fixedly connected to the walking device 301. The vehicle-mounted bookshelf 305 has multiple second book storage cavities 3051 and at least one retrieval port 3052. Multiple second positioning marker components 307 are fixedly connected to the vehicle-mounted bookshelf 305, and each second book storage cavity 3051 corresponds to one second positioning marker component 307. The gripping component 303 includes a support body 3031, a gripper component 3032, and a second telescopic device 3033. The first telescopic device 302 is fixedly connected to the support body 3031, and the second telescopic device 3033 is connected to the output end of the first telescopic device 302. The gripper component 3032 is connected to the output end of the second telescopic device 3033. The support body 3031 is fixedly connected to the vehicle bookshelf 305 and can form a sliding connection with the vehicle bookshelf 305 in a manner perpendicular to the height of the vehicle bookshelf 305. The moving drive device 306 is connected to the support body 3031 and can drive the support body 3031 to slide relative to the length direction of the vehicle bookshelf 305. The gripper assembly 3032 can grab or release books. The second telescopic device 3033 can drive the gripper assembly 3032 to extend and retract in the horizontal direction. The gripper assembly 3032 can pass through the pick-and-place port 3052 to take books from the first book storage cavity 101 and place them into the second book storage cavity 3051. The gripper assembly 3032 can also pass through the pick-and-place port 3052 to place books from the second book storage cavity 3051 into the first book storage cavity 101. The first positioning identification component 4 can identify the second positioning identification component 307 and send an identification completion signal to the second controller 304. The vehicle-mounted bookshelf 305 of this embodiment is provided with multiple second book storage compartments 3051, which can retrieve and place multiple books at once, thus improving work efficiency. The first telescopic device 302 drives the gripping component 303 to move vertically, enabling the gripping component 303 to grasp books in the second book storage compartments 3051 at different heights or place books in the second book storage compartments 3051 at different heights. The moving drive device 306 drives the support body 3031 to slide relative to the length of the vehicle-mounted bookshelf 305, allowing the gripping component 303 to retrieve and place books in the second book storage compartments 3051 at different positions along the length of the vehicle-mounted bookshelf 305; this provides flexible application.

[0065] In a preferred embodiment, a rotation drive device 11 is fixedly connected to the lower end of the first telescopic device 302. The output end of the rotation drive device 11 is fixedly connected to the end of the second telescopic device 3033 away from the gripper assembly 3032. The rotation drive device 11 can drive the second telescopic device 3033 to rotate around the first axis. The rotation drive device 11 is preferably a stepper motor, capable of achieving 360° precise rotation. The sliding wheel 30311 at the lower end of the support body 3031 is slidably connected to the two vehicle rails 3055 at the upper end of the vehicle bookshelf 305.

[0066] As a preferred embodiment, the structure of the vehicle bookshelf 305 is the same as that of the bookshelf 1. The corresponding position of the vehicle bookshelf 305 is provided with a second positioning mark component 307. However, the number of book storage frames of the vehicle bookshelf 305 is smaller, and the number of partitions 104 in each book storage frame is smaller. This will not be described in detail here.

[0067] In this embodiment, the system also includes a transverse track 6, a longitudinal track 7, and multiple third positioning marker components 8. The bookshelves 1 are arranged in multiple rows, with at least one bookshelf 1 in each row. Each row of bookshelves 1 has a transverse track 6 arranged along the length of the bookshelf 1 on both sides. At least one side of the multiple rows of bookshelves 1 is provided with a longitudinal track 7, and each longitudinal track 7 is connected to all the transverse tracks 6. A third positioning marker component 8 is provided on the longitudinal track 7 at a position corresponding to each transverse track 6. The pick-and-place robot 3 also includes a second positioning recognition component 308. The walking device 301 is provided with the second positioning recognition component 308. The walking device 301 can move along the transverse track 6 or the longitudinal track 7. When the second positioning recognition component 308 moves along the longitudinal track 7, it can recognize the third positioning marker component 8 on the longitudinal track 7. The second positioning recognition component 308 is signal-connected to the second controller 304. When the walking device 301 moves along the longitudinal track 7, the second positioning identification component 308 can identify the third positioning marker component 8 on the longitudinal track 7 and send a longitudinal track identification completion signal to the second controller 304. The second controller 304 can determine which row of the transverse track 6 corresponds to each third positioning marker component 8 based on the accumulated number of received longitudinal track identification completion signals, and thus determine which row of the bookshelf 1 corresponds to that transverse track 6. When the second controller 304 controls the walking device 301 to move to the position of the bookshelf 1 where the book to be retrieved or placed is to be placed, it controls the walking device 301 to switch to the corresponding transverse track 6 for transverse movement. The total number of bookshelves 1 is determined according to the number of books that the library needs to store.

[0068] In this embodiment, the walking device 301 includes a base frame 3011, a transverse wheel drive device, a longitudinal wheel drive device, at least five transverse wheel assemblies, and at least five longitudinal wheel assemblies 3012. Each transverse wheel assembly includes a third telescopic device 3014 and at least one transverse wheel body 3013. Each longitudinal wheel assembly 3012 includes at least one longitudinal wheel body. The vehicle-mounted bookshelf 305 is fixedly connected to one side of the base frame 3011, and all longitudinal wheel assemblies 3012 are disposed on the other side of the base frame 3011. One end of each third telescopic device 3014 is fixedly connected to the other side of the base frame 3011, and the other end of the third telescopic device 3014 of each transverse wheel assembly is rotatably connected to all transverse wheel bodies 3013 of the corresponding transverse wheel assembly. Each third telescopic device 3014 is signal-connected to the second controller 304. The third telescopic device 3014 can extend and retract along the height direction of the vehicle-mounted bookshelf 305. Specifically, when the third telescopic device 3014 extends, only the transverse wheel body 3013 contacts the transverse track 6, and the longitudinal wheel assembly 3012 does not contact the longitudinal track 7. When the third telescopic device 3014 retracts, only the longitudinal wheel assembly 3012 contacts the longitudinal track 7, and the transverse wheel body 3013 does not contact the transverse track 6. The transverse wheel drive device can be connected to at least two transverse wheel bodies 3013. The transverse wheel bodies 3013 connected to the transverse drive device are transverse drive wheels, and the transverse wheel drive device can drive each transverse drive wheel to rotate. The longitudinal wheel drive device can be connected to at least two longitudinal wheel bodies. The longitudinal wheel bodies connected to the longitudinal drive device are longitudinal drive wheels, and the longitudinal wheel drive device can drive each longitudinal drive wheel to rotate.

