File cabinet file storage control method and system

Abstract

The invention discloses a file cabinet file storage control method and system. The method comprises the following steps that a color label is arranged on a file cabinet; stocktaking is conducted on the file cabinet through a mechanical arm, and the coordinates of the file cabinet are obtained through color labeling to complete initialization; and the manipulator receives a warehouse-out or warehouse-in message sent by the upper computer and carries out warehouse-out or warehouse-in operation. Preliminary positioning is carried out through position information, then accurate positioning is carried out by means of stocktaking and arrangement of color labels, the reliability of the whole operation process and the accuracy of position positioning are guaranteed, the positioning reliability of file cabinet storage is guaranteed, and full-automatic unmanned warehouse-in and warehouse-out can be achieved.

Description

Technical Field

[0001] The present application relates to a file storage control method and system for a filing cabinet. Background Art

[0002] Archives refer to various forms of data with preservation value directly formed by people in various social activities. With the development of society, the number of archives has increased dramatically. Manual management of archives is time-consuming, labor-intensive and inefficient. With the development of computer information technology, unmanned management of archives has become an inevitable development trend.

[0003] The existing automatic storage and retrieval devices on the market have problems such as low automation, high failure rate, low efficiency, large and inflexible controller size, etc. Summary of the invention

[0004] In order to solve the above problems, the present application discloses a file cabinet file storage control method, comprising the following steps:

[0005] Set up color labels on filing cabinets;

[0006] The filing cabinets are checked by the robot, and the filing cabinet coordinates are obtained through color labels to complete the initialization;

[0007] The manipulator receives the outbound or inbound message from the host computer and performs outbound or inbound operations. This application uses the location information for preliminary positioning, and then uses the inventory and color label settings to perform precise positioning to ensure the reliability of the overall operation process and the accuracy of the positioning, ensuring the positioning reliability of the filing cabinet storage, and can achieve fully automatic unmanned inbound and outbound storage.

[0008] Preferably, the filing cabinet includes a plurality of cabinet units, and the cabinet units include two relatively arranged vertical cabinets, a plurality of file slots are arranged on the vertical cabinet, a plurality of cells are arranged in the file slots, and the color labels are arranged below the cells; a transverse slide rail is arranged above the vertical cabinet, a transverse rod is arranged on the transverse slide rail, both sides of the transverse rod are slidably arranged on the transverse slide rail, a transverse rod slider is arranged on one side of the transverse rod, the transverse rod slider is connected to a transverse rod lead screw power, a vertical rod is arranged below the transverse rod, a vertical pulley is arranged at the bottom of the vertical rod, a pulley guide rail is arranged at the bottom of the vertical pulley, and the manipulator is slidably arranged on the vertical rod.

[0009] Preferably, the inventory is performed as follows:

[0010] Return to zero: The five-axis motor drives the manipulator to return to the origin in reverse order. After the origin switch is valid, it decelerates and stops, and then rotates forward. It stops after detecting that the origin switch is invalid. The return to origin is completed, and the position is set as the zero point;

[0011] Record: Turn on the color sensor of the robot, and the linear guide rail drives the robot to run in an S-shaped trajectory. The color label of the file grid is detected and converted into coordinate information and sent to the host computer. The color mark of each layer is detected in turn to complete the initialization;

[0012] Initialization: Through the QR code scanner on the robot, the linear guide drives the robot to run in an S-shaped trajectory, sends the detected QR code to the host computer, scans each layer of files in turn, and completes the inventory. This application uses a color sensor and a QR code scanner in combination. The color sensor can achieve fast and accurate positioning, and the QR code scanner can reconfirm the content. The inventory operation also establishes an automatic correspondence between color tags and QR codes, preparing for the subsequent warehousing and outbound operations.

[0013] Preferably, warehousing is performed as follows:

[0014] After power-on, all five-axis motors return to their origins and record their initial positions;

[0015] The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency to the servo motor of the robot. The servo motor drives the transmission device to position the robot to the target position.

[0016] The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected;

[0017] Turn on the infrared sensor monitoring to determine whether the robot arm is empty;

[0018] Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing;

[0019] The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance;

[0020] The servo motor is controlled to run to the item storage area, and the robot deposits the goods.

