Domestic intelligent book access device and method of use thereof

Abstract

The application discloses a household intelligent book storage and taking device and a use method thereof, and relates to the technical field of intelligent storage and taking devices. The household intelligent book storage and taking device is characterized in that a vibration excitation and detection module is arranged, vibration excitation is applied to a book after the book is contacted by a clamping jaw and before the book is clamped, and a vibration response signal is collected, a control module calculates the elastic modulus of the book according to the vibration response signal, and the upper limit value of the clamping force is determined according to the elastic modulus, and the clamping jaw is controlled to clamp the book with a clamping force not exceeding the upper limit value, so that intelligent identification of different book structure states and self-adaptive adjustment of the clamping force are realized, the problem that the existing book storage and taking devices cannot balance clamping stability and book protection due to the adoption of a fixed clamping force is solved, damage to fragile books caused by excessively large clamping force is avoided, and books are prevented from sliding due to excessively small clamping force.

Description

Technical Field

[0001] This invention relates to the field of intelligent access device technology, specifically to a home-use intelligent book access device and its usage method. Background Technology

[0002] Traditional manual book handling is inconvenient, especially for tall bookshelves or densely packed books. To address this, various smart home book storage and retrieval devices have emerged. These devices typically employ a movable motion actuator with a gripping mechanism. A control system drives the grippers to automatically grasp and move the target books, achieving automated book storage and retrieval. Existing automated book storage and retrieval devices generally include a movable base, a lifting mechanism, a gripping mechanism, and a control system. The gripping mechanism often uses a robotic gripper or claw structure, driven by a motor to close the grippers and hold the book. The motion actuator then moves the book to a designated location. Some existing technologies also incorporate visual recognition or radio frequency identification (RFID) technology for locating and identifying the target book.

[0003] However, existing home-use smart book storage devices still have shortcomings in practical applications. Different books vary in terms of material, thickness, binding method, and degree of aging. Hardcover books are sturdy, ordinary paperback books are relatively soft, and ancient books or damp books are more fragile. The clamping mechanisms of existing devices usually use preset fixed clamping forces or simple position control methods to grasp books, and cannot adaptively adjust the clamping force according to the structural state of the book itself. When the clamping force is too large, it is easy to cause irreversible damage to fragile books, such as spine cracks and cover dents; when the clamping force is too small, the book may slip during transportation. Although a few existing technologies attempt to monitor the clamping force in real time through force sensors, this method can only control the clamping force to not exceed a certain fixed threshold. It cannot set a reasonable upper limit of clamping force according to the different structural characteristics of different books. Especially for books that have aged and become brittle, there is still a risk of damage even if a fixed force control threshold is used. Therefore, how to enable home-use smart book storage devices to identify the structural state of different books and adaptively determine the appropriate clamping force accordingly has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention provides a home-use intelligent book storage and retrieval device and its usage method to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a home-use intelligent book storage and retrieval device, comprising:

[0006] A motion execution module is movably disposed at a target position on the bookcase module and is used to perform translational motion, lifting motion, and book picking and placing motion relative to the bookcase module.

[0007] The gripper is mounted on the motion execution module and is used to grip the book when retrieving it.

[0008] A vibration excitation and detection module is disposed on the gripper and is used to apply vibration excitation to the book and detect the vibration response signal of the book.

[0009] The control module is electrically connected to the motion execution module, the gripper, and the vibration excitation and detection module, respectively.

[0010] The control module is configured to: after the gripper contacts the book and before clamping it, control the vibration excitation and detection module to apply vibration excitation to the book and collect vibration response signals; calculate the elastic modulus of the book based on the vibration response signals; determine the upper limit of the clamping force of the book based on the elastic modulus; and control the gripper to clamp the book with a clamping force not exceeding the upper limit of the clamping force.

[0011] Preferably, the vibration excitation and detection module includes a piezoelectric vibrator and an accelerometer, the piezoelectric vibrator and the accelerometer being respectively embedded on the inner surfaces of the two gripping arms of the gripper; the piezoelectric vibrator is used to apply vibration excitation to the surface of the book, and the accelerometer is used to detect the vibration response signal of the book under the vibration excitation; the duration of the vibration excitation does not exceed 50ms, and the amplitude does not exceed 0.1mm.