[0069] When retrieving or placing books, the second controller 304 controls the third telescopic device 3014 to retract, causing the longitudinal wheel assembly 3012 to contact the longitudinal track 7, thus moving the walking device 301 along the longitudinal track 7 until it reaches the position of the bookshelf 1 where the book to be retrieved or placed is to be placed. At this time, the second controller 304 controls the third telescopic device 3014 to extend, causing the transverse wheel assembly to contact the transverse track 6, thus moving the walking device 301 along the transverse track 6 until it reaches the first book storage cavity 101 where the book to be retrieved or placed is to be placed at the transverse coordinate position of the bookshelf 1. Then, the first telescopic device 302 drives the gripping assembly 303 to move along the height direction of the bookshelf 1 until it reaches the first book storage cavity 101 where the book to be retrieved or placed is to be placed. This automatic book retrieval and placement device 100 can achieve automatic movement and automatic positioning, improving the efficiency and accuracy of book retrieval and placement. This embodiment can archive each book immediately through the retrieval and placement robot 3, and can also archive books together when a small number of books have accumulated. It should be noted that the walking device 301 is not limited to obtaining the row number of the bookshelf 1 where the second book storage cavity 3051 is located and its lateral coordinates in that row of bookshelf 1 by combining the positioning marker component and the positioning recognition component as described above. It can also be equipped with an automatic navigation device on the retrieval robot 3 so that the retrieval robot 3 can drive automatically to a specific position. The automatic navigation technology is existing technology and will not be described in detail here.

[0070] like Figure 15-16 As shown, the transverse track 6 includes three transverse rail bodies spaced apart, meaning there is a gap between adjacent two rail bodies of the transverse track 6. Each transverse wheel body 3013 can move along one transverse rail body, and each transverse rail body corresponds to at least two transverse wheel bodies 3013. The longitudinal track 7 includes three longitudinal rail bodies spaced apart, meaning there is a gap between adjacent two rail bodies of the longitudinal track 7. Each longitudinal wheel body can move along one longitudinal rail body, and each longitudinal rail body corresponds to at least two longitudinal wheel bodies. Each transverse rail body intersects with all longitudinal rail bodies. A notch 16 is formed at the intersection of each transverse rail body and each longitudinal rail body; when each transverse wheel body 3013 is at the corresponding notch 16, at least three transverse wheel bodies 3013 are on the corresponding transverse rail body, and when each transverse wheel body 3013 is at the corresponding notch 16, at least one transverse drive wheel is on the corresponding transverse rail body; when each longitudinal wheel body is at the corresponding notch 16, at least three longitudinal wheel bodies are on the corresponding longitudinal rail body, and when each longitudinal wheel body is at the corresponding notch 16, at least one longitudinal drive wheel is on the corresponding longitudinal rail body.

[0071] In a preferred embodiment, the middle horizontal rail body corresponds to a horizontal wheel assembly, and the horizontal wheel assembly includes two horizontal drive wheels; the two horizontal rail bodies on both sides each correspond to two horizontal wheel assemblies, and each horizontal wheel assembly on the two horizontal rail bodies includes a horizontal driven wheel; the four horizontal driven wheels are spaced apart in the lateral forward direction of the trolley, and there is a gap between the projection of any horizontal driven wheel on the cross-section of the trolley and the projection of any other horizontal driven wheel on the cross-section of the trolley. For example, the four horizontal driven wheels on the two horizontal rail bodies on both sides are arranged in a parallelogram, and the four longitudinal driven wheels on the two longitudinal rail bodies on both sides are arranged in a parallelogram, so as to ensure that when one horizontal driven wheel is suspended at the notch 16, the other three horizontal driven wheels are on the corresponding horizontal rail body, and the four horizontal driven wheels can pass through the corresponding notch 16 in sequence; the horizontal drive wheels are set in size and spacing so that one of the two horizontal drive wheels is suspended at the notch 16, and the other horizontal drive wheel is on the corresponding horizontal rail body, and the two horizontal drive wheels can pass through the corresponding notch 16 in sequence; so as to ensure the smooth forward movement of the horizontal wheel assembly.

[0072] Similarly, the middle longitudinal rail body corresponds to a longitudinal wheel assembly 3012, and the longitudinal wheel assembly 3012 includes two longitudinal drive wheels; the two longitudinal rail bodies on both sides each correspond to two longitudinal wheel assemblies 3012, and each longitudinal wheel assembly 3012 on the two longitudinal rail bodies includes a longitudinal driven wheel; the four longitudinal driven wheels are spaced apart in the longitudinal direction of the trolley, and there is a gap between the projection of any longitudinal driven wheel on the longitudinal section of the trolley and the projection of any other longitudinal driven wheel on the longitudinal section of the trolley, so as to ensure that when one longitudinal driven wheel is suspended at the notch 16, the other three longitudinal driven wheels are on the corresponding longitudinal rail body, and the four longitudinal driven wheels can pass through the corresponding notch 16 in sequence; the longitudinal drive wheels are set in size and spacing so that one of the two longitudinal drive wheels is suspended at the notch 16, and the other longitudinal drive wheel is on the corresponding longitudinal rail body, and the two longitudinal drive wheels can pass through the corresponding notch 16 in sequence; so as to ensure the smooth forward movement of the longitudinal wheel assembly 3012.

[0073] In a preferred embodiment, each longitudinal wheel assembly 3012 further includes a longitudinal support rod 30121 and a longitudinal wheel support frame 30122. The longitudinal wheel body is a longitudinal wheel 30123, and the longitudinal wheel drive device is a longitudinal wheel motor 30124. Both ends of each longitudinal support rod 30121 are fixedly connected to the side of the base frame 3011 away from the vehicle-mounted bookshelf 305 and the longitudinal wheel support frame 30122, respectively. Two longitudinal wheels 30123 are rotatably connected to the longitudinal wheel support frame 30122. The longitudinal wheel motor 30124 is fixedly connected to the longitudinal wheel support frame 30122, and its output end is connected to two longitudinal drive wheels via a conveyor belt, enabling it to drive the two longitudinal drive wheels to rotate. The longitudinal wheel motor 30124 is preferably a stepper motor.

[0074] In a preferred embodiment, each third telescopic device 3014 includes a telescopic rod and a horizontal wheel support frame 30131. The horizontal wheel body is a horizontal wheel 30132, and the horizontal wheel drive device is a horizontal wheel motor 30133. Both ends of each telescopic rod are fixedly connected to the side of the base frame 3011 away from the vehicle-mounted bookshelf 305 and the horizontal wheel support frame 30131, respectively. A horizontal wheel 30132 is rotatably connected to the horizontal wheel support frame 30131. The horizontal wheel motor 30133 is fixedly connected to the horizontal wheel support frame 30131. The output end of the horizontal wheel motor 30133 is simultaneously connected to two horizontal drive wheels via a conveyor belt and can drive the two horizontal drive wheels to rotate. The horizontal wheel motor 30133 is preferably a stepper motor.

[0075] This embodiment also includes a face recognition system 9 and an interaction device 10. The interaction device 10 includes a barcode scanning module. Both the face recognition system 9 and the interaction device 10 are used for communication connection with the first controller 5. The barcode scanning module can recognize the barcode of the book. By scanning the barcode of the book, the identity information of the book can be quickly obtained. The first controller 5 has a preset correspondence between the identity information of all books and the position of the first book storage cavity 101. The first controller 5 retrieves the position of the first book storage cavity 101 corresponding to the book based on the identity information of the book, thereby completing the automatic retrieval and placement by the retrieval and placement robot 3. The face recognition system 9 is preferably a camera device.

[0076] It should be noted that this embodiment is not limited to obtaining the book's identity information through the scanning function of the barcode scanning module. The book's identity information can also be obtained through other methods, such as manually inputting the book's identity information on the interactive device 10.