[0021] Preferably, the outbound delivery is carried out in the following manner:

[0022] After power-on, all five-axis motors return to their origins and record their initial positions;

[0023] The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency for the servo motor. The servo motor drives the transmission device to position the manipulator to the target position.

[0024] The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected;

[0025] Start infrared sensor monitoring to determine whether the robot arm is empty;

[0026] Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing;

[0027] The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance;

[0028] After determining that there is cargo, the robot takes it away.

[0029] Preferably, it also includes a touch screen controller set on site, and the touch screen controller is connected to the main controller of the manipulator by Bluetooth. The Bluetooth connection used in this application has low power, is convenient for battery power supply, can work continuously for a long time, and is small in size, easy to embed into the touch screen, is not limited by distance in the warehouse, is easy to debug, and is suitable for multiple groups of filing cabinets on site to work simultaneously. Bluetooth can be paired one-to-one to avoid sending instructions to other filing cabinets by mistake.

[0030] Preferably, the host computer communicates with the outside world using the MQTT communication protocol. The host computer of the present application communicates with the outside world, and the message quality is set to 2. The information uploaded during the execution of the system will be saved in time to prevent the host computer from not receiving the information in time and causing data loss.

[0031] Preferably, the RS485 communication protocol is used between the host computer and the manipulator, and a timeout retransmission, host inquiry and slave response mechanism are set. After the host computer issues an instruction, the manipulator performs each action in sequence. The main controller and the manipulator body of this application are set with a timeout retransmission function. After the main controller sends an instruction, the manipulator should immediately return a message. If the main controller does not receive a manipulator message within a certain period of time, it will resend to ensure that the instruction is issued normally; after the instruction is issued, the system uses the main controller polling + manipulator body response method to obtain the manipulator body status to prevent data conflicts.

[0032] Preferably, the manipulator includes a vertical sliding slider, the vertical sliding slider is connected to a vertical lead screw power, a support frame is arranged on the vertical sliding slider, a transmission clamping mechanism is arranged above the support frame, a hollow rotating platform is arranged above the transmission clamping mechanism, a stepping motor is arranged above the hollow rotating platform, the stepping motor is connected to the power of the hollow rotating platform, the transmission clamping mechanism includes a lead screw slide, an extension plate is arranged on the side of the lead screw slide, and a vertical plate is arranged on the top; guide cone plates are arranged on both sides of the upper front end of the extension plate, and auxiliary baffles are arranged on both sides of the rear end of the front end; a color sensor and an ultrasonic sensor are arranged at the front end of the extension plate; an infrared sensor is arranged in the middle of the vertical plate;

[0033] A power output device steering gear is arranged on the top of the vertical plate, and the power output device steering gear is connected to a clamp linkage bracket in terms of power.

[0034] On the other hand, a file storage control system in a file cabinet is also disclosed, comprising the following modules:

[0035] Filing cabinets, which are used to store files and provide color coding and QR code information for robot positioning;

[0036] The host computer is used to receive external information, parse the information, and transmit it to the robot for execution;

[0037] The robot is used to receive information from the host computer and perform inventory, storage and outbound operations based on the information from the host computer and the filing cabinet.

[0038] This application can bring the following beneficial effects:

[0039] 1. This application uses location information for preliminary positioning, and then uses inventory and color label settings to perform precise positioning to ensure the reliability of the overall operation process and the accuracy of positioning, ensure the reliability of the positioning of the filing cabinet storage, and realize fully automatic unmanned entry and exit.

[0040] 2. This application uses a combination of a color sensor and a QR code scanner. The color sensor can achieve fast and accurate positioning, while the QR code scanner can reconfirm the content. Through inventory operations, an automated correspondence between color tags and QR codes is also established, preparing for automated operations for subsequent warehousing and outbound operations.

[0041] 3. The Bluetooth connection used in this application has low power, is easy to be powered by batteries, can work continuously for many hours, and is small in size, easy to embed into a touch screen. It is not restricted by distance in the warehouse and is easy to debug. It is suitable for multiple groups of filing cabinets to work simultaneously on site. Bluetooth can be paired one-to-one to avoid sending commands to other filing cabinets by mistake.

