CN114654478A - Book checking method based on book checking robot - Google Patents
Book checking method based on book checking robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a book checking method based on a book checking robot, which adopts a checking method combining an RFID technology and a visual sensing technology, and has the advantages that the book checking efficiency and accuracy are greatly improved, the specific position of a book is accurately checked, and the book position of a background book database is more accurate; the phenomenon of error checking of the books is reduced; the empty bookshelf can be effectively identified. According to the invention, the RFID technology and the vision sensor technology are fused, the advantages are complementary, the vision sensor technology can well make up for partial defects of the RFID technology, and the vision sensor technology is used as an auxiliary checking means, so that the checking robot can be more suitable for different occasions, and the robustness is better.
Description
Technical Field
The invention relates to the field of intelligent book checking robots, in particular to a book checking method based on a book checking robot.
Background
A book checking system of a checking robot updates the exact positions of books on a bookshelf of a library to a background database through a certain technical means so as to facilitate the final management, borrowing and the like of the books.
The RFID technology is applied most, an RFID sensor, an antenna and a reader are integrated on the inventory robot body, an RFID tag capable of reflecting information of the book is installed in the book, after the RFID tag in the book is activated by a signal transmitted by the antenna, a return signal is transmitted to the antenna by the tag, the antenna receives a tag signal, the reader is used for reading the information, and the information is compared with background book information, so that the position of the book is updated.
In practice, factors such as the moving speed of the robot body, the number of the RFID sensors and the number of the antennas, the mounting position, the distance between the robot body and the book and the like all affect the accuracy of reading the tag data, and therefore the efficiency and the accuracy of book counting are affected finally.
When multiple RFID sensors and antennas are used, there will be interference between each other; the technology based on the RFID cannot identify the empty bookshelf, and the checking efficiency of the robot is also influenced.
Different libraries may adopt different heights of the bookshelves and different layers of the bookshelves, and if the robot cannot adaptively adjust the height of the RFID antenna to adapt to the bookshelves, misreading may be caused, and the checking accuracy is reduced.
Therefore, how to overcome the above problems, improve the book inventory accuracy and inventory efficiency of the robot, and improve the scene adaptability of the robot is a challenge faced by the inventory robot.
In order to solve the above problems, a certain algorithm needs to be adopted to compensate the redundant signals and interferences, so as to improve the reading rate and the accuracy.
When the robot walks between the bookshelves, the existing technology can not identify whether the bookshelves are empty, and the scanning is continued according to the preset speed, so that the inventory efficiency is low.
The prior art updates book position information only according to information returned by a label, when the label of a book is wrong, invalid and weak in signal, the book position cannot be clearly calibrated, and only needs to be abandoned for continuous subsequent scanning and checking.
The existing RFID-based inventory technology can only judge the approximate position of a book on a bookshelf, cannot accurately identify the specific position of the book, and can only mark the book at a certain position of a certain row of bookshelves in a background book database.
Therefore, the invention provides a book checking method based on a patent of a library collection checking robot (application number: CN202020993344.8 publication number: CN212352048U), which can effectively solve the problems.
Disclosure of Invention
In order to solve the technical problems, the invention discloses a book checking method based on a book checking robot, and the technical scheme of the invention is implemented as follows:
a book checking method based on a book checking robot comprises the following steps,
s1, the checking robot executes the scanning task;
s2, the checking robot walks and starts to scan;
s3, starting a visual sensor to identify the bookshelf and starting an RFID reader to read and write data;
s4, respectively identifying the number of empty bookshelves, the number of characters of books and the number of books by a vision sensor; the RFID reader-writer scans RFID label information on the book and is matched with database information one by one;
s5, judging whether the information identified by the visual sensor is consistent with the RFID label information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the book library to the database; if the information does not match, the database is updated based on the information read and written by the RFID reader and the process returns to S2.
Preferably, the step S4 further includes S4.1, when an empty bookshelf is identified, starting the empty bookshelf processing module;
s4.2, stopping reading the RFID label information by the RFIF reader-writer;
s4.3, accelerating the counting robot to a book area;
s4.4, go back to S3.
Preferably, the step S3 further includes S3.1, performing pre-inventory at the beginning of executing the task: adjusting the relative distance between the RFID readers when the inventory robot executes tasks; and adjusting the distance between the RFID reader-writer and the bookshelf.