[0077] It should be noted that the specific settings for the preset time can be set and adjusted through experimental verification and other methods.

[0078] In this embodiment, the gripper assembly 3032 includes two gripping claws. Each gripping claw includes a gripping plate 30321, a slider 30322, a support block 30323, and a spring 30325. The support block 30323 is fixedly connected to the output end of the second telescopic device 3033. The slider 30322 is slidably connected to the support block 30323. The spring 30325 is disposed between the slider 30322 and the gripping plate 30321. The two gripping plates 30321 are arranged opposite to each other. When the two sliders 30322 slide in a mutual direction, the two gripping plates 30321 move closer together and grip the book; when the two sliders 30322 slide in a distance, the two gripping plates 30321 move away from each other and release the book.

[0079] In this embodiment, the gripper assembly 3032 further includes a pressure detection device 3034, a slider drive device, and a gripper control module 30324. The pressure detection device 3034 is preferably a pressure sensor. It is positioned between the gripper plate 30321 and the slider 30322. The output end of the slider drive device is connected to the slider 30322 and can drive it to slide. The gripper control module 30324 is connected to both the slider drive device and the pressure detection device 3034 and can control the slider drive device to drive or stop driving. The pressure detection device 3034 detects the pressure applied to the book by the gripper plate 30321 and sends the pressure signal to the gripper control module 30324. When the detected pressure value exceeds the preset pressure value of the gripper control module 30324, the gripper control module 30324 controls the gripper drive device to stop outputting, causing the slider 30322 to stop sliding, ensuring that the book is clamped securely without being damaged by excessive pressure.

[0080] In a preferred embodiment, a transmitting component 12 and a receiving component 13 are also included. The transmitting component 12 and the receiving component 13 are respectively disposed on the side of the two gripper plates 30321 that are close to each other. Both the transmitting component 12 and the receiving component 13 are signal connected to the second controller 304. The transmitting component 12 can emit light. When there is no book between the two gripper plates 30321, the receiving component 13 can receive the light emitted by the transmitting component 12. When there is a book between the two gripper plates 30321, the book blocks the propagation path of the light emitted by the transmitting component 12, and the receiving component 13 cannot receive the emitted light. The second controller 304 determines that the gripping claw has reached a suitable gripping position and controls the second telescopic device 3033 to stop extending. After the second telescopic device 3033 stops extending, the gripping claw clamps the book, thereby ensuring the accuracy of book clamping.

[0081] In a preferred embodiment, an operating gap is left between two adjacent book storage frames. The upper end of all book storage frames is an open structure. A fourth positioning mark component 14 is provided on at least one column of the supporting frame at a position opposite to the operating gap. A third positioning identification component 15 is provided on the side of at least one gripper plate 30321 of the gripper assembly away from the other gripper plate 30321. The third positioning identification component 15 is signal connected to the second controller 304. When the gripper plate 30321 extends into the first book storage cavity 101, the height of the third positioning identification component 15 is higher than that of the partition plate 104, that is, the third positioning identification component 15 is located above the opening at the upper end of the book storage frame. The third positioning identification component 15 and the fourth positioning mark component 14 are at the same height. The fourth positioning marker component 14 and the third positioning identification component 15 work together to position the gripper plate 30321 when placing books. Specifically, when the gripper plate 30321 extends into the appropriate position of the first book storage cavity 101, the third positioning identification component 15 can identify the fourth positioning marker component 14 and send a successful identification signal to the second controller 304. The second controller 304 controls the second telescopic device 3033 to stop extending. After the second telescopic device 3033 stops extending, the gripper releases the book, thereby ensuring the accuracy of book placement. At the same time, the operating clearance allows the gripper assembly to easily extend into the first book storage cavity 101.

[0082] In this embodiment, the first controller 5 is located at the service window of the library. The first controller 5 can be a computer or other device and is wirelessly connected to the second controller 304.

[0083] In a preferred embodiment, the first positioning marker component 2, the second positioning marker component 307, and the third positioning marker component 8 are reflectors; the first positioning recognition component 4, the second positioning recognition component 308, and the receiving component 13 are all photoelectric switch sensors, preferably M12 laser mirror reflection through-beam diffuse reflection photoelectric switch sensors. When the first positioning recognition component 4 detects the laser reflected by the first positioning marker component 2, it sends a corresponding recognition completion signal or a vertical recognition completion signal to the second controller 304; when the second positioning recognition component 308 detects the laser reflected by the third positioning marker component 8, it sends a corresponding recognition completion signal to the second controller 304.

[0084] In a preferred embodiment, the first telescopic device 302, the second telescopic device 3033, and the third telescopic device 3014 are all electric telescopic poles.

[0085] Example 2

[0086] This embodiment provides an automatic book retrieval and placement method based on the automatic book retrieval and placement device 100 in Embodiment 1, including the following steps:

[0087] S1. The first controller 5 presets a correspondence between the book identity information of multiple books and the first position information of the books on the bookshelf 1, and obtains the book identity information of the book to be retrieved; the first controller 5 obtains the first position information of the book to be retrieved based on the book identity information, the first position information of the book to be retrieved includes the first horizontal position coordinate and the first vertical position coordinate of the first storage cavity 101 corresponding to the book to be retrieved; S2. The second controller 304 controls the walking device 301 and / or the first telescopic device 302 to drive the grasping component 303 to move horizontally and / or vertically; the first positioning identification component 4 identifies the first positioning identification component 2 in the horizontal and / or vertical movement path, and sends an identification completion signal to the second controller. The second controller 304 obtains the second lateral position coordinates of the first book storage cavity 101 passed by the grasping component 303 in the lateral movement path based on the accumulated number of recognition completion signals received during the lateral movement of the grasping component 303; the second controller 304 obtains the second vertical position coordinates of the first book storage cavity 101 passed by the grasping component 303 in the vertical movement path based on the accumulated number of recognition completion signals received during the vertical movement of the grasping component 303; when the second lateral position coordinates are the same as the first lateral position coordinates and the second vertical position coordinates are the same as the first vertical position coordinates, the second controller 304 controls the grasping component 303 to stop moving; S3. The grasping component 303 grasps or releases the books to be retrieved or placed.

[0088] The automatic book retrieval and placement method of the present invention involves a retrieval and placement robot 3 automatically moving to the first book storage cavity 101 corresponding to the book to be retrieved or placed, and using the retrieval and placement robot 3 to place the book in the corresponding first book storage cavity 101 or to retrieve it from the corresponding first book storage cavity 101. This eliminates the need for manual searching and retrieval, which helps to improve work efficiency, allows for more timely organization and filing of books, reduces the error rate, and improves the utilization rate of books.