[0042] 4. In this application, the main controller and the robot body are set with a timeout retransmission function. After the main controller sends a command, the robot should immediately return a message. If the main controller does not receive a message from the robot within a certain period of time, it will resend it to ensure that the command is issued normally. After the command is issued, the system uses the main controller polling + robot body response method to obtain the robot body status to prevent data conflicts. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0044] Figure 1 It is a schematic diagram of the process of Example 1;

[0045] Figure 2 It is a schematic diagram of the process of Example 2;

[0046] Figure 3 The schematic diagram of the structure of the filing cabinet is shown in FIG.

[0047] Figure 4 This is a schematic diagram of the structure of the robot. DETAILED DESCRIPTION

[0048] In order to clearly illustrate the technical features of this solution, this application is elaborated in detail below through specific implementation methods.

[0049] In the first embodiment, if Figure 1 As shown, a file cabinet file storage control method includes the following steps:

[0050] S101. Filing cabinet settings

[0051] Set up color labels on filing cabinets;

[0052] The filing cabinet comprises a filing rack, a plurality of filing slots are arranged in the filing rack, a plurality of cells are arranged in the filing slots, and the color labels are arranged below the cells; a horizontal guide rail is arranged on the side of the filing rack, a vertical guide rail is arranged on the horizontal guide rail, and the manipulator is slidably arranged on the vertical guide rail.

[0053] S102. Inventory operation

[0054] The filing cabinets are checked by the robot, and the filing cabinet coordinates are obtained through color labels to complete the initialization;

[0055] The inventory is carried out in the following way:

[0056] Return to zero: The five-axis motor drives the manipulator to return to the origin in reverse order. After the origin switch is valid, it decelerates and stops, and then rotates forward. It stops after detecting that the origin switch is invalid. The return to origin is completed, and the position is set as the zero point;

[0057] Record: Turn on the color sensor of the robot, and the linear guide rail drives the robot to run in an S-shaped trajectory. The color label of the file grid is detected and converted into coordinate information and sent to the host computer. The color mark of each layer is detected in turn to complete the initialization;

[0058] Initialization: Through the QR code scanner on the robot, the linear guide drives the robot to run in an S-shaped trajectory, sends the detected QR code to the host computer, scans each layer of files in turn, and completes the inventory.

[0059] The microprocessor of the host computer is the STM32f103 series MCU, which is small in size, cost-effective, low in power consumption, rich in peripherals, and expandable. It can integrate and add different functional modules, greatly improving the level of intelligence.

[0060] The controller microprocessor of the robot is STM32F103rct6, which is equipped with an AD acquisition module to collect ultrasonic data; an IO electronic control module to connect the ultrasonic sensor; an RS232 module to communicate with the QR code module; and a motor drive module to drive two stepper motors to grab files.

[0061] S103. Outbound and inbound operations

[0062] The robot receives the outbound or inbound message from the host computer and performs the outbound or inbound operation.

[0063] The storage is carried out as follows:

[0064] After power-on, all five-axis motors return to their origins and record their initial positions;

[0065] The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency to the servo motor of the robot. The servo motor drives the transmission device to position the robot to the target position.

[0066] The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected;

[0067] Turn on the infrared sensor monitoring to determine whether the robot arm is empty;

[0068] Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing;

[0069] The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance;

[0070] The servo motor is controlled to run to the item storage area, and the robot deposits the goods.

[0071] The outbound delivery is carried out as follows:

[0072] After power-on, all five-axis motors return to their origins and record their initial positions;

[0073] The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency for the servo motor. The servo motor drives the transmission device to position the manipulator to the target position.

[0074] The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected;

[0075] Start infrared sensor monitoring to determine whether the robot arm is empty;

[0076] Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing;

[0077] The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance;

[0078] After determining that there is cargo, the robot takes it away.

[0079] In fact, the control can also be performed by setting a touch screen controller on site, and the touch screen controller is connected to the main controller of the manipulator using Bluetooth.

[0080] The host computer communicates with the outside world using the MQTT communication protocol.

[0081] The host computer and the manipulator use RS485 communication protocol, and set timeout retransmission, host inquiry and slave response mechanism. After the external communication sends the instruction, the manipulator executes each action in sequence.

