Autonomous library book returning robot based on multi-sensor fusion perception

Abstract

The invention relates to the field of intelligent robots, in particular to a library autonomous book returning robot based on multi-sensor fusion perception, which comprises an intelligent book returning robot and an intelligent book returning box, and is characterized in that the intelligent book returning robot comprises a vehicle body, a self-adaptive lifting mechanism, an outer mechanical arm, a transfer mechanism, a pushing mechanism and a plurality of sensors; a self-adaptive lifting mechanism is installed on one side of the top of the trolley body, an outer mechanical arm is installed on the self-adaptive lifting mechanism, a book storage cavity is formed in the trolley body, a pushing mechanism is installed on the top of the book storage cavity, a transferring mechanism is arranged at the bottom of the book storage cavity, and a plurality of sensors are further arranged on the periphery of the trolley body. According to the intelligent book returning robot, automatic integrated book returning can be achieved, the requirement for returning objects of different heights is met through the self-adaptive lifting mechanism, and in the process, grabbing of the mechanical arm self-adaptive to the object size has high stability.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to an autonomous book-returning robot for a library based on multi-sensor fusion perception. Background Art

[0002] As people's enthusiasm for reading increases, the number of books in libraries continues to increase, making the task of manual book returns arduous and increasing the workload of staff. In addition, the low efficiency of book returns and the limited service area have led to major challenges in library management, affecting people's book borrowing experience and not conducive to promoting the development of the reading craze. The book return machines on the market can alleviate the problem of heavy workload in libraries to a certain extent, but their degree of automation is low and they do not integrate AI artificial intelligence technology. Staff are still required to move books to the corresponding areas. For books on higher floors, staff need to use ladders to return books, and the efficiency of book returns is low. Summary of the invention

[0003] The present invention provides an autonomous book-returning robot for libraries based on multi-sensor fusion perception, so as to solve the technical problems that the continuous increase in the number of books in existing libraries makes the task of manual book return arduous, the workload of staff increases, and the book return efficiency is low.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows: The present invention provides a library autonomous book return robot based on multi-sensor fusion perception, including an intelligent book return robot and an intelligent book return box; The intelligent book return robot includes a body, an adaptive lifting mechanism, an external mechanical arm, a transfer mechanism, a pushing mechanism, and several sensors. An adaptive lifting mechanism is installed on one side of the top of the body, and an external mechanical arm is installed on the adaptive lifting mechanism. A book storage cavity is provided inside the body, a pushing mechanism is installed on the top of the book storage cavity, a transfer mechanism is provided at the bottom of the book storage cavity, and several sensors are also provided around the body. A display screen and several buttons are provided on the top of the smart book return box, a book return box grabbing slot and a book return entrance are provided on the side of the smart book return box, and the smart book return robot is communicated with the smart book return box.

[0005] Furthermore, the adaptive lifting mechanism includes a binocular camera sensor, a robotic arm landing platform, a robotic arm rising platform, a first guide rail, a hydraulic rod, and a steering gear. The fixed end of the hydraulic rod is fixedly mounted on the vehicle body, and the movable end of the hydraulic rod is fixedly connected to the robotic arm rising platform for controlling the raising of the robotic arm rising platform. The first guide rail is fixedly mounted on the front side of the vehicle body. The robotic arm rising platform is clamped with the robotic arm landing platform. A steering gear is provided at the bottom of the robotic arm landing platform. The steering gear is transmission connected to the first guide rail. The steering gear is transmission connected to the first guide rail. When the robotic arm landing platform is separated from the robotic arm rising platform, the steering gear drives the robotic arm landing platform to descend. The binocular camera sensor is fixedly mounted on the robotic arm rising platform.

[0006] Furthermore, one end of the outer robotic arm is rotatably connected to the robotic arm storage table through a second robotic arm rotating shaft, and a movable robotic arm book pusher is fixedly installed at the connection point. The other end of the outer robotic arm is installed with a first robotic arm rotating shaft, and the first robotic arm rotating shaft is transmission-connected to a robotic arm rotating shaft movable track fixedly installed on the robotic arm landing platform so that the outer robotic arm can move horizontally. A number of robotic arm book pushing claws are installed at the front end of the robotic arm storage table, and a robotic arm camera sensor is fixedly installed at the end of the robotic arm book pushing claw. The robotic arm camera sensor is used to monitor the clamping status of the book.