Preferably, the number of the RFID readers is 4, and the number of the visual sensors is 2; four RFID readers are arranged on a vertical column, and 2 vision sensors are respectively arranged between a first RFID reader and a second RFID reader and between a third RFID reader and a fourth RFID reader from top to bottom.
Preferably, the step S3.1 is specifically as follows:
S3.1A1, the checking robot finds the first bookshelf;
S3.1A2, finding the bracket of the first layer of bookshelf by the vision sensor above and making a reference;
S3.1A3, finding the bracket on the third layer of the bookshelf by the vision sensor positioned below and referencing the bracket on the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of the 4 RFID readers according to the distance between layers of the bookshelf, and sequentially sending excitation signals;
S3.1A5, the checking robot judges the signal quality and the number of labels in the coverage range from the received RFID label signals and identifies the label data;
S3.1A6, fine-tuning the relative distance between RIID readers according to the identified tag data;
S3.1A7, when the number of the received label signals of the 4 RFID readers is minimum, the pre-inventory is finished and the inventory task is performed.
Preferably, the number of the RFID readers is 4, and the number of the visual sensors is 1; arranging four RFID readers on two vertical rows in pairs, wherein the RFID reader on the top of one row is as high as the RFID reader on the bottom of the other row;
the vision sensor is arranged between the two RFID readers-writers with the same height.
Preferably, the step S3.1 is specifically as follows:
S3.1B1, the checking robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up and down position of the vision sensor and the relative distance of the current bookshelf to make all layers of the current bookshelf fall within the visual angle range of the vision sensor;
S3.1B5, starting RFID reader to read the RFID label information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the label data of the RFID reader-writer;
S3.1B7, if matching, starting the inventory task; and if not, adjusting the positions of the inventory robot, the RFID reader-writer and the bookshelf until the label data is correct, adjusting the range of the identification window of the visual sensor until the data is matched, and starting an inventory task.
The invention solves the technical problem of poor inventory effect of the inventory robot in the prior art, the inventory method which combines the RFID technology and the visual sensing technology has complementary advantages, the visual sensing technology can well make up part of defects of the RFID technology, and the inventory robot can be more suitable for different occasions and has better robustness as an auxiliary inventory means.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only one embodiment of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of an inventory robot accurately loading book information;
fig. 2 is a schematic view of a position structure of an RFID reader and a vision sensor of the inventory robot in embodiment 1;
fig. 3 is a schematic position diagram of the RFID reader/writer, the vision sensor, and the bookrack to be checked in embodiment 1;
fig. 4 is a schematic view of an inventory area of the inventory robot of embodiment 1;
fig. 5 is a schematic view of a position structure of an RFID reader and a vision sensor of the inventory robot in embodiment 2;
fig. 6 is a schematic position diagram of the RFID reader-writer, the vision sensor, and the bookrack to be checked in embodiment 2;
fig. 7 is a schematic view of an inventory area of the inventory robot of embodiment 2;
FIG. 8 is a schematic view of an inventory process of the present invention;
FIG. 9 is a schematic view of a processing flow of an empty bookshelf;
fig. 10 is a schematic diagram of a pre-inventory procedure in embodiment 2.
The specific symbol meanings of the drawings are as follows:
r, an RFID reader-writer; e, a vision sensor, R1-R4, is the reading range of four RFID readers on the bookshelf; tag _1x, book label of the first layer of the bookshelf; tag _2x, book label of the second layer of the bookshelf; tag _3x, book label on the third layer of the bookshelf; tag _4x, book label on the fourth layer of bookshelf;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The basic "a kind of stock robot" of this patent keeps away the barrier technique automatically according to intelligent perception technique and navigation, has functions such as automatic path planning, automatic navigation, keeps away the barrier automatically, can be automatic remove between constrictive books bookshelf passageway, accomplishes books stock work. The intelligent robot is provided with a core controller and an industrial personal computer, a library management system is embedded in the intelligent robot, checked book information is compared with information in a library and updated, and finally the intelligent robot is interfaced with a library background data system to complete library information updating of the library system and check work.
