TWI398830B - Mobile smart RFID reader - Google Patents

Mobile smart RFID reader Download PDF

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TWI398830B
TWI398830B TW98122880A TW98122880A TWI398830B TW I398830 B TWI398830 B TW I398830B TW 98122880 A TW98122880 A TW 98122880A TW 98122880 A TW98122880 A TW 98122880A TW I398830 B TWI398830 B TW I398830B
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image
rfid
processing unit
unit
wireless communication
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TW98122880A
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TW201102974A (en
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Chih Yung Chen
Da Lung Cheng
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Univ Shu Te
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Description

移動式之智慧型RFID讀取裝置 Mobile smart RFID reading device

本發明係一種移動式之智慧型RFID讀取裝置，特別係指利用Zigbee發射單元結合RFID行動讀取器配置於本體上，藉以利用本體在特定空間內，巡邏、監控被保全之物品安全狀況。 The invention relates to a mobile intelligent RFID reading device, in particular to a Zigbee transmitting unit combined with an RFID mobile reader configured on the body, thereby utilizing the body to patrol and monitor the security status of the preserved item in a specific space.

近年來，社會經濟不景氣的情況下，住家、校園環境與企業公司內部等等的失竊案件層出不窮，竊盜成功的案例曝露出現有的保全人員和監控影像設備種種缺點。即使以固定式的攝影機加以監控，入侵者也能閃躲攝影機的死角或者從預料外的通道進入行竊。保全人員制式化的巡邏可以避免固定監控的問題，但通常因為人為疏失或疲累的因素而出現漏洞。另一方面，對於貴重物品的管控，大部分還是以鎖的方式進行保護，但是再高科技的門鎖，竊賊也能夠短時間破壞或破解，竊取物品後鎖回，如果沒有定時的檢查，很難察覺該物品是否遺失。 In recent years, in the case of a social and economic downturn, thefts in homes, campus environments, and corporate companies have emerged in an endless stream. The successful cases of piracy expose the shortcomings of existing security personnel and surveillance imaging equipment. Even with a fixed camera, the intruder can dodge the camera's dead end or steal from an unexpected channel. Regulatory patrols can prevent fixed monitoring problems, but usually due to human error or fatigue. On the other hand, most of the control of valuables is still protected by locks. However, with high-tech door locks, thieves can also destroy or crack in a short time. After stealing items, they can be locked back. If there is no regular inspection, it is very It is difficult to detect if the item is lost.

故，中華民國專利公告編號M351695號「無動力助行移動載具改良結構」，揭露藉由載具本體，包括扶手架部、椅座部及著置部；棚架，包括立向支架及連結於該立向支架頂端之頂架部，該立向支架底端組設定位於該載具本體，該頂架部則藉由該立向支架撐高而呈橫設或斜設於該載具本體上方間隔高度位置處之狀態；太陽能板，組設於該棚架之頂架部上；蓄電池，組設於該載具本體，該蓄電池係與該太陽能板電性連結，以蓄積該太陽能板所生成之電能；藉此，俾可令無動力助行移動載具使用上能夠達 到兼具有遮擋及自力供電之功能。 Therefore, the Republic of China Patent No. M351695 "Unpowered Mobile Vehicle Improved Structure" discloses the vehicle body including the armrest frame, the seat portion and the mounting portion; the scaffolding, including the vertical bracket and the link The top end portion of the vertical support bracket is disposed on the carrier body, and the top frame portion is horizontally or obliquely disposed on the carrier body by the vertical bracket being raised a state in which the solar panel is disposed on the top frame of the scaffold; a battery is disposed on the carrier body, and the battery is electrically connected to the solar panel to accumulate the solar panel The generated electrical energy; thereby, the unpowered mobile vehicle can be used up to It has the function of shielding and self-power supply.

然，其缺點在於：上述係已揭露專利僅利用太陽能轉換成電能以進行移動之技術手段，但對於被保全之物品，上述專利無法在特定空間上，進行移動式之巡邏監控，且尚無結合RFID讀取裝置，所以當被保全之物品，但被非法開啟破壞竊盜時，上述專利無法發揮執行保全之作用。 However, the disadvantage is that the above-mentioned system has disclosed the technical means that only the solar energy is converted into electric energy for movement, but for the preserved articles, the above patent cannot perform mobile patrol monitoring in a specific space, and there is no combination. The RFID reading device, so when the article is preserved, but is illegally opened to destroy the theft, the above patent can not play the role of preservation.

