A self-service book borrowing and returning system and method based on RFID

Abstract

This invention proposes an RFID-based self-service book borrowing and returning system and method. A library management robot reads the RFID tag information on a borrowing card and transmits it to a cloud server. The cloud server determines borrowing history and demand data based on the borrowing card information, determines recommendations and navigation information, and sends it to the robot. The robot then proceeds to the target bookshelf, establishes a connection with the target bookshelf, reads the shelf information, identifies the target book and its RFID tag, establishes a connection with the target book, reads the book information, and displays it. Based on borrowing feedback, a book retrieval instruction is generated. The robot controls the book transport robot to retrieve and return the target book. New borrowing information for the target book is generated and written to the RFID tag. The robot obtains the RFID tag information of books in the library. Based on the tag information, the robot determines the borrowing data of the books in the library. The robot determines whether the books in the library are awaiting return. If so, the books are transported back to the first bookshelf and the corresponding RFID tag information is modified. This solution implements an intelligent library management robot, improving the automation efficiency of borrowing, returning, and navigation.

Description

Technical Field

[0001] The present invention relates to the technical field of Internet of Things, and in particular to a self-service book borrowing and returning system and method based on RFID. Background Art

[0002] Currently, reading venues such as libraries and bookstores have widely adopted information management to facilitate the operational management of library resources and readers, effectively improve management efficiency, and provide readers with better services. Self-service management is a management method that efficiently utilizes human and material resources. It achieves a reliable operation model through the rational coordination of readers, libraries (or bookstores), and self-service kiosks. With the development of the national economy and the improvement of people's quality of life, the level of informationization in various industries is continuously increasing, and many fields are also moving towards intelligentization. The library management industry is also undergoing transformation. Currently, the demand for smart libraries is growing. Compared with traditional open libraries, smart libraries offer unique advantages such as rapid deployment and 24-hour access, providing more reading opportunities for the general public. However, existing smart libraries on the market have some technical shortcomings and are urgently in need of intelligent improvement. Summary of the Invention

[0003] Based on the above problems, the present invention proposes a self-service book borrowing and returning system and method based on RFID. Through the solution of the present invention, the intelligent operation of the book management robot can be realized, and the automatic borrowing, returning and navigation functions can be realized, thereby improving the efficiency and accuracy of book management.

[0004] In view of this, one aspect of the present invention provides an RFID-based self-service book borrowing and returning system, comprising: a book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, an intelligent bookshelf provided with an intelligent track and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader / writer for reading the book RFID tag information, an image acquisition module for acquiring book image information and bookshelf image information, a processing module for performing data processing, a book bin for accommodating books, and an independently movable book transport robot;

[0005] The library management robot is configured to: read the RFID tag information of the library card using a first communication frequency, and transmit the RFID tag information of the library card to the cloud server;

[0006] The cloud server is configured as follows:

[0007] Determine the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card;

[0008] Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data;

[0009] sending the borrowing recommendation data and the navigation data to the book management robot;

[0010] The library management robot is configured to:

[0011] Driving to a corresponding target bookshelf according to the navigation data;

[0012] establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency;

[0013] Read the target bookshelf RFID tag information of the target bookshelf;

[0014] Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data;

[0015] Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information;

[0016] Generate book information according to the target book RFID tag information and display it;

[0017] When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information;

[0018] Controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book back;

[0019] generating new borrowing information of the target book;

[0020] Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively;

[0021] Acquiring RFID tag information of the books in the book warehouse;

[0022] Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse;

[0023] Determining whether the book in the warehouse is a book to be returned according to the borrowing data;

[0024] When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified.

[0025] Another aspect of the present invention provides an RFID-based self-service book borrowing and returning method, which is applied to an RFID-based self-service book borrowing and returning system. The self-service book borrowing and returning system includes: a book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, an intelligent bookshelf provided with an intelligent track and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader for reading book RFID tag information from the book RFID tags, an image acquisition module for acquiring book image information and bookshelf image information, a processing module for performing data processing, a book bin for accommodating books, and an independently movable book transport robot; the RFID-based self-service book borrowing and returning method includes:

[0026] The library management robot uses the first communication frequency to read the borrowing card RFID tag information of the borrowing card, and transmits the borrowing card RFID tag information to the cloud server;

[0027] The cloud server determines the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card;

[0028] Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data;

[0029] sending the borrowing recommendation data and the navigation data to the book management robot;

[0030] The book management robot drives to the corresponding target bookshelf according to the navigation data;

[0031] establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency;

[0032] Read the target bookshelf RFID tag information of the target bookshelf;

[0033] Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data;

[0034] Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information;

[0035] Generate book information according to the target book RFID tag information and display it;

[0036] When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information;

[0037] Controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book back;

[0038] generating new borrowing information of the target book;

[0039] Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively;

[0040] Acquiring RFID tag information of the books in the book warehouse;

[0041] Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse;

[0042] Determining whether the book in the warehouse is a book to be returned according to the borrowing data;

[0043] When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified.

[0044] Optionally, the step of the library management robot reading the RFID tag information of the library card using the first communication frequency and transmitting the RFID tag information of the library card to the cloud server includes:

[0045] When the library management robot detects that a person has entered a preset range, it broadcasts a communication establishment signal using a preset first communication frequency and establishes a communication connection with the borrowing card RFID tag in the borrowing card within the preset range;

[0046] Perform anti-counterfeiting detection on the read RFID tag information of the library card to verify whether the tag is legal;

[0047] The verified library card RFID tag information is transmitted to the cloud server through the wireless communication module built into the library management robot.

[0048] Optionally, the step of determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data includes:

[0049] The cloud server analyzes the borrowing history data and the borrowing demand data to identify the borrower's borrowing goals, main areas of interest, and preference types;

[0050] The cloud server analyzes the various categories of books in the library's book resource library and selects a list of books that matches the borrower's borrowing goals, main areas of interest, and preferred types;

[0051] Sort by matching degree from high to low, and select a preset number of recommended borrowing books as borrowing recommendation data;

[0052] Navigation data is calculated using a path planning algorithm based on the borrower's current location and the location of the recommended borrowed books.