[0007] Furthermore, the front end of the book-pushing claw of the robotic arm is designed to be wedge-shaped and can expand outwards during movement.

[0008] Furthermore, the transfer mechanism includes an inner mechanical arm, a plurality of first synchronous belts, a plurality of book return racks, a plurality of buckles, and synchronous pulleys; A plurality of synchronous pulleys are respectively installed on the motor and are vertically symmetrically distributed on both sides of the book storage cavity. A plurality of first synchronous belts are respectively meshed with a plurality of synchronous pulleys. A plurality of buckles are respectively engaged with the first synchronous belts on both sides. The book return grid is centrally placed between the first synchronous belts on both sides and is detachably connected to the buckles. A pair of movable inner mechanical arm claws are symmetrically provided at the front end of the inner mechanical arm for grabbing the book return grid. An inner mechanical arm identification sensor is installed between the inner mechanical arm claws. A pair of inner mechanical arm conveying gears are installed at the bottom of the inner mechanical arm, and the inner mechanical arm conveying gears are installed in the second guide rail at the bottom.

[0009] Furthermore, the pushing mechanism includes a pushing block, a second synchronous belt, and a photoelectric sensor. The pushing block is connected to the second synchronous belt in a transmission manner. The second synchronous belt rotates to drive the pushing block to extend and retract to push the books. The photoelectric sensor is used to monitor the stacking of books in the book return grid.

[0010] Furthermore, a laser radar is installed on the top of the pushing mechanism for path planning.

[0011] Furthermore, the bottom of the intelligent book return robot is provided with a plurality of Mecanum wheels for the intelligent book return robot to move, and the body is also provided with a plurality of anti-collision sensors, a plurality of near-infrared sensors, a plurality of ultrasonic sensors, a book return box grabbing and identifying sensors, a plurality of anti-collision sensors, a plurality of near-infrared sensors, a plurality of ultrasonic sensors, a plurality of near-infrared sensors for accurately measuring the distance of nearby objects, a plurality of ultrasonic sensors for detecting obstacles within a large range, a plurality of anti-collision sensors for preventing collisions during the movement of the intelligent book return robot, and a book return box grabbing and identifying sensors for distance measurement when docking with the intelligent book return box.

[0012] Furthermore, a charging station is provided, so that the book-returning robot can return to charge itself when the battery is low.

[0013] Beneficial effects of the present invention: 1. In the present invention, the robot is equipped with a binocular camera, which obtains information including book title, category, ISBN, location information, etc. by scanning the QR code of the book. The robot builds a learning model based on the previously collected book data annotation, so that it can infer the specific and detailed return location of the book based on the recognized book name and serial number and return it.

[0014] 2. The robot of the present invention is also equipped with a VSLAM algorithm. The VSLAM algorithm is combined with deep learning to achieve advanced mapping functions. The robot uses a deep convolutional neural network (CNN) for target detection and object recognition with an accuracy of up to 98.3%. It can update the map every millisecond and use the obtained data to build a high-precision three-dimensional map with an error of only 1 mm. This enables the robot to accurately perceive the surrounding environment when performing tasks and use high-precision maps as a reference. It can be more flexible and can handle complex scenes and tasks.

[0015] 3. The lifting platform structure of the present invention combines a hydraulic lifting structure and a three-dimensional transmission structure driven by a servo drive, and has high adaptability and flexibility. It can automatically adjust the lifting according to the book position information recognized by the binocular camera to return the books to any layer of the book cabinet, making the robot more efficient and accurate in handling book return tasks at different heights, ensuring the smooth progress of the book return process.

[0016] 4. The present invention is provided with an intelligent book return box, the book return grid of which is fitted with the robot through a snap-fit ​​design, and adopts a crawler transmission structure and an inner and outer robotic arms based on adaptive book sizes. This structure has higher robustness and stability than the traditional single robotic arm transmission system.

