Warehousing integrated book automatic borrowing and returning equipment based on mobile composite robot

Abstract

The invention discloses storage integrated book automatic borrowing and returning equipment based on a mobile composite robot. The equipment comprises a central control system, a user interaction terminal, a mobile composite robot, an intelligent bookcase and a safety fence. Each book is stored in a hard book box with a built-in information storage chip, and is orderly stored in an intelligent bookcase. The central control system integrates storage dual systems and is linked with all units through an industrial Ethernet, and a safety fence divides an operation area and an operation area. The double systems cooperate to realize authority verification, storage location distribution, path planning and multi-device cooperation, and complete book borrowing and returning whole-process closed-loop management and control. The mobile composite robot performs accurate transfer by means of visual positioning and flexible clamping, and the intelligent bookcase has the functions of layered pushing and lifting alignment. According to the invention, the industrial warehousing system is applied to the library for the first time, 24-hour unmanned service is realized, the borrowing and returning efficiency and the intelligent level of book management are greatly improved, the labor cost is reduced, and the system is suitable for stadiums of different scales.

Description

Technical Field

[0001] This invention relates to an automated book lending and returning device, and to the field of cross-integration of intelligent warehousing technology, mobile robot technology and intelligent library service equipment. Specifically, it relates to an integrated automated book lending and returning device based on a mobile composite robot. Background Technology

[0002] Under the trend of digital and intelligent transformation, libraries, as the core carriers of public cultural services, are facing the challenge of deeply adapting their operation models to the needs of modern users. Traditional libraries rely on manual labor to complete core tasks such as book lending and returning, shelving, and inventory counting, which has many limitations that are difficult to overcome: On the one hand, manual services are strictly constrained by working hours and can only cover limited working periods, failing to meet the fragmented and immediate borrowing needs of modern users. Service gaps during non-working hours such as nights and holidays have become a common pain point; on the other hand, libraries need to employ a large number of professional librarians to maintain daily operations, and labor costs account for a high proportion of total annual expenditures. Moreover, manual operations are easily affected by subjective factors, inventory counting cycles are long and the error tolerance is low, often resulting in problems such as lost books and discrepancies between records and actual inventory, which seriously affect the standardization and accuracy of collection management.

[0003] To alleviate the aforementioned problems, some self-service borrowing and returning terminals have emerged on the market. However, these devices generally suffer from limitations such as limited functionality and insufficient coordination, failing to achieve true end-to-end automation. Existing devices can only perform basic operations such as book identification and borrowing / returning information registration. They cannot achieve automatic transfer and accurate shelving of books from the terminal to the bookshelf, still requiring manual intervention for secondary handling and shelving. Essentially, they remain dependent on human assistance and fail to fundamentally solve the core problems of high labor costs and low service efficiency.

[0004] At the same time, the construction of smart libraries continues to upgrade the requirements for efficient services and refined management. The gap between the technical limitations of traditional equipment and the actual needs of libraries is becoming increasingly prominent: existing equipment lacks a warehouse-level intelligent management architecture, and cannot achieve dynamic optimization allocation of book storage locations and real-time accurate synchronization of inventory; moreover, it has not formed a deep linkage between mobile execution units and warehouse management systems, and problems such as action conflicts and path redundancy are prone to occur when multiple devices work together, making it difficult to support large-scale, high-concurrency borrowing scenarios.

[0005] Therefore, there is an urgent need to develop a fully automated book lending and returning device that integrates the execution capabilities of mobile composite robots with an integrated warehouse management architecture. This device would break through the technical bottleneck of "single-point automation" in traditional equipment, and achieve unmanned closed-loop operation of the entire process of book lending, returning, transfer, shelving, and inventory management. This would meet the core needs of modern libraries for cost reduction, efficiency improvement, precise management, and 24 / 7 service. Summary of the Invention

[0006] To address the problems existing in the background technology, this invention provides an integrated automated book lending and returning system based on a mobile composite robot. This invention aims to overcome the technical limitations and management bottlenecks of traditional book lending and returning models, achieving fully automated closed-loop operations for book lending, returning, transfer, shelving, and inventory control.

[0007] The technical solution adopted in this invention is: The present invention relates to a warehouse-integrated automated book lending and returning device based on a mobile composite robot, comprising: Several user interaction terminals are evenly spaced and installed at the front of the lending room for users to interact with and borrow and return books. Safety fences are set between each user interaction terminal to divide the lending room into a user operation area in front of the user interaction terminals and an equipment operation area behind them.

[0008] Several mobile composite robots are located in the equipment operation area and are used for grasping and transporting books.

[0009] Several intelligent bookshelves are evenly spaced within the equipment's operating area. They are used to place standardized book boxes containing books. All standardized book boxes are arranged in an orderly manner in the storage slots of the intelligent bookshelves. Each standardized book box is equipped with a storage chip that records the internal book codes. Various mobile composite robots move between the intelligent bookshelves.

[0010] The central control system, installed in the lending room, establishes a two-way communication connection with user interaction terminals, mobile composite robots, and smart bookshelves via industrial Ethernet to control the borrowing and return process of books.

[0011] The user interaction terminal includes a shell, an operation screen, a host, a movable book carrier, and a book recognition sensor. The operation screen is installed on the top outer side of the shell, the host is installed on the bottom inner side of the shell, the movable book carrier is installed on the top outer side of the shell and moves back and forth beside the operation screen, and the book recognition sensor is installed on the movable book carrier to read the internal book code of the storage chip in the standardized book box placed on the movable book carrier. The movable book carrier transfers the standardized book box containing books between the user operation area and the equipment operation area; the operation screen is electrically connected to the host, and the host communicates with the central control system.