[0053] Optionally, the step of establishing a communication connection with the target bookshelf RFID tag of the target bookshelf using the second communication frequency includes:

[0054] After the book management robot reaches the location of the target bookshelf, the RFID reader starts a scanning function at a preset second communication frequency;

[0055] The RFID reader reads the ID number and data of each nearby tag, and determines the target bookshelf RFID tag based on the ID number and data of each tag and establishes a communication connection

[0056] Optionally, the step of determining the corresponding target book and the target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data includes:

[0057] The book management robot matches the borrowing recommendation data with the target bookshelf RFID tag information;

[0058] Determine the successfully matched book as the target book;

[0059] Searching the target bookshelf RFID tag information for the corresponding target book's RFID tag ID number;

[0060] The target book RFID tag is determined according to the book RFID tag ID number.

[0061] Optionally, the step of establishing communication with the target book RFID tag using the third communication frequency and reading the corresponding target book RFID tag information includes:

[0062] According to the book position information of the target book, the antenna position and angle of the RFID reader are adjusted to point to the RFID tag of the target book.

[0063] Sending a read instruction to the book location using a preset third communication frequency to establish communication with the target book RFID tag;

[0064] The corresponding target book RFID tag information is read from the target book RFID tag.

[0065] Optionally, the step of generating and displaying book information based on the target book RFID tag information includes:

[0066] The book management robot reads basic information of the book from the RFID tag information of the target book;

[0067] The book management robot obtains the electronic identification of the target book from the cloud server according to the RFID tag information of the target book, and the electronic identification of the book corresponds to the book details page stored in the cloud server;

[0068] The book management robot links to the book details page through the network and extracts the book extension information on the page;

[0069] The book information is generated according to the book basic information and the book extended information.

[0070] Optionally, when receiving the borrowing feedback information of the borrowing card, the step of generating a corresponding book pickup instruction according to the borrowing feedback information includes:

[0071] The book management robot receives the borrowing feedback information submitted by the borrower through the borrowing card and extracts necessary data from the borrowing feedback information;

[0072] It is determined whether the corresponding target book is at the current target bookshelf position according to the necessary data. If so, the target book position is determined, and a book fetching instruction is generated according to the target book position.

[0073] Optionally, the step of controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book and transporting it back includes:

[0074] According to the book location of the target book in the book retrieval instruction, a book retrieval route is planned on the intelligent track network using a path planning algorithm;

[0075] Utilizing the chassis drive system of the book transport robot in combination with the track signal to control the wheels of the book transport robot to achieve automatic driving;

[0076] When the book transport robot reaches the target book location, the robot controls the telescopic gripper arm of the book transport robot to grab the target book by combining visual and tactile positioning.

[0077] After the target book is brought back, it is placed in the designated location.

[0078] The RFID-based self-service borrowing and returning book method adopts the technical solution of the present invention, comprising: the library management robot uses a first communication frequency to read the borrowing card RFID tag information of the borrowing card, and transmits the borrowing card RFID tag information to the cloud server; the cloud server determines the borrowing history data and borrowing demand data corresponding to the borrowing card according to the borrowing card RFID tag information; determines borrowing recommendation data and navigation data according to the borrowing history data and the borrowing demand data; sends the borrowing recommendation data and the navigation data to the library management robot; the library management robot drives to the corresponding target bookshelf according to the navigation data; uses a second communication frequency to establish a communication connection with the target bookshelf RFID tag of the target bookshelf; reads the target bookshelf RFID tag information of the target bookshelf; determines the corresponding target book and target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data; uses a third communication frequency to establish communication with the target book RFID tag, and Read the corresponding target book RFID tag information; generate book information according to the target book RFID tag information and display it; when receiving the borrowing feedback information of the borrowing card, generate a corresponding book retrieval instruction according to the borrowing feedback information; control the book transport robot to run on the intelligent track according to the book retrieval instruction and take down the target book and transport it back; generate new borrowing information of the target book; write the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively; obtain the in-warehouse book RFID tag information of the in-warehouse book in the book warehouse; determine the borrowing data of the in-warehouse book according to the in-warehouse book RFID tag information; determine whether the in-warehouse book is a book to be returned according to the borrowing data; when the in-warehouse book is a book to be returned, transport the in-warehouse book back to the corresponding first bookshelf, and modify the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the in-warehouse book. The solution of the present invention can realize intelligent operation of the book management robot, realize automatic borrowing, returning and navigation functions, and improve the efficiency and accuracy of book management. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 This is a schematic block diagram of an RFID-based self-service book borrowing and returning system provided by one embodiment of the present invention;

[0080] Figure 2 This is a flow chart of a self-service book borrowing and returning method based on RFID provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0081] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0082] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0083] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0084] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0085] Refer to the following Figures 1 to 2 An RFID-based self-service book borrowing and returning system and method according to some embodiments of the present invention will be described.

[0086] like Figure 1 As shown, one embodiment of the present invention provides an RFID-based self-service book borrowing and returning system, comprising: a book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, an intelligent bookshelf provided with an intelligent track and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader for reading the book RFID tag information, an image acquisition module for acquiring book image information and bookshelf image information, a processing module for performing data processing, a book warehouse for accommodating books, and an independently movable book transport robot;

[0087] The library management robot is configured to: read the RFID tag information of the library card using a first communication frequency, and transmit the RFID tag information of the library card to the cloud server;

[0088] The cloud server is configured as follows:

[0089] Determine the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card;

[0090] Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data;

[0091] sending the borrowing recommendation data and the navigation data to the book management robot;

[0092] The library management robot is configured to:

[0093] Driving to a corresponding target bookshelf according to the navigation data;

[0094] establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency;

[0095] Reading target bookshelf RFID tag information of the target bookshelf (including cataloging data and borrowing status data of each book on the shelf);

[0096] Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data;

[0097] Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information;

[0098] Generate book information according to the target book RFID tag information and display it;

[0099] When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information;

[0100] Controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book back;

[0101] generating new borrowing information of the target book;

[0102] Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively;

[0103] Acquiring RFID tag information of the books in the book warehouse;

[0104] Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse;

[0105] Determining whether the book in the warehouse is a book to be returned according to the borrowing data;

[0106] When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified.