[0089] In this embodiment, the bookshelf 1 has multiple rows, with at least one bookshelf 1 in each row. Each row of bookshelves 1 has a transverse track 6 along its length on both sides. At least one side of each row of bookshelves 1 has a longitudinal track 7, and each longitudinal track 7 is connected to all the transverse tracks 6. A third positioning identifier 8 is provided on each longitudinal track 7 at a position corresponding to each transverse track 6. A second positioning identification component 308 is provided on the walking device 301. The walking device 301 can move along the transverse track 6 or the longitudinal track 7. The second positioning identification component 308 can identify the third positioning identifier 8 on the longitudinal track 7. The second positioning identification component 308 is signal-connected to the second controller 304. The first position information of the book to be retrieved also includes the row number information of the bookshelf 1 where the book is located. Before obtaining the transverse and vertical position coordinates of the first book storage cavity 101 corresponding to the book to be retrieved, the row number information of the bookshelf 1 where the book is located is obtained first. The method for obtaining the row number information of the bookshelf 1 where the book is located... The process includes: driving the gripping component 303 to move along the longitudinal track 7 via the walking device 301; identifying the third positioning marker component 8 on the longitudinal track 7 via the second positioning identification component 308 and sending an identification completion signal to the second controller 304; the second controller 304 obtaining the row number information of the bookshelf 1 corresponding to the position of the walking device 301 based on the cumulative number of identification completion signals received by the walking device 301 during its movement along the longitudinal track 7; when the row number information of the bookshelf 1 corresponding to the position of the walking device 301 obtained by the second controller 304 is consistent with the row number information of the bookshelf 1 where the book to be retrieved is located, then the row number information of the bookshelf 1 corresponding to the position of the walking device 301 is the row number information of the bookshelf 1 where the book to be retrieved is located; after the walking device 301 reaches the position of the bookshelf 1 where the book to be retrieved is located, the second controller 304 controls the walking device 301 to stop moving along the longitudinal track 7 and controls the walking device 301 to move along the transverse track 6 on one side of the bookshelf 1 where the book to be retrieved is located.

[0090] In this embodiment, the retrieval robot 3 further includes a vehicle-mounted bookshelf 305 and multiple second positioning marker components 307. The vehicle-mounted bookshelf 305 is fixedly connected to the walking device 301 and has multiple second book storage cavities 3051. The multiple second positioning marker components 307 are all fixedly connected to the vehicle-mounted bookshelf 305, and each second book storage cavity 3051 corresponds to one second positioning marker component 307. The gripping component 303 and the vehicle-mounted bookshelf 305 are slidably connected along the length of the vehicle-mounted bookshelf 305. The first positioning identification component 4 can identify the second positioning marker component 307 and send an identification completion signal to the second controller 304. When storing books, at least one book to be retrieved is placed in the second book storage cavity 3051, and the correspondence between the identity information of each book to be retrieved and the second position information of the corresponding second book storage cavity 3051 is stored in the second controller 304. The second controller 304 controls the gripping component. The component 303 moves vertically along the length of the vehicle bookshelf 305 and / or controls the first telescopic device 302 to move until it reaches the second book storage cavity 3051. The second controller 304 obtains the second position information of the second book storage cavity 3051 at the location of the gripping component 303. The second controller 304 obtains the identity information of the corresponding book to be retrieved through each second position information and places each book to be retrieved into the corresponding first book storage cavity 101. When retrieving a book, the second controller 304 obtains the identity information of the book to be retrieved through the first position information of each first book storage cavity 101. The second controller 304 controls the gripping component 303 to move vertically along the length of the vehicle bookshelf 305 and / or controls the first telescopic device 302 to place the book to be retrieved into the second book storage cavity 3051. The second controller 304 can obtain the second position information of the second book storage cavity 3051 at the location of the gripping component 303.

[0091] The method by which the second controller 304 obtains the second position information of the second book storage cavity 3051 at the location of the grasping component 303 includes: the second position information of the second book storage cavity 3051 includes a third lateral position coordinate and a third vertical position coordinate; the second controller 304 controls the grasping component 303 to move along the length direction of the vehicle bookshelf 305 and / or controls the first telescopic device 302 to move vertically, and identifies the second positioning identification component 307 through the first positioning identification component 4; the second controller 304 obtains the third lateral position coordinate of the second book storage cavity 3051 based on the number of accumulated identification completion signals received during the movement of the grasping component 303 along the length direction of the vehicle bookshelf 305; the second controller 304 obtains the third vertical position coordinate of the second book storage cavity 3051 based on the number of accumulated identification completion signals received during the vertical movement of the grasping component 303.

[0092] In this embodiment, each bookshelf 1 includes a first bookshelf 102 and a second bookshelf 103 arranged sequentially along the length of the longitudinal track. Multiple first book storage cavities 101 are provided on the side of the first bookshelf 102 away from the second bookshelf 103 and the side of the second bookshelf 103 away from the first bookshelf 102. The retrieval robot 3 also includes a mobile drive device 306 and a vehicle-mounted bookshelf 305. The vehicle-mounted bookshelf 305 includes a first vehicle-mounted frame 3053 and a second vehicle-mounted frame 3054. The first vehicle-mounted frame 3053, the second vehicle-mounted frame 3054, and the mobile drive device 306 are all fixedly connected to the walking device 301. A gap is left between the first vehicle-mounted frame 3053 and the second vehicle-mounted frame 3054, and the two ends of this gap are book retrieval and placement openings 3052. The picking component 303 includes a support body 3031, a gripper assembly 3032, and a second telescopic device 3033. The first telescopic device 302 is fixedly connected to the support body 3031. The second telescopic device 3033 and the output end of the first telescopic device 302 can form a rotational connection around a first axis parallel to the vertical direction. The gripper assembly 3032 and the output end of the second telescopic device 3033 are fixedly connected. The second telescopic device 3033 can drive the gripper assembly 3032 to extend and retract in the horizontal direction. When the second telescopic device 3033 is in the non-extended state, the picking component 303 can carry books and rotate around the first axis. When the picking robot 3 is located between two rows of bookshelves 1, the extension direction of the gap is perpendicular to the length direction of the bookshelves 1.

[0093] The system obtains the position of the book to be retrieved or placed on the bookshelf 1. The second controller 304 controls the second telescopic device 3033 to rotate around the first axis until the gripper assembly 3032 faces the first vehicle-mounted shelf 3053 or the second vehicle-mounted shelf 3054. The second controller 304 then controls the second telescopic device 3033 to extend the gripper assembly 3032 horizontally, and the gripping assembly 303 completes the retrieval or placement of the book on the vehicle-mounted bookshelf 305. Alternatively, the second controller 304 controls the second telescopic device 3033 to rotate around the first axis according to the lateral position coordinates of the first book storage cavity 101 corresponding to the book to be retrieved or placed, until the gripper assembly 3032 faces the first bookshelf 102 or the second bookshelf 103. The second controller 304 then controls the second telescopic device 3033 to extend the gripper assembly 3032 horizontally, and the gripping assembly 303 completes the retrieval or placement of the book on the bookshelf 1. In this embodiment, the second telescopic device 3033 can be used to grasp and place books on the first vehicle rack 3053, the second vehicle rack 3054, the first bookshelf 102, or the second bookshelf 103 by the gripping component 303 around the first axis. The structure is simple and the application is flexible.