[0012] The mobile composite robot includes a mobile chassis, a robotic arm, a gripper, a camera, and a fixed book carrier. The base of the robotic arm is mounted on one side of the top of the mobile chassis, the gripper is mounted on the end of the robotic arm, and the camera is mounted on the outer periphery of the end of the robotic arm and facing the front of the end of the robotic arm for visual recognition and positioning. The fixed book carrier is horizontally mounted on the other side of the top of the mobile chassis to temporarily support standardized book boxes. An industrial Wi-Fi module that communicates with the central control system is installed in the mobile chassis to receive movement commands and robotic arm action commands, and to transmit the received command signals to the controllers inside the mobile chassis and the robotic arm for control.

[0013] The smart bookcase is a vertical multi-layer structure, with each standardized book box placed on a separate layer. The smart bookcase is equipped with a bookshelf control unit that communicates with the central control system to receive borrowing and returning instructions from the central control system.

[0014] The book borrowing operation method of the warehouse integrated automatic book borrowing and returning device based on a mobile composite robot of the present invention includes: Step 1) Borrowing instruction triggered: The user initiates a borrowing request for the target book through the operation screen of the user interaction terminal. The user interaction terminal receives the book code of the target book and uploads it to the central control system.

[0015] Step 2) Preprocessing of borrowing data: The central control system queries the location of the standardized book box containing the target book on the bookshelf layer of the smart bookcase and updates the target book to a pending borrowing status.

[0016] Step 3) Book borrowing scheduling and execution: The central control system sends control commands to the smart bookshelf, the mobile composite robot and the user interaction terminal in sequence. Then, the mobile composite robot picks up the standardized book box of the target book and places it on the mobile book platform and moves it in front of the user. The central control system updates the position information of the remaining standardized book boxes on the bookshelf layer where the standardized book box of the target book is located.

[0017] Step 5) Book borrowing data closed loop: After the user takes the standardized book box of the target book, the user interaction terminal sends a message of completion of the retrieval to the central control system. The central control system updates the target book to the borrowed status and synchronizes the inventory record.

[0018] In step 3), the central control system first controls the standardized book box of the target book in the smart bookcase to be pushed to the pick-up and put-away position by the book pushing mechanism. Then, it controls one of the nearest idle mobile composite robots to move to the side of the smart bookcase and controls the camera to capture the visual reference marks on the rack to complete the positioning of the shelf layer where the standardized book box of the target book is located. Then, it controls the robotic arm to drive the gripper to grab the standardized book box of the target book. Then, it controls the mobile composite robot to transfer the standardized book box of the target book to the side of the user interaction terminal. It controls the camera to capture the visual reference marks around the mobile book platform to complete the positioning of the mobile book platform. The robotic arm drives the gripper to place the standardized book box of the target book on the mobile book platform. The book recognition sensor on the mobile book platform reads the built-in chip of the standardized book box of the target book. After comparing and verifying with the coding information of the target book, the warehouse control system of the central control system controls the mobile book platform to move towards the user side so that the user can take away the standardized book box containing the target book.

[0019] The book return operation method of the warehouse integrated automatic book lending and returning device based on a mobile composite robot of the present invention includes: Step 1) Book return instruction trigger: The user initiates a book return request through the operation screen of the user interaction terminal, places the standardized book box containing the book to be returned on the mobile book platform, and the book recognition sensor on the mobile book platform reads the built-in chip of the standardized book box containing the book to be returned. The book recognition sensor assists in verifying the book information, and the two work together to upload the information to the central control system.

[0020] Step 2) Book return data preprocessing: The central control system allocates vacant storage spaces in the bookshelf layer of the smart book cabinet to the standardized book boxes of the books to be returned, and pre-updates the books to be returned to the status of being ready to be put into storage.

[0021] Step 3) Book return scheduling and execution: The central control system sequentially sends control commands to the user interaction terminal, the mobile composite robot and the smart bookshelf. Then, the mobile composite robot takes the standardized book box of the book to be returned and places it in the assigned empty storage space. The central control system updates the standardized book box of the book to be returned and the position information of other standardized book boxes on the same bookshelf layer. The central control system updates the book to be returned to the in-stock status and updates the inventory record.

[0022] In step 3), the mobile book carrier, carrying standardized book boxes of books to be returned, first moves from the user side to the equipment operation area side; an idle mobile composite robot is dispatched to move to the user interaction terminal via a mobile chassis, and after the camera completes the positioning of the mobile book carrier, the robotic arm drives the gripper to remove the standardized book boxes of books to be returned from the mobile book carrier; the mobile composite robot is then dispatched to transfer the standardized book boxes of books to be returned to the smart bookshelf and place the standardized book boxes of books to be returned into the allocated idle storage space.

[0023] This invention comprises a central control system, a user interaction terminal, a mobile composite robot, intelligent bookshelves, and a safety fence. Each book is stored in a hard box with a built-in information storage chip, and then neatly arranged in the intelligent bookshelves. The central control system integrates two warehousing systems, linking each unit via an industrial Ethernet network. The safety fence divides the work area and the operation area. The two systems work together to achieve access control, storage location allocation, path planning, and multi-device collaboration, completing a closed-loop management of the entire book borrowing and returning process. The mobile composite robot uses visual positioning and flexible gripping for precise transport, while the intelligent bookshelves feature layered pushing and lifting / aligning functions.

[0024] The beneficial effects of this invention are: 1) This invention relies on the automated transfer capability of mobile composite robots and the coordinated scheduling of the two warehousing systems (warehouse management system and warehouse control system) to realize the fully automated operation of books from the initiation of borrowing and returning requests, identity verification, book identification, automatic storage and retrieval, to real-time updates of inventory information, completely solving the core pain points of low efficiency and high dependence of manual operation in the traditional mode.

[0025] 2) This invention adopts a dual-system integrated architecture for warehousing, which can realize intelligent scheduling of task chains, dynamic path planning of mobile composite robots, and multi-device action coordination, effectively avoiding conflicts in parallel operations; at the same time, the mobile composite robot has efficient transfer and precise operation capabilities, and with the layered drive and lifting alignment design of the intelligent bookcase, it supports multi-user parallel operation and greatly improves the processing capacity of the equipment per unit time.