[0107] It should be known that Figure 1 The block diagram of the RFID-based self-service book borrowing and returning system is for illustration only, and the number of modules shown therein does not limit the protection scope of the present invention.

[0108] See Figure 2 Another embodiment of the present invention provides an RFID-based self-service book borrowing and returning method, which is applied to an RFID-based self-service book borrowing and returning system. The self-service book borrowing and returning system includes: a book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, an intelligent bookshelf provided with an intelligent track and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader for reading the book RFID tag information of the book, an image acquisition module for acquiring book image information and bookshelf image information, a processing module for performing data processing, a book warehouse for accommodating books, and an independently movable book transport robot; the RFID-based self-service book borrowing and returning method includes:

[0109] The library management robot uses the first communication frequency to read the borrowing card RFID tag information of the borrowing card, and transmits the borrowing card RFID tag information to the cloud server;

[0110] The cloud server determines the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card;

[0111] In this step, the cloud server queries the database based on the RFID tag ID number it reads. The database stores each reader's basic information (name, ID number, etc.) and complete borrowing history (borrowed books, date, status, etc.). The tag ID number is used to match the corresponding reader's detailed record in the database. The query results are used to obtain the reader's borrowing history data, such as a list of previously borrowed books and their return status. The reader's borrowing preferences, such as preferred genres and repeat borrowing volume, are analyzed as personalized borrowing demand data. The obtained borrowing history and borrowing demand data are returned to the control robot. The robot displays it to the reader, providing personalized book recommendations and optimizing borrowing services. In this step, while ensuring user privacy, the reader's needs are understood and meticulous service is provided. Book recommendations are made based on borrowing records to improve usage efficiency. Big data analysis of user profiles optimizes management strategies and achieves intelligent library management. In this step, the following measures are required to ensure the security of the RFID tag information on the borrowing card:

[0112] Encrypted storage of tag data: The data in the tag is stored using data encryption technology, such as AES encryption, and a password is required to decrypt and read it.

[0113] Set a read and write password: Tag read and write operations require password verification to prevent unauthorized read and write operations.

[0114] Digital signature verification: Add a digital signature to the label content, and after reading, compare it with the database signature to verify authenticity.

[0115] Anti-counterfeiting and anti-fraud technology: set an anti-reverse anti-counterfeiting code and add biometric recognition to prevent others from misusing the label.

[0116] Anti-tracking technology: Use anonymized tag IDs to prevent tracking of individual behavior through unique tag codes.

[0117] Isolate and store private data: intercept tag ID and personal information for isolated storage and management to prevent information leakage.

[0118] Timeliness control: Set the expiration time of the tag data. After the expiration, it cannot be read, which enhances the security protection capability.

[0119] Secure channel transmission: SSL and other encrypted transmission interfaces are used during reading and writing to prevent traffic from being intercepted during transmission.

[0120] Access control management: Design a strict access management mechanism for cloud interfaces to limit data access rights.

[0121] Irregular update strategy: Irregularly update and optimize tags and systems to improve information security protection levels.

[0122] The above technologies effectively ensure the security of label information through multiple protections.

[0123] Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data;

[0124] sending the borrowing recommendation data and the navigation data to the book management robot;

[0125] In this step, the cloud server generates a list of recommended books and path planning data based on the query results. This data is then packaged in a standard data format, such as JSON. A network channel, such as WiFi or 5G, is selected for communication with the robot. Secure transmission protocols, such as HTTPS, are used for encrypted transmission to prevent compromise. The robot's internal data receiving module listens for cloud push notifications and receives the borrowing recommendation data. The robot then performs a further data analysis to extract valid content. The borrowing recommendation list is displayed on the robot's visual screen interface. The navigation path is guided to the reader's destination using a mobile device and voice prompts. This implementation effectively delivers personalized recommendation services, improving the user experience; avoids complex client development and reducing overall costs; provides strong support from the advantages of cloud computing; secure data transmission is ensured through encrypted channels; and enables intelligent robot-assisted search services. The key lies in the deep coupling of cloud computing and the machine side.

[0126] The book management robot drives to the corresponding target bookshelf according to the navigation data;

[0127] In this step, the robot receives navigation data to determine the target shelf location (e.g., the third row of Section B on the second floor) of the book it's looking for. The robot's built-in positioning system determines its current location and compares it to the target location. A path planning algorithm is used to calculate the optimal route, executing movement commands sequentially. The chassis drive module controls each wheel to operate at different speeds for mobile navigation. Built-in ultrasonic sensors detect obstacles in real time and help avoid collisions. Along the way, the robot provides voice prompts to readers to follow along and indicates its current trajectory. Upon reaching the target shelf, the robot stops and notifies the reader that it has arrived. This implementation enables: precise navigation of the robot to the library, eliminating the need for users to waste time searching; obstacle detection improves mobile safety and prevents damage to facilities; voice guidance guides users more efficiently and user-friendly; fully automates book retrieval services; and improves user experience and increases book utilization.

[0128] In this embodiment, the robot can avoid collisions with obstacles by employing the following technologies: Using ultrasonic or radio frequency forward-facing sensors to detect the distance to obstacles in real time, adjusting the path planning or slowing down if the distance is too close; comparing the actual position with the planned path, and if the difference between the actual position and the planned position is greater than a threshold, the robot is deemed to have an obstacle, immediately stopping and adjusting the path planning; adding detected obstacles to the local map database in real time, so that the next round of path planning will avoid these areas; equipping the robot with multiple sets of ultrasonic sensors to form a 360-degree detection range, improving obstacle detection capabilities; setting a safety distance threshold, and automatically slowing down or stopping to avoid collision risk if the detected distance to an obstacle falls below the threshold; incorporating multiple sensor fusion technologies, such as visual sensors, to assist in locating the obstacle's direction, further improving judgment capabilities; classifying and identifying obstacles, and setting different avoidance strategies for different types, such as more urgent avoidance of people; and setting a low-speed movement mode for complex obstacle environments to enhance safety. The combined application of these technologies can effectively prevent the robot from colliding with obstacles while moving.

