CN109465818A - Robot management system and Method of Commodity Recommendation - Google Patents
Robot management system and Method of Commodity Recommendation Download PDFInfo
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- CN109465818A CN109465818A CN201810636518.2A CN201810636518A CN109465818A CN 109465818 A CN109465818 A CN 109465818A CN 201810636518 A CN201810636518 A CN 201810636518A CN 109465818 A CN109465818 A CN 109465818A
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- customer
- robot
- recommendation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The present invention provides a kind of robot management system.Existing robot can not carry out commercial product recommending appropriate to each customer.Robot controller makes robot be moved to the position of stopping of customer based on the region and residence time that record in the mobile table of customer.Then, the relevant merchandise classification in the region that robot controller stops the robot being moved at customer recently based on customer implements commercial product recommending.There is multiple merchandise classification continuously sequentially in movement in the merchandise classification in the region that the recommendation is stopped based on customer to implement.
Description
Technical field
The present invention relates to a kind of robot management system and Method of Commodity Recommendation.
Background technique
In the large scale businesses facility such as shopping center, the type of merchandize of sale is various, wherein many commodity need shop-assistant into
Row explanation.In addition, customer number can be far more than shop-assistant's number, since the burden of shop-assistant increases whenever weekend and festivals or holidays
It is likely to generate adverse effect in terms of the trust sense that it gives customer.Therefore, shop-assistant is when receiving customer from a variety of quotient
To the correct Recommendations information of each client, there are certain limits in product.
Therefore, in order to customer recommendation merchandise news, as we all know there are the technology recorded in such as patent document 1.
A kind of customer's reply robot is described in patent document 1, configuration carries out quotient in the shop etc. of commodity, to the customer into shop
Product explanation.
Existing technical literature
Patent document
Patent document 1: Japanese Patent Laid-Open 2005-293052 bulletin
Summary of the invention
The technical problems to be solved by the invention
But in the technology disclosed in above patent document 1, the time for coping with customer is longer, need to take some time
It could Recommendations.The reason is that customer need spends the time to face machine before merchandise news appropriate is recommended by robot
The enquirement of device people is simultaneously answered.
Herein, referred to as " patron " by the customer for coming shop in the past and carrying out customer logs, customer will not be carried out
The customer into shop or into shop no more than 2 times for the first time logged in is known as " new customer ".In technology disclosed in patent document 1, by
In the merchandise news that robot should be recommended based on Customer Information related with customer selection, therefore it can deal adequately with always
Customer.But due to the information of not new customer, so robot can not deal adequately with new customer.
The present invention is made of in view of the above situation exploitation, and its object is to allow the robot to suitably to each customer
Recommendations.
Technical scheme applied to solve the technical problem
Robot management system according to the present invention has: camera, is used to shoot customer；Robot, it is removable
It is dynamic；Customer moves table, is the stipulated time when the residence time in the region that customer stopped based on video captured by camera
The region being moved through when above according to the mobile journal customer of customer and residence time；Mobile instruction unit, is based on customer
The region recorded in mobile table and residence time, instruction robot are moved to the position of customer；And recommend implementation, make root
It carries out according to the robot that the instruction of mobile instruction unit is moved at customer based on merchandise classification related with the region that customer stops
Commodity recommendation.
Invention effect
According to the present invention, patron and customer Xin are not distinguished to customer, robot can be made based on the area stopped with customer
The relevant merchandise classification Recommendations in domain.Also, movable machine people can also be to the customer received promptly
Recommendations information.
Project, structure and effect other than the above can be further clarified according to the explanation of following implementation.
Detailed description of the invention
Fig. 1 is the block diagram for indicating the overall structure example of robot management system of an embodiment of the invention example.
Fig. 2 is the functional block diagram for indicating the structural example of robot of an embodiment of the invention example.
Fig. 3 is the functional block diagram for indicating the structural example of robot controller of an embodiment of the invention example.
Fig. 4 is the functional block diagram for indicating the structural example at supervisory control of robot center of an embodiment of the invention example.