[0026] 3) In this invention, the dual warehousing system achieves accurate synchronization and dynamic updates of inventory status through real-time bidirectional data synchronization. Inventory information is refreshed immediately after books are borrowed and returned, which greatly reduces the risks of discrepancies between accounts and actual inventory and loss of books. It eliminates the need for frequent manual inventory checks and significantly improves the accuracy and standardization of collection management.

[0027] 4) This invention is the first to apply an industrial-grade warehousing system to a library, enabling 24-hour unmanned service and fully covering borrowing needs during off-peak hours such as nights and holidays. It perfectly matches the fragmented and instant reading habits of modern users. Furthermore, the number of mobile composite robots, the number of smart bookcase layers, and the storage capacity can be flexibly adjusted according to the library's size, collection capacity, and borrowing volume, significantly improving borrowing and returning efficiency and the level of intelligent book management, reducing labor costs, and adapting to different scenarios such as small and medium-sized community libraries and large university libraries. It is suitable for venues of different sizes and has wide application value. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the device of the present invention; Figure 2 This is a flowchart illustrating the user's book borrowing process for the device of the present invention; Figure 3 This is a flowchart illustrating the user book return process for the device of the present invention. Figure 4 This is a schematic diagram of the user interaction terminal of the device of the present invention; Figure 5 This is a schematic diagram of the structure of the mobile composite robot of the present invention; Figure 6 This is a schematic diagram of the structure of the intelligent bookcase of the device of the present invention; In the diagram: Central control system 100, user interaction terminal 200, casing 201, operation screen 202, host 203, mobile book platform 204, book recognition sensor 205, mobile composite robot 300, mobile chassis 301, robotic arm 302, gripper 303, camera 304, fixed book platform 305, intelligent bookcase 400, book pushing mechanism 401, lifting and alignment mechanism 402, book pressing mechanism 403, book limiting mechanism 404, frame 405, human-machine interaction unit 406, linear motor 407, safety fence 500. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] like Figure 1 As shown, the automated book lending and returning equipment based on mobile composite robots of the present invention includes a central control system 100, several user interaction terminals 200, several mobile composite robots 300, and several intelligent bookshelves 400. Each user interaction terminal 200 is evenly spaced at the front of the lending room for user interaction to perform book borrowing and returning operations. Safety fences 500 are installed between each user interaction terminal 200, dividing the lending room into a user operation area in front of the user interaction terminals 200 and an equipment operation area behind them. Each mobile composite robot 300 is located within the equipment operation area and is used for book grabbing. The system facilitates book borrowing and return. Each intelligent bookcase 400 is evenly spaced within the work area, housing standardized book boxes containing books. All standardized book boxes are arranged in an orderly fashion within their respective storage locations. Each book box is equipped with a storage chip that records the book's ISBN code. Mobile composite robots 300 move between the intelligent bookcases 400. A central control system 100 is installed in the lending room and establishes a two-way communication connection with the user interaction terminal 200, the mobile composite robots 300, and the intelligent bookcases 400 via an industrial Ethernet network to control the book borrowing and return process. The standardized book boxes have a rigid, damage-resistant structure and an internal slot for an information storage chip. The chip is fixedly embedded in the slot, with its surface flush with the inner wall of the book box. The information storage chip pre-stores the book's ISBN code and catalog number and supports data synchronization updates with the warehouse management system, recording the book's borrowing status and circulation trajectory in real time.

[0031] The central control system 100 utilizes industrial switches, industrial routers, serial servers, and other equipment to integrate the Warehouse Control System (WCS) and the Warehouse Management System (WMS). The WMS is specifically used for the association management of book ISBN codes and book box chip information, user permission and borrowing rule verification, intelligent allocation algorithms for book box storage locations based on borrowing frequency data, and real-time inventory status synchronization. The WCS is specifically used for task chain scheduling of the user interaction terminal 200, the mobile composite robot 300, and the intelligent bookcase 400, dynamic path planning of the mobile composite robot 300, parallel conflict resolution, and coordinated action control. The WCS and WMS achieve closed-loop management of the entire book borrowing and returning process through real-time bidirectional data synchronization and establish bidirectional communication via industrial Ethernet to ensure efficient transmission of instructions and data.

[0032] like Figure 4 As shown, the user interaction terminal 200 includes a housing 201, an operation screen 202, a host 203, a movable book platform 204, and a book recognition sensor 205. The operation screen 202 is installed on the outer top side of the housing 201, the host 203 is installed on the inner bottom of the housing 201, and the movable book platform 204 is installed on the outer top side of the housing 201 and moves back and forth to the side of the operation screen 202. The movable book platform 204 can be moved by a linear module arranged horizontally inside the housing 201. The platform, mounted on the slider of the linear module, is located above the top of the housing 201. Standardized book boxes can be placed on the platform. The book recognition sensor 205 is installed on the movable book platform 204 and moves with the movable book platform 204. Synchronous movement is achieved through a book identification sensor 205, which can specifically employ RFID to read the internal book codes stored in the memory chips of standardized book boxes placed on the mobile book carrier 204. The mobile book carrier 204 transfers standardized book boxes containing books between the user operation area and the equipment operation area. The side of the mobile book carrier 204 facing the equipment operation area is also equipped with a visual reference marker to assist the mobile composite robot 300 in visual positioning when picking up and placing standardized book boxes. The operation screen 202 is electrically connected to the host 203, which communicates with the central control system 100. The operation screen 202 is used for users to initiate borrowing and returning requests, authenticate identities, and query information. The host 203 is responsible for the overall control and data processing of the terminal.