[0129] In this embodiment, the robot can determine obstacle types and set different avoidance strategies using the following technologies: Adding binocular cameras with top and bottom views uses visual recognition technology to identify and classify obstacles by their color, shape, and size. A lidar sensor uses distance and medium detection to distinguish the hardness of objects and determine their possible types. Ultrasonic detection of obstacles collects frequency and amplitude variations to assist in determining their type. Additional multimodal detection of humans, such as nearby infrared human detection, is performed before the robot is considered a person. Speed thresholds are set for different types of obstacles, such as the lowest speed for humans, medium speed for ordinary obstacles, and high speed for diagonal pillars. A larger avoidance angle is used to plan the path for people, placing them outside the safety radius. Smaller angles are used to avoid objects. After determining the type, the robot uploads this information to the cloud for continuous optimization and improvement of machine learning recognition capabilities. A multi-source information fusion neural network is used for deep recognition in complex scenarios. Customized avoidance strategies are implemented for different types of obstacles, improving mobile safety.

[0130] establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency;

[0131] Reading target bookshelf RFID tag information of the target bookshelf (including cataloging data and borrowing status data of each book on the shelf);

[0132] In this step, the robot's RFID reader / writer module uses UHF frequency to scan all tags within the target bookshelf. Each tag stores basic book information (number, title, author, etc.) and status information (whether it's borrowed, etc.). The reader / writer module sequentially reads the data from each tag, compares it with the stored rules, and extracts valid fields. The read results are organized and packaged in a specified format (such as JSON). The data is then uploaded to the cloud platform for storage in real time via the robot's network interface. This step allows for a single scan to efficiently obtain information on all items on the entire bookshelf. Tagging technology seamlessly integrates digitization and retrieval capabilities. Real-time readings uploaded to the cloud enable online analysis and optimized library management. A query interface is provided to support various self-service search functions. This connects offline and online information flows, promoting the development of unmanned smart libraries. Tagging reduces subsequent maintenance costs.

[0133] Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data;

[0134] Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information;

[0135] Generate book information based on the target book's RFID tag information and display it (play content summary, book review, etc.);

[0136] When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information;

[0137] Controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book back;

[0138] generating new borrowing information of the target book;

[0139] In this step, the book transport robot delivers the book to the borrowing area of the library. The library management robot generates temporary borrowing information by scanning the book and borrowing card. The system identifies the reader's information and obtains their borrowing record. The newly generated borrowing record is filled in according to the format, including the borrowing time and deadline. The new record is submitted to the cloud for verification and storage. A notification is sent to the reader's device to indicate that the borrowing has been processed. This solution enables human-machine collaboration and improves processing efficiency. Records are generated online to avoid data errors. Readers can keep track of borrowing status at all times. Data is integrated in the cloud for easy management and query. It helps readers develop good reading habits, optimizes the user experience, and improves the library service level.

[0140] Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively;

[0141] In this step, the library management robot uses the RFID reader / writer module to read the RFID IDs of the borrowing card, book, and shelf tag. The system then splits the newly generated borrowing information into different data blocks, binds them to target tags according to their ID numbers, and formats each data block using RFID programming standards. The reader / writer module then enters programming mode, using magnetic induction technology to write the data to the designated tag memory area, and then reads and verifies the written data to ensure successful writing. This solution can achieve comprehensive binding of items and borrowing records, facilitating real-time tracking and management; effectively extending the life cycle of RFID tags and reducing their use costs; providing efficient and simple reading and writing, demonstrating a high level of intelligent automation; multiple loading methods mutually verify each other, effectively reducing errors; and providing support for subsequent self-service book return and renewal processes.

[0142] Acquiring RFID tag information of the books in the book warehouse;

[0143] In this step, every book in the book warehouse is affixed with a UHF RFID tag. The library management robot, equipped with an RFID reader, scans the warehouse. The reader emits a UHF push signal to initiate scanning. Upon receiving the signal, each tag transmits its ID number and data. The reader receives the tag information one by one and sends it to the cloud for aggregation. The cloud then retrieves and stores the complete RFID tag information for all books in the warehouse. This solution efficiently and accurately captures information about all items in the warehouse in a single scan. It also enables real-time, two-way, synchronized transmission with the cloud. This provides a complete overview of inventory status, facilitating inventory management. It also provides data support for regular inventory checks and paired management. It also implements IoT-based management and enhances automation.

[0144] Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse;

[0145] In this step, the cloud collects and organizes basic information, such as the RFID tag numbers, of the books in the warehouse. The tag numbers are used to query the database for the corresponding book's borrowing details. Multiple keywords, such as title and author, are matched to accurately extract the corresponding book record. The borrowing information retrieved (such as borrower, status, and time) is compiled and the extracted borrowing details are returned to the robot. This solution, leveraging unique identifiers, enables comprehensive matching between bibliographies and borrowing records. It effectively retrieves the borrowing and usage history of items, facilitating management decisions. It connects online and offline operations, providing essential reference data for subsequent operations. It conserves robot resources and improves work efficiency. It establishes a complete digital information chain, promoting the development of smart libraries.

[0146] Determining whether the book in the warehouse is a book to be returned according to the borrowing data;

[0147] In this step, the extracted borrowing data is checked to see if it contains any records with a "borrowed" status and a borrowing duration exceeding a preset time. If so, the book is identified as pending return. If no corresponding record exists, indicating an error, the book is deemed not to be pending return. The result is then returned to the library management robot. This step enables real-time monitoring of book status using the unique book RFID tag, preventing incorrect book returns that could impact borrowing management and providing a clear reference for the robot's next steps, such as notifying the reader to return the book. Furthermore, the integration of IoT technology allows for a fully dynamic library management system, improving service levels and promoting the development of unmanned smart libraries.

[0148] When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified.

