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AUTOMATED BOOK PICKING ROBOT FOR LIBRARIES

INTRODUCTION:

Library has many connotations. A library is a collection of information

resources and services, organized for use, and maintained by a public body,

institution, or private individual. In the more traditional sense, it means a

collection of books.

Typically we need a librarian to pick the books and hand it over to the

person to whom the books are being issued. This might be an easy task incase

the library floor area is small. Also, to search for the books by humans takes a

lot of time as many a times the books gets overlooked by the human eye.

To automate this process of book finding and picking we suggest a robot

with an arm with some degrees of freedom which will be able to findout the

book with the required tag and then pick it and place it on the table.

DISCRIPTION:

Here we will be placing the books in a rack and all the books will be

tagged by RFID tags and an RFID reader will be placed under the robot. It

search the required book and incase the book is found, the robotic arm will

lower until the IR obstacle sensor placed over the arm detects the book and then

the gripper will close the jaws to get an hold of the book and then the robotic

arm is lifted after which the robot moves in the reverse direction to the place it

started from and places the book.

The same principal can be used in the supermarkets to make an

automated item collector.

In this case, the proposed robot will make the life of the librarian a lot

simpler and the books can be tagged easily. The essential requirement in this

project is the correct designing and fabrication of the lever, connecting Arms,

motors The student swaps his RFID card while borrowing a book from the

library. There is a RFID tag on the back of the books which contain information

like the author, name of the book etc. In the ALCD display borrower’s name

and details of the book are displayed. When no RFID card is swapped and a

book is tried to be taken out of the room, a buzzer is activated through the thief

detection door. Thus a security measure is also provided.

Through the Zigbee, the transactions taken place are passed to the server

computer. All the information is stored in the server in the form a database.

Information like due dates and fines are given to the students regularly.

BLOCK DIAGRAM:

Receiver part

UART

Transmitter part

Antenna

Note:In Transmitter section it should contain PC instead of ARM-9.

Microcontroller

LED

RF IDREADER IR

Obstacle

XBEEDC

MotorDriver

StepperMotorDriver

MotorWheels

Robot ARMMotor

XBEE ARM-9 Controller

Book Carrier

MUX

RF Reader

Student RF ID card

Graphical display

Key board

Ultra sonar sensor

RF IDTAG

Theft detection Door

Buzzer

Driver Ckt

PC should maintain database with information like book number, Issue

date, return date, due date, students details etc.(Library management

system).RFID tag should be interfaced to PC as a student ID.

And also buzzer should switched ON in case book has stolen from Library.

Component description

1. MICROCONTROLLER

8051 architecture based P89V51RD2 microcontroller from NxP is

used to implement this project. Microcontroller acts as the heart of

the project, which controls the whole system. It contains 1k RAM,

64k Flash, 3 Timers, 2 external interrupts, 1 UART, 32 GPIO’s,

ISP programming support etc. KEIL IDE is used to program the

microcontroller and the coding will be done using Embedded C.

2. Moveable Base

These base houses the entire arm. A motor will be fitted under the

base which can be made to move forward/reverse to take this

mechanism to all the books in the rack.

3. The Base Shaft

The base shaft is directly screwed to the rotary base. It gives height

to the device. Also, optional movement can be provided to the base

shaft so that it can be tilted forward or backward by the help of

motors.

4. Buzzer

Buzzer is used to give some intimation for librarian when book is

carried out of the library.

5. RFID MODULE

RFID stands for radio frequency identification. This is used to read

the identification number in RFID Tags, sends data regarding to the

ID number serially through UART.

6. XBEE

It is a wireless trans-receiver module. It works in the frequency

range 2.4GHz. It works on UART process.

7. Ultrasonic

Ultra sonic sensor it can sense the object up to 6.5m distance. Key

is used. Once the key is pressed the ultrasonic device will get

activated and it senses the object and calculates the distance. It

cannot recognize the object if it is far from 6.5m. This calculated

distance will be sent to the microcontroller.

OPERATION OF ROBOT: 

1. initially we will assume the rest position of entire system, i.e. state when no object is placed. 

2. At this stage, photo detector is having its output high, since receiver of sensor can receive photons from transmitter as no object I in its path to interrupt. 

3. As soon as object is placed at the picking platform, the sensor gets interrupted and outputs low. This signal is sent to the microcontroller which is burnt with program which tells what operation is to be performed at this stage. 

4. For understanding operation, let us rename the two motors used here. Let the name of gantry motor be M1 and that for end effecter motor is M2. 

5. Now as microcontroller detects that object is placed, it moves motor M1 in say clockwise direction for a fixed time due to which whole arm moves towards picking platform. 

6. As it reaches there, M1 stops and now motor M2 is started in say clockwise direction to hold the object by closing jaw. This motor also, is on for particular fixed time instant. 

7. As M2 gets off, motor M1 is moved again in opposite (here anticlockwise) direction till the time it reaches the placing platform. 

8. As it reaches placing platform, the motor M1 stops and M2 is switched ON in opposite (here anticlockwise) direction till it releases object properly on desired place. 

9. If after this no object is detected, the robot is in rest position. Otherwise if another object is detected, steps from 3 are repeated till step 8.

10. All these operation is controlled by ARM-9. By using wireless communication (Xbee).

11. Ultra sonar sensor detects the object , measures the distance and sends to microcontroller.

DRIVER CIRCUIT: 

1. The L293 and L293D are quadruple high-current drivers.TheL293is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications. 

2. All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN.

3. When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor applications. 

4. A Vcc1 terminal, separate from Vcc2, is provided for the logic inputs to minimize device power dissipation.

COMPONENTS LIST:

Microcontroller

16x2 Graphical LCD

RFID Reader and tags

IR obstacle sensor

Ultrasonic sensor

DC motors and Stepper motors

Motor drivers

Xbee

Student RF ID Card

Power supply

SOFTWARES USED:

Keil Compiler

Embedded C

Flash magic

Visual basic .net

ADVANTAGES:

Reduces human effort

Reduces human error

Makes the management of the library, easier than ever.

For Book Theft Detection

DISADVANTAGES:

Problems of mechanical functioning may occur

Capability of lifting a book has limitation.