[0033] like Figure 5As shown, the mobile composite robot 300 includes a mobile chassis 301, a robotic arm 302, a gripper 303, a camera 304, and a fixed book carrier 305. The base of the robotic arm 302 is mounted on the top side of the mobile chassis 301, enabling full-area movement with the mobile chassis 301. The gripper 303 is mounted at the end of the robotic arm 302 and adopts a flexible gripping structure to adapt to book boxes of different sizes and avoid gripping damage. The camera 304 is mounted on the outer periphery of the end of the robotic arm 302 and faces the front of the end of the robotic arm 302, enabling multi-degree-of-freedom movement with the robotic arm 302 for visual recognition and positioning, and for capturing images. The visual reference marks on the frame 405 of the bookcase 400 and the visual reference marks on the mobile book platform 204 assist the robotic arm 302 in accurately picking up and placing standardized book boxes. The fixed book platform 305 is horizontally installed on the other side of the top of the mobile chassis 301 to temporarily support the standardized book boxes and improve the stability of transportation. An industrial Wi-Fi module that communicates with the central control system 100 is installed in the mobile chassis 301 to receive movement commands and robotic arm action commands, and transmit the received command signals to the controllers inside the mobile chassis 301 and the robotic arm 302, such as STM32 microcontrollers, Raspberry Pi, etc., for control.

[0034] like Figure 6As shown, the intelligent bookcase 400 is a vertical, multi-layered structure, with standardized book boxes placed on the respective book bases. The intelligent bookcase 400 includes a bookshelf control unit that communicates with the central control system 100 to receive borrowing and returning instructions from the central control system 100. This control unit is used for overall control, equipment debugging, parameter configuration, and troubleshooting of the intelligent bookcase 400. The intelligent bookcase 400 includes a book pushing mechanism 401, a lifting and positioning mechanism 402, a book clamping mechanism 403, a book limiting mechanism 404, a frame 405, a human-machine interaction unit 406, and a linear motor 407. The frame 405 is internally divided into multiple storage compartments. Each storage compartment is equipped with a book pushing mechanism 401, a book clamping mechanism 403, a book limiting mechanism 404, and a linear motor 407. Each storage compartment is also marked with a visual reference marker for positioning by the mobile composite robot 300. The book pushing mechanism 401 and the book pressing mechanism 403 are mounted on the two movers of the linear motor 407. When borrowing a book, the book pushing mechanism 401 moves to the rear of the target book box and pushes it to the pick-up / placement position. The book pressing mechanism 403 and the book limiting mechanism 404 are set on both sides of each storage position. The book limiting mechanism 404 adopts a spring self-resetting structure design. The book limiting mechanism 404 works with the book pressing mechanism 403 to realize the pressing and releasing of the book box on the storage position. The lifting and positioning mechanism 402 is installed on one side of the frame 405 and consists of an inter-layer lifting component, a horizontal pushing component, and a temporary storage position. The temporary storage position is used to receive the book boxes to be returned transferred by the mobile composite robot 300. The inter-layer lifting component is responsible for lifting the book boxes to be returned to the height of the target storage position. The horizontal pushing component is responsible for pushing the book boxes to be returned into the storage position.

[0035] In practical implementation, the intelligent bookshelf 400 has a three-layer structure, including a book pushing mechanism 401, a lifting and positioning mechanism 402, a book clamping mechanism 403, a book limiting mechanism 404, a frame 405, a human-machine interaction unit 406, and a linear motor 407. The frame 405 has three storage compartments, each equipped with a book pushing mechanism 401, a book clamping mechanism 403, a book limiting mechanism 404, and a linear motor 407. Visual reference markers for robot positioning are affixed next to each storage compartment. Mechanism 401 and book clamping mechanism 403 are respectively mounted on the two moving parts of linear motor 407; lifting and positioning mechanism 402 is mounted on one side of frame 405, consisting of inter-layer lifting component, horizontal pushing component and temporary storage space, to realize the temporary storage and lifting and conveying of book boxes; book limiting mechanism 404 adopts spring self-resetting structure, which cooperates with book clamping mechanism 403 to realize the storage space being empty before the book box is put in and the clamping and fixing after it is put in; human-machine interaction unit 406 is used for equipment debugging, parameter setting and fault diagnosis.

[0036] The intelligent bookcase 400 includes a frame 405, a bookshelf control unit, a lifting and alignment mechanism 402, and several book box pushing and pressing units. Each book box pushing and pressing unit includes a book pressing mechanism 403, a linear motor 407 equipped with two independent actuators, and a book pushing mechanism 401. The bookshelf control unit and the lifting and alignment mechanism 402 are installed on the left and right sides inside the frame 405. The front middle section of the frame 405 has several bookshelf layers. Each bookshelf layer contains several square standardized book boxes containing a single book. All books to be borrowed, returned, or stored are pre-packaged in standardized book boxes. The size of the standardized book boxes is adapted to the action parameters and assembly space of each actuator. Returned standardized book boxes are pushed to one of the bookshelf layers by the lifting and alignment mechanism 402. Each standardized book box pushing and pressing unit is installed on its respective bookshelf layer. The linear motor 407 is horizontally installed on the back panel of the bookshelf layer. The book pressing mechanism 403 and the book pushing mechanism 401 are respectively mounted on one side of the linear motor via their respective independent actuators. On the slide rail of 407, the other side of the book pressing mechanism 403 is located in the bookshelf layer and is used to press each standardized book box. The other side of the book pushing mechanism 401 is telescopically located in the bookshelf layer and is used to push the standardized book box to be borrowed outwards from the bookshelf layer. The bookshelf control unit is electrically connected to the lifting and positioning mechanism 402 and the linear motor 407 of each book box pushing and pressing unit and the book pushing mechanism 401. The bookshelf control unit communicates with an external robot through an industrial network to grab or return standardized book boxes. It also includes a human-machine interaction unit 406 installed on the front of the frame 405. The bookshelf control unit includes a control system, several servo controllers and a power supply. The power supply is used to provide power. The control system controls each motor through each servo controller. The control system can receive book borrowing and returning instructions from the terminal through industrial network communication. The human-machine interaction unit 406 is electrically connected to the control system and is mainly used for debugging and resetting the intelligent borrowing and returning bookshelf. It can control the movement of each motor through human-machine interaction operation to perform periodic checks. The bottom of the frame 405 is also equipped with universal casters.