[0149] In this step, the library management robot obtains the information and location of the returned book based on the judgment result; plans a route and controls the book transport robot to transport the book to the corresponding first bookshelf area; then uses RFID to read the information of the first bookshelf and the tag of the returned book; the system verifies that the book has been returned, modifies the corresponding tag data, and changes the status field; the library management robot writes the modified information to both tags using RFID tools; and after reading, verifies that the information has been successfully updated. This step completes the automatic return loop, updates the tag status in real time, and manages the corresponding item information, reducing manual errors, improving efficiency and accuracy, and helping to streamline the overall process and optimize service procedures.

[0150] By adopting the technical solution of this embodiment, the book management robot uses a first communication frequency to read the borrowing card RFID tag information of the borrowing card, and transmits the borrowing card RFID tag information to the cloud server; the cloud server determines the borrowing history data and borrowing demand data corresponding to the borrowing card according to the borrowing card RFID tag information; determines borrowing recommendation data and navigation data according to the borrowing history data and the borrowing demand data; sends the borrowing recommendation data and the navigation data to the book management robot; the book management robot travels to the corresponding target bookshelf according to the navigation data; establishes a communication connection with the target bookshelf RFID tag of the target bookshelf using a second communication frequency; reads the target bookshelf RFID tag information of the target bookshelf; determines the corresponding target book and target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data; establishes communication with the target book RFID tag using a third communication frequency, and reads the corresponding target book this RFID tag information; generate book information according to the target book RFID tag information and display it; when the borrowing feedback information of the borrowing card is received, generate a corresponding book retrieval instruction according to the borrowing feedback information; control the book transport robot to run on the intelligent track according to the book retrieval instruction and take down the target book and transport it back; generate new borrowing information of the target book; write the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively; obtain the warehouse book RFID tag information of the warehouse books in the book warehouse; determine the borrowing data of the warehouse books according to the warehouse book RFID tag information; determine whether the warehouse book is a book to be returned according to the borrowing data; when the warehouse book is a book to be returned, transport the warehouse book back to the corresponding first bookshelf, and modify the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the warehouse book. The solution of the present invention can realize intelligent operation of the book management robot, realize automatic borrowing, returning and navigation functions, and improve the efficiency and accuracy of book management.

[0151] In some possible implementations of the present invention, the step of the library management robot reading the RFID tag information of the library card using the first communication frequency and transmitting the RFID tag information of the library card to the cloud server includes:

[0152] When the library management robot detects that a person has entered a preset range, it broadcasts a communication establishment signal using a preset first communication frequency (such as a low-frequency communication frequency of 13.56 MHz) and establishes a communication connection with the borrowing card RFID tag in the borrowing card within the preset range;

[0153] Perform anti-counterfeiting detection on the read RFID tag information of the library card to verify whether the tag is legal;

[0154] Transmitting the verified RFID tag information of the library card (such as the tag ID number and other information (such as the reader's name, etc.)) to the cloud server via the built-in wireless communication module (such as WiFi / 5G) of the library management robot;

[0155] In this embodiment, it also includes: the cloud server is connected to the library management system database, and the reader's detailed file is searched through the tag ID number for verification; after the verification is passed, the reader's information is displayed on the visual interface of the library management robot, and self-service book borrowing and returning and other business consultations can be carried out.

[0156] In this embodiment, readers can be automatically identified, eliminating manual input steps and improving efficiency; after the tag data is transmitted to the cloud, it is conducive to big data analysis applications, such as recommending personalized services; the use of low-frequency recognition can support multi-tag coexistence recognition, with good recognition effect; robot-cloud-database integration realizes the key technology of unmanned library management and is highly automated; it improves the intelligence of library management services and improves the reader experience.

[0157] In this embodiment, the RFID tag has a built-in CRC error checking code. When reading the tag data, the CRC value is read at the same time for verification to verify whether an error occurs during the data transmission process.

[0158] The cloud compares and verifies the reading again: After the robot reads the data and transmits it to the cloud, the cloud uses CRC calculation to verify whether the read data matches the CRC in the tag.

[0159] Set the tag anti-counterfeiting password: the password information is stored in the tag, and the robot compares it with the database password after reading it to filter out counterfeit tags.

[0160] Combined with biometrics, such as fingerprint / facial recognition and other biometric information is bound to the tag to reduce the possibility of fraudulent use of the tag.

[0161] Electronic signature verification: The tag contains a timestamp and digital signature, and the cloud uses the public key to verify the legitimacy of the signature.

[0162] Multi-round rereading verification: The robot reads the same tag multiple times in succession to determine whether the reading results are consistent to filter out reading errors.

[0163] The cloud stores the first reading for comparison: if the reading does not match the database, it is determined to be an incorrect reading.

[0164] Set up secure transmission channels, such as VPN and other encrypted channels, to prevent traffic poisoning and hijacking.

[0165] In this embodiment, the above-mentioned technologies are used in combination to effectively detect and filter erroneous readings, ensuring the security of the read data. At the same time, passwords and signatures need to be updated regularly to enhance protection capabilities.

[0166] In some possible embodiments of the present invention, RFID tags used for different objects can be set with different communication frequencies, and different antennas and antenna angles can be selected to transmit communication signals according to the distance between the book management robot and the tag to be read, so as to prevent communication interference between different tags and achieve accurate positioning of the book.

[0167] RFID systems have different operating frequencies, mainly low frequency (125KHz), high frequency (13.56MHz) and ultra-high frequency (UHF, 840-960MHz). The communication ranges corresponding to different RFID system operating frequencies are as follows:

[0168] Low frequency: The communication range is shorter, about 1-2 cm; high frequency: The communication range is slightly larger than low frequency, generally between 10-20 cm; ultra-high frequency: The communication range is the largest, reaching several meters or even more than ten meters.

[0169] In UHF band:

[0170] The communication range of the coil antenna is 1-2 meters; the patch antenna is 3-5 meters; the needle antenna is 5-10 meters; and the wide-surface antenna is 10-15 meters.