[0012] Preferably, the control module calculates the elastic modulus of the book based on the vibration response signal by: obtaining the vibration decay time τ and resonant frequency offset Δf detected by the accelerometer; and calculating the elastic modulus E according to the following formula based on the vibration decay time τ and resonant frequency offset Δf:

[0013] E = k1 × τ + k2 × Δf + b;

[0014] Wherein, k1 and k2 are preset weighting coefficients, and b is a preset constant; the longer the vibration decay time τ and the smaller the resonance frequency offset Δf, the larger the elastic modulus E, indicating that the book structure is more robust; the shorter the vibration decay time τ and the larger the resonance frequency offset Δf, the smaller the elastic modulus E, indicating that the book structure is more fragile.

[0015] Preferably, the control module determines the upper limit of the clamping force of the book based on the elastic modulus in the following way:

[0016] The control module has a built-in elastic modulus-clamping force mapping table, which stores multiple elastic modulus intervals and their corresponding upper limit values ​​of clamping force. The control module matches the calculated elastic modulus E with the mapping table to determine the corresponding upper limit value of clamping force Fmax. The smaller the elastic modulus E, the lower the corresponding upper limit value of clamping force Fmax. The upper limit value of clamping force Fmax ranges from 0.1N to 2.0N.

[0017] Preferably, a pressure sensor is also provided on the inner side of the gripping arm of the gripper, and the pressure sensor is electrically connected to the control module; during the process of gripping the book, the control module controls the gripper to gradually close, and at the same time reads the detection value of the pressure sensor in real time; when the detection value of the pressure sensor reaches the upper limit value of the gripping force Fmax, the control module controls the gripper to stop closing and maintain the current gripping position.

[0018] Preferably, the control module is further configured to: after each book retrieval action, record the book identification information corresponding to this book retrieval and the calculated elastic modulus E, and store them in the book health record; when the gripper grips the same book again, the control module compares the calculated elastic modulus E with the historical elastic modulus data of the book in the book health record; if the decrease in the current elastic modulus E compared with the historical elastic modulus data exceeds a preset threshold, the control module issues a book aging warning signal and automatically adjusts the upper limit of the current clamping force to 70% to 90% of the upper limit of the clamping force corresponding to the historical elastic modulus data.

[0019] Preferably, the motion execution module includes a lateral moving chassis, a longitudinal lifting mechanism, and a book retrieval platform;

[0020] The transverse moving chassis is composed of a trolley driven by a first drive motor and capable of moving along a plane; the longitudinal lifting mechanism is vertically mounted on the transverse moving chassis and driven by a second drive motor; the book retrieval platform is vertically mounted on the longitudinal lifting mechanism and is driven by the second drive motor to reciprocate in the vertical direction; the gripper is mounted on the book retrieval platform and is driven by a third drive motor to perform clamping and releasing actions.

[0021] Preferably, the gripper is movably mounted on the book retrieval platform via a lateral telescopic mechanism, which is electrically connected to the control module. The control module is further configured to: after the gripper has finished gripping the book, control the lateral telescopic mechanism to drive the gripper to move and deliver the book to the retrieval position.

[0022] Preferably, the book retrieval platform is further equipped with a photoelectric sensor, which is electrically connected to the control module and is used to detect whether the book has reached the predetermined gripping position of the gripper. The control module is also configured to: read the detection signal of the photoelectric sensor in real time when the gripper extends to retrieve the book; when the photoelectric sensor detects that the book has reached the predetermined gripping position, the control module controls the gripper to stop extending and starts the vibration excitation and detection module to perform vibration excitation and detection.

[0023] This invention also discloses a method for accessing and storing smart books at home, which uses the aforementioned smart book storage and storage device and includes the following steps:

[0024] Step S1: The control module receives the book retrieval command and obtains the coordinates of the target book's storage location;

[0025] Step S2: Control the motion execution module to move to the storage position of the target book, so that the gripper is aligned with the target book;

[0026] Step S3: Control the gripper to extend and contact the surface of the target book, and keep the gripper in an unclamped state after contacting the book;

[0027] Step S4: Control the vibration excitation and detection module to apply vibration excitation to the book and collect the vibration response signal of the book;

[0028] Step S5: Calculate the elastic modulus E of the book based on the vibration response signal;

[0029] Step S6: Determine the upper limit value Fmax of the clamping force of the book based on the elastic modulus E;

[0030] Step S7: Control the grippers to gradually close and clamp the book until the clamping force reaches the upper limit value Fmax, then stop clamping and maintain the position;

[0031] Step S8: Control the motion execution module to move the gripper holding the book to the book retrieval position;

[0032] Step S9: Control the gripper to release the book and complete the book retrieval operation.