[0094] In a preferred embodiment, the rotation angle of the second telescopic device 3033 corresponds to the first vehicle frame 3053, the second vehicle frame 3054, the first bookshelf 102, and the second bookshelf 103 as follows: the rotation angle of the second telescopic device 3033 is defined as 0° when the gripper assembly 3032 faces the first vehicle frame 3053, 90° when the gripper assembly 3032 faces the first bookshelf 102, 180° when the gripper assembly 3032 faces the second vehicle frame 3054, and 270° when the gripper assembly 3032 faces the second bookshelf 103.

[0095] In this embodiment, the method by which the second controller 304 acquires the accumulated number of recognition completion signals during the lateral movement of the grasping component 303 includes: defining lateral movement in the second controller 304 as moving from the starting point of the lateral track 6 to the ending point of the lateral track 6; if the second controller 304 controls the walking device 301 to move laterally in the lateral track 6 in the lateral direction, then the second controller 304 increments the count by 1 for each recognition completion signal received; if the second controller 304 controls the walking device 301 to move laterally in the lateral track 6 in the reverse direction, then the second controller 304 decrements the count by 1 for each recognition completion signal received.

[0096] The method by which the second controller 304 acquires the accumulated number of recognition completion signals during the longitudinal movement of the grasping component 303 includes: defining upward or downward movement as positive vertical movement in the second controller 304; if the second controller 304 controls the first telescopic device 302 to drive the grasping component 303 to move in a positive vertical direction, then the second controller 304 increments the count by 1 for each recognition completion signal received; if the second controller 304 controls the first telescopic device 302 to drive the grasping component 303 to move in a reverse vertical direction, then the second controller 304 decrements the count by 1 for each recognition completion signal received.

[0097] The method by which the second controller 304 acquires the accumulated number of recognition completion signals during the movement of the walking device 301 along the longitudinal track 7 includes: defining the movement from the starting point of the longitudinal track 7 to the ending point of the longitudinal track 7 as positive longitudinal movement in the second controller 304; if the second controller 304 controls the walking device 301 to move positively longitudinally along the longitudinal track 7, then the second controller 304 increments the count by 1 for each recognition completion signal received; if the second controller 304 controls the walking device 301 to move negatively longitudinally along the longitudinal track 7, then the second controller 304 decrements the count by 1 for each recognition completion signal received.

[0098] The following explains the methods for automatically retrieving and storing books:

[0099] The first controller 5 stores the position of each first book storage cavity 101 as a three-dimensional coordinate ID, i.e., (X1, Y1, Z1); wherein, the row number information of the bookshelf 1 where the first book storage cavity 101 is located in the book library is the ID of each row of bookshelf 1, i.e., X1. Multiple bookshelves 1 are preferably sorted starting from one side of the service window of the book library, and the sequence number of each row of bookshelves 1 is the row number information of the bookshelf 1 in the book library; the bit ID corresponding to the first book storage cavity 101 in the length direction of the row of bookshelf 1 is Y1. Specifically: the bit ID (Y1) of the first book storage cavity 101 on the first bookshelf 102 is Y 11 +a, the bit ID (Y1) of the first book storage cavity 101 on the second bookshelf 103 is Y 11 +b, the layer ID of bookshelf 1 is Z1, and each bookshelf 1 is preferably sorted from bottom to top; the first controller 5 can acquire and save the borrowing and returning information of each book, the identity information of each book, and the correspondence information between the identity information of each book and the three-dimensional coordinate ID of the first book storage cavity 101; the first controller 5 can acquire and save the identity information of all users and the correspondence information between users and borrowed and returned books; the first controller 5 can acquire and save the identity information of all managers and the correspondence information between managers and borrowed and returned books; the first controller 5 can acquire and save the empty and stored information in all first book storage cavities 101 and the classification information of the first book storage cavity 101.

[0100] The second controller 304 stores the position of each second book storage cavity 3051 as a three-dimensional coordinate ID, namely (X2, Y2, Z2); among which, the identity ID of the pick-and-place robot 3 is X2; the bit ID corresponding to the second book storage cavity 3051 in the length direction of the vehicle-mounted bookshelf 305 group is Y2. Specifically: the bit ID (Y2) of the second book storage cavity 3051 on the first vehicle-mounted shelf 3053 is Y2. 22 +a, the bit ID (Y2) of the second book storage cavity 3051 on the second vehicle frame 3054 is Y 22 +b, the layer ID of the vehicle bookshelf 305 is Z1; the first controller 5 can acquire and save the empty and stored information of all second book storage cavities 3051; the first controller 5 can acquire and save the position information of all gripping components 303 when picking up and putting down books, and can acquire the three-dimensional coordinate ID of the first book storage cavity 101 corresponding to the gripping component 303 picking up and putting down books based on the position information of the gripping component 303.

[0101] The automatic book saving process includes:

[0102] 1. When a user enters the library, the facial recognition system identifies the user's or administrator's identity information.

[0103] 2. Input the identity information of the book to be stored into the first controller 5 through the barcode scanning module.

[0104] 3. Place the book to be stored into the empty second book storage cavity 3051 on the retrieval robot 3, and input the three-dimensional coordinate ID of the second book storage cavity 3051 into the second controller 304 through the barcode scanning module.

[0105] 4. Timed or quantitative book transfer is implemented. Timed transfer is based on the user's or manager's book storage waiting time, so that the retrieval robot 3 starts transferring and storing books within a certain time after receiving the three-dimensional coordinate ID of the second book storage cavity 3051 input into the second controller 304, and can complete the book storage within the book storage waiting time. Quantitative transfer is carried out promptly when all the second book storage cavities 3051 of the retrieval robot 3 are full. As a preferred embodiment, the retrieval robot 3 first stores all the books on the first rack 3053, and then stores all the books on the second rack 3054; the books on the first rack 3053 and the second rack 3054 are stored from the bottom to the top; the books on each layer of the first rack 3053 and the second rack 3054 are stored sequentially from one end of the layer to the other; the user or manager also places books into the second book storage cavity 3051 in the same order. The specific storage method of the retrieval robot 3 includes:

[0106] 4.1 The second controller 304 retrieves the three-dimensional coordinate ID of the first book storage cavity 101 corresponding to the first book to be stored, based on the correspondence between the input three-dimensional coordinate ID of the second book storage cavity 3051 and the book to be stored.

[0107] The second controller 304 controls the walking device 301 to move along the longitudinal track 7, starting from the side closest to the service window. The second positioning identification component 308 identifies the third positioning marker component 8 on the longitudinal track 7. The second controller 304 increments its count by 1 for each identification completion signal received. When the accumulated count of the second controller 304 is equal to X1, the second controller 304, based on the coordinate Y1 of the first book storage cavity 101 corresponding to the book to be stored, controls the rotary drive device 11 to drive the second telescopic device 3033 to rotate the gripper assembly 3032 towards the first bookshelf 102 or the second bookshelf 103. Simultaneously, the second controller 304 controls the third telescopic device 3014 to extend, causing the horizontal wheel 30132 to contact the track, thus moving the walking device 301 along the transverse track 6. During the movement, the first positioning identification component 4 identifies the third positioning marker component 8 on the bookshelf 1. The number of identification completion signals received by the second controller 304 during the transverse movement is incremented by Y1. 11 At the same time, control the walking device 301 to stop moving.