[0171] RFID readers can integrate multiple antennas to transmit signals of different frequencies. They can also utilize a combination of directional antennas to read multiple nearby tag IDs. Machine vision identifies the shelf number / spine number within the current field of view and uses it as a matching reference. Within the list of read tag IDs, the reader searches for an ID that matches the visually identified shelf number / spine number. If a unique ID is found, the target shelf / book is identified and the remaining tag content is read. If multiple matching IDs are found, the antenna parameters are adjusted to continue reading to eliminate ambiguity until a unique match is found. The read RFID content of the target shelf / book is uploaded to a cloud server for storage. Data fusion and management between different robots is achieved in the cloud. In this embodiment, tag IDs are cross-verified with visual information to accurately identify the target shelf / book. Multi-directional antenna recognition avoids duplicate reading and improves efficiency. Cloud data is updated in real time to synchronize with each module. Large-scale intelligent unmanned management is supported, truly realizing an "electronic bookshelf."

[0172] In some possible implementations of the present invention, the step of determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data includes:

[0173] The cloud server analyzes the borrowing history data and the borrowing demand data to identify the borrower's borrowing goals, main areas of interest, and preference types;

[0174] The cloud server analyzes the various categories of books in the library's book resource library and selects a list of books that matches the borrower's borrowing goals, main areas of interest, and preferred types;

[0175] Sort by matching degree from high to low, and select a preset number of recommended borrowing books as borrowing recommendation data;

[0176] Navigation data is calculated using a path planning algorithm based on the borrower's current location and the location of the recommended borrowed books.

[0177] In this embodiment, accurate recommendations can be made based on personalized borrowing characteristics to improve utilization efficiency; the book search and navigation process can be displayed in path order to eliminate readers' search behavior; machine learning continuously optimizes recommendation effects and improves user stickiness; big data-driven intelligent assistants effectively improve readers' experience and promote the transformation of library management to intelligent and personalized services; the key point is to deeply learn reader characteristics, find the best matching books, and facilitate efficient borrowing.

[0178] In some possible implementations of the present invention, the step of establishing a communication connection with the target bookshelf RFID tag of the target bookshelf using the second communication frequency includes:

[0179] After the book management robot reaches the location of the target bookshelf, the RFID reader starts a scanning function at a preset second communication frequency (such as a UHF frequency);

[0180] The RFID reader reads the ID number and data of each nearby tag, and determines the target bookshelf RFID tag based on the ID number and data of each tag, and then establishes a communication connection (all books on the target bookshelf are affixed with UHF frequency RFID tags containing information such as book numbers).

[0181] In this embodiment, the method may further include: reading the specific numbered book tag information of the target bookshelf RFID tag according to a preset scanning template; transmitting the acquired data to the cloud via wireless communication to achieve connection between the tag and the cloud.

[0182] This embodiment can improve the recognition distance and speed, support large-scale recognition; obtain all book information in the bookshelf to provide data support for subsequent services; and can also communicate with the cloud to support remote book management and tracking; complete the deep integration of online and offline, and improve the level of automation; make up for the shortcomings of low-frequency recognition and improve the visualization of book management.

[0183] In some possible implementations of the present invention, the step of determining the corresponding target book and the target book RFID tag based on the target bookshelf RFID tag information and the borrowing recommendation data includes:

[0184] The book management robot matches the borrowing recommendation data with the target bookshelf RFID tag information (including cataloging data and borrowing status data of each book on the shelf);

[0185] Determine the successfully matched book as the target book;

[0186] Searching the target bookshelf RFID tag information for the corresponding target book's RFID tag ID number;

[0187] The target book RFID tag is determined according to the book RFID tag ID number.

[0188] The solution implemented here can accurately locate books that readers are interested in, effectively improving the utilization rate of recommendations; avoid readers flipping through a large number of books to find points of interest, thereby improving efficiency; the tag ID facilitates the robot's next positioning operation; fully utilizes the personalized recommendation capabilities of machine learning; realizes the deep integration of digital bibliographic management and online and offline, and overall optimizes the book recommendation search and usage experience.

[0189] In some possible implementations of the present invention, the step of establishing communication with the target book RFID tag using the third communication frequency and reading the corresponding target book RFID tag information includes:

[0190] According to the book position information of the target book, the antenna position and angle of the RFID reader are adjusted to point to the RFID tag of the target book.

[0191] Sending a read instruction to the book location using a preset third communication frequency to establish communication with the target book RFID tag;

[0192] The corresponding target book RFID tag information is read from the target book RFID tag.

[0193] In this embodiment, when multiple tags may overlap, the target is accurately identified based on the position; the movable antenna adapts to different orientations to improve the recognition success rate and efficiency; after reading the information, it can be compared and confirmed to reduce the error rate; obtaining the target item information provides a basis for subsequent services; accurate identification of multiple similar products is achieved; manual interaction is reduced and the user experience is improved.

[0194] In some possible implementations of the present invention, there may be interference between tags. Generally speaking, there are several ways to reduce and resolve interference between tags:

[0195] Choosing a low-coupling RFID antenna can reduce the coupling effect between antennas and reduce mutual interference between tags.

[0196] Arrange labels reasonably, keep a certain distance between them, and avoid labels being too concentrated.

[0197] Set different frequency combinations, assign different frequencies to different areas or products, and perform multi-frequency identification.

[0198] Frequency hopping and other technologies are used for frequency dispersion, while the operating frequency is continuously changed during identification.

[0199] Enhance the anti-collision mechanism, such as using random numbers to set the time window for each tag to reply to avoid conflicts.

[0200] The reader implements enhanced transmit and receive power and modulation and demodulation technology to achieve reliable communication even in the event of a collision.

[0201] Perform multiple identifications and take the average value to eliminate interference reading errors.

[0202] Combine multi-modal recognition technologies such as visual positioning to track signal sources and improve positioning accuracy.

[0203] By combining the above technologies, the mutual interference between tags can be effectively reduced and alleviated, thereby improving recognition reliability.

[0204] In some possible implementations of the present invention, the step of generating and displaying book information based on the target book RFID tag information includes:

[0205] The book management robot reads basic book information (such as title, author, publisher, etc.) from the RFID tag information of the target book;

[0206] The book management robot obtains the electronic identification of the target book from the cloud server according to the RFID tag information of the target book, and the electronic identification of the book corresponds to the book details page stored in the cloud server;

[0207] The book management robot links to the book details page through the network and extracts the book extended information (such as content summary, reading experience, book review information, etc.) on the page;

[0208] The book information is generated according to the book basic information and the book extended information.