[0082] like Figure 3-4As shown, the filing cabinet includes a plurality of cabinet units, and the cabinet units include two vertical cabinets 1 arranged opposite to each other, a plurality of file slots 2 are arranged on the vertical cabinet 1, a plurality of cells 3 are arranged in the file slots 2, and the color label 4 is arranged below the cells 3; a transverse slide rail 5 is arranged above the vertical cabinet 1, a transverse rod 6 is arranged on the transverse slide rail 5, both sides of the transverse rod 6 are slidably arranged on the transverse slide rail 5, a transverse rod slider 7 is arranged on one side of the transverse rod 6, and the transverse rod slider 7 is connected to a transverse rod lead screw (not shown in the figure) by power, a vertical rod 8 is arranged below the transverse rod 6, a vertical pulley 9 is arranged at the bottom of the vertical rod 8, a pulley guide rail 10 is arranged at the bottom of the vertical pulley 9, and a manipulator 11 is slidably arranged on the vertical rod 8. The transverse rod lead screw, the vertical lead screw, etc. need to be connected to the servo motor power.

[0083] The manipulator 11 includes a vertical sliding slider 12, which is connected to a vertical lead screw (not shown in the figure) by power, a support frame 13 is arranged on the vertical sliding slider 12, a transmission clamping mechanism 14 is arranged above the support frame 13, a hollow rotating platform 15 is arranged above the transmission clamping mechanism 14, a stepping motor 16 is arranged above the hollow rotating platform 15, and the stepping motor 16 is connected to the hollow rotating platform 15 by power, the transmission clamping mechanism 14 includes a lead screw slide 17, an extension plate 18 is arranged on the side of the lead screw slide 17, and a vertical plate 19 is arranged on the top; guide cone plates 20 are respectively arranged on both sides of the upper front end of the extension plate 18, and auxiliary baffles 21 are respectively arranged on both sides of the rear end of the front end; a color sensor 22 and an ultrasonic sensor 23 are arranged at the front end of the extension plate 18; an infrared sensor 26 is arranged in the middle of the vertical plate 19;

[0084] A power output device steering gear 24 is disposed on the top of the vertical plate 19 , and the power output device steering gear 24 is connected to a clamp linkage bracket 25 in power.

[0085] When retrieving files, the screw slide drives the vertical plate and the extension plate to move forward, dragging the bottom of the file. At the same time, the power output device servo rotates the clamp to drive the bracket downward to press the file; the screw slide drives the vertical plate and the extension plate back to the zero point; the file is taken into the robot arm, and the retrieval is completed.

[0086] When returning the gear, the screw slide drives the vertical plate and the extension plate to move forward to the inside of the filing cabinet, and the servo of the power output device rotates the clamp linkage bracket upward to release the file; the screw slide drives the vertical plate and the extension plate back to the zero point; and the returning gear is completed.

[0087] In the second embodiment, if Figure 2 As shown, a file storage control system in a file cabinet includes the following modules:

[0088] Filing cabinet 201, used to store files and provide color marking and QR code information for positioning of robot 11;

[0089] The host computer 202 is used to receive external information, parse the information, and transmit it to the manipulator for execution;

[0090] The robot 203 is used to receive information from the host computer and perform inventory, storage and outbound storage based on the information from the host computer and the filing cabinet.

[0091] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling the storage of files in a filing cabinet, characterized in that: The steps include: Set up color labels on filing cabinets; The filing cabinets are checked by the robot, and the filing cabinet coordinates are obtained through color labels to complete the initialization; The robot receives the outbound or inbound message from the host computer and performs the outbound or inbound operation.

2. A filing cabinet file storage control method according to claim 1, characterized in that: The filing cabinet includes a plurality of cabinet units, and the cabinet units include two vertical cabinets arranged oppositely, a plurality of file slots are arranged on the vertical cabinet, a plurality of cells are arranged in the file slots, and the color labels are arranged below the cells; a horizontal slide rail is arranged above the vertical cabinet, a horizontal rod is arranged on the horizontal slide rail, both sides of the horizontal rod are slidably arranged on the horizontal slide rail, a horizontal rod slider is arranged on one side of the horizontal rod, the horizontal rod slider is connected to a horizontal rod lead screw power, a vertical rod is arranged below the horizontal rod, a vertical pulley is arranged at the bottom of the vertical rod, a pulley guide rail is arranged at the bottom of the vertical pulley, and the manipulator is slidably arranged on the vertical rod.