[0033] The technical effects and advantages of this invention are as follows:

[0034] This home-use intelligent book storage and retrieval device incorporates a vibration excitation and detection module. After the grippers contact the book but before clamping, vibration excitation is applied to the book, and the vibration response signal is collected. The control module calculates the elastic modulus of the book based on the vibration response signal, determines the upper limit of the clamping force based on the elastic modulus, and controls the grippers to clamp the book with a clamping force not exceeding the upper limit. This achieves intelligent recognition of different book structural states and adaptive adjustment of the clamping force, solving the problem that existing book storage and retrieval devices cannot balance clamping stability and book protection due to the use of a fixed clamping force. It avoids damage to fragile books due to excessive clamping force and avoids books slipping due to insufficient clamping force.

[0035] Meanwhile, this application sets up a book health record, recording the book's identification information and elastic modulus data after each book retrieval. When the same book is clamped again, the elastic modulus is compared with historical data. If the decrease exceeds a preset threshold, a book aging warning is issued and the upper limit of the clamping force is automatically adjusted to 70% to 90% of the historical value. This achieves continuous tracking of changes in the book's structural state and dynamic optimization and adjustment of the clamping force, solving the problem of damage risk caused by clamping books with the original clamping force after they have aged and become brittle due to long-term storage. It provides reliable intelligent protection for the long-term preservation of precious books in home settings. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0038] Figure 2 This is a top view of the present invention;

[0039] Figure 3 This is a bottom view of the present invention;

[0040] Figure 4 For the present invention Figure 3 Enlarged view of the vibration excitation and detection module in section A;

[0041] Figure 5 This is a schematic diagram of the overall method flow of the present invention;

[0042] Figure 6 This is the logic diagram for calculating the elastic modulus and determining the clamping force in this invention;

[0043] Figure 7This is the closed-loop control logic diagram for the clamping force of the present invention.

[0044] In the diagram: 1. Motion execution module; 11. Lateral moving chassis; 111. First drive motor; 12. Longitudinal lifting mechanism; 121. Second drive motor; 13. Book retrieval platform; 2. Gripper; 21. Third drive motor; 3. Vibration excitation and detection module; 31. Piezoelectric vibrator; 32. Accelerometer; 4. Control module; 5. Pressure sensor; 6. Lateral telescopic mechanism; 7. Photoelectric sensor. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] This embodiment discloses a home-use intelligent book access device, according to the appendix. Figure 1 To be continued Figure 7 As shown, the system includes a motion execution module 1, a gripper 2, a vibration excitation and detection module 3, and a control module 4. The motion execution module 1 is movably positioned at the target location of the bookcase module and is used to perform translational, lifting, and book picking / placing movements relative to the bookcase module. The gripper 2 is mounted on the motion execution module 1 and is used to hold books when picking them up. The vibration excitation and detection module 3 is mounted on the gripper 2 and is used to apply vibration excitation to the books and detect the vibration response signals of the books. The control module 4 is electrically connected to the motion execution module 1, the gripper 2, and the vibration excitation and detection module 3, respectively.

[0047] Furthermore, the motion execution module 1 includes a transverse moving chassis 11, a longitudinal lifting mechanism 12, and a book retrieval platform 13. The transverse moving chassis 11 is driven by a first drive motor 111 and is a trolley structure that can move along a plane. The bottom of the transverse moving chassis 11 is equipped with wheels to achieve translational movement in any direction within the plane where the bookcase module is located. The longitudinal lifting mechanism 12 is vertically mounted on the transverse moving chassis 11 and is driven by a second drive motor 121. The longitudinal lifting mechanism 12 can adopt any of the following: a screw and nut lifting structure, a gear and rack lifting structure, or a transmission belt lifting structure. In this embodiment, a transmission belt lifting structure is preferred. Figure 1 As shown, the book retrieval platform 13 is vertically mounted on the longitudinal lifting mechanism 12 and is driven by the second drive motor 121 to reciprocate in the vertical direction to achieve positioning of the book retrieval platform 13 between different height layers. The gripper 2 is mounted on the book retrieval platform 13 and is driven by the third drive motor 21 to perform clamping and releasing actions.

