International Journal of u-and e-Service, Science and Technology

Vol.7, No.4 (2014), pp.19-30

http://dx.doi.org/10.14257/ijunnesst.2014.7.4.03

Sorting and Retrieval Robotic System Controlled via Programmable

Logic Controller for Library Usage

M.Z.A Rashid1, H.N.M Shah1, H.I Jaafar1, M.S.M Aras1 and S.K.S Nordin2
1
Faculty of Electrical Engineering,
2
Faculty of Manufacturing Engineering
Universiti Teknikal Malaysia Melaka,
Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
zamzuri@utem.edu.my

Abstract
This paper presents the conceptual idea for the sorting and retrieval robotic system
controlled via Programmable Logic Controller (PLC). The purpose of presenting this
idea is to ease the library users and librarians to sort and retrieve the books from the
library’s shelf. The robotic system consists of movable platform using four wheel
mobile systems. At the mobile platform there are a robotic arm and gripper that can
move vertically and horizontally to pick and place the books on the shelf. The system
is equipped with the colour recognition sensor and Radio Frequency Identification
Detector (RFID) to ensure the robot can recognize the books located on the shelf.
The system starts its operation by utilizing the sensor to detect the book on the shelf
and then, the system actuator will be activated, causing the mechanism arm to extend
and retract to reach to the book and the gripper will grip the book. The book that is
required then can be brought down and the mobile platform will move to the counter.
If the books are required to be sorted out, the motor at the robotic hand will moves
the arm mechanism until the sensor detect an absence of books on the book shelf.
Then, the arm will extend, sorting the book at its place by release the gripper.
Keywords: Programmable Logic Controller (PLC), sorting, retrieval, mobile robot,
library

1. Introduction
Nowadays, a lot of libraries around the world have thousands of books, academic journals,
magazines and etc. that consume much time for the users and librarians to search for them.
Most of the huge libraries today are equipped with library automation system which is
purposely developed for the library in housekeeping operations such as books acquisition,
cataloguing the books, circulation, serial controls and in house or inter-library loans
operations. Library uses various methods to arrange and retrieve the books either on the shelf,
out of shelf, on loans, for instance, books are sorted according to its book number, according
to author’s name, according to publication or versions of books etc. According to [1], the
library automation are crucial to ensure the information can be disseminated in various format
either print, non- print, graphical, audio-visual etc. It also can duplicate housekeeping
operation which can direct to well management and retrieval of information. [2] in their paper
mentioned that there are two types of automation problems; pre automation problems and
post automation problems. Pre automation problem dealt with the lack of human resource

ISSN: 2005-4246 IJUNNEST

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Vol.7, No.4 (2014)

skills while post automation problem were mostly due to insufficient fund to equip the
libraries with automation system. Before a library is equipped with an automation system,
every location of the librarian’s workstation, patron access points, network server, internet
access and building electrical system need to be analyzed. Some libraries may require minor
technological upgrades, while others will require an expensive technological renovate [2].
From the views and opinion from other researchers, this paper proposes an idea to design a
robotic system that capable to sort and retrieve the books from the shelf. The system is
capable to arrange and grip the books from the top of the shelf where users or librarian need a
stair to climb up and hold that book.
This system consists of movable platform using four wheel mobile systems. At the mobile
platform there are a robotic arm and gripper that can move vertically and horizontally to pick
and place the books on the shelf. The system is equipped with the colour recognition sensor
and Radio Frequency Identification Detector (RFID) to ensure the robot can recognize the
books located on the shelf. The system starts its operation by utilizing the sensor to detect the
book on the shelf and then, the system actuator will be activated, causing the mechanism arm
to extend and retract to reach to the book and the gripper will grip the book. The book that is
required then can be brought down and the mobile platform will move to the counter. If the
books are required to be sorted out, the motor at the robotic hand will moves the arm
mechanism until the sensor detect an absence of books on the book shelf. Then, the arm will
extend, sorting the book at its place by release the gripper. The objectives of this conceptual
paper is to provide an overview about a simple robotic system that can be used at the library
to assist users and librarians and support the current automation system which available in the
library. The system also is targeted to increase smoothness of the library daily operation.

