KR102260041B1 - Autonomous driving robot that detects and manages mis-shelving books using RFID - Google Patents

Abstract

The present invention relates to a mobile robot for a library, comprising: a main body; a drive unit; an RFID antenna mounted on the main body and receiving a signal from a tag attached to a book; an RFID reader mounted on the main body and processing a signal received from the RFID antenna; a communication unit receiving the location information of the book from a server; and a control unit controlling the main body to move around a shelf based on the power provided by the drive unit, obtaining ID information of the book based on the data processed by the RFID reader, determining whether the book is in a mis-shelving state by comparing the ID information of the book and the location information of the book, and transmitting the mis-shelving state information of the book to the server through the communication unit when it is determined that the book is in the mis-shelving state.

Description

Autonomous driving robot that detects and manages mis-shelving books using RFID

The present invention relates to an autonomous driving robot that detects and manages mis-shelving books using RFID.

One of the librarian's job is to find and move books to their original locations if they are located in other than designated locations. This is not an easy task, especially when the library collection is large.

If the books searched by the library user are found on the shelves but are not properly arranged on the shelves, there is a problem in that the librarian has to search all the shelves in the library to find and provide the books.

In order to solve this problem, it is necessary to periodically check whether the books are placed in the correct location in the library, and the five-fold books must be moved to their original locations. However, in a library with more than 100,000 books, people have to manually move five-fold books one by one. Finding and managing it requires a lot of time and effort.

It is necessary to develop a system that automatically finds and manages five books.

Registration number 10-1218260

An object of the present invention is to provide a system for detecting and managing misfolded books using RFID in order to solve the above problems.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the mobile robot for a library according to an embodiment of the present invention is equipped with an RFID antenna, an RFID reader, and a communication unit to compare the information of the server with the information obtained by the RFID tag to detect a fivefold book. includes a control unit.

A mobile robot for a library, the main body; drive unit; an RFID antenna mounted on the main body and receiving a signal from a tag attached to a book; an RFID reader mounted on the main body and processing a signal received from the RFID antenna; Communication unit for receiving the location information of the book from the server; And based on the power provided from the driving unit, the main body is controlled to move around the bookshelf, based on the data processed by the RFID reader, to obtain the ID information of the book, the ID information of the book and the and a control unit that compares the location information to determine whether the book is in a misfolded state, and when the misfolded state of the book is determined, transmits the misfolded state information of the book to the server through the communication unit.

The mobile robot for a library further includes a posture adjusting unit for adjusting the posture of the RFID antenna, wherein the controller controls the posture adjusting unit to change the orientation direction of the RFID antenna.

The control unit controls the posture adjusting unit so that the RFID antenna vibrates.

The control unit controls the driving unit to change the posture of the RFID antenna compared to the tag attached to the book.

The control unit controls the main body to move around the first shelf, and on the basis of the data received from the tag attached to the first book located on the first shelf, obtains the ID information of the first book, and When it is determined that the first book is in the fivefold state, the fivefold state information of the first book is transmitted to the server, and the main body is controlled to move around the second library.

The control unit, when it is determined that the first book is not in the five-fold state, controls the main body to move around the second book.

The mobile robot for the library further includes a display, and the control unit controls the display so that information about the fivefold state of the book is displayed.

The controller controls the driving unit to move the main body according to a preset driving pattern at a preset time.

The operating method of the mobile robot for a library according to an embodiment of the present invention comprises the steps of: receiving, by a communication unit, location information of a book from a server; The main body, based on the power provided by the driving unit, the step of moving around the shelf; receiving, by the RFID antenna mounted on the main body, a signal from a tag attached to a book; processing, by an RFID reader mounted on the main body, a signal received from the RFID antenna; acquiring, by the controller, ID information of a book based on the data processed by the RFID reader; comparing, by the controller, the ID information of the book and the location information of the book, determining the fivefold state information of the book; and transmitting, by the control unit, information about the state of the book's fivefold value to the server through the communication unit when it is determined that the book is in the fivefold state.

Five fold book management system according to an embodiment of the present invention, a server for providing location information of the book; And based on the location information of the book, the library mobile robot according to claim 1, which generates five times the status information of the book and transmits it to the server.

The details of other embodiments are included in the detailed description and drawings.

According to the present invention, there are one or more of the following effects.