[0048] Furthermore, the gripper 2 is movably mounted on the book-retrieving platform 13 via a lateral telescopic mechanism 6. The lateral telescopic mechanism 6 is electrically connected to the control module 4. The lateral telescopic mechanism 6 can be any of an electric push rod, a lead screw and nut mechanism, or a gear and rack mechanism. In this embodiment, a lead screw and nut mechanism is preferred. It is used to drive the gripper 2 to extend or retract in the horizontal direction. The control module 4 is also configured to: after the gripper 2 has finished gripping the book, control the lateral telescopic mechanism 6 to drive the gripper 2 to move and deliver the book to the book-retrieval position. The book-retrieval platform 13 is also equipped with a photoelectric sensor 7, which is electrically connected to the control module 4. It is used to detect whether the book has reached the predetermined gripping position of the gripper 2. The control module 4 is also configured to: read the detection signal of the photoelectric sensor 7 in real time when the gripper 2 extends to retrieve the book; when the photoelectric sensor 7 detects that the book has reached the predetermined gripping position, the control module 4 controls the gripper 2 to stop extending and starts the vibration excitation and detection module 3 to perform vibration excitation and detection.

[0049] Specifically, the vibration excitation and detection module 3 includes a piezoelectric vibrator 31 and an accelerometer 32. The piezoelectric vibrator 31 and accelerometer 32 are respectively embedded on the inner surfaces of the two gripping arms of the gripper 2. The piezoelectric vibrator 31 is a cantilever beam piezoelectric vibrator made of PZT-based piezoelectric ceramic material. Utilizing its d31 piezoelectric power generation mode, it undergoes bending vibration under electrical excitation. The accelerometer 32 is a MEMS capacitive accelerometer, such as the ADXL series biaxial accelerometer, with a full-scale acceleration measurement range of ±18g. It can measure both dynamic acceleration (vibration) and dynamic acceleration (vibration). The static acceleration, i.e., gravity, is measured. The piezoelectric vibrator 31 is used to apply vibration excitation to the surface of the book, and the accelerometer 32 is used to detect the vibration response signal of the book under the vibration excitation. The duration of the vibration excitation does not exceed 50ms and the amplitude does not exceed 0.1mm. The driving circuit of the piezoelectric vibrator 31 is controlled by the control module 4. The DAC module outputs a sinusoidal excitation signal with a set frequency and amplitude. After power amplification, the signal drives the piezoelectric vibrator 31 to generate mechanical vibration. The output signal of the accelerometer 32 is input to the control module 4 for processing after the signal conditioning circuit.

[0050] Specifically, the control module 4 is configured to: after the gripper 2 contacts the book and before clamping it, control the vibration excitation and detection module 3 to apply vibration excitation to the book and collect vibration response signals; calculate the elastic modulus of the book based on the vibration response signals; determine the upper limit of the clamping force of the book based on the elastic modulus; and control the gripper 2 to clamp the book with a clamping force not exceeding the upper limit of the clamping force.

[0051] The control module 4 calculates the elastic modulus of the book based on the vibration response signal as follows: It acquires the vibration decay time τ and resonant frequency offset Δf detected by the accelerometer 32; based on the vibration decay time τ and resonant frequency offset Δf, it calculates the elastic modulus E according to the following formula:

[0052] E = k1 × τ + k2 × Δf + b;

[0053] Where k1 and k2 are preset weighting coefficients, and b is a preset constant, the specific values ​​of k1, k2, and b are determined by fitting a multiple linear regression method after conducting vibration and mechanical tests on standard book samples of various materials and thicknesses. A longer vibration decay time τ and a smaller resonance frequency shift Δf result in a larger elastic modulus E, indicating a more robust book structure; conversely, a shorter vibration decay time τ and a larger resonance frequency shift Δf result in a smaller elastic modulus E, indicating a more fragile book structure. The method for obtaining the vibration decay time τ... The formula is as follows: The envelope detection is performed on the time-domain vibration signal collected by the accelerometer 32, and the time taken for the vibration amplitude to decay to 1 / e (approximately 36.8%) of the initial amplitude is extracted. The resonance frequency offset Δf is obtained by performing a fast Fourier transform (FFT) on the time-domain signal collected by the accelerometer 32 to obtain the frequency domain spectrum, extracting the peak frequency fp, and calculating the difference with the preset reference resonance frequency f0. Δf = |fp - f0|, where the reference resonance frequency f0 is the natural resonance frequency of the piezoelectric vibrator 31 and the accelerometer 32 assembly under no-load conditions.