[0037] The lifting and positioning mechanism 402 includes a first linear module, a limiting rod assembly, a second linear module, a bracket, and a push plate. The limiting rod assembly includes several pairs of cooperating guide sleeves and guide posts. The body of the first linear module is vertically mounted on the inner wall of the frame 405. The bracket is mounted on the slider of the first linear module and can move up and down. A book box storage space adapted to standardized book box sizes is provided on the side of the bracket closest to the bookshelf layer of the frame 405. A vertical limiting plate is provided on the side of the bracket away from the bookshelf layer. The body of the second linear module is horizontally mounted on the bracket via a connecting block and is located on the side of the limiting plate away from the book box storage space. The push plate is vertically arranged and located on the side of the limiting plate close to the book box storage space. The columns are horizontally spaced around the body of the second linear module. One end of each guide column is suspended in the air. The other end of each guide column and the end of the push rod of the second linear module are vertically connected to the push plate through a guide sleeve that passes horizontally through the limit plate. Each bookshelf layer has an entrance / exit adapted to the size of the standardized book box on the side near the lifting and positioning mechanism 402. When the bracket moves to each bookshelf layer, the entrance / exit is directly opposite and passes through the book box storage space. The robot places the standardized book box in the book box storage space of the bracket. The first linear module drives the bracket to lift and lower to the designated bookshelf layer in the frame 405. Then the second linear module drives the push plate to move horizontally and push the standardized book box in the book box storage space into the designated bookshelf layer.

[0038] Each book box pushing and pressing unit also includes a book limiting mechanism 404. The book limiting mechanism 404 is installed in a groove on the side of the bookshelf layer near the lifting and positioning mechanism 402. The book limiting mechanism 404 includes a guide plate, a rotating shaft, and two return springs. The rotating shaft is horizontally installed in the groove and perpendicular to the back plate of the bookshelf layer. The guide plate has a V-shaped structure. In the initial state, one side of the guide plate is movably fitted onto the rotating shaft and is completely located in the groove with its top surface flush with the top surface of the bottom plate of the bookshelf layer. The other side of the guide plate is sloped and the side away from the lifting and positioning mechanism 402 is higher. The two return springs are sleeved on both sides of the rotating shaft. One end of each return spring is embedded in the groove, and the other end of each return spring is embedded in one side of the guide plate. When no external force is applied, the guide plate pops out under the action of the return springs, and its sloped side protrudes from the surface of the bottom plate of the bookshelf layer. The guide plate and the return spring cooperate to provide a reset force. When the lifting and positioning mechanism 402 pushes the standardized book box towards the book limiting mechanism 404, the standardized book box applies pressure to the sloping side of the guide plate, forcing the return spring to deform elastically. The guide plate then presses down, and its slope gradually becomes horizontal with a slope of 0°. When the standardized book box completely passes the area where the guide plate is located, the pressure of the standardized book box on the guide plate disappears, the return spring resets, and the guide plate pops out again, returning to its initial state. When the book pressing mechanism 403 moves towards the book limiting mechanism 404, the book pressing mechanism 403 cooperates with the sloping surface of the guide plate to jointly realize the pressing and releasing action of the standardized book box. Multiple book limiting mechanisms 404 can also be provided, which are located above, below, or on both sides of the layer.

[0039] The book clamping mechanism 403 includes a pressure plate and a pressure plate bracket. The pressure plate is vertically arranged in the bookshelf layer of the machine frame. One side of the pressure plate bracket is mounted on one of the independent movers of a linear motor. The other side of the pressure plate bracket passes through the back plate of the bookshelf layer and is connected to the side of the pressure plate away from the book limiting mechanism. One of the independent movers of the linear motor drives the pressure plate to move along the length direction of the bookshelf layer through the pressure plate bracket, and together with the book limiting mechanism, realizes the clamping and releasing action of the standardized book box.

[0040] The book pushing mechanism 401 includes a push rod assembly and a third linear module. The body of the third linear module is horizontally mounted on another independent mover of the linear motor 407 via a module bracket. The push rod assembly includes a push rod bracket and several push rods. One end of each push rod is horizontally spaced on the push rod bracket, and the push rod bracket is mounted on the slider of the third linear module. The slider of the third linear module moves in a direction perpendicular to the direction of movement of the independent mover of the linear motor 407. The other end of each push rod is suspended and passes through the back plate of the bookshelf layer. After receiving a book pushing command, the linear motor 407 drives each push rod of the third linear module to move to the rear of the designated standardized book box. The third linear module drives the push rod assembly to push the designated standardized book box outwards from the frame 405.

[0041] The control method for the Smart Bookshelf 400 is as follows: When the intelligent bookshelf 400 executes the book borrowing process, when the bookshelf control unit receives the borrowing instruction for a specified book, it controls the linear motor 407 of the bookshelf layer where the specified book is located to move the book pressing mechanism 403 away from the book limiting mechanism 404, releasing the standardized book box of the specified book; then the book pushing mechanism 401 moves to the back of the standardized book box of the specified book, pushing the standardized book box of the specified book outward of the frame 405, and then retracts the book pushing mechanism 401. The bookshelf control unit communicates with the external robot and sends a ready signal. The external robot moves to the front of the standardized book box of the specified book, grabs the standardized book box of the specified book out of the frame 405, and then sends a standardized book box grabbing completion signal to the control system of the bookshelf control unit; then the linear motor 407 moves, moving the book pressing mechanism 403 closer to the book limiting mechanism 404, pressing the remaining standardized book boxes on the current bookshelf layer, eliminating the gap left after the standardized book box of the specified book is removed; When the intelligent bookshelf 400 executes the book return process, the bookshelf control unit communicates with the external robot and receives the book return signal. The external robot places the returned standardized book box in the book box storage space of the support of the lifting and positioning mechanism 402 and sends the book return signal to the control system of the bookshelf control unit. The first linear module of the lifting and positioning mechanism 402 drives the support to rise and fall to the designated bookshelf layer of the rack 405. The linear motor 407 of the designated bookshelf layer is activated, moving the book pressing mechanism 403 away from the book limiting mechanism 404 and releasing the standardized book box in the current designated bookshelf layer. The second linear module drives the push plate to move, pushing the returned standardized book box in the book box storage space into the designated bookshelf layer of the rack 405 after passing through the book limiting mechanism 404. Then the linear motor 407 is activated, moving the book pressing mechanism 403 towards the book limiting mechanism 404 and pressing all the standardized book boxes in the designated bookshelf layer.