本發明係為解決無法在一特定空間利用RFID讀取裝置上執行物品保全安全之問題。 The present invention addresses the problem of being unable to perform item security on an RFID reading device in a particular space.

本發明係一種移動式之智慧型RFID讀取裝置，係包括有：一本體，其係設有一傳動元件及一車輪組，其中傳動元件係連接至車輪組；一處理單元，設置於本體之內部，與上述傳動元件電性連接；一RFID行動讀取器，設置於本體上，係電性連接於該處理單元；一Zigbee發射單元，係設置於本體上，係電性連接於該處理單元，用以發射無線訊號以產生一位置訊息；一無線通訊單元，設置於本體之內部，係電性連接於該處理單元。上述該無線通訊單元係透過無線通訊方式接受至少一控制指令，並將該控制指令傳輸至處理單元，由處理單元輸出一控制訊號至傳動元件，以驅動車輪組產生相應動作。 The invention relates to a mobile intelligent RFID reading device, comprising: a body, which is provided with a transmission component and a wheel set, wherein the transmission component is connected to the wheel set; and a processing unit is disposed inside the body , the RFID device is electrically connected to the processing unit, and is disposed on the body, and is electrically connected to the processing unit. The wireless communication unit is disposed in the interior of the body and is electrically connected to the processing unit. The wireless communication unit receives at least one control command through a wireless communication method, and transmits the control command to the processing unit, and the processing unit outputs a control signal to the transmission component to drive the wheel group to generate a corresponding action.

本發明進一步包括有至少三個Zigbee感應器，該Zigbee感應器位於不同位置，且均與Zigbee發射單元有相同的無線頻率，其接收Zigbee發射單元之發射訊號，透過接收訊號強度定位法則，產生一位置訊息。 The present invention further includes at least three Zigbee sensors located at different positions and having the same radio frequency as the Zigbee transmitting unit, receiving the transmission signal of the Zigbee transmitting unit, and generating a signal through the received signal intensity localization rule. Location message.

上述RFID行動讀取器係相對移動於本體。 The RFID mobile reader described above is relatively moved to the body.

本發明另進一步包括有一攝影單元，該攝影單元設置於本體上，係電性連接於該處理單元。 The invention further includes a photographing unit disposed on the body and electrically connected to the processing unit.

上述無線通訊單元使用之通訊協定為Zigbee、Wi-Fi、Wi-max或藍牙。 The communication protocol used by the above wireless communication unit is Zigbee, Wi-Fi, Wi-max or Bluetooth.

上述車輪組具有三枚車輪，車輪被等距設置在一圓周路徑上，每一車輪均在任意方向上滾動。 The above wheel set has three wheels, the wheels are equidistantly disposed on a circumferential path, and each wheel rolls in any direction.

本發明之優點在於： The advantages of the invention are:

1.本發明利用本體可在於特定空間內，感應被保全物品之狀態，其移動方式透過三個Zigbee感應器座標位置移動，可以達成本體可隨時瞭解其身處的位置，進而達到巡邏的目的。 1. The invention can utilize the body to sense the state of the preserved article in a specific space, and the movement mode is moved through the coordinates of the three Zigbee sensors, so that the body can know the position of the body at any time, thereby achieving the purpose of patrolling.

2.本發明應用了RFID辨識技術作為保全物品管理機制，能夠無線感應物品之安全狀況，可隨時掌握被保全物品之狀態。 2. The invention applies the RFID identification technology as a security item management mechanism, and can wirelessly sense the security status of the item, and can grasp the state of the preserved item at any time.

3.本發明與無線通訊單元結合應用，減少了地域限制，並透過網路平台傳送訊息，可於近端或遠端監控物品。 3. The invention combines with the wireless communication unit to reduce geographical restrictions and transmit information through the network platform, and can monitor items at the near end or the far end.