[0209] This embodiment may further include: displaying the obtained book information through the visual screen of the library management robot, such as in the form of text, pictures, etc.; and may also combine speech synthesis technology to perform reading broadcast.

[0210] This embodiment uses tags to achieve offline item archiving and online document linking, achieving seamless integration; conserving bandwidth source capacity and efficiently displaying rich content; pushing content in detail based on reader positioning needs; improving book promotion quality and reference decision-making capabilities; and optimizing readers' experience in selecting books and their utilization rate.

[0211] In some possible implementations of the present invention, upon receiving the borrowing feedback information of the borrowing card, the step of generating a corresponding book pickup instruction according to the borrowing feedback information includes:

[0212] The book management robot receives the borrowing feedback information submitted by the borrower through the borrowing card and extracts necessary data (such as book title, author, borrower information, etc.) from the borrowing feedback information;

[0213] It is determined whether the corresponding target book is at the current target bookshelf position according to the necessary data. If so, the target book position is determined, and a book fetching instruction is generated according to the target book position.

[0214] In this embodiment, an intelligent and automated book retrieval process is implemented to improve efficiency; online borrowing and offline logistics are effectively connected for collaborative operation.

[0215] In some possible implementations of the present invention, the robot may determine whether the corresponding target book is at the current target bookshelf location using the following methods:

[0216] Compare the book information with the book information read by the RFID on the target bookshelf. If a matching book title and author information is found, it is confirmed that the book is on the current bookshelf.

[0217] Call the cloud-based bibliographic database to determine whether the book title belongs to the corresponding category of the current bookshelf;

[0218] If the first two steps cannot determine the book, image recognition technology is used to compare the spine image; if the match is high, it is on the current bookshelf;

[0219] If image recognition is difficult to accurately match, the library registration information of the bookshelf management system will be used for judgment;

[0220] If the above methods still cannot be determined, the library management robot can move between bookshelves to perform physical perception, using sensors to detect the surroundings and determine whether there are corresponding books nearby;

[0221] Finally, if the book cannot be directly retrieved, a book location instruction will be generated to guide the user to a specific location for retrieval or notify the management staff to handle the matter;

[0222] At the same time, the location records of books that are not on the current bookshelf will be fed back to the cloud, continuously optimizing offline book management capabilities.

[0223] This embodiment can make effective judgments by comprehensively utilizing multi-source information, ensuring an efficient and coherent book retrieval process.

[0224] In some possible implementations of the present invention, the step of controlling the book transport robot to run on the intelligent track and take down the target book and transport it back according to the book retrieval instruction includes:

[0225] According to the book location of the target book in the book retrieval instruction, a book retrieval route is planned on the intelligent track network using a path planning algorithm;

[0226] Utilizing the chassis drive system of the book transport robot in combination with the track signal to control the wheels of the book transport robot to achieve automatic driving;

[0227] When the book transport robot reaches the target book location, the robot controls the telescopic gripper arm of the book transport robot to grab the target book by combining visual and tactile positioning.

[0228] After the target book is brought back, it is placed in the designated location.

[0229] In this embodiment, logistics tasks are completed fully automatically and efficiently, intelligent tracks facilitate process standardization and safety management, multimodal perception improves positioning accuracy, greatly enhances the level of library management services, and achieves zero-error unmanned automatic operation.

[0230] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0231] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0232] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0233] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0234] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0235] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0236] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0237] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of the present application. At the same time, for those skilled in the art, according to the idea of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0238] Although the present invention is disclosed above, it is not limited thereto. Any person skilled in the art may readily conceive of variations or substitutions, and may make various modifications and alterations without departing from the spirit and scope of the present invention. Combinations of the above-described functions and implementation steps, including software and hardware implementations, are all within the scope of protection of the present invention.

[0239] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals (including but not limited to signals transmitted between user terminals and other devices, etc.) involved in this application are all authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the "face" and "facial recognition" mentioned in this disclosure are all obtained with full authorization.

Claims

1. A self-service book borrowing and returning system based on RFID, characterized in that: include: A book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, a smart bookshelf provided with a smart track and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader for reading the book RFID tag information, an image acquisition module for acquiring book image information and bookshelf image information, a processing module for performing data processing, a book compartment for accommodating books, and an independently movable book transport robot; The library management robot is configured to: read the RFID tag information of the library card using a first communication frequency, and transmit the RFID tag information of the library card to the cloud server; The cloud server is configured as follows: Determine the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card; Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data; sending the borrowing recommendation data and the navigation data to the book management robot; The library management robot is configured to: Driving to a corresponding target bookshelf according to the navigation data; establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency; Read the target bookshelf RFID tag information of the target bookshelf; Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data; Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information; Generate book information according to the target book RFID tag information and display it; When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information; The book transport robot is controlled to run on the intelligent track according to the book retrieval instruction and to take down the target book and transport it back. Specifically, the book retrieval route is planned on the network of the intelligent track according to the book position of the target book in the book retrieval instruction and by using a path planning algorithm; the wheels of the book transport robot are controlled by combining the chassis drive system of the book transport robot with the track signal to realize automatic driving; when the book transport robot reaches the book position of the target book, the telescopic clamping arm of the book transport robot is controlled to grab the target book by combining visual and tactile positioning; after transporting the target book back, the target book is placed in a designated location; generating new borrowing information of the target book; Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively; Acquiring RFID tag information of the books in the book warehouse; Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse; Determining whether the book in the warehouse is a book to be returned according to the borrowing data; When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified.