Fig. 5 is the functional block diagram for indicating the structural example of video recording apparatus of an embodiment of the invention example.
Fig. 6 is the explanatory diagram for indicating the inside of building of an embodiment of the invention example.
Fig. 7 is the explanatory diagram for indicating the inside in shop of an embodiment of the invention example.
Fig. 8 is the explanatory diagram for indicating the example of the mobile table of the customer of an embodiment of the invention example.
Fig. 9 is the explanatory diagram for indicating the example of recommendation table of an embodiment of the invention example.
Figure 10 is indicated in an embodiment of the invention example, when robot to customer recommendation merchandise news in order to move
The flow chart of processing step.
Figure 11 is indicated in an embodiment of the invention example, when robot is to customer recommendation merchandise news should it is preferential in
The flow chart of the processing step of appearance.
Specific embodiment
Referring to the drawings, illustrate embodiment example for carrying out the present invention.In this specification and attached drawing, for essence
The upper constituent element with identical function or structure, marks identical label, and the repetitive description thereof will be omitted.
[overall structure of robot management system]
Firstly, illustrating robot management involved in an embodiment of the invention example (hereinafter referred to as " this example ") referring to Fig.1
The overall structure of system 1.
Fig. 1 is the block diagram for indicating the overall structure example of robot management system 1.
Robot management system 1 has robot 100, robot controller 110, supervisory control of robot center 120, monitoring camera
First 200 and video recording apparatus 210.
In the robot management system 1 of this example, robot 100, robot controller are configured in building 300
110, monitoring camera 200 and video recording apparatus 210.
The robot controller 110 of robot 100 and control robot 100 is for example, by Wireless LAN (local area
Network, local area network) etc. be attached.
In addition, one or more monitoring cameras 200 can be shot in building 300.
Video recording apparatus 210 is via video captured by the record monitoring camera 200 such as wired lan.
Robot controller 110 is attached with video recording apparatus 210 via wired lan etc., being capable of mutual sending and receiving data.
Robot 100 is customer's autonomous in the always shop in building 300, and to the customer recommendation merchandise news
The shopping guide robot of autonomous type.Merchandise news refers to the quotient sold such as the shop being arranged in building 300
The relevant information of product.The usually position specified in the floor in building 300 of robot 100 is standby.Robot controller
After 110 detect customers and issue mobile instruction to robot 100, robot 100 is autonomous mobile to the position of customer and recommends quotient
Product information.
To customer recommendation after, 100 autonomous of robot returns to original position of readiness or mobile to next Gu
The position of visitor.
Robot controller 110 in addition to carried out to robot 100 instruction make its Recommendations information other than, also pass through because
The network Ns such as spy's net, are communicated with the supervisory control of robot center 120 for the outside that building 300 is arranged in.
Supervisory control of robot center 120 is led to the robot controller 110 being generally arranged in multiple buildings 300
Letter, the management condition etc. of robot 100 of the monitoring configuration in each building 300.
Monitoring camera 200 is respectively arranged with one in the entrance of building 300, public domain, commodity region etc.
Or it is multiple.The customer of 200 pairs of disengaging buildings 300 of monitoring camera, the public domain 301 in building 300 (referring to Fig. 6)
And the customer etc. moved in commodity region 312 (referring to Fig. 7) persistently shoots.Certainly, monitoring camera 200 can arbitrarily become
More shooting direction and shooting multiplying power are shot.Below in explanation, when not distinguished to public domain 301 and commodity region 312
It is referred to as " region ".
Video recording apparatus 210 is with the following functions: that is, the record video obtained of monitoring camera 200, and analyze
The video determines each customer.According to the video that video recording apparatus 210 obtains, gait, clothes based on customer etc. are aobvious
The feature for being exposed to appearance is analyzed.The data being recorded in video recording apparatus 210 are supplied to robot control via wired lan
Device 110 processed.In addition, the data being recorded in video recording apparatus 210 pass through robot controller 110 and pass through network N
It is supplied to supervisory control of robot center 120.
[structure of robot 100]
Fig. 2 is the functional block diagram for indicating the internal structure example of robot 100.