The implementation of the invention is premised on that a book accurate position information loading control flow is arranged in the checking robot. As shown in fig. 1, when a certain RFID reader/writer captures a signal returned by a book tag, the signal is compared with a background book database to confirm the book; then, the visual sensor captures book information in a visual range, the keywords of the book names are compared with the book information identified by the RFID one by one, when the book information (book names) has high similarity, the book is confirmed to be the book identified by the RFID, and the determined position information of the book on the bookshelf serves as supplementary information to be updated to a book database. The image information captured by the vision sensor is associated with information such as the bookshelf number.
Example 1
In a specific embodiment, as shown in fig. 8, a book inventory method based on a book inventory robot includes the steps of,
s1, the checking robot executes the scanning task;
s2, the checking robot walks and starts to scan;
s3, starting a visual sensor to identify the bookshelf and starting an RFID reader to read and write data;
s3.1, pre-checking is carried out when the execution task starts: adjusting the relative distance between the RFID readers when the inventory robot executes the tasks; and adjusting the distance between the RFID reader-writer and the bookshelf.
As shown in fig. 4, the main purpose of pre-inventory is to allow the inventory robot to automatically determine the mutual height correspondence and the appropriate distance between the RFID reader and the corresponding book under the guidance of the vision sensor, so that each RFID reader receives as many tag signals from the corresponding book row as possible.
S3.1A1, the checking robot finds the first bookshelf;
S3.1A2, finding the bracket of the first layer of the bookshelf by the vision sensor positioned above and referencing the bracket of the first layer of the bookshelf;
S3.1A3, finding the bracket on the third layer of the bookshelf by the vision sensor positioned below and referencing the bracket on the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of the 4 RFID readers according to the distance between layers of the bookshelf, and sequentially sending excitation signals;
S3.1A5, the checking robot judges the signal quality and the number of labels in the coverage range from the received RFID label signals and identifies the label data;
S3.1A6, fine-tuning the relative distance between RIID readers according to the identified tag data;
S3.1A7, when the number of the received label signals of the 4 RFID readers is minimum, the pre-inventory is finished and the inventory task is performed. The result of this step is that the signal quality of the RFID reader-writer is better, stable, the number of label signal reception overlaps each other is small, and the interference is small.
S4, respectively identifying the number of empty bookshelves, the number of characters of books and the number of books by a vision sensor; the RFID reader-writer scans RFID label information on the book and is matched with database information one by one;
s4.1, when the empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID label information by the RFIF reader-writer;
s4.3, accelerating the counting robot to a book area;
s4.4, go back to S3.
S5, judging whether the information identified by the visual sensor is consistent with the RFID label information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the book library to the database; if the information does not match, the database is updated based on the information read and written by the RFID reader and the process returns to S2.
As shown in fig. 2 and 3, the number of RFID readers is 4, and the number of visual sensors is 2; four RFID readers are arranged on a vertical column, and 2 vision sensors are respectively arranged between a first RFID reader and a second RFID reader and between a third RFID reader and a fourth RFID reader from top to bottom. The viewing angle of the 2 vision sensors is 120 degrees. The visual angle range of the upper visual sensor covers the scanning area of the upper 2 RFID readers; the visual angle range of the visual sensor at the lower part covers the scanning areas of the lower 2 RFID readers. The embodiment can simultaneously scan four layers of book labels Tag _1x, Tag _2x, Tag _3x and Tag _4x of the current bookrack. The read ranges for the four RFIDs are R1, R2, R3 and R4.
The upper and lower positions of the four RFID readers can be independently adjusted to adapt to different bookshelf heights; RFID readers have a minimum spacing limit from each other to prevent signals from interfering with each other. Book inventory, especially when starting to pre-inventory for the best position, takes RFID identification to the strongest signal as the criterion and image identification of the visual sensor as the assistance. The visual identification and the RFID reading and writing are carried out simultaneously, the book information obtained by the visual identification and the RFID reading and writing is compared, and the accurate position information of the book is updated to the database when the book names are matched; and updating the database based on the result of RFID reading and writing in a non-matching way.
Example 2
In a preferred embodiment 2, as shown in fig. 5, 6, 7, 8, 9 and 10, a book inventory method based on a book inventory robot includes the steps of,
s1, the checking robot executes the scanning task;
s2, the checking robot walks and starts to scan;
s3, starting a visual sensor to identify the bookshelf and starting an RFID reader to read and write data;
s3.1, pre-checking is carried out when the execution task starts: adjusting the relative distance between the RFID readers when the inventory robot executes the tasks; and adjusting the distance between the RFID reader-writer and the bookshelf.
