Library mobile robot

Abstract

The utility model relates to the technical field of library robots, and discloses a library mobile robot which is characterized by comprising a mobile base, a book containing mechanism, a control panel and a direction finding and obstacle avoiding mechanism. An active driving wheel and a steering wheel are arranged on the bottom surface of the movable base, the active driving wheel is matched and connected with a driving motor for controlling the active driving wheel to rotate forwards or backwards, and the steering wheel is matched and connected with a steering motor for controlling the rotating direction; the book containing mechanism comprises two longitudinal mounting plates and at least two book containing trays, the bottom ends of the two parallel longitudinal mounting plates are fixedly and vertically connected with the two opposite edges of the top face of the movable base respectively, and the book containing trays are mounted and connected between the two longitudinal mounting plates; the control panel is arranged at the top end of one longitudinal mounting plate; and the direction-finding and obstacle-avoiding mechanism is arranged on the side surface and the bottom of the movable base and at the bottom end of the longitudinal mounting plate and is used for positioning and obstacle avoidance.

Description

Technical Field

[0001] This utility model relates to the field of library robot technology, and more specifically, to a library mobile robot. Background Technology

[0002] In library settings, the handling and transfer of various books is a frequent task. With the continuous expansion of library resources, library staff face increasing pressure when moving, organizing, and shelving books. Existing methods mainly involve manual handling and the use of trolleys, both of which have significant limitations in efficiency and accuracy, such as consuming large amounts of manpower and easily damaging books. Therefore, it is necessary to design a device that can facilitate the convenient handling of books, addressing the shortcomings of existing manual methods. Utility Model Content

[0003] The purpose of this invention is to provide a library mobile robot that can better protect books, enable efficient book retrieval, complete transport more efficiently, and cause less damage to books.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a library mobile robot, including a mobile base, a book holding mechanism, a control panel, and a direction-finding and obstacle-avoiding mechanism;

[0005] The bottom surface of the mobile base is provided with an active drive wheel and a steering wheel. The active drive wheel is equipped with a drive motor that controls the forward or reverse rotation of the active drive wheel, and the steering wheel is equipped with a steering motor that controls the rotation direction.

[0006] The book holding mechanism includes two longitudinal mounting plates and at least two book holding trays. The bottom ends of the two parallel longitudinal mounting plates are fixedly and vertically connected to two opposite edges of the top surface of the movable base, and the book holding trays are installed and connected between the two longitudinal mounting plates.

[0007] The control panel is located at the top of one of the longitudinal mounting plates;

[0008] The orientation-finding and obstacle-avoidance mechanism is configured on the side and bottom of the mobile base and at the bottom of the longitudinal mounting plate for positioning and obstacle avoidance.

[0009] As a preferred technical solution of this utility model, the orientation-finding and obstacle avoidance mechanism includes several lidar, ultrasonic radar, visual camera and depth camera. The lidar is provided on the bottom surface of the mobile base, the ultrasonic radar and visual camera are provided on the side of the mobile base, and the visual camera and depth camera are installed at the top of the vertical mounting plate connected to the control panel.

[0010] As a preferred embodiment of this invention, the control panel is a touch-sensitive display screen.

[0011] As a preferred embodiment of this utility model, a damping pivot is connected between the bottom of the control panel and the longitudinal mounting plate, allowing the control panel to rotate relative to the longitudinal mounting plate.

[0012] As a preferred embodiment of this utility model, the book tray includes a book holding plate connected to form a topless box, two opposing book taking side plates, and two opposing mounting side plates. The mounting side plates of the top and bottom book trays are fixedly connected to the inner sides of the two longitudinal mounting plates, and the mounting side plate of the middle book tray is detachably connected to the longitudinal mounting plates.

[0013] As a preferred technical solution of this utility model, several parallel raised mounting strips are provided from top to bottom on the inner middle of the two longitudinal mounting plates. The outer side of the mounting side plate of the book tray located in the middle is provided with a mounting groove that matches the raised mounting strips. The outer side of the mounting side plate and the longitudinal mounting plates are slidably connected. One side of the mounting groove is a through groove and the other side is a limiting wall. When the limiting wall abuts against the side of the raised mounting strip, the book tray is installed in place.

[0014] As a preferred embodiment of this utility model, the mounting groove is provided with a pin hole through a position corresponding to the edge of the longitudinal mounting plate. A pin is disposed in the pin hole, and one end of the pin passes through the pin hole and forms a limit for the book tray between it and the edge of the longitudinal mounting plate.

[0015] As a preferred embodiment of this utility model, the connection angle between the book-retrieving side panel and the mounting side panel is a rounded corner.