As shown in Fig. 2, robot 100 is made of following: computer installation has CPU104, holds under the control of CPU104
Each processing of row；And peripheral equipment, it is connected to the computer installation.
Robot 100 has main storage device 101, input/output unit 102 and communication interface 103.Robot 100 can be
It is moved in following Fig. 6 and predetermined region shown in Fig. 7.
Main storage device 101 has drive control part 101a, dialogue control unit 101b and input and output portion 101c.Driving
Control unit 101a, dialogue control unit 101b and input and output portion 101c are acted based on the instruction from CPU104.
Drive control part 101a carries out drive control, makes 100 autonomous of robot.For example, drive control part 101a is in machine
When people 100 is mobile, detected according to video captured by the camera 102a of robot 100, distance measuring sensor 102d using light wave
Self-position out judges the peripheral situation of robot 100, and uses the related data at a distance between customer, avoids people, wall
The barriers such as wall keep the robot 100 mobile.In addition, drive control part 101a detects robot using gyro sensor 102c
100 body inclination, carrying out control makes 100 overturning-free ground autonomous of robot.
The microphone 102b and loudspeaker 102e that dialogue control unit 101b is had using input/output unit 102, pass through voice
The dialogue of control and customer.As an example, it is required when dialogue control unit 101b is by loudspeaker 102e output Recommendations information
Equal voice messagings of giving orders or instructions, and the voice answering from customer is obtained by microphone 102b.This is that answer is obtained from customer
An example of method, example alternatively also can install touch screen in robot 100, be shown by the touch screen
Merchandise news (example described as follows recommendation shown in Fig. 9), and answered by operation touch-screen.
Input of the input and output portion 101c of main storage device 101 in addition to executing data between input/output unit 102 at it
Other than output action, also via communication interface 103, the input and output of data are executed between robot controller 110 at it
Movement.
Input/output unit 102 has camera 102a, microphone 102b, gyro sensor 102c, distance measuring sensor
102d, loudspeaker 102e and driving mechanism 102f.
Input/output unit 102 camera 102a (an example of robot camera) shooting customer and the image that obtains face etc.
Information.Microphone 102b obtains the voice messaging from customer.By the camera 102a image information obtained and pass through microphone
The various data such as the voice messaging that 102b is obtained are provided to robot controller 110 via communication interface 103.
Gyro sensor 102c according to be applied to robot 100 angular acceleration detect robot 100 inclination etc., and via
Communication interface 103 will test data and be provided to robot controller 110.
Distance measuring sensor 102d is the sensor for determining the position of robot 100, and detects the week of robot 100
Collarette border.By distance measuring sensor 102d, the space around including the position of robot 100 and barrier etc. is measured
Shape, and measured data are sent to robot controller 110 via communication interface 103.Loudspeaker 102e is to customer
Export the dialogues voices such as fixation clause required when the Recommendations information generated by dialogue control unit 101b.
Driving mechanism 102f is based on the instruction mobile robot 100 from drive control part 101a.Driving mechanism 102f is extremely
Has the motor for driving wheel less.Or robot 100 be humanoid robot when, in order to by come on foot carry out move and
Has the actuator driven to the component for being equivalent to foot.
As shown in Figure 1, communication interface 112 (ginseng of the communication interface 103 by Wireless LAN etc. and robot controller 110
According to Fig. 3) connection.The various data collected by robot 100 are sent to robot controller 110 by the communication interface 103,
And receive the instruction from robot controller 110.
Communication interface 103 is other than being sent to input/output unit 102 for the instruction from robot controller 110, also
The data that input/output unit 102 is collected are exported to robot controller 110.
When robot 100 detects barrier by camera 102a or distance measuring sensor 102d on the move, pass through drive
Dynamic control unit 101a, which carries out control, makes the robot 100 stop mobile or be avoided.
In addition, drive control part 101a judges the image and distance measuring sensor of camera 102a shooting when robot 100 is mobile
The peripheral situation that 102d is detected carries out the control of the movement of evacuation barrier etc..In this example, what robot 100 can move
Mobile range is limited to the range being determined in advance (in building 300 etc. in the example of following Fig. 6).That is, driving
The current location of the robot 100 of dynamic control unit 101a judgement rests on the position in the mobile range.