First, there is an effect of easily detecting and managing five-fold books even in a library with more than tens of thousands of books.

Second, by adjusting the posture of the RFID antenna mounted on the autonomous driving robot, the tag recognition rate is increased, thereby reducing the error in detecting false books.

Third, there is an effect that the efficient operation of the library is possible by driving the autonomous driving robot to detect five books when the library is not operating.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a diagram referenced to explain a fivefold book management system according to an embodiment of the present invention.
2 is a front view of an autonomous driving robot for a library according to an embodiment of the present invention.
3 is a side view of an autonomous driving robot for a library according to an embodiment of the present invention.
4 is a control block diagram of an autonomous driving robot for a library according to an embodiment of the present invention.
5 is a flowchart referenced for explaining a method of operating an autonomous driving robot for a library according to an embodiment of the present invention.
6 is a diagram referenced to explain a fivefold book management system according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

1 is a diagram referenced to explain a fivefold book management system according to an embodiment of the present invention.

2 is a front view of a mobile robot for a library according to an embodiment of the present invention.

3 is a side view of a mobile robot for a library according to an embodiment of the present invention.

4 is a control block diagram of a mobile robot for a library according to an embodiment of the present invention.

1 to 4 , the fivefold book management system 1 detects and manages fivefold books using an RFID (Radio-Frequency Identification) system in the library. It can be described as a system that

RFID tags (hereinafter, tags) are attached to all books placed in the library and managed. The fivefold book management system 1 may detect and manage the fivefold book by using a tag attached to the book.

The RFID system is a technology for automatically recognizing and processing data stored in a tag having a chip embedded therein by an RFID reader using radio waves. The RFID reader 160 may exchange data with a tag through the RFID antenna 161 . A tag may include a chip and an antenna. When the chip embedded in the tag starts up, the information in the chip can be signaled to send a signal to the tag's antenna. The RFID reader 160 may receive a signal transmitted from the tag through the RFID antenna 161 . Data received by the RFID reader 160 through a signal may be provided to the control unit 170 .

Meanwhile, according to the power supply method, the tag may be divided into a passive type and an active type. Passive tags can be powered by electromagnetic induction energy from the reader's antenna. Active tags can use the power source inside the tag. The RFID system according to the embodiment of the present invention preferably uses a passive tag.

The five fold book management system 1 may include a server 10 and a mobile robot 100 for a library.

The server 10 may include a database. The database records information about all books placed in the library. For example, the database records ship location information of books, loan, return history information, and the like. However, when the fivefold book management system 1 according to the embodiment of the present invention is not applied, there is no way to record information about the fivefold book in the database. The fivefold book management system 1 according to an embodiment of the present invention enables to record fivefold book information in the database.

The server 10 may provide information about books. For example, the server 10 may provide location information of individual books.

The mobile robot 100 for a library (hereinafter referred to as a mobile robot) can autonomously travel in a library. The mobile robot 100 may autonomously travel according to a travel route. For example, the mobile robot 100 may autonomously travel along a preset travel path. According to an embodiment, the mobile robot 100 may reflect the data generated by the sensing unit 110 and the IMU 121 in a preset travel path to update the travel path to autonomously travel.

The mobile robot 100 may manage books while autonomously driving in the library. For example, the mobile robot 100 may manage five books. The mobile robot 100 may generate five fold state information of the book based on the location information of the book and transmit it to the server 10 .

The mobile robot 100 may include a main body 101 and parts mounted on the main body 101 .

The main body 101 may be moved based on the power provided by the driving unit 150 . The mobile robot 100 includes at least one wheel 151 , 152 , and at least one wheel 151 , 152 may be attached to a lower portion of the main body 101 .

At least one driving wheel driven based on the power provided by the driving unit 150 may be attached to a lower portion of the main body 101 . The main body 101 may be moved according to the driving of the driving wheel.

At least one RFID antenna 161 may be mounted on at least a portion of the main body 101 .

At least one RFID reader 160 may be mounted on at least a portion of the body 101 .

Meanwhile, according to an embodiment, a handle for manually moving the mobile robot 100 may be formed on at least a portion of the main body 101 .

The mobile robot 100 is a component mounted on the main body 101 , and includes a sensing unit 110 , an IMU 121 , a communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , and at least one of an RFID reader 160 , at least one RFID antenna 161 , a posture adjusting unit 165 , an output unit 180 , a control unit 170 , an interface unit 171 , and a power supply unit 190 .