4.本發明之本體可替代保全人員制式化的巡邏，可避免因為人為疏失或疲累的因素而出現漏洞之問題。 4. The body of the present invention can replace the patrol of the maintenance personnel to avoid the problem of loopholes due to human error or fatigue.

5.於本體上之RFID行動讀取器，可以同時對多個被保全物品之RFID標籤執行讀取動作，進行一對多之保全監控。 5. The RFID mobile reader on the main body can perform reading operations on multiple RFID tags of the protected items at the same time, and perform one-to-many security monitoring.

6.於本發明係結合有攝影單元，作為影響監控之監視器，並配合低成本之被動式RFID標籤即可達成防盜之功能。 6. In the present invention, a photographing unit is incorporated as a monitor for influencing monitoring, and a low-cost passive RFID tag can be used to achieve the function of anti-theft.

(1)‧‧‧本體 (1) ‧‧‧ Ontology

(11)‧‧‧傳動元件 (11)‧‧‧Transmission components

(12)‧‧‧車輪組 (12) ‧‧‧ wheel sets

(121)‧‧‧車輪 (121)‧‧‧ Wheels

(2)‧‧‧處理單元 (2) ‧‧‧Processing unit

(3)‧‧‧RFID行動讀取器 (3) ‧‧‧RFID mobile reader

(4)‧‧‧Zigbee發射單元 (4) ‧‧‧Zigbee launching unit

(5)‧‧‧無線通訊單元 (5) ‧‧‧Wireless communication unit

(6A)‧‧‧第一Zigbee感應器 (6A)‧‧‧First Zigbee Sensor

(6B)‧‧‧第二Zigbee感應器 (6B)‧‧‧Second Zigbee Sensor

(6C)‧‧‧第三Zigbee感應器 (6C)‧‧‧ Third Zigbee Sensor

(7)‧‧‧攝影單元 (7) ‧‧‧Photographic unit

(A)‧‧‧被保全物品 (A) ‧ ‧ preserved items

(B)‧‧‧RFID標籤 (B) ‧‧‧RFID tags

(C)‧‧‧伺服端 (C) ‧‧‧Server

第一圖係為本發明之外觀示意圖。 The first figure is a schematic view of the appearance of the present invention.

第二圖係為本發明之平面架構圖。 The second figure is a plan view of the present invention.

第三圖係為本發明之裝置架構方塊圖。 The third figure is a block diagram of the device architecture of the present invention.

第四圖係為本發明之移動單元依座標位置移動之示意圖。 The fourth figure is a schematic diagram of the movement of the mobile unit according to the present invention according to the coordinate position.

第五圖係為本體與Zigbee感應器間之訊號強度定位法則之定位關係圖。 The fifth figure is the mapping relationship between the signal intensity localization rule between the body and the Zigbee sensor.

第六圖係為攝影單元監控系統流程圖。 The sixth picture is a flow chart of the photography unit monitoring system.

首先，請參閱第一圖及第二圖所示，本發明係移動式之智慧型RFID 讀取裝置，係包括有： First, please refer to the first figure and the second figure, the invention is a mobile smart RFID The reading device includes:

一本體(1)，其係設有一傳動元件(11)及一車輪組(12)，其中傳動元件(11)係連接至車輪組(12)，其中該車輪組(12)具有三枚車輪(121)，該車輪(121)被等距設置在一圓周路徑上，且每一車輪(121)均在任意方向上滾動。 A body (1) is provided with a transmission element (11) and a wheel set (12), wherein the transmission element (11) is connected to the wheel set (12), wherein the wheel set (12) has three wheels ( 121), the wheels (121) are equidistantly disposed on a circumferential path, and each wheel (121) rolls in any direction.

一處理單元(2)，設置於本體(1)之內部，與上述傳動元件(11)電性連接。 A processing unit (2) is disposed inside the body (1) and electrically connected to the transmission component (11).

一RFID行動讀取器(3)，設置於本體(1)上，係電性連接於該處理單元(2)，其中該RFID行動讀取器(3)係相對移動於本體(1)。 An RFID mobile reader (3) is disposed on the body (1) and electrically connected to the processing unit (2), wherein the RFID mobile reader (3) is relatively moved to the body (1).