[structure of robot controller]
Fig. 3 is the functional block diagram for indicating the internal structure example of robot controller 110.Robot controller 110 by
The computer installation that each processing is executed under the control of CPU113 is constituted.
CPU113 is connect with main storage device 111 and communication interface 112.
Main storage device 111 has the inputoutput data portion 111a that the instruction based on CPU113 acted, movement refers to
Show the mobile table generating unit 111c of portion 111b, the customer and mobile table storage unit 111d of customer.In addition, main storage device 111 has
Face detection portion 111e, area information logging unit 111f, recommendation table storage unit 111g, recommend implementation 111h and stop
Test section 111i.
Inputoutput data portion 111a is via communication interface 112 and robot 100, video recording apparatus 210 and robot
The processing of the progress sending and receiving data of monitoring center 120.
Mobile instruction unit 111b is indicated based on the region and residence time recorded in the mobile table 500 of following customers, is made
Robot 100 is moved to the position of customer.Path comprising the movement of robot 100 in the instruction.It, can be with as an example in path
It is to be used to make machine at the end of robot 100 is guided the path to customer position, the movement to customer recommendation merchandise news
Device people 100 returns to the path of original position of readiness or guides robot 100 to the path of next customer.
The mobile table generating unit 111c of customer generates the moving recording according to each customer files customer in building 300
Table (hereinafter referred to as " the mobile table 500 of customer ").
It stores in the mobile table storage unit 111d of customer and is moved by the customer of the mobile table generating unit 111c of the customer each customer generated
Dynamic table 500.By stored in the mobile table 500 of the mobile table generating unit 111c of customer customer generated the mobile region of customer and
Residence time etc. in this region.That is, the region for having customer mobile each customer files in the mobile table 500 of customer
And the residence time of stop in the zone.The mobile table 500 of the customer can be raw by the mobile table of customer when each customer is mobile
It is updated at portion 111c.The details of the mobile table 500 of customer are described using Fig. 8.
Face detection portion 111e detects the face i.e. face image of customer based on the video taken by camera 102a.
The region of 100 autonomous of robot is logged in area information logging unit 111f.For example, in Fig. 6 as described later, it will be public
In region 301 as robot 100 can operation area log in area information logging unit 111f.
Stored in recommendation table storage unit 111g recommend implementation 111h be based on the mobile table 500 of customer for select to
The table (hereinafter referred to as " recommendation table 600 ") that the information of customer recommendation commodity is summarized.
Recommend implementation 111h to make to be moved to the robot 100 at customer according to the instruction of mobile instruction unit 111b, is based on
The multiple merchandise classifications being recorded in the mobile table 500 of customer in merchandise classification related with the region that customer stops, implement commodity
Recommend.Implementation 111h is recommended to carry out quotient based on the commodity and recommendation that read out from recommendation table 600 (referring to Fig. 9)
Product are recommended.For example, recommending implementation 111h that robot 100 can be made to implement to act as follows: namely based in the mobile table 500 of customer
Multiple merchandise classifications of record recommend the quotient based on the related merchandise classification in the region that has stopped the stipulated time or more with customer
Product.Also, it is recommended to which implementation 111h can also make robot 100 implement to act as follows: having namely based on the region that customer stops
Movement in the merchandise classification of pass with customer is successively recorded in multiple merchandise classifications in the mobile table 500 of customer to recommend quotient
Product.
Also, it is recommended to which implementation 111h makes robot 100 implement to act as follows: namely based on last in the mobile table 500 of customer
The same merchandise classification repeatedly recorded in the merchandise classification of record or the mobile table 500 of customer, recommendation are read from recommendation table
The commodity of taking-up.