[0054] The control module 4 determines the upper limit of the clamping force of the book based on the elastic modulus as follows: The control module 4 has a built-in elastic modulus-clamping force mapping table. The mapping table stores multiple elastic modulus intervals and their corresponding upper limit clamping force values. This mapping table is established by conducting pre-conducting destructive clamping tests on various types of books, including hardcover books, paperback books, ancient books, and picture albums. The critical clamping force at which signs of damage such as indentation and spine cracking begin to appear during clamping is recorded for books with different elastic moduli. This critical clamping force is taken as the upper limit clamping force value corresponding to the elastic modulus interval. The control module 4 matches the calculated elastic modulus E with the mapping table to determine the corresponding upper limit clamping force value Fmax. The smaller the elastic modulus E, the lower the corresponding upper limit clamping force value Fmax. The upper limit clamping force value Fmax ranges from 0.1N to 2.0N.

[0055] It is particularly important to emphasize that a pressure sensor 5 is also provided on the inner side of the gripping arm of the gripper 2. The pressure sensor 5 is electrically connected to the control module 4. The pressure sensor 5 can be a thin-film pressure sensor, which is attached to the inner surface of the gripping arm of the gripper 2 to detect the gripping force applied by the gripper 2 to the surface of the book in real time. During the gripping process, the control module 4 controls the gripper 2 to gradually close, while reading the detection value of the pressure sensor 5 in real time. When the detection value of the pressure sensor 5 reaches the upper limit of the gripping force Fmax, the control module 4 controls the gripper 2 to stop closing and maintain the current gripping position, thereby realizing closed-loop control of the gripping force. The third drive motor 21 is a servo motor. The control module 4 adjusts the output torque of the servo motor through a PID control algorithm to keep the gripping force accurately maintained near the target value, with a force control accuracy of ±0.1N.

[0056] It is particularly important to emphasize that the control module 4 is also configured to: after each book retrieval action, record the book identification information and the calculated elastic modulus E corresponding to this book retrieval, and store them in the book health record. The book identification information can be obtained by reading the barcode, QR code, or RFID tag of the book through a barcode scanner or RFID reader / writer set on the gripper 2. When the gripper 2 grips the same book again, the control module 4 compares the calculated elastic modulus E with the historical elastic modulus data of the book in the book health record. If the decrease in the current elastic modulus E compared with the historical elastic modulus data exceeds a preset threshold, for example, the decrease exceeds 15%, the control module 4 issues a book aging warning signal and sends the warning signal to the user terminal device, such as a mobile APP, through the Wi-Fi module or Bluetooth module. At the same time, it automatically adjusts the upper limit of the current clamping force to 70% to 90% of the upper limit of the clamping force corresponding to the historical elastic modulus data. The specific adjustment ratio is dynamically determined according to the decrease in elastic modulus: the greater the decrease, the lower the adjustment ratio, so as to avoid damage caused by the book becoming brittle due to aging during the clamping process.

[0057] The workflow is described in detail below with reference to specific embodiments:

[0058] Example 1: This example uses a complete standard book retrieval operation as an example, combined with the appendix. Figure 1 To be continued Figure 7 The workflow is explained in detail below:

[0059] Step S1: The control module 4 receives the book retrieval command and obtains the storage location coordinates of the target book. The user can input the name or number of the book to be retrieved through the touch screen or mobile APP that is electrically connected to the control module 4. The control module 4 finds the storage location coordinates of the target book according to the built-in library management system, including the height coordinates of the bookshelf and the horizontal position coordinates.

[0060] Step S2: Control the motion execution module 1 to move to the storage position of the target book, so that the gripper 2 is aligned with the target book. Specifically, the control module 4 first controls the first drive motor 111 to drive the horizontal moving chassis 11 to translate within the plane of the bookcase module, so that the book retrieval platform 13 moves to the corresponding horizontal position of the column where the target book is located; then controls the second drive motor 121 to drive the vertical lifting mechanism 12, so that the book retrieval platform 13 is raised and lowered to the corresponding height of the layer where the target book is located, ensuring that the gripper 2 and the target book are at the same height layer and aligned with the spine direction.