[0108] The second controller 304, based on the coordinate Y2 of the second storage cavity 3051 corresponding to the book to be stored, controls the gripping component 303 to control the rotation drive device 11 to drive the second telescopic device 3033 to rotate the gripper component 3032 toward the first vehicle frame 3053 or the second vehicle frame 3054; the second controller 304 controls the gripper component 3032 to move along the length of the vehicle frame 305, starting from one end of the vehicle frame 305, and identifies the horizontally arranged second positioning marker components 307 through the first positioning identification component 4. When the number of identification completion signals received by the second controller 304 during the movement is equal to the coordinate Y2 of the second storage cavity 3051, the second controller 304 controls the gripper component 3032 to move along the length of the vehicle frame 305, and identifies the horizontally arranged second positioning marker components 307 through the first positioning identification component 4. 22 At the same time, control gripper component 3032 stops sliding.

[0109] The second controller 304 controls the first telescopic device 302 to retract from bottom to top, and identifies the vertically arranged second positioning markers 307 through the first positioning identification component 4. When the number of identification completion signals received by the second controller 304 during the movement is the same as Z2, the second controller 304 controls the first telescopic device 302 to stop retracting. The second controller 304 controls the third telescopic device 3014 to extend until the gripping claws are extended to the designated position of the book, and clamps the book with the gripping claws.

[0110] The second controller 304 controls the third telescopic device 3014 to retract and controls the rotation drive device 11 to drive the gripping component 303 to rotate toward the first bookshelf 102 or the second bookshelf 103. The second controller 304 controls the first telescopic device 302 to retract vertically, that is, to drive the gripper component 3032 to move from bottom to top, until the number of accumulated recognition completion signals received by the second controller 304 from the first positioning recognition component 4 is the same as Z1 of the corresponding first book storage cavity 101. At this time, the second controller 304 controls the third telescopic device 3014 to extend to the corresponding first book storage cavity 101 and controls the gripper component 3032 to release the book. The second controller 304 controls the third telescopic device 3014 to retract into the gap between the first vehicle frame 3053 and the second vehicle frame 3054. The second controller 304 sends a signal indicating that the book has been placed in the corresponding first book storage cavity 101 to the first controller 5.

[0111] 4.2 Using this storage method, all books in the second book storage cavity 3051 are archived and stored. The second controller 304 controls the walking device 301 to move, so that the grasping robot returns to the initial position and waits for the next task.

[0112] The automatic book retrieval process includes:

[0113] 1. When a user enters the library, the facial recognition system identifies the user's or administrator's identity information.

[0114] 2. Input the identity information of the book to be retrieved into the first controller 5 through the barcode scanning module.

[0115] 3. The first controller 5 obtains the stereo coordinate ID of the first book storage cavity 101 corresponding to the identity information of the book to be retrieved, and sends the stereo coordinate ID to the second controller 304.

[0116] 4. The second controller 304 controls the walking device 301 to move along the longitudinal track 7, starting from the side closest to the service window. The second positioning identification component 308 identifies the third positioning marker component 8 on the longitudinal track 7. The second controller 304 increments its count by 1 for each identification completion signal received. When the accumulated count of the second controller 304 is the same as X1, the second controller 304, based on the coordinate Y1 of the first book storage cavity 101 corresponding to the book to be retrieved, controls the rotary drive device 11 to drive the second telescopic device 3033 to rotate the gripper assembly 3032 towards the first bookshelf 102 or the second bookshelf 103. Simultaneously, the second controller 304 controls the third telescopic device 3014 to extend, causing the horizontal wheel 30132 to contact the track, thus moving the walking device 301 along the transverse track 6. During the movement, the first positioning identification component 4 identifies the third positioning marker component 8 on the bookshelf 1. The number of identification completion signals received by the second controller 304 during the transverse movement is incremented by Y1. 11 At the same time, control the walking device 301 to stop moving.

[0117] The second controller 304 controls the first telescopic device 302 to retract vertically, thereby moving the gripper assembly 3032 from bottom to top. This continues until the number of recognition completion signals received by the second controller 304 from the first positioning and identification component 4 matches the Z1 of the corresponding first book storage cavity 101. At this point, the second controller 304 controls the third telescopic device 3014 to extend to the corresponding first book storage cavity 101 and controls the gripper assembly 3032 to release the book. The second controller 304 then controls the third telescopic device 3014 to retract into the gap between the first vehicle-mounted frame 3053 and the second vehicle-mounted frame 3054.

[0118] After each book retrieval is completed, the second controller 304 sends the corresponding three-dimensional coordinate ID information of the first book storage cavity 101 to the first controller 5.

[0119] The second controller 304 controls the gripping component 303 to control the rotation drive device 11 to drive the second telescopic device 3033 to rotate the gripper component 3032 toward the first vehicle frame 3053 or the second vehicle frame 3054; the second controller 304 controls the gripper component 3032 to move along the length of the vehicle bookshelf 305, starting from one end of the vehicle bookshelf 305, and place books in a row of second book storage cavities 3051 in each layer of the vehicle bookshelf 305, and obtain the coordinate Y2 of the second book storage cavity 3051 corresponding to the book to be retrieved by recognizing the accumulated number of completion signals.

[0120] After the placement of the first layer of vehicle bookshelf 305 is completed, the second controller 304 controls the first telescopic device 302 to retract from bottom to top, and identifies the vertically arranged second positioning markers 307 through the first positioning identification component 4. The second controller 304 obtains the coordinates Z2 of the second book storage cavity 3051 corresponding to the book to be retrieved based on the cumulative number of identification completion signals received during the vertical movement.

[0121] After placing a book in the second book storage cavity 3051, the second controller 304 sends the three-dimensional coordinate ID information of the second book storage cavity 3051 where the book is located to the first controller 5.

[0122] Using this storage method, the book retrieval is completed. Afterward, the second controller 304 controls the walking device 301 to move, so that the grasping robot returns to the initial position.

[0123] 5. Based on the three-dimensional coordinate ID information of the book located in the second book storage cavity 3051, the user or administrator retrieves the corresponding book. In a preferred embodiment, the second controller 304 prompts the user or administrator to retrieve the books via voice according to the order in which they were placed in the second book storage cavity 3051. Each location in the second book storage cavity 3051 can be assigned a number, and the voice prompt from the second controller 304 can be "Please retrieve the book ID (identity information) with number M".

[0124] 6. Record book borrowing information and borrower information through the first controller 5. Update the location information of the pick-up and drop-off robot 3 through the first controller 5.