一Zigbee發射單元(4)，係設置於本體(1)上，係電性連接於該處理單元(2)，用以發射無線訊號以產生一位置訊息。 A Zigbee transmitting unit (4) is disposed on the body (1) and electrically connected to the processing unit (2) for transmitting a wireless signal to generate a location message.

一無線通訊單元(5)，設置於本體(1)之內部，係電性連接於該處理單元(2)，其中該無線通訊單元(5)使用之通訊協定為Zigbee、Wi-Fi、Wi-max或藍牙。 A wireless communication unit (5) is disposed inside the body (1) and electrically connected to the processing unit (2), wherein the communication protocol used by the wireless communication unit (5) is Zigbee, Wi-Fi, Wi- Max or Bluetooth.

上述該無線通訊單元(5)係透過無線通訊方式接受至少一控制指令，並將該控制指令傳輸至處理單元，由該處理單元(2)輸出一控制訊號至傳動元件(11)，以驅動車輪組(12)產生相應動作，且其進一步包括有至少三個Zigbee感應器，該Zigbee感應器位於不同位置，且均與該Zigbee發射單元(4)有相同的無線頻率，其接收該Zigbee發射單元(4)之發射訊號，透過接收訊號強度(Received Signal Strength,RSS)定位法則，以產生一位置訊息。 The wireless communication unit (5) receives at least one control command through wireless communication, and transmits the control command to the processing unit, and the processing unit (2) outputs a control signal to the transmission component (11) to drive the wheel. The group (12) generates a corresponding action, and further comprising at least three Zigbee sensors located at different locations and having the same radio frequency as the Zigbee transmitting unit (4) receiving the Zigbee transmitting unit (4) The transmitted signal is transmitted to receive a positional message by receiving a signal strength (Resived Signal Strength, RSS).

本體(1)上另設置有一攝影單元(7)，係電性連接於該處理單元(2)。 A photographing unit (7) is further disposed on the main body (1), and is electrically connected to the processing unit (2).

實施時，請參閱第二圖、第三圖及第四圖所示，係將該本體(1)置於一特定空間，例如辦公室空間、銀行或校園等，該特定空間中之座標 (x A ,y A )有第一Zigbee感應器(6A)、特定空間中之座標(x B ,y B )設有第二Zigbee感應器(6B)及特定空間中座標(x C ,y C )設有第三Zigbee感應器(6C)，該第一Zigbee感應器(6A)、第二Zigbee感應器(6B)及第三Zigbee感應器(6C)藉由接收本體(1)之Zigbee發射單元(4)之無線訊號，並透過接收訊號強度(RSS)定位法則，分別獲得本體(1)與第一Zigbee感應器(6A)、第二Zigbee感應器(6B)及第三Zigbee感應器的距離rA、rB、rC，進而獲得本體(1)在特定空間中之座標為(x O ,y O )的位置訊息(如第五圖所示)，該位置訊息透過無線通訊單元(5)傳遞至一伺服端(C)。 When implemented, please refer to the second, third and fourth figures, which is to place the body (1) in a specific space, such as an office space, a bank or a campus, etc., coordinates in the specific space ( x A , y A ) has a first Zigbee sensor (6A), a coordinate in a specific space ( x B , y B ) with a second Zigbee sensor (6B) and a coordinate in a specific space ( x C , y C ) a third Zigbee sensor (6C), the first Zigbee sensor (6A), the second Zigbee sensor (6B) and the third Zigbee sensor (6C) receive the Zigbee transmitting unit (4) of the body (1) the wireless signal, and (RSS) positioning rule received signal strength through, respectively the body (1) and the first inductor Zigbee (. 6A), Zigbee second sensor (6B) and the third sensor Zigbee distance r a, r B , r C , and then obtain the position information of the body (1) in the specific space ( x O , y O ) (as shown in the fifth figure), the position message is transmitted to the wireless communication unit (5) to A servo terminal (C).