In addition, passing through the merchandise classification finally recorded in the mobile table 500 of customer, it can be seen that customer rests on the commodity class recently
The not areas adjacent of contained commodity.In addition, when repeatedly recording same merchandise classification in the mobile table 500 of customer, it can be seen that care for
Visitor is interested in congener commodity and stops.Pass through its interested commodity, phase from robot 100 to customer recommendation as a result,
To customer for it is expected that the desire to buy of consistent commodity enhances with it.
Also, it is recommended to which selection makes machine in multiple recommendations that implementation 111h can also be stored from recommendation table 600
The recommendation that people 100 implements.For example, recommending implementation 111h that can be directed to the recommendation based on current time or pushing away based on event
It recommends, priority is marked to each recommendation, makes robot 100 according to the recommendation that priority selects from high to low to implement.?
Setting priority can be recommended to these when implementing.
It is set to higher recommendation as priority, such as has the above-mentioned commercial product recommending based on current time, based on thing
The commercial product recommending of part.Then, by recommending implementation 111h to set priority to each recommendation, therefore robot 100 can
Implement to recommend from high to low according to priority.
In addition, the process content for recommending implementation 111h is described in detail in the flow chart after Figure 10 used below.
Test section 111i stop based on the video taken by camera 102a, determines that whether there is or not stop by customer.Determine to care for
When whether visitor stops, the video taken by monitoring camera 200 can be used.By stopping, test section 111i detects to stop
When the customer of step, recommends implementation 111h that can read from the mobile table 500 of customer and face is detected by face detection portion 111e
The movement routine of the customer of image.Then, mobile instruction unit 111b makes robot 100 close to the customer stopped, and carrying out control makes
Recommend implementation 111h to the customer recommendation merchandise news.
The purpose whether stopped of test section 111i of stopping detection customer is, investigation customer it is interested in what commodity and
Seek opportunity of the robot 100 to customer recommendation commodity.
That is, control robot 100 is not to the people of power-walking or the people's Recommendations passed by.It is pushed away as commodity are implemented
The customer for the object recommended only is defined as the customer etc. that the residence time in region is long or picks up commodity and stops.Also,
The interested postures of expression such as facing robot 100 can also be made for becoming the robot 100 of the customer of object close to this
Customer, implement related with merchandise news recommendation.
In turn, robot controller 110 has the communication interface that can be in communication with each other with robot 100 and network N
112.Communication interface 112 other than being carried out wireless communication via network N and robot 100, also with supervisory control of robot center 120
It is communicated.
[structure at supervisory control of robot center]
Fig. 4 is the functional block diagram for indicating the internal structure example at supervisory control of robot center 120.Supervisory control of robot center 120 by
The computer installation of each processing is executed under the control of CPU123 to constitute.CPU123 is responsible for controlling main storage device 121 and communication
Interface 122.
Main storage device 121 has robot configuration management portion 121a.
The quantity of robot 100 of the robot configuration management portion 121a to configuration in building 300 and the setting of robot 100
Period etc. is managed.
In addition, robot configuration management portion 121a stores the newest shopping center floor etc. being arranged in building 300 in advance
Map and merchandise news etc. to customer recommendation, be sent to robot controller 110 and backed up.
Communication interface 122 is communicated via network N with robot controller 110.
[structure of video recording apparatus]
Fig. 5 is the functional block diagram for indicating the internal structure example of video recording apparatus 210.
Video recording apparatus 210 is constituted by executing the computer installation of each processing under the control of CPU213.CPU213 is responsible for
Control main storage device 211 and communication interface 212.
Main storage device 211 is had input and output portion 211a, the video acted based on the instruction from CPU213 and remembered
Record portion 211b and video analysis portion 211c.
The number communicated between input and output portion 211a input and output and monitoring camera 200 and robot controller 110
According to.
Record has the video shot by monitoring camera 200 in videograph portion 211b.
Video analysis portion 211c is analyzed by the video of monitoring camera 200, for identifying each visitor.