The sensing unit 110 may provide information about the mobile robot 100 . The sensing unit 110 may provide data generated by at least one sensor to the control unit 170 . The control unit 170 may detect an object outside the mobile robot 100 based on the data received from the sensing unit 110 . The object may be defined as an object that directly or indirectly affects the movement of the mobile robot 100 , such as objects, people, and structures around the mobile robot 100 .

The sensing unit 110 may include an ultrasonic sensor 111 , a lidar 112 , and a camera 120 . According to an embodiment, the sensing unit 110 may further include a radar or an infrared sensor.

The ultrasonic sensor 111 may detect an object outside the mobile robot 100 using ultrasonic waves.

The ultrasonic sensor 111 may include an ultrasonic transmitter and a receiver. According to an embodiment, the ultrasonic sensor 111 may further include at least one controller electrically connected to the ultrasonic transmitter and the receiver to process a received signal and generate data for an object based on the processed signal. can The control function of the ultrasonic sensor 111 may be implemented in the control unit 170 .

The ultrasonic sensor 111 may detect an object based on ultrasonic waves, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The ultrasonic sensor 111 may be disposed at an appropriate location outside the mobile robot 100 in order to detect an object located in front, rear, or side of the mobile robot 100 .

The lidar 112 may detect an object outside the mobile robot 100 using laser light.

The lidar 112 may include a light transmitter and a light receiver. According to an embodiment, the lidar 112 further includes at least one controller electrically connected to the light transmitter and the light receiver to process a received signal and generate data for an object based on the processed signal. can do. The control function of the lidar 112 may be implemented in the control unit 170 .

The lidar 112 may be implemented in a time of flight (TOF) method or a phase-shift method.

The lidar 112 may be implemented as a driven or non-driven type.

When implemented as a driving type, the lidar 112 is rotated by a motor and may detect an object around the mobile robot 100 .

When implemented as a non-driven type, the lidar 112 may detect an object located within a predetermined range with respect to the mobile robot 100 by light steering.

The mobile robot 100 may include a plurality of non-driven lidar.

The lidar 112 detects an object based on a time of flight (TOF) method or a phase-shift method as a laser light medium, and determines the position of the detected object, the distance to the detected object, and Relative speed can be detected.

The lidar 112 may be disposed at an appropriate location outside the mobile robot 100 in order to detect an object located in front, rear, or side of the mobile robot 100 .

The Inertial Measurement Unit (IMU) 121 may measure the inertia of the mobile robot 100 . IMU 121 may be described as an electronic device that measures a specific force, angular ratio, and sometimes magnetic field surrounding the mobile robot 100 using a combination of an accelerometer and a tachometer, sometimes a magnetometer. The controller 170 may generate information on the posture of the mobile robot 100 based on data received from the IMU 121 .

The IMU 121 may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The camera 120 may capture an external image of the mobile robot 100 .

The camera 120 may generate information about an object outside the mobile robot 100 by using the image. The camera 120 may include at least one lens, at least one image sensor, and at least one control unit that is electrically connected to the image sensor to process a received signal, and generate data about the object based on the processed signal. can

The camera 120 may be at least one of a mono camera and a stereo camera.

The camera 120 may obtain position information of an object, distance information from an object, or relative speed information with an object by using various image processing algorithms.

For example, the camera 120 may acquire distance information and relative speed information from an object based on a change in the size of the object over time from the acquired image.

For example, the camera 120 may acquire distance information and relative speed information with respect to an object through a pin hole model, road surface profiling, or the like.

For example, the camera 120 may acquire distance information and relative velocity information from an object based on disparity information in a stereo image obtained from the stereo camera.

The camera 120 may be mounted at a position capable of securing a field of view (FOV) in order to photograph the outside of the mobile robot 100 .

The mobile robot 100 may include a plurality of cameras 120 .

The radar may include an electromagnetic wave transmitter and a receiver. The radar may be implemented in a pulse radar method or a continuous wave radar method in accordance with a radio wave emission principle. The radar may be implemented by a frequency modulated continuous wave (FMCW) method or a frequency shift keying (FSK) method according to a signal waveform among continuous wave radar methods.