伺服端事先記錄了每一被保全物品(A)所在處之座標訊息，當其掌握本體(1)之座標(x O ,y O )後，欲控制本體(1)移動時，伺服端(C)根據本體(1)之目前位置訊息(即座標(x O ,y O ))，以無線方式傳輸一控制指令至無線通訊單元(5)，該控制指令包括了移動路線、移動速度、停止移動或轉彎角度與方向等參數，而無線通訊單元(5)則將該控制指令傳輸至處理單元(2)，由該處理單元(2)輸出一控制訊號至傳動元件(11)，以驅動車輪組(12)產生相應的機械動作。藉此，本體(1)移動至被保全物品(A)所在處附近，並透過RFID行動讀取器(11)偵測被保全物品(A)上之RFID標籤(B)，該RFID行動讀取器(3)用以辨識偵測附加有寫入有辨識碼之RFID標籤(B)之被保全物品(A)狀況，當該RFID行動讀取器(3)掃瞄不到結合有RFID標籤(B)之被保全物品(A)時，RFID行動讀取器(3)經該處理單元(2)透過無線通訊單元(5)傳送訊息至遠端之伺服端(C)或監控裝置。 The servo end records in advance the coordinate information of each protected item (A). When it grasps the coordinates ( x O , y O ) of the main body (1), it wants to control the movement of the main body (1), the servo end (C Transmitting a control command to the wireless communication unit (5) wirelessly according to the current position information of the body (1) (ie, coordinates ( x O , y O )), the control command including moving the route, moving the speed, stopping the movement Or turning angle and direction parameters, and the wireless communication unit (5) transmits the control command to the processing unit (2), and the processing unit (2) outputs a control signal to the transmission component (11) to drive the wheel set (12) Generate corresponding mechanical actions. Thereby, the body (1) moves to the vicinity of the secured item (A), and detects the RFID tag (B) on the preserved item (A) through the RFID action reader (11), and the RFID action is read. The device (3) is configured to recognize the condition of the protected item (A) to which the RFID tag (B) to which the identification code is written is attached, and when the RFID mobile reader (3) scans the RFID tag is not integrated ( When the protected item (A) is B), the RFID mobile reader (3) transmits a message to the remote server (C) or the monitoring device via the wireless communication unit (5) via the processing unit (2).

本發明以攝影單元(7)為影像監控之監視器，係使用灰階的影像處理技術，其在影像處理的第一個步驟就是將攝影單元(7)所取得的影像由彩色轉換成灰階，公式(2)為彩色影像RGB轉換成Y、Cb、Cr座標系統之轉換公式： 在此公式中Y值的部份為彩色影像中的亮度值，本發明所使用的灰階影像及為色彩座標轉換後Y值成分的灰階影像。此外，邊緣資訊在影像處理中佔有很重要的地位，大部分的入侵動作都並分是亮度或者是色彩資訊的變化，邊緣資訊的變動是常見的入侵訊息判定的依據。本發明透過Sobel edge detection演算法找出影像中像素(feature pixel)間灰度值變化較大的計算變化量最大使用的公式如下： 得到邊緣影像之後不可避免的是其雜訊也會隨著邊緣偵測處理而被放大。所以再執行3×3的中值濾波器，去除雜訊。定義如下： 其中為影像索引值，為影像中的像素灰階值，M(x,y)中值化後的像素灰階值，k,l=-1,0,1。 The invention uses the photographing unit (7) as a monitor for image monitoring, and uses grayscale image processing technology. In the first step of image processing, the image obtained by the photographing unit (7) is converted from color to gray scale. Equation (2) is a conversion formula for converting color image RGB into Y, Cb, and Cr coordinate systems: In this formula, the Y value is the luminance value in the color image, the grayscale image used in the present invention, and the grayscale image which is the Y value component after the color coordinate conversion. In addition, edge information plays an important role in image processing. Most of the intrusion actions are divided into brightness or color information. The change of edge information is the basis for common intrusion messages. The present invention uses the Sobel edge detection algorithm to find the formula for calculating the maximum change in the gray value between pixels in an image. After obtaining the edge image, it is inevitable that its noise will be amplified along with the edge detection process. Therefore, a 3×3 median filter is executed to remove noise. The definition is as follows: The image index value is the grayscale value of the pixel in the image, and the grayscale value of the pixel after the mediation of M ( x, y ), k, l = -1 , 0 , 1.