[0125] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An automatic book retrieval and placement device, characterized in that: It includes a bookshelf, a first positioning marker component, a pick-and-place robot, a first positioning recognition component, and a first controller, wherein: There are at least two bookshelves, and each bookshelf has multiple first book storage cavities for storing books, all of which are arranged in a rectangular array. There are multiple first positioning marker components, and multiple first positioning marker components are fixedly connected to each bookshelf, and each first book storage cavity corresponds to one first positioning marker component; The retrieval robot includes a walking device, a first telescopic device, a gripping component, and a second controller. The first telescopic device, the gripping component, and the second controller are all mounted on the walking device. The gripping component is connected to the output end of the first telescopic device, and the second controller is connected to both the walking device and the first telescopic device. The walking device can drive the gripping component to move along the length of the bookshelf, the first telescopic device can drive the gripping component to move along the height of the bookshelf, and the second controller can control the walking device and the first telescopic device to open or close. The gripping component can grab or release books. The retrieval robot also includes a vehicle-mounted bookshelf and a mobile drive device, both of which are fixedly connected to the walking device. The first positioning and identification component is fixedly connected to the grasping component. The first positioning and identification component is signal-connected to the second controller. Movement along the length direction of the bookshelf is horizontal movement, and movement along the height direction of the bookshelf is vertical movement. The first positioning and identification component can identify the first positioning identification component and send an identification completion signal to the second controller when moving horizontally. The first positioning and identification component can also identify the first positioning identification component and send an identification completion signal to the second controller when moving vertically. The first controller is signal-connected to the second controller; The walking device includes a base frame, a horizontal wheel drive device, a vertical wheel drive device, at least five horizontal wheel assemblies, and at least five vertical wheel assemblies. Each horizontal wheel assembly includes a third telescopic device and at least one horizontal wheel body. Each vertical wheel assembly includes at least one vertical wheel body. The vehicle-mounted bookshelf is fixedly connected to one side of the base frame, and all the vertical wheel assemblies are located on the other side of the base frame. One end of each third telescopic device is fixedly connected to the other side of the base frame, and the other end of the third telescopic device of each horizontal wheel assembly is rotatably connected to all the horizontal wheel bodies of the corresponding horizontal wheel assembly. Each third telescopic device is signal-connected to the second controller. Each third telescopic device is capable of telescopic extension and retraction along the height direction of the vehicle-mounted bookshelf. The horizontal wheel drive device is capable of connecting to at least two horizontal wheel bodies, and the horizontal wheel bodies connected to the horizontal wheel drive device are horizontal drive wheels. The horizontal wheel drive device is capable of driving each horizontal drive wheel to rotate. The vertical wheel drive device is capable of connecting to at least two vertical wheel bodies, and the vertical wheel bodies connected to the vertical wheel drive device are vertical drive wheels. The vertical wheel drive device is capable of driving each vertical drive wheel to rotate. It also includes transverse tracks and longitudinal tracks. The transverse tracks include three spaced-apart transverse rail bodies, each transverse wheel body capable of moving along one transverse rail body, and each transverse rail body corresponds to at least two transverse wheel bodies. The longitudinal tracks include three spaced-apart longitudinal rail bodies, each longitudinal wheel body capable of moving along one longitudinal rail body, and each longitudinal rail body corresponds to at least two longitudinal wheel bodies. Each transverse rail body intersects with all longitudinal rail bodies, and a gap is formed at the intersection of each transverse rail body and each longitudinal rail body. When each transverse wheel body is at a corresponding gap, at least three transverse wheel bodies are on the corresponding transverse rail body, and when each transverse wheel body is at a corresponding gap, at least one transverse drive wheel is on the corresponding transverse rail body. When each longitudinal wheel body is at a corresponding gap, at least three longitudinal wheel bodies are on the corresponding longitudinal rail body, and when each longitudinal wheel body is at a corresponding gap, at least one longitudinal drive wheel is on the corresponding longitudinal rail body.

2. The automatic book retrieval and placement device according to claim 1, characterized in that: The retrieval robot further includes multiple second positioning marker components. The vehicle-mounted bookshelf has multiple second book storage cavities and at least one retrieval port. The multiple second positioning marker components are all fixedly connected to the vehicle-mounted bookshelf, and each second book storage cavity corresponds to one second positioning marker component. The gripping component includes a support body, a gripper assembly, and a second telescopic device. The first telescopic device is fixedly connected to the support body, the second telescopic device is connected to the output end of the first telescopic device, and the gripper assembly is fixedly connected to the output end of the second telescopic device. The support body can form a sliding connection with the vehicle-mounted bookshelf along a direction perpendicular to the height of the vehicle-mounted bookshelf. The moving drive device is connected to the support body and can drive the support body to slide relative to the length direction of the vehicle-mounted bookshelf. The gripper assembly can grip or release the book. The second telescopic device can drive the gripper assembly to extend and retract in a horizontal direction. The gripper assembly can pass through the retrieval port to remove the book from the first book storage cavity and place it into the second book storage cavity. The gripper assembly can also pass through the retrieval port to place the book in the second book storage cavity into the first book storage cavity. The first positioning identification component can identify the second positioning identification component and send an identification completion signal to the second controller.

3. The automatic book retrieval and placement device according to claim 2, characterized in that: The system also includes multiple third positioning marker components. The bookshelves are arranged in multiple rows, with at least one bookshelf in each row. Each row of bookshelves has a transverse track on both sides, running along the length of the bookshelf. At least one side of the multiple rows of bookshelves has a longitudinal track, and each longitudinal track is connected to all the transverse tracks. A third positioning marker component is provided on each longitudinal track at a position corresponding to each transverse track. The pick-and-place robot also includes a second positioning recognition component. The walking device is equipped with the second positioning recognition component, which can move along the transverse or longitudinal tracks. When moving along the longitudinal track, the second positioning recognition component can identify the third positioning marker component on the longitudinal track. The second positioning recognition component is signal-connected to the second controller.

4. The automatic book retrieval and placement device according to any one of claims 1-3, characterized in that: It also includes a facial recognition system and an interactive device. The interactive device includes a barcode scanning module. Both the facial recognition system and the interactive device are used to communicate with the first controller. The barcode scanning module can recognize the barcode of the book.

5. A method for automatically retrieving and placing books based on the automatic book retrieval and placement device according to any one of claims 1-4, characterized in that: Includes the following steps: S1. In the first controller, a correspondence between multiple book identity information and the first position information of the book on the bookshelf is preset, and the book identity information of the book to be picked up or placed is obtained; The first controller obtains the first position information of the book to be retrieved or placed based on the book's identity information. The first position information of the book to be retrieved or placed includes the first horizontal position coordinates and the first vertical position coordinates of the first book storage cavity corresponding to the book to be retrieved or placed. S2. The second controller controls the walking device and / or the first telescopic device to drive the grasping component to move laterally and / or vertically; the first positioning identification component identifies the first positioning marker component in the lateral and / or vertical movement path and sends an identification completion signal to the second controller; the second controller obtains the second lateral position coordinates of the grasping component in the first book storage cavity passed through in the lateral movement path based on the accumulated number of identification completion signals received during the lateral movement of the grasping component; the second controller obtains the second vertical position coordinates of the grasping component in the first book storage cavity passed through in the vertical movement path based on the accumulated number of identification completion signals received during the vertical movement of the grasping component; when the second lateral position coordinates are the same as the first lateral position coordinates and the second vertical position coordinates are the same as the first vertical position coordinates, the second controller controls the grasping component to stop moving; S3. Grab or release the book to be picked up or placed using the grasping component.