3. A filing cabinet file storage control method according to claim 1, characterized in that: The inventory is carried out in the following way: Return to zero: The five-axis motor drives the manipulator to return to the origin in reverse order. After the origin switch is valid, it decelerates and stops, and then rotates forward. It stops after detecting that the origin switch is invalid. The return to origin is completed, and the position is set as the zero point; Record: Turn on the color sensor of the robot, and the linear guide rail drives the robot to run in an S-shaped trajectory. The color label of the file grid is detected and converted into coordinate information and sent to the host computer. The color mark of each layer is detected in turn to complete the initialization; Initialization: Through the QR code scanner on the robot, the linear guide drives the robot to run in an S-shaped trajectory, sends the detected QR code to the host computer, scans each layer of files in turn, and completes the inventory.

4. A filing cabinet file storage control method according to claim 1, characterized in that: The storage is carried out as follows: After power-on, all five-axis motors return to their origins and record their initial positions; The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency to the servo motor of the robot. The servo motor drives the transmission device to position the robot to the target position. The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected; Turn on the infrared sensor monitoring to determine whether the robot arm is empty; Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing; The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance; The servo motor is controlled to run to the item storage area, and the robot deposits the goods.

5. A filing cabinet file storage control method according to claim 1, characterized in that: The outbound delivery is carried out as follows: After power-on, all five-axis motors return to their origins and record their initial positions; The host computer receives external messages, analyzes the target position and target number information, and converts them into pulse direction, pulse quantity, and pulse frequency for the servo motor. The servo motor drives the transmission device to position the manipulator to the target position. The color sensor of the robot starts real-time monitoring. If no color label is detected, the servo motor moves left and right in a small range until the color label is detected; Start infrared sensor monitoring to determine whether the robot arm is empty; Turn on the automatic scanning function of the QR code scanner, compare the returned QR code information with the target number, and grab it if the information is consistent and the robot arm is empty to avoid empty grabbing or wrong grabbing; The ultrasonic sensor at the manipulator end detects the target distance, which is recorded as the manipulator's forward distance; After determining that there is cargo, the robot takes it away.

6. A filing cabinet file storage control method according to claim 1, characterized in that: It also includes a touch screen controller arranged on site, and the touch screen controller is connected to a main controller of the manipulator by using Bluetooth.

7. A filing cabinet file storage control method according to claim 1, characterized in that: The host computer communicates with the outside world using the MQTT communication protocol.

8. A filing cabinet file storage control method according to claim 7, characterized in that: The RS485 communication protocol is used between the host computer and the manipulator, and a timeout retransmission, host inquiry and slave response mechanism are set. After the main controller sends an instruction, the manipulator executes each action in sequence.

9. A filing cabinet file storage control method according to claim 2, characterized in that: The manipulator comprises a vertical sliding block, which is connected to a vertical lead screw power, a supporting frame is arranged on the vertical sliding block, a transmission clamping mechanism is arranged above the supporting frame, a hollow rotating platform is arranged above the transmission clamping mechanism, a stepping motor is arranged above the hollow rotating platform, the stepping motor is connected to the power of the hollow rotating platform, the transmission clamping mechanism comprises a lead screw slide, an extension plate is arranged on the side of the lead screw slide, and a vertical plate is arranged on the top; guide cone plates are arranged on both sides of the upper front end of the extension plate, and auxiliary baffles are arranged on both sides of the rear end of the front end; a color sensor and an ultrasonic sensor are arranged at the front end of the extension plate; an infrared sensor is arranged in the middle of the vertical plate; A power output device steering gear is arranged on the top of the vertical plate, and the power output device steering gear is connected to a clamp linkage bracket in terms of power.

10. A file cabinet file storage control system, characterized in that: Includes the following modules: Filing cabinets, which are used to store files and provide color coding and QR code information for robot positioning; The host computer is used to receive external information, parse the information, and transmit it to the robot for execution; The robot is used to receive information from the host computer and perform inventory, storage and outbound operations based on the information from the host computer and the filing cabinet.

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