[0061] Step S3: Control the gripper 2 to extend and contact the surface of the target book. After contacting the book, the gripper 2 remains in an unclamped state. Specifically, the control module 4 controls the lateral telescopic mechanism 6 to drive the gripper 2 to extend towards the target book, while simultaneously reading the detection signal from the photoelectric sensor 7 in real time. When the photoelectric sensor 7 detects that the book has reached the predetermined clamping position of the gripper 2, the control module 4 controls the lateral telescopic mechanism 6 to stop extending. At this time, the two clamping arms of the gripper 2 are located on both sides of the book and slightly contact the surface of the book, but no clamping force has been applied.

[0062] Step S4: Control the vibration excitation and detection module 3 to apply vibration excitation to the book and collect the vibration response signal of the book. Specifically, the control module 4 outputs a sinusoidal excitation signal with a duration of 30ms (not exceeding 50ms) and an amplitude of 0.08mm (not exceeding 0.1mm) to the piezoelectric vibrator 31 through the DAC module and power amplifier circuit. The piezoelectric vibrator 31 generates mechanical vibration under the action of the inverse piezoelectric effect and transmits the vibration to the surface of the book through the clamping arm of the gripper 2. At the same time, the accelerometer 32 embedded in the inner side of the other clamping arm detects the vibration response signal of the book under the vibration excitation and inputs it to the control module 4 after the signal conditioning circuit (charge amplification, filtering, analog-to-digital conversion).

[0063] Step S5: Calculate the elastic modulus E of the book based on the vibration response signal. The control module 4 performs time-domain and frequency-domain analysis on the vibration response signal collected by the accelerometer 32: In the time domain, envelope detection is performed on the signal, and the time taken for the vibration amplitude to decay to 1 / e of the initial amplitude is extracted as the vibration decay time τ; In the frequency domain, the fast Fourier transform (FFT) is performed on the time domain signal to obtain the frequency spectrum, the peak frequency fp is extracted, and the difference Δf = |fp-f0| between the peak frequency fp and the reference resonance frequency f0 is calculated as the resonance frequency offset. Then, the elastic modulus E is calculated according to the formula E = k1×τ + k2×Δf + b, where k1, k2 and b are preset weighting coefficients and constants.

[0064] Step S6: Determine the upper limit of the clamping force Fmax of the book based on the elastic modulus E. The control module 4 matches the calculated elastic modulus E with the built-in elastic modulus-clamping force mapping table. For example, if E≥5.0GPa, corresponding to a hardcover book, the corresponding Fmax in the mapping table is 2.0N; if 2.0GPa≤E<5.0GPa, corresponding to a regular paperback book, the corresponding Fmax is 1.0N; if E<2.0GPa, corresponding to an ancient book or a fragile book, the corresponding Fmax is 0.3N. Based on the matching result, determine the upper limit of the clamping force Fmax for this clamping, with a value range of 0.1N to 2.0N.

[0065] Step S7: Control the gripper 2 to gradually close and clamp the book until the clamping force reaches the upper limit value Fmax, then stop clamping and maintain it. Specifically, the control module 4 controls the third drive motor 21 to drive the two clamping arms of the gripper 2 to gradually close, while reading the detection value of the pressure sensor 5 embedded in the inner side of the clamping arm in real time. The control module 4 compares the real-time detection value of the pressure sensor 5 with the upper limit value Fmax of the clamping force determined in step S6 through the PID closed-loop control algorithm. When the detection value of the pressure sensor 5 reaches Fmax, the control module 4 controls the third drive motor 21 to stop rotating, and the gripper 2 keeps the current clamping position still, thereby clamping the book with a clamping force that does not exceed Fmax.

[0066] Step S8: Control the motion execution module 1 to move the gripper 2 holding the book to the book retrieval position. Specifically, control module 4 controls the horizontal telescopic mechanism 6 to drive the gripper 2 to retract to the initial position on the book retrieval platform 13, then controls the second drive motor 121 to drive the vertical lifting mechanism 12 to lower the book retrieval platform 13 to the preset height position, and then controls the first drive motor 111 to drive the horizontal moving chassis 11 to move to the book retrieval exit position of the bookcase module.