Herein, customer's recognition methods of video analysis portion 211c is supplemented.Video analysis portion 211c to pass through setting
The video that monitoring camera 200 in building 300 takes carries out image procossing, identifies customer.At this point, video analysis portion
211c identifies customer using the gait of the video detection customer of monitoring camera 200.Herein, " gait " refers to customer's walking
When body kinematics state, that is, be revealed in the walking manner of appearance.According to the image procossing carried out by video analysis portion 211c,
Customer can be determined according to the different gait of each customer.Also, according to the image procossing, the team customer such as layman colleague
When, additionally it is possible to it is inferred to the customer with the power to make decision of commodity purchasing.Similarly, video analysis portion 211c also can be by using
The customer taken the lead in the team customer of more people is identified as the object person of merchandise news recommendation by the image procossing.
In Fig. 5, video analysis portion 211c is built in video recording apparatus 210, but can also make robot 100 or machine
Has the function of video analysis portion 211c in device people control device 110.At this point, robot 100 or robot controller 110
Also consider the supplement that the video taken by the camera 102a of robot 100 is used as to the video of monitoring camera 200.Benefit
It can be used in the face recognition mode and figure (bone) by personage with the video that the camera 102a of robot 100 takes
Or its clothes determines customer.
Other than communication interface 212 is communicated except through wired lan etc. with robot controller 110, also by having
Line LAN etc. is communicated with monitoring camera 200.
In described above, make robot 100, robot controller 110, supervisory control of robot center 120 and video note
Recording device 210 distinguishes function shown in the block diagram of 2~Fig. 5 of contribution graph, realizes the robot management system 1 in this example.But
It is, what these robots 100, robot controller 110, supervisory control of robot center 120 and video recording apparatus 210 were responsible for
Function is not necessarily fixed.Especially, it can also make supervisory control of robot center 120 or robot 100 that there is robot control dress
Set 110 partial functions having.
But, it is necessary to consider the expectation of system fortune user, i.e., constituted due to robot 100 as monomer, so not wanting to allow machine
Device people 100 contains too many function.
[the mobile example and action specification of robot]
Fig. 6 is the explanatory diagram for indicating an example of moving condition of 300 inner machine people 100 of building.
As shown in fig. 6, being configured with public domain 301 and shop 310 in building 300.The configuration is as described above by robot control
The area information logging unit 111f of device 110 processed sets and logs in.Herein, as an example, illustrate robot 100 from standby place
302 the case where being moved to the position of customer 320.
The mobile instruction unit 111b of robot controller 110, which is set with, is moved to robot 100 from standby place 302
The movement routine 303 of the position of customer 320.The movement routine 303 of mobile instruction unit 111b setting passes through robot controller
110 communication interface 112 is sent to robot 100.
The drive control part 101a of robot 100 makes robot 100 move movement routine 303 set by instruction unit 111b along this
It is moved to customer 320.The movement of the robot 100 is carried out by the driving mechanism 102f of robot 100.
[explanation of commodity shelf configuration example and commodity region in shop]
Fig. 7 is the explanatory diagram for indicating an example inside the shop 310 of Fig. 6.Multiple commodity shelfs 311 are configured on shop 310, and
And commodity on view in the commodity shelf 311.
The commodity region 312 that the merchandise classification of the commodity displayed according to every kind is formed, will be split in shop 310.
It is divided into 12 pieces by 12 commodity regions 312 for example, separating in Fig. 7 with dotted line and showing shop 310.Then, movement shown in fig. 6
Path 303 is not only set in public domain 301 shown in fig. 6, is also set in shop 310.Therefore, 100 energy of robot
Enough movement routines 303 in shop 310 are moved to customer 320, and implement merchandise news recommendation.In addition, robot 100 can also
There are more in shop 310.At this point, movement routine 303 is set separately for more robots 100.
It is logged in which commodity region 312 belongs in advance in the area information logging unit 111f of robot controller 110
A merchandise classification.Shop, commodity region and the merchandise classification logged in by the area information logging unit 111f can recommended in fact
Portion 111h is applied to implement to carry out reference when recommending.
[data configurations of various tables]
Fig. 8 is an example for indicating the data configuration of the mobile table 500 of customer.The mobile table 500 of customer is by the mobile table generating unit of customer
111c is generated for each customer.