As shown in fig. 7, the main purpose of pre-inventory is to allow the inventory robot to automatically determine the mutual height correspondence and the appropriate distance between the RFID reader and the corresponding book under the guidance of the vision sensor, so that each RFID reader receives as many tag signals from the corresponding book row as possible.
S3.1B1, the checking robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up and down position of the vision sensor and the relative distance of the current bookshelf to make all layers of the current bookshelf fit into the visual angle range of the vision sensor;
S3.1B5, starting the RFID reader to read the RFID label information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the label data of the RFID reader-writer;
S3.1B7, if matching, starting the inventory task; if not, adjusting the positions of the checking robot, the RFID reader-writer and the bookshelf until the label data is correct, adjusting the range of the identification window of the visual sensor until the data is matched, and starting a checking task. The result of this step is that the signal quality of the RFID reader-writer is better, stable, the number of label signal reception overlaps each other is small, and the interference is small. The flow chart of the pre-inventory of the embodiment is shown in fig. 10.
S4, respectively identifying the number of empty bookshelves, the number of characters of books and the number of books by a vision sensor; the RFID reader-writer scans RFID label information on the books and is matched with database information one by one;
s4.1, when the empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID label information by the RFIF reader-writer;
s4.3, accelerating the counting robot to a book area;
s4.4, go back to S3.
S5, judging whether the information identified by the visual sensor is consistent with the RFID label information scanned by the RFID reader-writer;
s6, if the information is matched, updating the exact information of the books in the book library to the database; if the information does not match, the database is updated based on the information read and written by the RFID reader and the process returns to S2.
As shown in fig. 5 and 6, the number of the RFID readers is 4, and the number of the visual sensors is 1; arranging four RFID readers on two vertical rows in pairs, wherein the RFID reader at the top of one row is as high as the RFID reader at the bottom of the other row, and the heights of the rest two RFID readers are adjustable; the vision sensor is arranged between the two RFID readers-writers with equal height.
The inventory robot of the embodiment can scan and inventory the upper, middle and lower three rows of books at the same time, and the transverse inventory range is larger compared with that of embodiment 1. The book label range covered by the 4 RFID readers is overlapped with each other in the minimum amount, and the interference is minimum. Meanwhile, the visual angle range of the only visual sensor covers the visual angle ranges of the 4 RFID readers. As shown in fig. 7.
In summary, the invention adopts 4-antenna RFID and reasonably sets the arrangement mode thereof, so that the strength of the received label is strongest and the mutual interference degree between RFID readers is minimum. The final purpose is to improve the accuracy of book checking, increase the checking speed and improve the efficiency.
The invention also adopts the visual image recognition technology to assist the RFID checking, can accurately recognize the exact position of the relevant books and make up for the defects of the RFID technology; and the empty bookshelf can be correctly identified, so that the checking speed is improved. The reliability and the site adaptability of the book checking robot are qualitatively improved.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A book checking method based on a book checking robot is characterized by comprising the following steps,
s1, the checking robot executes the scanning task;
s2, the checking robot walks and starts to scan;
s3, starting a visual sensor to identify the bookshelf and starting an RFID reader to read and write data;
s4, respectively identifying the number of empty bookshelves, the number of characters of books and the number of books by a vision sensor; the RFID reader-writer scans RFID label information on the book and is matched with database information one by one;
s5, judging whether the information identified by the visual sensor is consistent with the RFID label information scanned by the RFID reader-writer;
s6, if the information is matched, the exact information of the books in the book library is updated to the database; if the information does not match, the database is updated based on the information read and written by the RFID reader-writer and the process returns to S2.
2. The book checking method based on the book checking robot as claimed in claim 1, wherein the step S4 further includes S4.1, when an empty bookshelf is identified, starting an empty bookshelf processing module;
s4.2, stopping reading the RFID label information by the RFIF reader-writer;
s4.3, accelerating the counting robot to a book area;
s4.4, go back to S3.
3. The book checking method based on the book checking robot as claimed in claim 2, wherein the step S3 further comprises S3.1, pre-checking is performed at the beginning of the task: adjusting the relative distance between the RFID readers when the inventory robot executes the tasks; and adjusting the distance between the RFID reader-writer and the bookshelf.