[0042] Each shelf layer of rack 405 is also equipped with several visual markers for robot visual positioning, such as QR codes, barcodes, and Aruco codes. These visual markers are used to assist the robot in completing the visual positioning of the corresponding layer of rack 405, enabling the robot and the bookshelf to work together to complete the standardized book box grabbing and return.

[0043] like Figure 2 As shown, the book borrowing operation method of the warehouse integrated automatic book borrowing and returning device based on a mobile composite robot of the present invention is as follows: The borrowing control process of the equipment starts with user operation triggering. Through the coordinated linkage of the warehouse control system and warehouse management system, the user interaction terminal 200, the mobile composite robot 300 and the intelligent bookcase 400 are connected. The entire process is realized based on standardized book boxes and chip information verification and robot visual reference mark recognition.

[0044] Step 1) Borrowing instruction triggered: The user initiates a borrowing request for the target book through the operation screen 202 of the user interaction terminal 200. The user interaction terminal 200 verifies the user's identity, receives the book code of the target book, and uploads it to the central control system 100.

[0045] Step 2) Preprocessing of borrowing data: The warehouse management system of the central control system 100 verifies user permissions and borrowing rules, queries the location of the standardized book box containing the target book on the bookshelf layer of the smart bookcase 400, updates the target book to the pending borrowing status, and synchronizes the location information of the standardized book box to the warehouse control system.

[0046] Step 3) Book borrowing scheduling and execution: The warehouse control system of the central control system 100 generates a book borrowing task chain and sends control commands to the intelligent bookcase 400, the mobile composite robot 300 and the user interaction terminal 200 in sequence. Then, the mobile composite robot 300 picks up the standardized book box of the target book and places it on the mobile book carrier 204 and moves it in front of the user. The central control system 100 updates the position information of the remaining standardized book boxes on the bookshelf layer where the standardized book box of the target book is located.

[0047] In practice, the central control system 100 first controls the standardized book box of the target book in the intelligent bookshelf 400 to be pushed to the pick-up and put-away position by the book pushing mechanism 401. Then, it controls one of the nearest idle mobile composite robots 300 to move next to the intelligent bookshelf 400, controls the camera 304 to capture the visual reference mark on the rack 405, completes the positioning of the bookshelf layer where the standardized book box of the target book is located, and then controls the robotic arm 302 to drive the gripper 303 to grab the standardized book box of the target book; then, it controls the mobile composite robot 300 to transfer the standardized book box of the target book to the user interaction area. Next to terminal 200, control camera 304 captures visual reference marks around the mobile book carrier 204 to complete the positioning of the mobile book carrier 204. Robotic arm 302 drives gripper 303 to place the standardized book box of the target book on the mobile book carrier 204. Book recognition sensor 205 on the mobile book carrier 204 reads the built-in chip of the standardized book box of the target book. After comparing and verifying with the coding information of the target book, the warehouse control system of central control system 100 controls the mobile book carrier 204 to move towards the user side, so that the user can take away the standardized book box containing the target book.

[0048] Step 5) Book borrowing data closed loop: After the user takes the standardized book box of the target book, the user interaction terminal 200 sends a pick-up completion signal to the warehouse control system of the central control system 100. The warehouse control system sends a task completion signal to the warehouse management system. The warehouse management system of the central control system 100 then officially updates the target book to the borrowed status and synchronizes the inventory record.

[0049] like Figure 3 As shown, the book return operation method of the warehouse integrated automatic book lending and returning device based on a mobile composite robot of the present invention is as follows: Step 1) Book return instruction trigger: The user initiates a book return request through the operation screen 202 of the user interaction terminal 200, places the standardized book box carrying the book to be returned on the mobile book carrier 204, the book recognition sensor 205 on the mobile book carrier 204 reads the built-in chip of the standardized book box of the book to be returned, the book recognition sensor 205 assists in verifying the book information, and the two work together to upload the information to the central control system 100.

[0050] Step 2) Book return data preprocessing: The warehouse management system of the central control system 100 verifies the legality of user permissions and book codes, allocates vacant storage spaces in the bookshelf layer of the intelligent bookcase 400 to the standardized book boxes of the books to be returned, updates the books to be returned to the state of waiting to be put into storage, and synchronizes the allocated storage space information to the warehouse control system.

[0051] Step 3) Book Return Scheduling and Execution: The warehouse control system of the central control system 100 generates a book return task chain and sequentially sends control commands to the user interaction terminal 200, the mobile composite robot 300, and the intelligent bookcase 400. Then, the mobile composite robot 300 picks up the standardized book boxes of the books to be returned and places them in the assigned empty storage space. The central control system 100 updates the position information of the standardized book boxes of the books to be returned and other standardized book boxes on the same bookshelf layer. The intelligent bookcase 400 sends a signal that the book box has been placed in place. The warehouse control system of the central control system 100 summarizes the successful execution signals of each unit and sends them back to the warehouse management system. The warehouse management system of the central control system 100 officially updates the books to be returned to the in-stock status and updates the inventory records.