[0016] In summary, this utility model has the following beneficial effects: The active drive wheels and steering wheels on the mobile base enable the entire mobile robot to move forward and backward and turn. Combined with the orientation-finding obstacle avoidance mechanism and control panel, it achieves complete mobile robot movement control and obstacle avoidance during movement, preventing collisions with surrounding people or objects. A book-holding mechanism is installed above the mobile base. A longitudinal mounting plate defines a longitudinal space, and within this space, book trays divide the space from top to bottom, making more efficient use of space. This allows for relatively dispersed placement of books, making it easier to pick up and place each book, better protecting the books, and achieving efficient book retrieval. The movement of the mobile base facilitates book transport, and the control software enables automatic tracking and obstacle avoidance, resulting in more efficient transport and less damage to the books. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the raised mounting strip of this utility model;

[0019] Figure 3 This is a schematic diagram of the damping shaft of this utility model;

[0020] Figure 4 This is a schematic diagram of the limiting wall of this utility model;

[0021] Figure 5 This is a schematic diagram of the bottom surface of the movable base of this utility model.

[0022] In the diagram: 1. Movable base; 2. Control panel; 3. Drive wheel; 4. Steering wheel; 5. Longitudinal mounting plate; 6. Book tray; 7. Vision camera; 8. LiDAR; 9. Ultrasonic radar; 10. Damped pivot; 11. Book tray; 12. Book retrieval side panel; 13. Mounting side panel; 14. Raised mounting strip; 15. Mounting groove; 16. Limiting wall; 17. Pin; 18. Pin hole. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Therefore, the following detailed description of the embodiments of this utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0024] like Figure 1-5 As shown, this utility model provides a library mobile robot, including a mobile base 1, a book holding mechanism, a control panel 2, and a direction-finding and obstacle-avoiding mechanism;

[0025] like Figure 5 As shown, the bottom surface of the mobile base 1 is provided with an active drive wheel 3 and a steering wheel 4. The active drive wheel 3 is equipped with a drive motor that controls the forward or reverse rotation of the active drive wheel 3, and the steering wheel is equipped with a steering motor that controls the rotation direction. The mobile base 1 is also provided with other necessary electrical units, such as a battery, various circuit boards and other electrical modules, to support the automatic control of the mobile base 1. The line-following and obstacle avoidance algorithms are both control algorithms that are already available on the market, and will not be described in detail here.

[0026] like Figure 2 As shown, the book holding mechanism includes two longitudinal mounting plates 5 and at least two book holding trays 6. The bottom ends of the two parallel longitudinal mounting plates 5 are fixedly and vertically connected to two opposite edges of the top surface of the movable base 1, respectively. The book holding trays 6 are installed and connected between the two longitudinal mounting plates 5.

[0027] like Figure 3 As shown, the control panel 2 is located at the top of a vertical mounting plate 5; the control panel 2 is a touch-screen display for convenient operation. A damping pivot 10 connects the bottom of the control panel 2 to the vertical mounting plate 5, allowing the control panel 2 to rotate relative to the vertical mounting plate 5 and adjust its angle according to the user's height, further facilitating user operation.

[0028] The orientation-finding and obstacle avoidance mechanism is configured on the side and bottom of the mobile base 1 and the bottom of the longitudinal mounting plate 5 for positioning and obstacle avoidance.

[0029] The working principle and technical advantages of this utility model's library mobile robot are as follows: The active drive wheels 3 and steering wheels 4 on the mobile base 1 enable the entire mobile robot to move forward and backward and turn. Combined with the orientation-finding obstacle avoidance mechanism and control panel 2, the robot's movement is controlled, and it avoids obstacles during movement, preventing collisions with surrounding people or objects. A book-holding mechanism is installed above the mobile base 1. A longitudinal mounting plate 5 defines a longitudinal space, and within this space, book trays 6 divide the space from top to bottom, making more efficient use of space. This allows for more dispersed placement of books, making it easier to pick up and place each book, better protecting the books, and achieving efficient book retrieval. The movement of the mobile base 1 facilitates the transport and transfer of books, and the control software enables automatic tracking and obstacle avoidance during transport, resulting in more efficient transport and less damage to the books.

[0030] As one embodiment of this utility model, such as Figure 1 As shown, the orientation-finding and obstacle avoidance mechanism includes several lidar 8, ultrasonic radar 9, vision camera 7, and depth camera. The bottom surface of the mobile base 1 is equipped with lidar 8 for positioning of the mobile robot. The sides of the mobile base 1 are equipped with ultrasonic radar 9 and vision camera 7 for obstacle avoidance. The top of the vertical mounting plate 5, which is connected to the control panel 2, is equipped with vision camera 7 and depth camera to cooperate with visual recognition and other technologies to achieve intelligent obstacle avoidance.

[0031] As one embodiment of this utility model, such as Figure 1As shown, the book tray 6 includes a book-holding flat plate 11 connected to form a topless box, two opposing book-retrieving side plates 12, and two opposing mounting side plates 13. The connecting corners between the book-retrieving side plates 12 and the mounting side plates 13 are rounded to facilitate the cleaning of the actual book tray 6 and reduce personnel injury and item loss when personnel or items collide with the mobile robot. The mounting side plates 13 of the book tray 6 located at the top and bottom are fixedly connected to the inner sides of the two longitudinal mounting plates 5, while the mounting side plates 13 of the book tray 6 located in the middle are detachably connected to the longitudinal mounting plates 5. The book-holding space can be adjusted according to the actual data placement needs, so as to better hold the books.