[0067] Step S9: Control the gripper 2 to release the book and complete the book retrieval operation. Specifically, the control module 4 controls the third drive motor 21 to reverse, driving the two gripping arms of the gripper 2 to open and release the book. The user can then retrieve the book from the retrieval outlet. At the same time, the control module 4 records the book identification information and the calculated elastic modulus E corresponding to this book retrieval and stores them in the book health record for reference in subsequent book retrievals.

[0068] Example 2 illustrates the comparison and early warning function of the book health record by taking the second book retrieval operation as an example. When the user retrieves a book that has been previously retrieved, the control module 4 executes the process of steps S1 to S5 in Example 1 to calculate the elastic modulus En. Then, the control module 4 retrieves the historical elastic modulus data Eo of the book in the book health record based on the book's identification information (such as ISBN number or RFID tag ID). If the decrease in En compared to Eo exceeds a preset threshold, for example, a decrease of more than 15%, the control module 4 determines that the book has undergone significant aging. If the book becomes damp or deteriorates, a warning signal for book aging will be displayed on the screen and / or pushed to the user's mobile APP via the Wi-Fi module. At the same time, the control module 4 will automatically adjust the upper limit of the clamping force to 70% to 90% of the upper limit of the clamping force corresponding to the historical elastic modulus data. For example, if the original Fmax is 1.0N and the elastic modulus has decreased by 20%, then the adjusted Fmax = 1.0N × 80% = 0.8N. Then, the clamping and book removal operations in steps S7 to S9 will be performed according to the adjusted upper limit of the clamping force, which effectively avoids damage such as spine cracking and cover indentation caused by the book becoming brittle due to aging.

[0069] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A home-use intelligent book storage and retrieval device, characterized in that, include: Motion execution module (1), which is movably disposed at the target position of the bookcase module, is used to perform translational motion, lifting motion and book picking and placing motion relative to the bookcase module; The gripper (2) is disposed on the motion execution module (1) and is used to grip the book when picking up the book; Vibration excitation and detection module (3), which is disposed on the gripper (2), is used to apply vibration excitation to the book and detect the vibration response signal of the book; The control module (4) is electrically connected to the motion execution module (1), the gripper (2) and the vibration excitation and detection module (3), respectively. The control module (4) is configured to: after the gripper (2) contacts the book and before clamping it, control the vibration excitation and detection module (3) to apply vibration excitation to the book and collect vibration response signals; calculate the elastic modulus of the book based on the vibration response signals; determine the upper limit of the clamping force of the book based on the elastic modulus; and control the gripper (2) to clamp the book with a clamping force not exceeding the upper limit of the clamping force.

2. The home intelligent book storage and retrieval device according to claim 1, characterized in that, The vibration excitation and detection module (3) includes a piezoelectric vibrator (31) and an accelerometer (32). The piezoelectric vibrator (31) and the accelerometer (32) are respectively embedded on the inner surfaces of the two gripping arms of the gripper (2). The piezoelectric vibrator (31) is used to apply vibration excitation to the surface of the book, and the accelerometer (32) is used to detect the vibration response signal of the book under the vibration excitation. The duration of the vibration excitation does not exceed 50ms and the amplitude does not exceed 0.1mm.

3. The home intelligent book storage and retrieval device according to claim 2, characterized in that, The control module (4) calculates the elastic modulus of the book based on the vibration response signal by: obtaining the vibration decay time τ and the resonance frequency offset Δf detected by the accelerometer (32); and calculating the elastic modulus E according to the following formula based on the vibration decay time τ and the resonance frequency offset Δf: E = k1 × τ + k2 × Δf + b; Wherein, k1 and k2 are preset weighting coefficients, and b is a preset constant; the longer the vibration decay time τ and the smaller the resonance frequency offset Δf, the larger the elastic modulus E, indicating that the book structure is more robust; the shorter the vibration decay time τ and the larger the resonance frequency offset Δf, the smaller the elastic modulus E, indicating that the book structure is more fragile.