2. Motivation
The paper by [1] explained about the sorting method in the library which utilizing MRS
algorithm. The author also compared two sorting optimization techniques that can be used in
the library which are MRS and GPU Quick Sort. [3] mentioned about the usage of RFID
inside the library in order to increase efficiency and improve the safety, security, productivity,
accuracy and convenience. RFID is now used to check in / check out books, self-check in/out,
anti-theft detection, book drop, shelf management and tagging.
[4] developed a autonomous robotic system for book manipulation inside the library and
utilized vision system called as Image processing and Optical Character
Recognition (OCR) to detect and grasp the desired books on the shelf. The robot that was
used inside the research was a 5DOF robot system. [5] simulated the robotic arms system that
can be used to pick up object using numerical simulation inside SIMULINK/ Matlab.
[6] had designed and constructed 6-axis robot manipulator and controlled via Visual
C++.NET. By using the Visual C++.NET new users can learn how to control this robot arm
quickly. [7] developed a robotic arm that attached to the wheelchair and equipped with the
user friendly interface and the product was targetted to assist diabled people. The advantages
of the system were; it capable to grasp books located on the upper shelf and put it on the book
holder. It also can bring the book from the book holder to lower shelf. The book can be
detected using two methods; book detection with stereo camera and book detection using
hand camera. The motion planning for the robotic arm movement was based on Rapidly
exploring Random Trees (RRT).
In another work done by [8], the researcher had developed a Robotic Proximity Queries
(RPQ) package for path planning and obstacle avoidance for arm robotic system. The
research done by [9]-[10] described that the implementation and utilization of Automated
Material Handling Systems (AMHS) facilities can increase the library collection storing and

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handling efficiency and at the same time enhanced the productivity and performance. The
author described three methods that can be used in the library which are; Compact Shelving
Storage, Automated Storage and Retrieval Systems (AS/RS) and Automated Return/Sorting
Systems.
According to [11], maximum benefit can be achieved by small library by small spends on
return automation. However, when the automation was increased more, the benefits obtained
will be lesser for small library. For larger library, the initial cost to set up automation will be
quite higher but the productivity also can be increased. The automation mentioned in this
report was about the whole library automation from the return machine which covered the
items returned to the library by borrower till the items arranged in the library by librarian.
[12] had developed an autonomous mobile robotic library system to retrieve items from
bookshelves and carry them to scanning stations located in the off-site shelving facility. The
author used 5DOF robot attached to the leveling mechanism on the mobile robotic platform to
grasp the books on the shelf. The research done by [13] elaborated the implementation of
PLC as controller in the management system.

3. System Design
The mobile robot that is designed in this paper is shown in Figure 1. Figure1 illustrates the
complete isometric view of the sorting and retrieval mobile system. The complete system is
built by mobile robotic platform that are attached with air compressor, wheel, air tube
pneumatic rod in vertical direction, power button, start and stop indicator, and gripper. Figure
2 shows the side view, front view and top view for this mobile robot system. Figure 3 depicts
the gripper on the upper part of the system. The gripper has a pneumatic rod to close for grip
or opens to release the object and controlled by air from air tube. Figure 4 shows the block
diagram for the system with sensors, PLC controller, motors and etc.

Figure 1. Isometric View of the Robot at the Library Shelf

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Figure 2. Side view, Front view and Top view of the Mobile Robot

Figure 3. Isometric view of the Book’s Arm Gripper at Mobile Robot

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Figure 4. Isometric view of the Book’s Arm Gripper at Mobile Robot

In another figure, Figure 5 elucidates the flowchart for the system to operate. Initially, the
system will detect either the book available or not on the shelf and drawer inside the robot, if
the sensor finds there is no book allocates on the shelf, the gripper arm will grip the books
and move the book to locate either on top, middle or lower shelf based on their barcode and
color.

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Start

Detect book

Identify book marker

Grip book

Move to the right place

-> Red = Upper
-> Yellow = Middle
-> Green = Lower

Find empty place

Release the
book

Check book in Yes

the drawer

No

End

Figure 5. Process Flowchart of the Sorting and Retrieval Mobile Robot

system.
4. Controller and Simulation Result
Table 1 lists the input / output that is used on the PLC port to attach the sensor, motor,
pneumatic valve and etc. Another table, Table 2 shows the mnemonic codes for the PLC
program to control this mobile robot system.

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Table 1. I/O Device on the PLC port

INPUT DEVICE OUTPUT
00000 START BUTTON 10000 DETECT RED
00001 STOP/EMERGENCY 10001 DETECT
BUTTON YELLOW
00002 RED SENSOR 10002 DETECT GREEN
00003 YELLOW SENSOR 10004 GRIP LIGHT
00004 GREEN SENSOR 10015 POWER LIGHT
00005 SPACE SENSOR