[0032] Specifically, such as Figure 2 and 4 As shown, several parallel raised mounting strips 14 are arranged from top to bottom on the inner middle of the two longitudinal mounting plates 5. The outer side of the mounting side plate 13 of the book tray 6 located in the middle has mounting grooves 15 that match the raised mounting strips 14. The outer side of the mounting side plate 13 and the longitudinal mounting plate 5 are slidably connected. One side of the mounting groove 15 is a through groove, and the other side is a limiting wall 16. When the limiting wall 16 abuts against the side of the raised mounting strip 14, the book tray 6 is installed in place. This provides a quick installation and disassembly structure between the longitudinal mounting plate 5 and the book tray 6. In actual use, installation and disassembly can be achieved by sliding the unidirectional raised mounting strips 14 and the mounting groove 15, facilitating the division of the actual book storage space. Furthermore, the mounting groove 15 has a through-hole 18 located outside the edge of the longitudinal mounting plate 5. A pin 17 is disposed within the pin hole 18. One end of the pin 17 passes through the pin hole 18 and forms a limit between itself and the edge of the longitudinal mounting plate 5, thus making the installation of the book tray 6 more stable. The end of the pin 17 inside the book tray 6 is an enlarged end, and a plug can be provided at the end protruding from the pin hole 18 to prevent the pin 17 from falling off.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A library mobile robot, characterized by: Includes a mobile base (1), a book-holding mechanism, a control panel (2), and a direction-finding and obstacle-avoiding mechanism; The bottom surface of the mobile base (1) is provided with an active drive wheel (3) and a steering wheel (4). The active drive wheel (3) is connected to a drive motor that controls the forward or reverse rotation of the active drive wheel (3), and the steering wheel is connected to a steering motor that controls the rotation direction. The book holding mechanism includes two longitudinal mounting plates (5) and at least two book holding trays (6). The bottom ends of the two parallel longitudinal mounting plates (5) are fixedly and vertically connected to the two opposite edges of the top surface of the movable base (1). The book holding trays (6) are installed and connected between the two longitudinal mounting plates (5). The control panel (2) is located at the top of one of the longitudinal mounting plates (5); The orientation-finding and obstacle-avoidance mechanism is configured on the side and bottom of the mobile base (1) and at the bottom of the longitudinal mounting plate (5) for positioning and obstacle avoidance.

2. The library mobile robot according to claim 1, characterized in that: The orientation-finding and obstacle avoidance mechanism includes several lidar (8), ultrasonic radar (9), visual camera (7) and depth camera. The lidar (8) is provided on the bottom surface of the mobile base (1), the ultrasonic radar (9) and the visual camera (7) are provided on the side of the mobile base (1), and the visual camera (7) and depth camera are installed on the top of the longitudinal mounting plate (5) connected to the control panel (2).

3. A library mobile robot according to claim 2, characterized in that: The control panel (2) is a touch-sensitive display screen.

4. A library mobile robot according to claim 3, characterized in that: A damping shaft (10) is connected between the bottom of the control panel (2) and the longitudinal mounting plate (5), and the control panel (2) can rotate relative to the longitudinal mounting plate (5).

5. A library mobile robot according to claim 4, characterized in that: The book tray (6) includes a book holding plate (11) connected to form a topless box, two opposing book taking side plates (12) and two opposing mounting side plates (13). The mounting side plates (13) of the top and bottom book trays (6) are fixedly connected to the inner sides of the two longitudinal mounting plates (5), and the mounting side plates (13) of the middle book trays (6) are detachably connected to the longitudinal mounting plates (5).

6. A library mobile robot according to claim 5, characterized in that: The inner middle of the two longitudinal mounting plates (5) is provided with several parallel raised mounting strips (14) from top to bottom. The outer side of the mounting side plate (13) of the book tray (6) located in the middle is provided with a mounting groove (15) that matches the raised mounting strips (14). The outer side of the mounting side plate (13) and the longitudinal mounting plate (5) are slidably connected. One side of the mounting groove (15) is a through groove and the other side is a limiting wall (16). When the limiting wall (16) abuts against the side of the raised mounting strip (14), the book tray (6) is installed in place.

7. A library mobile robot according to claim 6, characterized in that: The mounting groove (15) has a pin hole (18) extending through it at a position outside the edge of the longitudinal mounting plate (5). A pin (17) is disposed in the pin hole (18). One end of the pin (17) passes through the pin hole (18) and forms a limit for the book tray (6) between itself and the edge of the longitudinal mounting plate (5).

8. A library mobile robot according to claim 7, characterized in that: The connection angle between the book-retrieving side panel (12) and the mounting side panel (13) is rounded.

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