[0052] In practice, firstly, after the user interaction terminal 200 completes identity verification, the mobile book carrier 204, carrying standardized book boxes containing books to be returned, moves from the user side to the equipment operation area. An idle mobile composite robot 300 is then dispatched to the side of the user interaction terminal 200 via a mobile chassis 301. After the camera 304 captures visual reference marks around the mobile book carrier 204 to complete its positioning, the robotic arm 302 drives the gripper 303 to remove the standardized book boxes containing the books to be returned from the mobile book carrier 204. Finally, the mobile composite robot 300 transfers the standardized book boxes containing the books to the designated location. The lifting and alignment mechanism 402 of the intelligent bookcase 400 temporarily stores the books in the designated storage space. The book clamping mechanism 403 moves away from the book limiting mechanism 404, releasing the standardized book boxes on the storage space. The lifting and alignment mechanism 402 of the intelligent bookcase 400 is then activated. The inter-layer lifting component raises and lowers the standardized book boxes of the books to be returned to the height of the target storage space. The horizontal pushing component pushes the standardized book boxes of the books to be returned into the target storage space. The book clamping mechanism 403 moves towards the side closer to the book limiting mechanism 404, clamping the standardized book boxes on the storage space. The standardized book boxes of the books to be returned are then placed into the assigned empty storage space.

[0053] The specific implementation process of this invention includes the following steps: (a) Steps in the book borrowing process 1. The user initiates a book borrowing request in the operating area outside the safety fence 500 through the operation screen 202 of the user interaction terminal 200, and uploads the target book information to the central control system 100 after completing identity verification.

[0054] 2. The warehouse management system module of the central control system 100 verifies user permissions and borrowing rules, queries the storage location of the corresponding book box of the target book and pre-updates the inventory status to "pending borrowing", and synchronizes the information to the warehouse control system.

[0055] 3. The warehouse control system module sends instructions to the intelligent bookcase 400 to control the book pushing mechanism 401 corresponding to the target storage location, pushing the book box carrying the target book to the pick-up and put-away position so that the mobile composite robot 300 can pick it up.

[0056] 4. The warehouse control system module schedules the nearest idle mobile composite robot 300. The mobile chassis 301 arrives at the target intelligent bookcase 400 according to the planned path. The control camera 304 captures the visual reference mark on the frame 405 to achieve accurate positioning. The robotic arm 302 drives the gripper 303 to grab the target book box and transfer it to the user interaction terminal 200.

[0057] 5. After the mobile composite robot 300 controls the camera 304 to capture the visual reference marks around the mobile book carrier 204 and completes the positioning, the robotic arm 302 drives the gripper 303 to place the target book box on the mobile book carrier 204.

[0058] 6. The book recognition sensor 205 on the mobile book carrier 204 reads the information of the chip built into the book box. After comparing and verifying the information with the target book information, the warehouse control system controls the mobile book carrier 204 to move towards the user and prompts the user to take the book box.

[0059] 7. After the user takes the book box, the user interaction terminal 200 sends a signal indicating that the retrieval is complete to the warehouse control system module.

[0060] 8. The warehouse control system module sends a task completion signal to the warehouse management system module, which then updates the book status to "borrowed" and synchronizes the inventory records, generating a borrowing record.

[0061] (II) Steps in the Book Return Process 1. The user initiates a book return request through the operation screen 202 of any user interaction terminal 200. After completing the identity verification, the user places the book box containing the book to be returned on the mobile book carrier 204.

[0062] 2. The sensors on the mobile book carrier 204 read the information from the built-in chip of the book box, and the book recognition sensor 205 assists in verifying the book information. The two work together to upload the information to the central control system 100.

[0063] 3. The warehouse management system module of the central control system 100 verifies user permissions and the legality of books, allocates available storage spaces for the books to be returned, and pre-updates the inventory status to "pending entry," synchronizing the information to the warehouse control system module.

[0064] 4. The warehouse control system module controls the mobile book carrier 204 of the user interaction terminal 200 to move towards the equipment operation area, and at the same time dispatches the nearest idle mobile composite robot 300 to the terminal.

[0065] 5. The mobile composite robot 300 controls the camera 304 to capture the visual reference mark at the end of the travel of the mobile book carrier 204 to achieve visual positioning. The robotic arm 302 drives the gripper 303 to grab the book box to be returned. The mobile chassis 301 transfers the book to the temporary storage position of the lifting and positioning mechanism 402 of the intelligent bookcase 400 and puts it in.

[0066] 6. The warehouse control system module instructs the intelligent bookcase 400 to control the book clamping mechanism 403 of the corresponding storage position to move away from the book limiting mechanism 404, thereby relaxing the storage position.

[0067] 7. Activate the lifting and alignment mechanism 402 of the smart bookcase 400. The inter-layer lifting component will lift the book box to be returned to the height of the target storage location, and the horizontal pushing component will push the book box to be returned into the target storage location.

[0068] 8. The intelligent bookcase 400 controls the book clamping mechanism 403 to move towards the side closer to the book limiting mechanism 404, clamping the book box, and the status detection sensor feeds back the storage in place signal to the warehouse control system module.

[0069] 9. The warehouse control system module sends a task completion signal to the warehouse management system module, which then updates the book status to "in stock" and synchronizes the inventory records, generating a book return record.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A warehouse-integrated automated book lending and returning device based on a mobile composite robot, characterized in that, include: Several user interaction terminals (200) are evenly spaced and installed in front of the lending room for user interaction to borrow and return books. Safety fences (500) are set up between each user interaction terminal (200) to divide the library into a user operation area in front of the user interaction terminal (200) and an equipment operation area behind it; Several mobile composite robots (300) are located in the equipment operation area for grasping and transporting books; Several intelligent bookcases (400) are evenly spaced in the equipment operation area and are used to place standardized book boxes containing books. The standardized book boxes are equipped with storage chips that record the codes of the books inside. Each mobile composite robot (300) moves between each intelligent bookcase (400). The central control system (100) is installed in the lending room and establishes a two-way communication connection with the user interaction terminal (200), the mobile composite robot (300), and the smart bookcase (400) via industrial Ethernet to control the borrowing and return process of books.