4. The book checking method based on the book checking robot according to claim 3, wherein the number of RFID readers is 4, and the number of visual sensors is 2; four RFID readers are arranged on a vertical column, and 2 vision sensors are respectively arranged between a first RFID reader and a second RFID reader and between a third RFID reader and a fourth RFID reader from top to bottom.
5. The book checking method based on the book checking robot as claimed in claim 4, wherein the step S3.1 is as follows:
S3.1A1, the checking robot finds the first bookshelf;
S3.1A2, finding the bracket of the first layer of the bookshelf by the vision sensor positioned above and referencing the bracket of the first layer of the bookshelf;
S3.1A3, finding the bracket on the third layer of the bookshelf by the vision sensor positioned below and referencing the bracket on the third layer of the bookshelf;
S3.1A4, adjusting the relative positions of the 4 RFID readers according to the distance between layers of the bookshelf, and sequentially sending excitation signals;
S3.1A5, the checking robot judges the signal quality and the label quantity in the coverage area from the received RFID label signals and identifies the label data;
S3.1A6, fine-tuning the relative distance between RIID readers according to the identified tag data;
S3.1A7, when the number of the received label signals of the 4 RFID readers is minimum, the pre-inventory is finished and the inventory task is performed.
6. The book checking method based on the book checking robot according to claim 3, wherein the number of the RFID readers is 4, and the number of the vision sensors is 1; arranging four RFID readers-writers on two vertical columns in pairs, wherein the RFID reader-writer at the top of one column is as high as the RFID reader-writer at the bottom of the other column, and the heights of the rest two RFID reader-writers are adjustable;
the vision sensor is arranged between the two RFID readers-writers with the same height.
7. The book checking method based on the book checking robot as claimed in claim 6, wherein the step S3.1 is as follows:
S3.1B1, the checking robot finds the first bookshelf;
S3.1B2, controlling the visual sensor to lift and execute image recognition;
S3.1B3, identifying the number of layers of the current bookshelf;
S3.1B4, adjusting the up and down position of the vision sensor and the relative distance of the current bookshelf to make all layers of the current bookshelf fit into the visual angle range of the vision sensor;
S3.1B5, starting the RFID reader to read the RFID label information of the book;
S3.1B6, judging whether the identification data of the visual sensor is matched with the label data of the RFID reader-writer;
S3.1B7, if matching, starting the inventory task; and if not, adjusting the positions of the inventory robot, the RFID reader-writer and the bookshelf until the label data is correct, adjusting the range of the identification window of the visual sensor until the data is matched, and starting an inventory task.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2018101660A1 (en) * | 2016-12-02 | 2018-06-07 | 주식회사 택트레이서 | Electronic tag identification device and control method therefor |
| CN208314794U (en) * | 2018-05-29 | 2019-01-01 | 广东数相智能科技有限公司 | A kind of books make an inventory vehicle and books are made an inventory robot |
| CN109308772A (en) * | 2017-07-26 | 2019-02-05 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Books in libraries check system and its checking method based on RFID technique |
| CN208819231U (en) * | 2018-08-13 | 2019-05-03 | 广东智媒云图科技股份有限公司 | A kind of books are made an inventory device |
| CN111687851A (en) * | 2020-06-03 | 2020-09-22 | 上海飒智智能科技有限公司 | Museum collection checking robot |
| CN112529127A (en) * | 2020-12-16 | 2021-03-19 | 上海阿法迪智能数字科技股份有限公司 | Automatic book counting device and method |
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2022
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| WO2018101660A1 (en) * | 2016-12-02 | 2018-06-07 | 주식회사 택트레이서 | Electronic tag identification device and control method therefor |
| CN109308772A (en) * | 2017-07-26 | 2019-02-05 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Books in libraries check system and its checking method based on RFID technique |
| CN208314794U (en) * | 2018-05-29 | 2019-01-01 | 广东数相智能科技有限公司 | A kind of books make an inventory vehicle and books are made an inventory robot |
| CN208819231U (en) * | 2018-08-13 | 2019-05-03 | 广东智媒云图科技股份有限公司 | A kind of books are made an inventory device |
| CN111687851A (en) * | 2020-06-03 | 2020-09-22 | 上海飒智智能科技有限公司 | Museum collection checking robot |
| CN112529127A (en) * | 2020-12-16 | 2021-03-19 | 上海阿法迪智能数字科技股份有限公司 | Automatic book counting device and method |
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