The radar detects an object based on an electromagnetic wave, a time of flight (TOF) method or a phase-shift method, and detects the position of the detected object, the distance to the detected object, and the relative speed. can

The radar may be disposed at an appropriate position outside of the mobile robot 100 to detect an object located in front, rear, or side of the mobile robot 100 .

The infrared sensor may include an infrared transmitter and a receiver. The infrared sensor may detect an object based on infrared light, and detect a position of the detected object, a distance from the detected object, and a relative speed.

The infrared sensor may be disposed at an appropriate location outside of the mobile robot 100 to detect an object located in front, rear, or side of the mobile robot 100 .

The communication unit 125 may exchange signals with an electronic device (eg, a user terminal, a server, another mobile robot, a sensor device, etc.) external to the mobile robot 100 .

The communication unit 125 may wirelessly exchange data with an external electronic device. The communication unit 125 may receive the location information of the book from the server 10 . The communication unit 125 may receive a user input signal from the user mobile terminal. The communication unit 125 may transmit information generated by the mobile robot 100 to the user mobile terminal.

The communication unit 125 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

The communication unit 125 may communicate with an electronic device external to the mobile robot 100 using a known communication method.

The input unit 130 is for receiving information from a user, and the data collected by the input unit 130 may be analyzed by the control unit 170 and processed as a user's control command.

The input unit 130 may include a voice input unit 131 and a touch input unit 132 . According to an embodiment, it may include a gesture input unit or a mechanical input unit.

The voice input unit 131 may convert the user's voice input into an electrical signal. The converted electrical signal may be provided to the control unit 170 . The voice input unit 131 may include one or more microphones.

The touch input unit 132 may convert a user's touch input into an electrical signal. The converted electrical signal may be provided to the controller 170 .

The touch input unit 132 may include a touch sensor for sensing a user's touch input.

According to an embodiment, the touch input unit 132 may be formed integrally with the display 181 to implement a touch screen. Such a touch screen may provide both an input interface and an output interface between the mobile robot 100 and a user.

The gesture input unit may convert the user's gesture input into an electrical signal. The converted electrical signal may be provided to the controller 170 .

The gesture input unit may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

The mechanical input unit may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input unit may be provided to the control unit 170 .

The memory 140 is electrically connected to the control unit 170 . The memory 140 may store basic data for the unit, control data for operation control of the unit, and input/output data. The memory 140 may store data processed by the controller 170 . The memory 140 may be configured as at least one of ROM, RAM, EPROM, flash drive, and hard drive in terms of hardware. The memory 140 may store various data for the overall operation of the mobile robot 100 , such as a program for processing or controlling the controller 170 . The memory 140 may be implemented integrally with the controller 170 . According to an embodiment, the memory 140 may be classified into a sub-configuration of the control unit 170 .

The driving unit 150 may provide movement power of the mobile robot 100 . The driving unit 150 may include a power generating unit and a power transmitting unit.

The power generator may convert electrical energy into force energy. To this end, the power generating unit may include at least one motor.

The power transmission unit may transmit the power generated by the power generation unit to the driving wheels. The power transmission unit may include at least one gear or at least one belt.

The RFID antenna 161 may be mounted on the main body 101 . The RFID antenna 161 may be mounted on the main body 101 while being exposed to the outside of the main body 101 . The RFID antenna 161 has a substantially plate shape and may be mounted on the main body 101 such that one surface of the plate faces the rear of the mobile robot 100 . The rear of the mobile robot 100 may be described in a direction in which the main body 101 faces the shelf in a state located around the shelf.

The RFID antenna 161 may transmit a signal to a tag attached to a book and receive a signal from the tag. The RFID antenna 161 may wake up a tag attached to a book through radio waves and receive data stored in a chip of the tag. The RFID antenna 161 may be driven under the control of the RFID reader 160 .

The RFID reader 160 may be mounted on the main body 101 . The RFID reader 161 may be mounted on a frame formed inside the main body 101 .

The RFID reader 160 may be electrically connected to the RFID antenna 161 . The RFID reader 160 may control the RFID antenna 161 . The RFID reader 160 may process a signal received from the RFID antenna 161 . The RFID reader 160 may process the received signal to obtain data, and provide the obtained data to the controller 170 . Here, the data may be ID data of a tag or ID data of a book.