2. The warehouse-integrated automated book lending and returning equipment based on a mobile composite robot according to claim 1, characterized in that: The user interaction terminal (200) includes a shell (201), an operation screen (202), a host (203), a mobile book carrier (204), and a book recognition sensor (205). The operation screen (202) is installed on the top side of the shell (201), the host (203) is installed on the bottom side of the shell (201), the mobile book carrier (204) is installed on the top side of the shell (201) and moves back and forth on the side of the operation screen (202), and the book recognition sensor (205) is installed on the mobile book carrier (204) to read the internal book code of the storage chip in the standardized book box placed on the mobile book carrier (204). The mobile book carrier (204) transfers the standardized book box containing books between the user operation area and the equipment operation area. The operation screen (202) is electrically connected to the host (203), and the host (203) communicates with the central control system (100).

3. The warehouse-integrated automated book lending and returning equipment based on a mobile composite robot according to claim 1, characterized in that: The mobile composite robot (300) includes a mobile chassis (301), a robotic arm (302), a gripper (303), a camera (304), and a fixed book carrier (305). The base of the robotic arm (302) is installed on one side of the top of the mobile chassis (301), the gripper (303) is installed at the end of the robotic arm (302), and the camera (304) is installed on the outer periphery of the end of the robotic arm (302) and facing the front of the end of the robotic arm (302) for visual recognition and positioning. The fixed book carrier (305) is horizontally installed on the other side of the top of the mobile chassis (301) to temporarily support standardized book boxes. An industrial Wi-Fi module that communicates with the central control system (100) is installed in the mobile chassis (301) to receive movement commands and robotic arm movement commands, and transmits the received command signals to the controllers inside the mobile chassis (301) and the robotic arm (302) for control.

4. The warehouse-integrated automated book lending and returning device based on a mobile composite robot according to claim 1, characterized in that: The intelligent bookcase (400) is a vertical multi-layer structure, with each standardized book box placed on the book base of each layer. The intelligent bookcase (400) is equipped with a bookshelf control unit that communicates with the central control system (100) to receive the book borrowing and returning instructions from the central control system (100).

5. The book borrowing operation method of the warehouse integrated automatic book borrowing and returning device based on a mobile composite robot according to any one of claims 1-4, characterized in that, include: Step 1) Borrowing instruction trigger: The user initiates a borrowing request for the target book through the operation screen (202) of the user interaction terminal (200). The user interaction terminal (200) receives the book code of the target book and uploads it to the central control system (100). Step 2) Preprocessing of borrowing data: The central control system (100) queries the position of the standardized book box containing the target book on the bookshelf layer of the smart bookcase (400) and pre-updates the target book to a pending borrowing status; Step 3) Book borrowing scheduling and execution: The central control system (100) sends control commands to the intelligent bookcase (400), the mobile composite robot (300) and the user interaction terminal (200) in sequence. Then, the mobile composite robot (300) takes the standardized book box of the target book and places it on the mobile book carrier (204) and moves it in front of the user. The central control system (100) updates the position information of the remaining standardized book boxes on the bookshelf layer where the standardized book box of the target book is located. Step 5) Loan data closure: After the user takes the standardized book box of the target book, the user interaction terminal (200) sends a signal of completion of the retrieval to the central control system (100), and the central control system (100) updates the target book to the borrowed status.

6. The book borrowing operation method of the warehouse integrated automatic book borrowing and returning equipment based on a mobile composite robot according to claim 5, characterized in that: In step 3), the central control system (100) controls one of the mobile composite robots (300) to move to the side of the smart bookcase (400), controls the camera (304) to complete the positioning of the standardized book box of the target book on the shelf layer, and then controls the robotic arm (302) to drive the gripper (303) to grab the standardized book box of the target book; then controls the mobile composite robot (300) to transfer the standardized book box of the target book to the side of the user interaction terminal (200), controls the camera (304) to complete the positioning of the mobile book platform (204), and the robotic arm (302) to drive the gripper (303) to place the standardized book box of the target book on the mobile book platform (204); the book recognition sensor (205) on the mobile book platform (204) reads the built-in chip of the standardized book box of the target book, and after comparing and verifying with the coding information of the target book, the central control system (100) controls the mobile book platform (204) to move towards the user side, so that the user can take away the standardized book box containing the target book.

7. The method for returning books in the warehouse-integrated automated book lending and returning device based on a mobile composite robot according to any one of claims 1-4, characterized in that, include: Step 1) Book return instruction trigger: The user initiates a book return request through the operation screen (202) of the user interaction terminal (200), places the standardized book box carrying the book to be returned on the mobile book carrier (204), and the book recognition sensor (205) on the mobile book carrier (204) reads the built-in chip of the standardized book box of the book to be returned and uploads it to the central control system (100). Step 2) Book return data preprocessing: The central control system (100) allocates free storage space in the bookshelf layer of the intelligent book cabinet (400) to the standardized book boxes of the books to be returned, and pre-updates the books to be returned to the state of waiting to be put into storage; Step 3) Book return scheduling and execution: The central control system (100) sequentially sends control commands to the user interaction terminal (200), the mobile composite robot (300) and the smart bookcase (400). Then, the mobile composite robot (300) takes the standardized book box of the book to be returned and places it in the allocated empty storage space. The central control system (100) updates the standardized book box of the book to be returned and the position information of other standardized book boxes on the bookshelf layer. The central control system (100) updates the book to be returned to the in-stock status.

8. The book return operation method of the warehouse integrated automatic book lending and returning equipment based on a mobile composite robot according to claim 7, characterized in that: In step 3), the mobile book carrier (204) first moves from the user side to the equipment operation area side, carrying the standardized book boxes of the books to be returned. The dispatched mobile composite robot (300) moves to the side of the user interaction terminal (200), and after the camera (304) completes the positioning of the mobile book carrier (204), the robotic arm (302) drives the gripper (303) to take away the standardized book boxes of the books to be returned from the mobile book carrier (204). The dispatched mobile composite robot (300) transfers the standardized book boxes of the books to be returned to the smart bookcase (400) and places the standardized book boxes of the books to be returned into the allocated empty storage space.

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