連續取得兩張彩色影像之後，經由前述的影像處理，可得到兩張中值化灰階邊緣影像，在本發明使用這兩張影像處理後的影像做影像相減，其 相減的結果即為影像變動偵測的結果，其流程處理的示意圖如第六圖及附件所示。 After obtaining two color images in succession, two median grayscale edge images can be obtained through the image processing described above, and the images processed by the two images are used for image subtraction in the present invention. The result of the subtraction is the result of image motion detection, and the schematic diagram of the process processing is shown in the sixth figure and the annex.

本發明之設計可提昇被保全物品(A)之主動的防護措施，使用者可以在透過至至少三個之Zigbee感應器(6)，定位本體(1)並使該本體(1)在特定空間內之巡邏偵查，可替代保全人員制式化的巡邏，可避免因為人為疏失或疲累的因素而出現漏洞之問題，若有被盜取時透過網路平台傳送異常訊息至遠端以執行即時保全。 The design of the invention can enhance the active protection measures of the preserved item (A), and the user can position the body (1) through the at least three Zigbee sensors (6) and make the body (1) in a specific space. The patrol investigation inside can replace the patrol of the maintenance personnel. It can avoid the problem of loopholes caused by human error or fatigue. If it is stolen, it will send abnormal information to the remote end through the network platform to perform instant preservation.

(1)‧‧‧本體 (1) ‧‧‧ Ontology

(11)‧‧‧傳動元件 (11)‧‧‧Transmission components

(12)‧‧‧車輪組 (12) ‧‧‧ wheel sets

(121)‧‧‧車輪 (121)‧‧‧ Wheels

(2)‧‧‧處理單元 (2) ‧‧‧Processing unit

(3)‧‧‧RFID行動讀取器 (3) ‧‧‧RFID mobile reader

(4)‧‧‧Zigbee發射單元 (4) ‧‧‧Zigbee launching unit

(5)‧‧‧無線通訊單元 (5) ‧‧‧Wireless communication unit

(7)‧‧‧攝影單元 (7) ‧‧‧Photographic unit

Claims (5)