The posture adjusting unit 165 may adjust the posture of the RFID antenna 161 . For example, the posture adjusting unit 165 may adjust the directing angle, the directing direction, and the relative position of the RFID antenna 161 with respect to the body in order to adjust the directing direction of the RFID antenna 161 . To this end, the posture adjusting unit 165 may include at least one power generating actuator and a power transmitting unit transmitting power to the RFID antenna 161 .

The posture adjusting unit 165 may adjust the posture of the first RFID antenna 161a. The controller 170 may control the posture adjusting unit 165 to change the directing direction of the first RFID antenna 161a. The controller 170 may control the posture adjusting unit 165 so that the first RFID antenna 161a vibrates.

The posture adjusting unit 165 may adjust the posture of the second RFID antenna 161b. The controller 170 may control the posture adjusting unit 165 to change the directing direction of the second RFID antenna 161b. The controller 170 may control the posture adjusting unit 1665 so that the second RFID antenna 161b vibrates.

The posture adjusting unit 165 may perform posture adjustment of the first RFID antenna 161a and the second RFID antenna 161b, respectively, or may proceed together.

The output unit 180 is for generating an output related to sight or hearing. The output unit 180 may include a display 181 and a sound output unit 182 .

The display 181 may display graphic objects corresponding to various pieces of information.

The display 181 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. ), a three-dimensional display (3D display), may include at least one of an e-ink display (e-ink display).

The display 181 may form a layer structure with the touch input unit 131 or be integrally formed to implement a touch screen.

The display 181 may be configured in plurality. For example, the display 181 may include a first display configured as a touch screen to receive a touch input and a second display configured to output information.

The sound output unit 182 converts the electrical signal provided from the control unit 170 into an audio signal and outputs it. To this end, the sound output unit 182 may include one or more speakers.

The controller 170 may control the overall operation of each unit of the mobile robot 100 . The control unit 170 may be referred to as an Electronic Control Unit (ECU). The control unit 170 includes a sensing unit 110 , an IMU 121 , a camera 120 , a communication unit 125 , an input unit 130 , a memory 140 , a driving unit 150 , an RFID reader 160 , an RFID antenna. 161 , the posture adjusting unit 165 , the interface unit 171 , and the output unit 180 are electrically connected.

The control unit 170, ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays), processors (processors), a controller It may be implemented using at least one of controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

The control unit 170 may receive the location information of the book from the server 10 through the communication unit 125 . The control unit 170 may receive location information of a book that matches a specific bookshelf.

The controller 170 may control the main body 101 to move according to the travel route. The control unit 170 may control the main body 101 to move around the bookshelf based on the power provided by the driving unit 150 .

The vicinity of the bookshelf may be understood as a distance at which the RFID antenna 161 can exchange signals with tags attached to books. For example, the control unit 170 may control the driving unit 150 so that the RFID antenna 161 is positioned at a point where the RFID antenna 161 faces the bookshelf within a preset distance.

The controller 170 may control the operation of the RFID reader 160 . The controller 170 may control the RFID reader 160 to receive a signal from a tag attached to a book through the RFID antenna 161 . The controller 170 may receive data from the RFID reader 160 .

The controller 170 may acquire ID information of the book based on the data processed by the RFID reader 160 . The unique ID of the tag attached to the book is matched with the book. The controller 170 may acquire ID information of the book by acquiring the unique ID data of the tag.

The control unit 170 may determine the fivefold state of the book. The control unit 170 may compare the ID information of the book and the location information of the book to determine whether the book is in a fivefold state. For example, the controller 170 may receive the location information of the first book matched with the second shelf from the server 10 . The mobile robot 100 may compare the ID information of the first book acquired in the state that it is moved to the first shelf and the location information of the first book received from the server 10 . As a result of the comparison, when it is determined that the shelves in which the first book is located are different from each other, the controller 170 may determine that the first book is in a fivefold state.

When the misfolded state of the book is determined, the controller 170 may transmit the misfolded state information of the book to the server 10 through the communication unit 125 . The server 10 may record five times the status information of the book in the database.

The controller 170 may control the posture adjusting unit 165 to change the directing direction of the RFID antenna 161 . For example, the controller 170 may control the posture adjusting unit 165 so that the RFID antenna 161 faces the antenna of the tag attached to the book.

According to an embodiment, the controller 170 may acquire an image of a book displayed on the shelf through the camera 120 . The controller 170 may detect a tag attached to a book from the image. The controller 170 may acquire information about the position and posture of the tag through image processing.