[0017] 5. The present invention can also be applied in many aspects. For example, in logistics services, the robot can be used in logistics services. By identifying the information of logistics goods, the specific location information of the items can be obtained, and the items can be grabbed by the internal or external robotic arm, and autonomously navigated to the corresponding location to classify and place the logistics goods. In medical services, the robot can be used in the pharmacy of the hospital, and the multi-sensor fusion perception environment can be used to realize autonomous medicine collection. According to the patient's medication needs, the robot can autonomously navigate to the corresponding medicine storage place and grab the medicine by the internal or external robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional schematic diagram of the intelligent book-returning robot of the present invention; Figure 2 This is a left-side structural schematic diagram of the intelligent book-returning robot of the present invention; Figure 3 This is a right view structural diagram of the intelligent book returning robot of the present invention; Figure 4 This is a schematic diagram of the bottom structure of the intelligent book-returning robot of the present invention; Figure 5 This is a schematic diagram of the structure of the external mechanical arm of the intelligent book returning robot of the present invention; Figure 6 This is a schematic diagram of the structure of the mechanical arm of the intelligent book-returning robot of the present invention; Figure 7 This is a schematic diagram of the intelligent book return robot of the present invention grabbing books from a book return box; Figure 8 This is a schematic diagram of lifting books inside the intelligent book-returning robot of the present invention; Fig. 9 This is a schematic diagram of the intelligent book-returning robot of the present invention lifting and transporting books; Fig.10 This is a schematic diagram of the external mechanical arm of the intelligent book-returning robot of the present invention grabbing a book; Fig.11 This is a schematic diagram of the intelligent book-returning robot of the present invention returning books at a high place; Fig.12 This is a schematic diagram of the intelligent book-returning robot of the present invention returning a book at a low place; Fig.13 This is a schematic diagram of charging the intelligent book returning robot of the present invention.

[0019] Description of reference numerals: 1. Mecanum wheel; 2. Anti-collision sensor; 3. Near-infrared sensor; 4. Ultrasonic sensor; 5. Binocular camera sensor; 6. LiDAR; 7. Camera sensor on the robot arm; 8. Robot arm book pusher; 9. Robot arm book pusher; 10. Robot arm storage table; 11. External robot arm; 12. First robot arm shaft; 12A, second robot arm shaft; 13. Robot arm landing platform; 14. Robot arm shaft moving path; 15. Robot arm ascending platform; 16. Book return box grab slot; 17. Intelligent Book return box; 18. Display screen; 19. Button; 20. Book return entrance; 21. Book return box grabbing and identification sensor; 22. Photoelectric sensor; 24. Internal robotic arm; 25. Internal robotic arm claw; 26. Internal robotic arm identification sensor; 27. Internal robotic arm conveying gear; 28. First synchronous belt; 29. ​​Book return grid; 30. Pushing mechanism; 31. Pushing block; 32. Second synchronous belt; 33. Buckle; 34. First guide rail; 35. Hydraulic rod; 36. Servo; 37. Synchronous pulley; 38. Second guide rail. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0025] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0026] As described in the background art, the increasing number of books in libraries has made the task of manual book return arduous, the workload of staff has increased, and the efficiency of book return has been low; To solve the above problems, refer to Figure 1 to Figure 13 , the embodiment of the present application provides a library autonomous book return robot based on multi-sensor fusion perception, including an intelligent book return robot and an intelligent book return box 17; A display screen 18 and a plurality of buttons 19 are provided on the top of the intelligent book return box 17, which are convenient for users to operate the intelligent book return robot. A book return entrance 20 is also provided on the side of the intelligent book return box, and the books that readers have read are put into the intelligent book return box 17 through the book return entrance 20 for temporary storage; The intelligent book return robot includes a body, an adaptive lifting mechanism, an external robotic arm 11, a transfer mechanism, a pushing mechanism 30, and several sensors. An adaptive lifting mechanism is installed on one side of the top of the body. It can automatically adjust the lifting and lowering according to the location where the books need to be placed to return the books to any layer of the book cabinet, ensuring the smooth progress of the book return process. The adaptive lifting mechanism is installed with an external robotic arm 11 for clamping books. A book storage cavity is provided inside the body for storing multiple books to be transported at one time. A transfer mechanism is provided at the bottom of the book storage cavity for transferring the books in the intelligent book return box to the intelligent book return robot. The pushing mechanism 30 on the top of the book storage cavity pushes the books one by one to the robotic arm, and cooperates with the adaptive lifting mechanism to complete the book placement.

[0027] A zigbee communication module is also provided between the intelligent book return robot and the intelligent book return box 17. Once the books in the intelligent book return box 17 are piled up to a height of 90 cm, the sensor will immediately detect that the remaining space distance is less than 5 cm, which means that the book return box is full. Through the zigbee communication module, the system will send a signal to the intelligent book return robot to wake up the intelligent book return robot and guide it into working state.

