孙苗 兰晓红 贺转玲 魏延

摘  要： 针对传统方法查找书籍繁琐、耗时长，开发一套基于蓝牙通信的可以通过远端自然语言控制的具有自动查找定位、可避障移动和自动巡线传送书籍等功能的小型智能书架机器人系统。该系统主要包含书架机器人本体部分和远端控制APP部分。书架机器人本体部分通过3D机械设计和开源平台Arduino编程控制电路运转;APP部分利用APP Inventor软件开发一套书架控制手机APP，并采用关键字查询技术查找图书。经过实验测试，发现书架机器人系统可以在短时间内准确查找到图书，并准确送达目的位置。文中设计的书架机器人系统有效解决了在特定場合需要快速定位查找书籍、便捷取放图书等问题。

关键词： 书架机器人; 蓝牙通信; 自然语言控制; 系统设计; 远程控制; 系统测试

中图分类号： TN911.23?34                        文献标识码： A                        文章编号： 1004?373X（2020）10?0179?05

Design and implementation of speech control bookshelf robot based on Bluetooth

SUN Miao1，2， LAN Xiaohong1， HE Zhuanling3， WEI Yan1

（1. College of Computer and Information Science， Chongqing Normal University， Chongqing 401331， China;

2. Engineering Center of Robotics and Intelligent Equipment， Chongqing Normal University， Chongqing 401331， China;

3. College of Information and Communications， National University of Defense Technology， Xian 710106， China）

Abstract： As the search books is tedious and time?consuming in the traditional methods， a small intelligent bookshelf robot system based on Bluetooth communication and by means of the remote natural language control is developed， which has the functions of automatic searching and locating， obstacle avoiding and moving， and automatic routing and transferring books， etc. The system mainly includes the body pa0072t and the remote control APP of the bookshelf robot. In the robot body part， the circuit operation is controlled by means of the 3D mechanical design and Arduino programming， an open source platform; in the App part， a bookshelf control mobile phone APP is developed by the App Inventor software， and the keyword search technology is used to search books. The experimental testing results show that the bookshelf robot system can find books accurately in a short time and deliver them to the destination accurately. The bookshelf robot system designed in this paper can effectively solve the problems such as quick locating and searching books， convenient picking and placing books in specific occasions.

Keywords： bookshelf robot; Bluetooth communication; natural language control; system design; remote control; system testing

0  引  言

随着机器人技术以及移动互联网技术的迅速发展[1?2]，智能化研究在日常生活中的应用需求日益增多[3?6]。如今，在教室、书房、办公室等场所，书籍被堆放在书架上，大多是通过人工查阅的，查找比较困难，拿取也极其不方便，严重影响了人们查阅书籍的时效性。如果设计出一种能够通过自然语音自动查找书籍，并把定位的书籍送到人们手边的书架机器人，将有效地解决人们在书房中对书籍定位难、查找耗时长等问题。

在查阅图书过程中，准确定位和取放图书是常见的问题。针对书籍定位这一问题，张郁松等以……