2. A self-service book borrowing and returning method based on RFID, characterized in that: The invention relates to an RFID-based self-service book borrowing and returning system, comprising: a book RFID tag attached to each book and used to store catalog data, a borrowing card provided with a borrowing card RFID tag, an intelligent bookshelf provided with intelligent tracks and bookshelf RFID tags, a book management robot, and a cloud server; wherein the book management robot is equipped with an RFID reader / writer for reading the book RFID tag information, an image acquisition module for collecting book image information and bookshelf image information, a processing module for performing data processing, a book storage for accommodating books, and an independently movable book transport robot; and the RFID-based self-service book borrowing and returning method comprises: The library management robot uses the first communication frequency to read the borrowing card RFID tag information of the borrowing card, and transmits the borrowing card RFID tag information to the cloud server; The cloud server determines the borrowing history data and borrowing demand data corresponding to the borrowing card according to the RFID tag information of the borrowing card; Determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data; sending the borrowing recommendation data and the navigation data to the book management robot; The book management robot drives to the corresponding target bookshelf according to the navigation data; establishing a communication connection with a target bookshelf RFID tag of the target bookshelf using a second communication frequency; Read the target bookshelf RFID tag information of the target bookshelf; Determining a corresponding target book and a target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data; Establishing communication with the target book RFID tag using a third communication frequency and reading corresponding target book RFID tag information; Generate book information according to the target book RFID tag information and display it; When receiving the borrowing feedback information of the borrowing card, generating a corresponding book pickup instruction according to the borrowing feedback information; Controlling the book transport robot to run on the intelligent track according to the book retrieval instruction and taking the target book back; generating new borrowing information of the target book; Writing the new borrowing information into the borrowing card RFID tag, the target book RFID tag and the target bookshelf RFID tag respectively; Acquiring RFID tag information of the books in the book warehouse; Determining the borrowing data of the books in the warehouse according to the RFID tag information of the books in the warehouse; Determining whether the book in the warehouse is a book to be returned according to the borrowing data; When the book in the warehouse is a book to be returned, the book in the warehouse is transported back to the corresponding first bookshelf, and the first bookshelf RFID tag information corresponding to the first bookshelf and the first book RFID tag information corresponding to the book in the warehouse are modified; The step of controlling the book transport robot to run on the intelligent track and take down the target book and transport it back according to the book retrieval instruction includes: Planning a book retrieval route on the network of the intelligent track using a path planning algorithm according to the book location of the target book in the book retrieval instruction; Utilizing the chassis drive system of the book transport robot in combination with the track signal to control the wheels of the book transport robot to achieve automatic driving; When the book transport robot reaches the target book location, it controls the telescopic gripper arm of the book transport robot to grab the target book by combining visual and tactile positioning; After the target book is brought back, it is placed in the designated location.

3. The RFID-based self-service book borrowing and returning method according to claim 2, characterized in that: The step of the library management robot reading the RFID tag information of the library card using the first communication frequency and transmitting the RFID tag information of the library card to the cloud server includes: When the library management robot detects that a person has entered a preset range, it broadcasts a communication establishment signal using a preset first communication frequency and establishes a communication connection with the borrowing card RFID tag in the borrowing card within the preset range; Perform anti-counterfeiting detection on the read RFID tag information of the library card to verify whether the tag is legal; The verified library card RFID tag information is transmitted to the cloud server through the wireless communication module built into the library management robot.

4. The RFID-based self-service book borrowing and returning method according to claim 3, characterized in that: The step of determining borrowing recommendation data and navigation data based on the borrowing history data and the borrowing demand data includes: The cloud server analyzes the borrowing history data and the borrowing demand data to identify the borrower's borrowing goals, main areas of interest, and preference types; The cloud server analyzes the various categories of books in the library's book resource library and selects a list of books that matches the borrower's borrowing goals, main areas of interest, and preferred types; Sort by matching degree from high to low, and select a preset number of recommended borrowing books as borrowing recommendation data; Navigation data is calculated using a path planning algorithm based on the borrower's current location and the location of the recommended borrowed books.

5. The RFID-based self-service book borrowing and returning method according to claim 4, characterized in that: The step of establishing a communication connection with the target bookshelf RFID tag of the target bookshelf using the second communication frequency includes: After the book management robot reaches the location of the target bookshelf, the RFID reader starts a scanning function at a preset second communication frequency; The RFID reader reads the ID numbers and data of nearby tags, and determines the target bookshelf RFID tag based on the ID numbers and data of each tag, and then establishes a communication connection.

6. The RFID-based self-service book borrowing and returning method according to claim 5, characterized in that: The step of determining the corresponding target book and the target book RFID tag according to the target bookshelf RFID tag information and the borrowing recommendation data includes: The book management robot matches the borrowing recommendation data with the target bookshelf RFID tag information; Determine the successfully matched book as the target book; Searching the target bookshelf RFID tag information for the corresponding target book's RFID tag ID number; The target book RFID tag is determined according to the book RFID tag ID number.

7. The RFID-based self-service book borrowing and returning method according to claim 6, characterized in that: The step of establishing communication with the target book RFID tag using the third communication frequency and reading the corresponding target book RFID tag information includes: According to the book position information of the target book, the antenna position and angle of the RFID reader are adjusted to point to the RFID tag of the target book; Sending a read instruction to the book location using a preset third communication frequency to establish communication with the target book RFID tag; The corresponding target book RFID tag information is read from the target book RFID tag.

8. The RFID-based self-service book borrowing and returning method according to claim 7, characterized in that: The step of generating book information according to the target book RFID tag information and displaying the book information includes: The book management robot reads basic information of the book from the RFID tag information of the target book; The book management robot obtains the electronic identification of the target book from the cloud server according to the RFID tag information of the target book, and the electronic identification of the book corresponds to the book details page stored in the cloud server; The book management robot links to the book details page through the network and extracts the book extension information on the page; The book information is generated according to the book basic information and the book extended information.

9. The RFID-based self-service book borrowing and returning method according to claim 8, characterized in that: The step of generating a corresponding book pickup instruction according to the borrowing feedback information when the borrowing feedback information of the borrowing card is received includes: The book management robot receives the borrowing feedback information submitted by the borrower through the borrowing card and extracts necessary data from the borrowing feedback information; Determining whether the corresponding target book is at the current target bookshelf position according to the necessary data, and if so, determining the target book position and generating a book fetching instruction according to the target book position; The necessary data includes the title, author and borrower information.

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