[0028] In this embodiment, a laser radar 6 is installed on the top of the intelligent book return robot for path planning, realizing advanced mapping functions. At the same time, target detection and object recognition are performed through the VSLAM algorithm and the deep convolutional neural network (CNN), and the posture adjustment is performed in cooperation with a number of anti-collision sensors 2, a number of near-infrared sensors 3, and a number of ultrasonic sensors 4 carried by the intelligent book return robot. The near-infrared sensor 3 and the ultrasonic sensor 4 are mainly located at the front end of the robot. The near-infrared sensor 3 can accurately measure the distance of the object, and its working range is usually between 2cm and 30cm; the ultrasonic sensor 4 can cover a wider range, and its ranging range can reach 2cm to 400cm, effectively detecting long-distance and short-distance obstacles. The two sensors work together to realize the obstacle avoidance function. A number of Mecanum wheels 1 are arranged at the bottom of the intelligent book return robot. When the robot moves to 50cm in front of the book return box, the book return box grasping and identification sensor 21 is used to realize the docking and ranging between the intelligent book return robot and the intelligent book return box 17, and the books are transferred after the ranging is completed.

[0029] Reference Figure 6~Figure 8 The intelligent book return robot transport mechanism includes an inner mechanical arm 24, a plurality of first synchronous belts 28, a plurality of book return grids 29, a plurality of buckles 33, and a synchronous pulley 37; A pair of movable inner robot arm claws 25 are symmetrically provided at the front end of the inner robot arm 24. The inner robot arm claws 25 grab the book return grid 29 through the book return box grabbing groove 16. An inner robot arm identification sensor 26 is installed between the inner robot arm claws 25 to adjust the grabbing position of the inner robot arm claws 25. A pair of inner robot arm conveying gears 27 are installed at the bottom of the inner robot arm 24. The inner robot arm conveying gears 27 are installed in the second guide rail 38 at the bottom. After grabbing the book return grid 29, the inner robot arm conveying gears 27 retract backwards on the second guide rail 38 to transport the book return grid 29 full of books to the inside of the intelligent book return robot. The book return grid 29 is snapped with the buckle 33, and the buckle 33 is snapped on the first synchronous belt 28 vertically symmetrically distributed on both sides of the book storage cavity. The first synchronous belts 28 on both sides are respectively meshed with a plurality of synchronous pulleys 37. The motor drives the synchronous pulley 37 to rotate, and the first synchronous belt 28 rotates to bring the books in the book return grid 29 up.

[0030] Reference Fig. 9 The pushing mechanism 30 includes a pushing block 31, a second synchronous belt 32, and a photoelectric sensor 22. The pushing block 31 is engaged with the second synchronous belts 32 on both sides. The second synchronous belts 32 rotate to drive the pushing block 31 to extend and retract to push the book.

[0031] In this embodiment, the book return grid 29 rises, and when the book is transferred to the top, the return value of the photoelectric sensor 22 is less than 2 cm, and the photoelectric sensor 22 stops the transmission. When the book is pushed to the position of the outer robot arm 11 by the pushing block 31, there is no book on the top, and the return value of the photoelectric sensor 22 is greater than 20 cm, and the transmission continues.

[0032] Reference Figure 5 , Fig.10 One end of the outer robot arm 11 is rotatably connected to the robot arm storage platform 10 through the second robot arm shaft device 12A, and a movable robot arm book pusher 9 is fixedly installed at the connection point. The other end of the outer robot arm 11 is installed with a first robot arm shaft device 12, and the first robot arm shaft device 12 is transmission-connected to a robot arm shaft moving track 14 fixedly installed on a robot arm landing platform 13. A plurality of robot arm book pushing claws 8 are installed at the front end of the robot arm storage platform 10, and a robot arm camera sensor 7 is also fixedly installed at the installation point.

[0033] In this embodiment, the second mechanical arm shaft 12A can rotate 90 degrees, mainly used to adjust the book from the horizontal state to the vertical state after clamping it, so as to place the book in the bookcase later. The first mechanical arm shaft 12 can rotate 180 degrees, so as to realize the clamping and moving of the book from the rear end of the intelligent book return robot to the front end. The camera sensor 7 on the mechanical arm is used to scan the QR code of the book, capture the image containing the QR code, and pre-process the image including image enhancement, denoising, rotation correction, decoding, and extracting useful information. The information may include the title, category, ISBN, location information, etc. At the same time, the mechanical arm book pusher 9 is used to adjust the posture of clamping the book, which can effectively adapt to the size and thickness of the book. In addition, the front end of the mechanical arm book pusher 8 is wedge-shaped, and the thin tip of the front end is used to extend between the books. When driven, the books on the bookshelf can be pushed away by 3-4cm to reserve space for the books to be returned.