6. The automatic book retrieval and placement method according to claim 5, characterized in that: The bookshelves are arranged in multiple rows, with at least one bookshelf in each row. Each row of bookshelves has a transverse track on both sides, running along its length. At least one side of each row of bookshelves has a longitudinal track, and each longitudinal track connects to all the transverse tracks. A third positioning marker is positioned on each longitudinal track corresponding to each transverse track. The walking device is equipped with a second positioning identification component, enabling it to move along either the transverse or longitudinal tracks. The second positioning identification component can identify the third positioning marker on the longitudinal track and is signal-connected to a second controller. The first position information of the book to be retrieved also includes the row number information of the bookshelf where the book to be retrieved is located. Before obtaining the horizontal and vertical position coordinates of the first book storage cavity corresponding to the book to be retrieved, the row number information of the bookshelf where the book to be retrieved is located is obtained first. The method for obtaining the row number information of the bookshelf where the book to be retrieved is located includes: driving the gripping component to move along the longitudinal track by the walking device; identifying the third positioning mark component on the longitudinal track by the second positioning identification component and sending an identification completion signal to the second controller; the second controller obtains the row number information of the bookshelf corresponding to the position of the walking device based on the cumulative number of identification completion signals received by the walking device during its movement along the longitudinal track; when the row number information of the bookshelf corresponding to the position of the walking device obtained by the second controller is consistent with the row number information of the bookshelf where the book to be retrieved is located, then the row number information of the bookshelf corresponding to the position of the walking device is the row number information of the bookshelf where the book to be retrieved is located. When the walking device reaches the location of the book to be retrieved or placed on the bookshelf, the second controller controls the walking device to stop moving along the longitudinal track, and the second controller controls the walking device to move along the transverse track on one side of the bookshelf where the book to be retrieved or placed is located.

7. The automatic book retrieval and placement method according to claim 6, characterized in that: The picking and placing robot also includes a vehicle-mounted bookshelf and multiple second positioning marker components. The vehicle-mounted bookshelf is fixedly connected to the walking device. The vehicle-mounted bookshelf has multiple second book storage cavities. The multiple second positioning marker components are all fixedly connected to the vehicle-mounted bookshelf, and each second book storage cavity corresponds to one second positioning marker component. The gripping component and the vehicle-mounted bookshelf form a sliding connection along the length direction of the vehicle-mounted bookshelf. The first positioning identification component can identify the second positioning marker component and send an identification completion signal to the second controller. When storing books, at least one book to be retrieved is placed in the second book storage cavity, and the correspondence between the identity information of each book to be retrieved and the second position information of the corresponding second book storage cavity is stored in the second controller. The second controller controls the grasping component to move along the length of the vehicle bookshelf and / or controls the first telescopic device to move vertically until it reaches the second book storage cavity. The second controller obtains the second position information of the second book storage cavity at the location of the grasping component. The second controller obtains the identity information of the corresponding book to be retrieved through each second position information, and places each book to be retrieved into the corresponding first book storage cavity. When retrieving a book, the second controller obtains the identity information of the book to be retrieved through the first position information of each of the first book storage cavities. The second controller controls the grasping component to move along the length direction of the vehicle bookshelf and / or controls the first telescopic device to move vertically to place the book to be retrieved into the second book storage cavity. The second controller can also obtain the second position information of the second book storage cavity at the location of the grasping component. The method by which the second controller obtains the second position information of the second book storage cavity at the location of the grasping component includes: the second position information of the second book storage cavity includes a third horizontal position coordinate and a third vertical position coordinate; The second controller controls the grasping component to move along the length of the vehicle-mounted bookshelf and / or controls the first telescopic device to move vertically, and identifies the second positioning marker component through the first positioning identification component. The second controller obtains the third lateral position coordinate of the second book storage cavity based on the cumulative number of identification completion signals received by the grasping component during its movement along the length of the vehicle-mounted bookshelf. The second controller obtains the third vertical position coordinate of the second book storage cavity based on the cumulative number of identification completion signals received by the grasping component during its vertical movement.

8. The automatic book retrieval and placement method according to claim 7, characterized in that: Each of the bookshelves includes a first bookshelf and a second bookshelf arranged sequentially along the length of the longitudinal track. The first bookshelf is provided with a plurality of first book storage cavities on the side away from the second bookshelf and the second bookshelf is provided with a side away from the first bookshelf. The picking and placing robot also includes a mobile drive device. The vehicle-mounted bookshelf includes a first vehicle-mounted frame and a second vehicle-mounted frame. The first vehicle-mounted frame, the second vehicle-mounted frame, and the mobile drive device are all fixedly connected to the walking device, with a gap between the first vehicle-mounted frame and the second vehicle-mounted frame. The grasping component includes a support body, a gripper assembly, and a second telescopic device. The first telescopic device is fixedly connected to the support body. The second telescopic device and the output end of the first telescopic device can form a rotational connection around a first axis parallel to the vertical direction. The gripper assembly is fixedly connected to the output end of the second telescopic device. The second telescopic device can drive the gripper assembly to extend and retract in the horizontal direction. When the second telescopic device is in the non-extended state, the grasping component can carry books and rotate around the first axis. When the retrieval robot is positioned between the two rows of bookshelves, the direction of extension of the gap is perpendicular to the length direction of the bookshelves. The system obtains the position of the book to be retrieved or placed on the bookshelf. Based on the position of the book to be retrieved or placed on the bookshelf, the second controller controls the second telescopic device to rotate around the first axis until the gripper assembly faces the first vehicle rack or the second vehicle rack. The second controller also controls the second telescopic device to extend the gripper assembly horizontally. The gripping assembly is used to retrieve or place the book on the vehicle bookshelf. The second controller controls the second telescopic device to rotate around the first axis according to the first lateral position coordinate of the first book storage cavity corresponding to the book to be retrieved or placed, until the gripper assembly faces the first bookshelf or the second bookshelf. The second controller then controls the second telescopic device to extend the gripper assembly horizontally, and the gripping assembly completes the retrieval or placement of the book on the bookshelf.

9. The automatic book retrieval and placement method according to claim 7, characterized in that: The method for the second controller to obtain the accumulated number of recognition completion signals during the lateral movement of the grasping component includes: defining lateral movement in the second controller as moving from the starting point of the lateral track to the ending point of the lateral track; if the second controller controls the walking device to move laterally in the positive direction along the lateral track, the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the walking device to move laterally in the negative direction along the lateral track, the second controller decrements the count by 1 for each recognition completion signal received. The method for the second controller to obtain the accumulated number of recognition completion signals during the longitudinal movement of the grasping component includes: defining upward or downward movement as positive vertical movement in the second controller; if the second controller controls the first telescopic device to drive the grasping component to move in a positive vertical movement, then the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the first telescopic device to drive the grasping component to move in a reverse vertical movement, then the second controller decrements the count by 1 for each recognition completion signal received. The method for the second controller to obtain the cumulative number of recognition completion signals during the movement of the walking device along the longitudinal track includes: defining the movement from the starting point of the longitudinal track to the ending point of the longitudinal track as positive longitudinal movement in the second controller; if the second controller controls the walking device to move positively longitudinally along the longitudinal track, the second controller increments the count by 1 for each recognition completion signal received; if the second controller controls the walking device to move negatively longitudinally along the longitudinal track, the second controller decrements the count by 1 for each recognition completion signal received.

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