一種移動式之智慧型RFID讀取裝置，用以在特定空間內巡邏、監控被保全物品，其包括有：一本體，其係設有一傳動元件及一車輪組，其中傳動元件係連接至車輪組；一處理單元，設置於本體之內部，與上述傳動元件電性連接；一RFID行動讀取器，設置於本體上，係電性連接於該處理單元；一RFID標籤，設置在前述被保全物品上；一Zigbee發射單元，係設置於本體上，係電性連接於該處理單元，用以發射無線訊號以產生一位置訊息，獲得該本體在該特定空間內之位置；一無線通訊單元，設置於本體之內部，係電性連接於該處理單元，並將該位置訊息輸出；一伺服端，該伺服端事先記錄了前述被保全物品在該特定空間內所在處之座標訊息，並接收前述無線通訊單元輸出之位置訊息；一攝影單元，設置於本體上，係電性連接於該處理單元；該伺服端根據該位置訊息獲得該本體在該特定空間內之位置，再根據該被保全物品在該特定空間內所在處之座標訊息傳輸一控制指令，上述該無線通訊單元係透過無線通訊方式接受該控制指令，並將該控制指令傳輸至處理單元，由處理單元輸出一控制訊號至傳動元件，以驅動車輪組產生相應動作，藉此使該本體移動至該被保全物品所在處附近，並透過該RFID行動讀取器偵測該被保全物品上之RFID標籤，當該RFID行動讀取器掃瞄不到結合有RFID標籤之被保全物品時，該RFID行動讀取器經該處理單元透過該無線通訊單元傳送訊息至該伺服端； 該攝影單元係使用灰階的影像處理技術，該攝影單元將所取得的彩色影像轉換成灰階影像，公式(2)為彩色影像RGB轉換成Y、Cb、Cr座標系統之轉換公式： 在此公式中Y值的部份為彩色影像中的亮度值，前述灰階影像為色彩座標轉換後Y值成分的灰階影像；透過Sobel edge detection演算法找出影像中像素(feature pixel)間灰度值變化較大的，計算變化量最大使用的公式如下： 得到邊緣影像之後，再執行3×3的中值濾波器，去除雜訊，定義如下： 其中x,y為影像索引值，f(x,y)為影像中的像素灰階值，M(x,y)中值化後的像素灰階值，k,l=-1,0,1；連續取得兩張彩色影像之後，經由前述的影像處理，可得到兩張中值化灰階邊緣影像，將這兩張影像處理後的影像做影像相減得到影像變動偵測的結果，將該偵測的結果透過該無線通訊單元傳送訊息至該伺服端。 A mobile intelligent RFID reading device for patrolling and monitoring a secured item in a specific space, comprising: a body having a transmission component and a wheel set, wherein the transmission component is connected to the wheel set a processing unit disposed inside the body and electrically connected to the transmission component; an RFID mobile reader disposed on the body and electrically connected to the processing unit; and an RFID tag disposed on the protected item a Zigbee transmitting unit is disposed on the body and electrically connected to the processing unit for transmitting a wireless signal to generate a location message to obtain a location of the body in the specific space; a wireless communication unit, setting Inside the main body, electrically connected to the processing unit, and output the position information; a servo end, the servo end records in advance the coordinate information of the secured item in the specific space, and receives the wireless a location message outputted by the communication unit; a camera unit disposed on the body and electrically connected to the processing unit; the server is based on the bit The message obtains the position of the body in the specific space, and then transmits a control command according to the coordinate information of the secured item in the specific space, the wireless communication unit accepts the control command by wireless communication, and The control command is transmitted to the processing unit, and the processing unit outputs a control signal to the transmission component to drive the wheel set to generate a corresponding action, thereby moving the body to the vicinity of the secured item and passing the RFID mobile reader Detecting the RFID tag on the protected item, when the RFID mobile reader scans the secured item combined with the RFID tag, the RFID mobile reader transmits the message to the wireless communication unit via the processing unit to The camera unit uses a grayscale image processing technology, the camera unit converts the obtained color image into a grayscale image, and the formula (2) converts the color image RGB into a Y, Cb, and Cr coordinate system. formula: In this formula, the Y value is the luminance value in the color image, and the grayscale image is the grayscale image of the Y value component after the color coordinate conversion; the Sobel edge detection algorithm is used to find the pixels in the image. If the gray value changes greatly, the formula for calculating the maximum amount of change is as follows: After the edge image is obtained, a 3×3 median filter is executed to remove the noise, which is defined as follows: Where x, y is the image index value, f(x, y) is the grayscale value of the pixel in the image, and the grayscale value of the pixel after the medianization of M(x, y), k, l=-1, 0, 1 After obtaining two color images in succession, two median grayscale edge images can be obtained through the image processing described above, and the images processed by the two image images are subtracted to obtain image variation detection results. The result of the detection is transmitted to the server through the wireless communication unit. 如申請專利範圍第1項所述之移動式之智慧型RFID讀取裝置，其進一步包括有至少三個Zigbee感應器，該Zigbee感應器位於不同位置，且均與Zigbee發射單元有相同的無線頻率，其接收Zigbee發射單元之發射訊號，透過接收訊號強度定位法則，產生一位置訊息。 The mobile intelligent RFID reading device of claim 1, further comprising at least three Zigbee sensors located at different positions and having the same radio frequency as the Zigbee transmitting unit It receives the transmission signal of the Zigbee transmitting unit and generates a position message by receiving the signal strength localization rule. 如申請專利範圍第1項所述之移動式之智慧型RFID讀取裝置，其中RFID 行動讀取器係相對移動於本體。 A mobile intelligent RFID reading device as claimed in claim 1, wherein the RFID The action reader is relatively moved to the body. 如申請專利範圍第1項所述之移動式之智慧型RFID讀取裝置，其中該無線通訊單元使用之通訊協定為Zigbee、Wi-Fi、Wi-max或藍牙。 The mobile smart RFID reading device according to claim 1, wherein the communication protocol used by the wireless communication unit is Zigbee, Wi-Fi, Wi-max or Bluetooth. 如申請專利範圍第1項所述之移動式之智慧型RFID讀取裝置，其中車輪組具有三枚車輪，車輪被等距設置在一圓周路徑上，每一車輪均在任意方向上滾動。 A mobile intelligent RFID reading device according to claim 1, wherein the wheel set has three wheels, the wheels are equidistantly disposed on a circumferential path, and each wheel rolls in any direction.
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