4. The home intelligent book storage and retrieval device according to claim 3, characterized in that, The control module (4) determines the upper limit of the clamping force of the book based on the elastic modulus in the following way: The control module (4) has a built-in elastic modulus-clamping force mapping table, which stores multiple elastic modulus intervals and their corresponding upper limit values ​​of clamping force. The control module (4) matches the calculated elastic modulus E with the mapping table to determine the corresponding upper limit value of clamping force Fmax. The smaller the elastic modulus E, the lower the corresponding upper limit value of clamping force Fmax. The upper limit value of clamping force Fmax ranges from 0.1N to 2.0N.

5. The home intelligent book storage and retrieval device according to claim 4, characterized in that, A pressure sensor (5) is also provided on the inner side of the gripping arm of the gripper (2), and the pressure sensor (5) is electrically connected to the control module (4). During the process of gripping the book, the control module (4) controls the gripper (2) to gradually close, and at the same time reads the detection value of the pressure sensor (5) in real time. When the detection value of the pressure sensor (5) reaches the upper limit value of the gripping force Fmax, the control module (4) controls the gripper (2) to stop closing and maintain the current gripping position.

6. The home intelligent book storage and retrieval device according to claim 5, characterized in that, The control module (4) is also configured to: after each book retrieval action is completed, record the book identification information corresponding to the book retrieval and the calculated elastic modulus E, and store them in the book health record; when the gripper (2) grips the same book again, the control module (4) compares the calculated elastic modulus E with the historical elastic modulus data of the book in the book health record; if the decrease in the elastic modulus E of the current time exceeds the historical elastic modulus data by more than a preset threshold, the control module (4) issues a book aging warning signal and automatically adjusts the upper limit of the current clamping force to 70% to 90% of the upper limit of the clamping force corresponding to the historical elastic modulus data.

7. The home intelligent book storage and retrieval device according to claim 6, characterized in that, The motion execution module (1) includes a transverse moving chassis (11), a longitudinal lifting mechanism (12), and a book retrieval platform (13). The transverse moving chassis (11) is composed of a trolley driven by a first drive motor (111) and capable of moving along a plane; the longitudinal lifting mechanism (12) is vertically mounted on the transverse moving chassis (11) and driven by a second drive motor (121); the book retrieval platform (13) is detachably mounted on the longitudinal lifting mechanism (12) and driven by the second drive motor (121) to reciprocate in the vertical direction; the gripper (2) is mounted on the book retrieval platform (13) and driven by a third drive motor (21) to perform clamping and releasing actions.

8. The home intelligent book storage and retrieval device according to claim 7, characterized in that, The gripper (2) is movably mounted on the book retrieval platform (13) via a horizontal telescopic mechanism (6), which is electrically connected to the control module (4). The control module (4) is also configured to: after the gripper (2) has finished gripping the book, control the horizontal telescopic mechanism (6) to drive the gripper (2) to move and deliver the book to the book retrieval position.

9. The home intelligent book storage and retrieval device according to claim 8, characterized in that, The book retrieval platform (13) is also equipped with a photoelectric sensor (7), which is electrically connected to the control module (4) and is used to detect whether the book has reached the predetermined clamping position of the gripper (2). The control module (4) is also configured to read the detection signal of the photoelectric sensor (7) in real time when the gripper (2) extends to retrieve the book. When the photoelectric sensor (7) detects that the book has reached the predetermined clamping position, the control module (4) controls the gripper (2) to stop extending and starts the vibration excitation and detection module (3) to perform vibration excitation and detection.

10. A method for accessing and storing smart books at home, using the smart book storage and storage device according to any one of claims 1 to 9, characterized in that, Includes the following steps: Step S1: The control module (4) receives the book retrieval instruction and obtains the storage location coordinates of the target book; Step S2: Control the motion execution module (1) to move to the storage position of the target book, so that the gripper (2) is aligned with the target book; Step S3: Control the gripper (2) to extend and contact the surface of the target book, and keep the gripper (2) in an unclamped state after contacting the book; Step S4: Control the vibration excitation and detection module (3) to apply vibration excitation to the book and collect the vibration response signal of the book; Step S5: Calculate the elastic modulus E of the book based on the vibration response signal; Step S6: Determine the upper limit value Fmax of the clamping force of the book based on the elastic modulus E; Step S7: Control the gripper (2) to gradually close and clamp the book until the clamping force reaches the upper limit value Fmax, then stop clamping and maintain it; Step S8: Control the motion execution module (1) to move the gripper (2) holding the book to the book retrieval position; Step S9: Control the gripper (2) to release the book and complete the book retrieval operation.

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