[0034] Reference Figure 11~Figure 12 The adaptive lifting mechanism includes a binocular camera sensor 5, a robotic arm landing platform 13, a robotic arm rising platform 15, a first guide rail 34, a hydraulic rod 35, and a steering gear 36. One end of the hydraulic rod 35 is fixedly installed on the vehicle body, and the other end of the hydraulic rod 35 is fixedly connected to the robotic arm rising platform 15. The first guide rail 34 is also fixedly installed on the front end of the vehicle body. The robotic arm rising platform 15 is clamped with the robotic arm landing platform 13. A steering gear 36 is provided at the bottom of the robotic arm landing platform 13, and the steering gear 36 is transmission-connected to the first guide rail 34.

[0035] In this embodiment, the binocular camera sensor 5 is integrated with the deep learning algorithm yolov5 to identify the book information. By collecting book images and performing data annotation, a deep learning model is constructed and trained. After the model training is completed, when the binocular camera sensor 5 captures a new book image, the deep learning model will automatically detect the location of the book and extract text information containing the book name and serial number. The specific and detailed return location of the book can be inferred based on the name and serial number of the book on the bookshelf at that level and the return can be performed. The data judgment of the book obtained by the binocular camera sensor 5 is used. When the location of the book is determined by the recognition result, When it is located at the lower level, the hydraulic drive device does not change. The robot arm landing platform 13 is driven by the steering gear 36 to descend to the center of the corresponding book return layer in the first guide rail 34. If the location information of the book is obtained according to the binocular camera sensor 5, it is located at the upper level, the hydraulic device will control the valve to open, so that the upper chamber of the hydraulic cylinder is connected to the hydraulic oil circuit, and the lower chamber is cut off from the oil circuit. The pressure generator provides a certain pressure to the hydraulic cylinder, and the liquid enters the upper chamber of the hydraulic cylinder, so that the hydraulic rod 35 rises, and the robot arm lifting platform 15 rises. The maximum lifting height is about 3 meters, and the books can be returned to any position in the bookcase.

[0036] Reference Fig.13 In this embodiment, when the intelligent book return robot is low on power, the vacancy status of the charging area is fed back to the intelligent book return robot. The intelligent book return robot receives the feedback and turns on the automatic charging remote navigation module to arrive at the unused charging area. Then, the short-range docking technology and the charging pile identification algorithm based on mutation point detection are used to complete the precise docking, and then charging begins. When the robot's power reaches a certain threshold, the remote navigation module is turned on again, returning to the starting position, and continuing to execute the previous task until all books are returned.

[0037] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A library autonomous book return robot based on multi-sensor fusion perception, characterized by: Including intelligent book return robots and intelligent book return boxes (17); The intelligent book returning robot comprises a body, an adaptive lifting mechanism, an external mechanical arm (11), a transfer mechanism, a pushing mechanism (30), and a plurality of sensors. The adaptive lifting mechanism is installed on one side of the top of the body, the external mechanical arm (11) is installed on the adaptive lifting mechanism, a book storage cavity is provided inside the body, a pushing mechanism (30) is installed on the top of the book storage cavity, a transfer mechanism is provided at the bottom of the book storage cavity, and a plurality of sensors are also provided around the body. The top of the intelligent book return box (17) is provided with a display screen (18) and a plurality of buttons (19); the side of the intelligent book return box (17) is also provided with a book return box gripping groove (16) and a book return entrance (20); and the intelligent book return robot is communicatively connected to the intelligent book return box (17).

2. The library autonomous book return robot based on multi-sensor fusion perception according to claim 1 is characterized in that: The adaptive lifting mechanism comprises a binocular camera sensor (5), a mechanical arm landing platform (13), a mechanical arm raising platform (15), a first guide rail (34), a hydraulic rod (35), and a steering gear (36). The fixed end of the hydraulic rod (35) is fixedly mounted on the vehicle body, the movable end of the hydraulic rod (35) is fixedly connected to the mechanical arm raising platform (15) and is used to control the raising of the mechanical arm raising platform (15). The first guide rail (34) is fixedly mounted on the front side of the vehicle body. The mechanical arm raising platform (15) is clamped with the mechanical arm landing platform (13). A steering gear (36) is provided at the bottom of the mechanical arm landing platform (13). The steering gear (36) is transmission-connected to the first guide rail (34). When the mechanical arm landing platform (13) is separated from the mechanical arm raising platform (15), the steering gear (36) drives the mechanical arm landing platform (13) to descend. The binocular camera sensor (5) is fixedly mounted on the mechanical arm raising platform (15).