Table 2. Mnemonic Code for PLC Control

Address Instruction Data
0001 LD 00000
0002 OR 10015
0003 AND NOT 00001
0004 OUT 10015
0005 LD 10015
0006 AND NOT TIM001
0007 AND 00002
0008 OUT 10000
0009 LD 10015
0010 AND NOT TIM001
0011 AND 00003
0012 OUT 10001
0013 LD 10015
0014 AND NOT TIM001
0015 AND 00004
0016 OUT 10002
0017 LD 10000
0018 OR 10001
0019 OR 10002
0020 AND TIM000
0021 AND NOT TIM001
0022 OUT 10004
0023 LD 10015
0024 AND 00005
001
0025 TIM #0020
0026 LD 10000
0027 OR 10001
0028 OR 10002
000
0029 TIM #0020

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Figure 6, Figure 7, Figure 8, Figure 9 and Figure 10 show the ladder diagrams and
simulation of the ladder diagram using the OMRON CX Programmer. Based on the
mnemonic code and the ladder diagram in the Figure 6 – Figure 10, data 00000 is used as
push-button switch while 00001 is used as stop or emergency switch. When the push-button
is turn ON, light 10015 is turn ON to indicate the system is running. 10015 are also used as
the contactor to the other function. To detect the book marking (red, yellow, green), light
sensor is used and represented by 00002 (sensor 1), 00003 (sensor 2), 00004 (sensor 3).
00002 is used to detect red colour, 00003 for yellow colour while 00004 for green colour.
Since there is different colour marking, light indicator is used for each colour so that user
can easily monitor the system. 10000 is used to indicate red marking, 10001 for yellow while
10002 for green. After the sensor detects the colour, timer (TIM000) will energized for 2
seconds and turn TIM000 timer contact to Close-Contact (NC) and energized the 10004 coil.
When the coil 10004 is energized, that means the mechanism arm has gripped the book. After
the infrared sensor (00005) gets the empty place, the arm mechanism will extend and place
the book.
The arm mechanism will release the book gripper that takes time about 2 seconds. This
means another timer is used to control the process (TIM001). The TIM001 will energize after
sensor 00005 turn ON and change TIM001 timer contact to Open-Contact (OC). After 2
seconds, pneumatic arm will retract back. The colour and gripped indicator will turn OFF and
the mechanism repeats all the process again.

Figure 6. Ladder Diagram for the PLC Program to Control Sorting and Retrieval Mobile
Part 1 shows the part of the sensor where
Robot will function
System when the sensor detect the book
in Library
colours marking. Colour sensor is to detect marking that place in the book and the function of

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ASIC is to convert the signal that can be read by programmable logic. The part 2 is function
to control the all the arm mechanism that using pneumatic system which is pneumatic hand
and pneumatic gripper. The transistor is used to amplify the electrical power and solenoid is
used to converts electrical energy to pneumatic energy. The pneumatic robot hand is used to
reach the book when it extend and followed by pneumatic gripper to grip the book. Part 3 is
to control the movement of the robot. The motor driver is used to start and stop the DC
motor. DC motor is function as wheel to move the robot when it finds the empty place. In part
4, book sensor (infrared sensor) is to detect the empty place in the shelf and the function of
ASIC is to convert the signal that can be read by programmable logic. Part 5 is to control the
arm mechanism so that it can place the book in the shelf. When the robot gets the empty
place, the pneumatic hand will extend again and followed by the pneumatic gripper to place
the book.

Figure 7. PLC Ladder Diagram Simulation before Books with certain Colours are
Detected

Figure 8. Arm Control

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Fig.8: PLC ladder diagram simulation for book with certain colours is met.

Figure 9. The Gripper Requires 2 Seconds to Grip the Book after Detecting it

Figure 10. The Gripper Requires 2 Seconds to Release the Book After Obtaining the
Empty Place

From the ladder diagram that we had constructed, our programmed run as instructed.
Firstly, book sensor detects book and its colour to run. As the colour detected, the air
compressor supply air and extend the arm. The gripper holds the load or books and arm
detracts back. The double rod extend as it detected the colour to determine the level to sort on
shelf. The wheels motor activate, causing the mechanism to move. The book sensor detects
books on shelf. When no book detected, arm mechanism extend again and the gripper detract
to release the book on shelf. The cycle repeated as long it detected next book on the book
sensor. Thus, our programmed can be concluded succeeded.

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6. Conclusion
The conceptual design for the sorting and retrieval mobile robot system that can be used as
assistant inside the library has been proposed. The mobile robot consists of the mobile
platform, vertical pneumatic cylinder and horizontal gripper to arrange the books on the shelf
and the PLC controller to control the whole operation process. The PLC program has been
constructed and simulate in the simulation environment by utilizing OMRON CX
programmer software.
In the future, this conceptual design will be materialized by prototype it and tested in the
real time.

Acknowledgment
The author want to express appreciation to Unmanned and Autonomous Research Group,
Centre of Excellence in Robotics and Industrial Automation and Universiti Teknikal Malaysia
Melaka for sponsoring this project.

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