According to an embodiment, the controller 170 may estimate the position and posture of the tag based on the general arrangement of books displayed on the shelf.

The controller 170 may control the posture adjusting unit 165 to direct the RFID antenna 161 toward the tag attached to the book, based on the position and posture information of the tag.

The controller 170 may control the posture adjusting unit 165 so that the RFID antenna 161 vibrates for a preset time. For example, the controller 170 may control the posture adjusting unit 165 so that the RFID antenna 161 vibrates while having a left and right rotational direction with respect to a central axis formed vertically. For example, the controller 170 may control the posture adjusting unit 165 so that the RFID antenna 161 vibrates while having a vertical rotation direction with respect to a central axis formed on the left and right. Through such a control, the recognition rate of tags attached to a plurality of books arranged on a bookshelf can be increased by allowing several RFID antennas 161 to have a directional direction for a certain period of time.

The controller 170 may control the posture adjusting unit 165 so that the RFID antenna 161 vibrates with a predetermined period.

The controller 170 may control the posture adjusting unit 165 to vibrate the RFID antenna 161 .

The controller 170 may control the driving unit 150 to change the posture of the RFID antenna 161 compared to the tag attached to the book.

According to an embodiment, the controller 170 may acquire an image of a book displayed on the shelf through the camera 120 . The controller 170 may detect a tag attached to a book from the image. The controller 170 may acquire information about the position and posture of the tag through image processing.

According to an embodiment, the controller 170 may estimate the position and posture of the tag based on the general arrangement of books displayed on the shelf.

The controller 170 may control the driving unit 150 to direct the RFID antenna 161 toward the tag attached to the book, based on the position and attitude information of the tag. The control unit 170 may rotate the main body through the control of the driving unit 150 .

The controller 170 may control the display 181 to display information about the fivefold state of the book.

The controller 170 may control the driving unit 150 to move the main body 101 according to a preset driving pattern according to a preset time. For example, the controller 170 may set the mobile robot 100 to be driven after library operating hours according to a user input. The controller 170 may set a driving start time and a driving end time of the mobile robot 100 according to a user input. The control unit 170 may control the driving unit 150 so that the mobile robot 100 is driven at the driving start time. The control unit 170 may control the driving unit 150 to end the operation of the mobile robot 100 at the driving end time.

The interface unit 171 may perform a function of a data exchange path between the mobile robot 100 and another device (eg, a manager's mobile terminal). The interface unit 171 may receive a control signal generated by another device. The interface unit 171 may provide information generated by the mobile robot 100 to another device.

The power supply unit 190 may supply power required for operation of each unit constituting the mobile robot 100 under the control of the control unit 170 . In particular, the power supply unit 190 may receive power from the battery 193 or the like inside the mobile robot 100 .

5 is a flowchart referenced to explain a method of operating a mobile robot for a library according to an embodiment of the present invention.

Referring to FIG. 5 , the communication unit 125 may receive location information of a book from the server 10 ( S1010 ). The control unit 170 may receive the location information of the book from the server 10 through the communication unit 125 .

The main body 101, based on the power provided from the driving unit 150, may move around the shelf (S1020). The control unit 170 may control the driving unit 150 so that the main body 101 moves around the bookshelf.

The RFID antenna 161 may receive a signal from a tag attached to a book (S1021). The controller 170 may control the RFID antenna 161 to receive a signal from a tag attached to a book.

The RFID reader 160 may process the signal received from the RFID antenna 161 ( S1022 ). The controller 170 may control the RFID reader 160 to process the signal received from the RFID antenna 161 .

The controller 170 may acquire ID information of the book based on the data processed by the RFID reader 160 (S1025).

The controller 170 may compare the ID information of the book and the location information of the book to determine the fivefold state information of the book ( S1030 ).

When it is determined that the book is in the fivefold state, the controller 170 may transmit the fivefold state information of the book to the server 10 through the communication unit 125 ( S1040 ).

The main body 101 can move around the next bookshelf (S1050). The control unit 170 may control the driving unit 150 so that the main body 101 moves around the next bookshelf.

In step S1030, if it is not determined that the book is fivefold, step S1050 may be performed.

6 is a diagram referenced to explain a fivefold book management system according to an embodiment of the present invention.

