Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems
With rapid advancements in artificial intelligence and mobile robots, some of the tedious yet simple jobs in modern libraries, like book accessing and returning (BAR) operations that had been fulfilled manually before, could be undertaken by robots. Due to the limited accuracies of the existing posi...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-02-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/4/783 |
| _version_ | 1818036692355907584 |
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| author | Xiaojun Yu Zeming Fan Hao Wan Yuye He Junye Du Nan Li Zhaohui Yuan Gaoxi Xiao |
| author_facet | Xiaojun Yu Zeming Fan Hao Wan Yuye He Junye Du Nan Li Zhaohui Yuan Gaoxi Xiao |
| author_sort | Xiaojun Yu |
| collection | DOAJ |
| description | With rapid advancements in artificial intelligence and mobile robots, some of the tedious yet simple jobs in modern libraries, like book accessing and returning (BAR) operations that had been fulfilled manually before, could be undertaken by robots. Due to the limited accuracies of the existing positioning and navigation (P&N) technologies and the operational errors accumulated within the robot P&N process, however, most of the current robots are not able to fulfill such high-precision operations. To address these practical issues, we propose, for the first time (to the best of our knowledge), to combine the binocular vision and Quick Response (QR) code identification techniques together to improve the robot P&N accuracies, and then construct an autonomous library robot for high-precision BAR operations. Specifically, the binocular vision system is used for dynamic digital map construction and autonomous P&N, as well as obstacle identification and avoiding functions, while the QR code identification technique is responsible for both robot operational error elimination and robotic arm BAR operation determination. Both simulations and experiments are conducted to verify the effectiveness of the proposed technique combination, as well as the constructed robot. Results show that such a technique combination is effective and robust, and could help to significantly improve the P&N and BAR operation accuracies, while reducing the BAR operation time. The implemented autonomous robot is fully-autonomous and cost-effective, and may find applications far beyond libraries with only sophisticated technologies employed. |
| first_indexed | 2024-12-10T07:14:59Z |
| format | Article |
| id | doaj.art-c92da06b0dda49f08c972e3058afce24 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T07:14:59Z |
| publishDate | 2019-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-c92da06b0dda49f08c972e3058afce242022-12-22T01:57:58ZengMDPI AGSensors1424-82202019-02-0119478310.3390/s19040783s19040783Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification SystemsXiaojun Yu0Zeming Fan1Hao Wan2Yuye He3Junye Du4Nan Li5Zhaohui Yuan6Gaoxi Xiao7School of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Automation, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Electrical and Electronic Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, SingaporeWith rapid advancements in artificial intelligence and mobile robots, some of the tedious yet simple jobs in modern libraries, like book accessing and returning (BAR) operations that had been fulfilled manually before, could be undertaken by robots. Due to the limited accuracies of the existing positioning and navigation (P&N) technologies and the operational errors accumulated within the robot P&N process, however, most of the current robots are not able to fulfill such high-precision operations. To address these practical issues, we propose, for the first time (to the best of our knowledge), to combine the binocular vision and Quick Response (QR) code identification techniques together to improve the robot P&N accuracies, and then construct an autonomous library robot for high-precision BAR operations. Specifically, the binocular vision system is used for dynamic digital map construction and autonomous P&N, as well as obstacle identification and avoiding functions, while the QR code identification technique is responsible for both robot operational error elimination and robotic arm BAR operation determination. Both simulations and experiments are conducted to verify the effectiveness of the proposed technique combination, as well as the constructed robot. Results show that such a technique combination is effective and robust, and could help to significantly improve the P&N and BAR operation accuracies, while reducing the BAR operation time. The implemented autonomous robot is fully-autonomous and cost-effective, and may find applications far beyond libraries with only sophisticated technologies employed.https://www.mdpi.com/1424-8220/19/4/783RobotsPositioning and navigationQR code imageImaging processing |
| spellingShingle | Xiaojun Yu Zeming Fan Hao Wan Yuye He Junye Du Nan Li Zhaohui Yuan Gaoxi Xiao Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems Sensors Robots Positioning and navigation QR code image Imaging processing |
| title | Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems |
| title_full | Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems |
| title_fullStr | Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems |
| title_full_unstemmed | Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems |
| title_short | Positioning, Navigation, and Book Accessing/Returning in an Autonomous Library Robot using Integrated Binocular Vision and QR Code Identification Systems |
| title_sort | positioning navigation and book accessing returning in an autonomous library robot using integrated binocular vision and qr code identification systems |
| topic | Robots Positioning and navigation QR code image Imaging processing |
| url | https://www.mdpi.com/1424-8220/19/4/783 |
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