Automated library system with retrieving and repositing robot

An automated library system with retrieving and repositing robot comprising:

• a bookrack in which are formed a plurality of shelf sections having shelf section identification information indicated thereon, in which library books having book identification information indicated thereon are stored upright in shelf sections prescribed therefor, said bookrack being provided such that library staff and/or library patrons may directly access and manually remove said library books at will;
• a host computer including
• an input unit for inputting, from a book checkout counter, returned book identification information for books returned by library patrons
• a memory unit for storing book-to-shelf-section identification information cross-reference data that relates accessing book identification information to corresponding prescribed shelf sections,
• a computation unit for searching for said returned book's prescribed shelf section storage location information by comparing said returned book identification information inputted by said input unit with said book-to-shelf-section cross-reference data, and
• an output unit for outputting, along with said returned book identification information, the returned book's prescribed shelf section storage location information obtained as a result of said search;
• and
• a retrieving and repositing robot that moves itself around the periphery of said bookrack, including
• a carriage that moves itself around the periphery of said bookrack,
• a hand mechanism,
• a control unit for controlling three-dimensional motion of said hand mechanism opposite said bookrack, and
• a mobile computer for performing guidance control of said carriage and the three-dimensional motion of said hand mechanism, based on the returned book's prescribed shelf section storage location information output from said host computer,
• said hand mechanism further including
• an identification information recognition unit for detecting shelf section identification information indicated on said bookrack as well as book identification information indicated on said library books, and recognizing a returned book's prescribed shelf section storage location, and the end of the row of books in the prescribed shelf section storage location,
• a book-holding mechanism for holding the returned book by grasping said book across the thickness direction thereof, aligning it with the end of the row of books in the prescribed shelf section storage location, and pushing it in,
• wherein said hand mechanism, control unit, and mobile computer are mounted, along with a mobile electrical power supply, on said carriage.

A book retrieving and repositing robot for a library, comprising:

• a carriage that moves itself around a bookrack in which are formed a plurality of shelf sections having shelf section identification information indicated thereon, in which library books having book identification information indicated thereon are stored upright in shelf sections prescribed therefor;
• a hand mechanism mounted on said carriage;
• a control unit mounted on said carriage for controlling three-dimensional motion of said hand mechanism opposite said bookrack;
• a mobile computer mounted on said carriage for obtaining, based on instructions from a library book checkout and return counter, the identification information for a requested book along with the requested book's prescribed shelf section storage location, and performing guidance control of said carriage and the three-dimensional motion of said hand mechanism;
• and
• a mobile power supply mounted on said carriage,
• said hand mechanism including
• an identification information recognition unit for detecting shelf section identification information indicated on said bookrack as well as book identification information indicated on said library books, and recognizing a requested book's prescribed shelf section storage location, and a requested book present at that prescribed shelf section storage location,
• a book pullout mechanism for pulling-out a requested book from a row of books in a shelf section;
• and
• a book-holding mechanism for removing the pulled-out book by grasping said book across the thickness direction thereof.

A book retrieving and repositing robot for a library, comprising:

• a carriage that moves itself around a bookrack in which are formed a plurality of shelf sections having shelf section identification information indicated thereon, in which library books having book identification information indicated thereon are stored upright in shelf sections prescribed therefor;
• a hand mechanism;
• a control unit for controlling three-dimensional motion of said hand mechanism opposite said bookrack;
• a mobile computer for obtaining, based on instructions from a library book checkout and return counter, the identification information for a returned book along with the returned book's prescribed shelf section storage location, and performing guidance control of said carriage and the three-dimensional motion of said hand mechanism;
• and
• a mobile power supply,
• said hand mechanism including:
• an identification information recognition unit for detecting shelf section identification information indicated on said bookrack as well as book identification information indicated on said library books, and recognizing a returned book's prescribed shelf section storage location, and the end of the row of books in the prescribed shelf section storage location;
• and
• a book-holding mechanism for holding the returned book by grasping said book across the thickness direction thereof, aligning it with the end of the row of books in the prescribed shelf section storage location, and pushing it in.

A hand mechanism for a book retrieving and repositing robot for a library, said hand mechanism placed opposite, and having its motion controlled in three dimensions with respect to, a bookrack in which are formed a plurality of shelf sections having shelf section identification information indicated thereon, in which library books having book identification information indicated thereon are stored upright in shelf sections prescribed therefor, comprising:

• an identification information recognition unit for detecting shelf section identification information indicated on said bookrack as well as book identification information indicated on said library books, and recognizing a requested book's prescribed shelf section storage location, and a requested book present at that prescribed shelf section storage location;
• a book pullout mechanism for pulling-out a requested book from a row of books in a shelf section;
• and
• a book-holding mechanism for removing the pulled-out book by grasping said book across the thickness direction thereof.