Referring to FIG. 6 , the control unit 170 may control the driving unit 150 so that the main body 101 moves around the first shelf 611 . The controller 170 may acquire ID information of the first book 621 based on data received from the tag 622 attached to the first book 621 located on the first shelf 611 .

When it is determined that the first book 621 is in the misfolded state, the controller 170 may transmit the misfolded state information of the first book 621 to the server 10 through the communication unit 125 . Thereafter, the control unit 170 may control the driving unit 150 so that the main body 101 moves around the second shelf 612 .

If, including the first book 621, if it is determined that the plurality of books arranged on the first shelf 611 are not in the fivefold state, the control unit 170, the main body 101 is around the second shelf It is possible to control the driving unit 150 to move.

The present invention described above can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. there is this In addition, the computer may include a processor or a control unit. The above detailed description should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

1: Five-fold book management system
10 : Server
100: mobile robot
101: body
150: drive unit
160: RFID reader
161: RFID antenna

Claims (10)

a body to which at least one driving wheel is attached;
a driving unit for providing power to the at least one driving wheel;
an RFID antenna mounted on the main body and receiving a signal from a tag attached to a book;
an RFID reader mounted on the main body and processing a signal received from the RFID antenna;
Communication unit for receiving the location information of the book from the server; and
Based on the power provided by the driving unit, the main body is controlled to move around the shelf,
Based on the data processed by the RFID reader, to obtain the ID information of the book,
By comparing the ID information of the book and the location information of the book, it is determined whether the book is in a fivefold state,
a control unit for transmitting the misfolded state information of the book to the server through the communication unit when the misfolded state of the book is determined; and
The control unit is
Based on the arrangement of the books displayed on the shelf, the position and posture of the tags attached to the books are estimated,
By controlling the driving unit so that the directing direction of the RFID antenna is toward the tag attached to the book, the generated power is transmitted to the driving wheel,
A mobile robot for the library that autonomously drives along the driving route within the library after library operating hours according to user input and manages books by five children. The method of claim 1,
a posture adjusting unit for adjusting the posture of the RFID antenna;
The control unit is
A mobile robot for a library that controls the posture adjusting unit to change the direction of the RFID antenna. 3. The method of claim 2,
The control unit is
A mobile robot for a library that controls the posture adjusting unit so that the RFID antenna vibrates. delete The method of claim 1,
The control unit is
Control the main body to move around the first shelf,
Based on the data received from the tag attached to the first book located on the first shelf, to obtain the ID information of the first book,
When it is determined that the first book is in a fivefold state, transmits fivefold state information of the first book to the server,
A mobile robot for a library that controls the main body to move around the second shelf. 6. The method of claim 5,
The control unit is
When it is determined that the first book is not in the fivefold state, the library mobile robot for controlling the main body to move around the second shelf. The method of claim 1,
Display; further comprising,
The control unit is
A mobile robot for a library that controls the display so that five times the number of books is displayed. The method of claim 1,
The control unit is
A mobile robot for a library that controls the driving unit so that the main body moves according to a preset driving pattern at a preset time. Receiving, by the communication unit, the location information of the book from the server;
The main body, based on the power provided by the driving unit, the step of moving around the shelf;
receiving, by the RFID antenna mounted on the main body, a signal from a tag attached to a book;
processing, by an RFID reader mounted on the main body, a signal received from the RFID antenna;
acquiring, by the controller, ID information of a book based on the data processed by the RFID reader;
comparing, by the controller, the ID information of the book and the location information of the book, determining the fivefold state information of the book; and
Including, by the control unit, when it is determined that the book is in the fivefold state, transmitting the fivefold state information of the book to the server through the communication unit; and
The main body, at least one driving wheel is attached,
The driving unit provides power to the at least one driving wheel,
The control unit is
Based on the arrangement of books displayed on the shelf, the position and posture of tags attached to books are estimated
By controlling the driving unit so that the directing direction of the RFID antenna is toward the tag attached to the book, the generated power is transmitted to the driving wheel,
A method of operating a mobile robot for a library that autonomously drives along a driving route in the library after library operating hours according to user input and manages books by five children. a server that provides location information of books; and
Based on the location information of the book, the library mobile robot according to claim 1 for generating five times the status information of the book and transmitting it to the server; fivefold book management system comprising a.

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