3. The library autonomous book return robot based on multi-sensor fusion perception according to claim 2 is characterized in that: One end of the outer mechanical arm (11) is rotatably connected to the mechanical arm storage platform (10) through a second mechanical arm rotating shaft device (12A), and a mechanical arm book pusher (9) is fixedly installed at the connection point. The other end of the outer mechanical arm (11) is installed with a first mechanical arm rotating shaft device (12), and the first mechanical arm rotating shaft device (12) is transmission-connected to a mechanical arm rotating shaft moving track (14) fixedly installed on a mechanical arm landing platform (13), so that the outer mechanical arm (11) can move horizontally. A plurality of mechanical arm book pushing claws (8) are installed at the front end of the mechanical arm storage platform (10), and a mechanical arm camera sensor (7) is also fixedly installed at the end of the mechanical arm book pushing claw (8). The mechanical arm camera sensor (7) is used to monitor the book clamping state.

4. The library autonomous book return robot based on multi-sensor fusion perception according to claim 3 is characterized in that: The front end of the mechanical arm book-pushing claw (8) is designed to be wedge-shaped and can expand outwards during movement.

5. The library autonomous book return robot based on multi-sensor fusion perception according to claim 1 is characterized in that: The transfer mechanism comprises an inner mechanical arm (24), a plurality of first synchronous belts (28), a plurality of book return racks (29), a plurality of buckles (33), and a synchronous belt wheel (37); A plurality of synchronous pulleys (37) are respectively mounted on the motor and are vertically symmetrically distributed on both sides of the book storage cavity. A plurality of first synchronous belts (28) are respectively meshed with the plurality of synchronous pulleys (37). A plurality of buckles (33) are respectively engaged with the first synchronous belts (28) on both sides. The book return grid (29) is centrally placed between the first synchronous belts (28) on both sides and is detachably connected to the buckles (33). A pair of inner mechanical arm claws (25) are symmetrically provided at the front end of the inner mechanical arm (24) for grabbing the book return grid (29). An inner mechanical arm identification sensor (26) is installed between the inner mechanical arm claws (25). A pair of inner mechanical arm conveying gears (27) are installed at the bottom of the inner mechanical arm (24). The inner mechanical arm conveying gears (27) are installed in the second guide rail (38) at the bottom.

6. The library autonomous book return robot based on multi-sensor fusion perception according to claim 5 is characterized in that: The pushing mechanism (30) comprises a pushing block (31), a second synchronous belt (32), and a photoelectric sensor (22). The pushing block (31) is connected to the second synchronous belt (32) by transmission. The second synchronous belt (32) rotates to drive the pushing block (31) to extend and retract to push the book. The photoelectric sensor (22) is used to monitor the stacking condition of the books in the book return grid (29).

7. The library autonomous book return robot based on multi-sensor fusion perception according to claim 6 is characterized in that: A laser radar (6) is installed on the top of the pushing mechanism (30) for path planning.

8. The library autonomous book return robot based on multi-sensor fusion perception according to claim 1 is characterized in that: The bottom of the intelligent book return robot is provided with a plurality of Mecanum wheels (1) for the intelligent book return robot to move. The body of the robot is also provided with a plurality of anti-collision sensors (2), a plurality of near-infrared sensors (3), a plurality of ultrasonic sensors (4), and a book return box grasping and identifying sensor (21). The plurality of anti-collision sensors (2), a plurality of near-infrared sensors (3), and a plurality of ultrasonic sensors (4) are used to accurately measure the distance of nearby objects, the plurality of ultrasonic sensors (4) are used to accurately measure and detect distant obstacles, the plurality of anti-collision sensors (2) are used to prevent the intelligent book return robot from colliding during its movement, and the book return box grasping and identifying sensor (21) is used to measure the distance when docking with the intelligent book return box (17).

9. The library autonomous book return robot based on multi-sensor fusion perception according to claim 1 is characterized in that: There are also charging stations, so the book-returning robot can return to recharge on its own when it runs low on power.

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