It is each that the mobile table 500 of customer has mobile number, moment, residence time, shop, commodity region and merchandise classification etc.
Project.
The mobile sequence in the commodity region in shop 310 is indicated in mobile number project.
At the time of indicating that customer reaches commodity region in moment project.
Indicate that customer rests on the time in commodity region in residence time project.
The shop title in the shop that customer stops is indicated in the project of shop.
The commodity region that customer stops is indicated in the project of commodity region.
The type for the commodity that the commodity region that record has customer to stop in merchandise classification project is displayed.
Herein, illustrate the generation of the mobile table 500 of customer and the addition opportunity of record.
Firstly, entrance etc. at the mall, the video analysis portion 211c of video recording apparatus 210 is according to monitoring camera
The different gait of the 200 each customers of video analysis that take.Video analysis portion 211c will identify step for each customer
At the time of the information of state and customer are mobile, the position of customer is sent to the mobile table of customer of robot controller 110 and generates
Portion 111c.
On the other hand, entrance etc. at the mall, the face detection portion 111e of robot controller 110 is according to machine
The different face image of each customer of video detection captured by the camera 102a of device people 100 identifies, and is directed to every
A customer is by face image and customer at the time of mobile, the position of customer is sent to the mobile table generating unit 111c of customer together.
Then, the mobile table generating unit 111c of customer judges the customer identified by video analysis portion 211c and face detection portion
Whether the customer that 111e is identified is same people.Herein, video analysis portion 211c is known in the mobile table generating unit 111c use of customer
Not Chu customer and the mobile 111e customer that identifies in face detection portion at the time of and location information carry out matched method.
When moment matches with location information, the mobile table generating unit 111c of customer generates the mobile table 500 of customer to each customer.
The mobile table generating unit 111c of customer utilizes robot controller according to a large amount of customer is not known in the location information at each moment
Shop, the commodity region, merchandise classification logged in 110 area information logging unit 111f generates the mobile table of customer of customer
500.Then, when it is more than the stipulated time that customer, which stops the residence time in the zone, the mobile table 500 of customer is according to customer's
Mobile sequence continuously records the residence time in customer mobile region and region to each customer.
In addition, the mobile table generating unit 111c of customer does not generate the mobile table 500 of customer when moment and location information mismatch.
When generating customer's movement table 500, the mobile table generating unit 111c of customer is to video analysis portion 211c, face detection portion
111e and mobile 500 assignment record of table of customer are used to identify the identical identification id of customer.
The mobile table generating unit 111c of customer will identify the mobile table 500 of information, face image and the customer of gait as one
A Customer Information is stored to the mobile table storage unit 111d of customer.
Customer as the generation object for becoming the mobile table 500 of customer herein, such as be not only to stop customer in the zone, also
It can be multiple customers and concentrate the people taken the lead in mobile team or the customer etc. with purchase decision power.Then, pass through machine
Device people 100 implements to recommend to the customer for generating the mobile table 500 of customer.
The mobile table generating unit 111c of customer is additional at any time in the mobile table 500 of customer of customer and records and customer's stop
The record of the related merchandise classification in region.Therefore, customer has in the case where different multiple regions were stopped with these regions
The record of the merchandise classification of pass is appended to the mobile table 500 of customer.So the purpose of additional record exists in the mobile table 500 of customer
In finding corresponding customer by the recommendation table matching treatment of following Figure 11.
Fig. 9 is an example for indicating the data configuration of recommendation table 600.
Recommendation table 600 has merchandise classification, recommends shop, Recommendations and recommendation projects.Recommendation table
600 are stored in the recommendation table storage unit 111g of robot controller 110.In projects of recommendation table 600 in advance
Store defined content.Moreover, recommendation table 600 divides the public domain of when institute's reference in public domain 301 for customer
With and customer in shop 310 in the shop of when institute's reference be used to constitute.
Merchandise classification is stored in merchandise classification project, which indicates that commodity in sales fields is waited to belong at the mall
Which classification.
Recommend the shop title that the shop of commodity of organic device people 100 to customer recommendation in stock is stored in the project of shop.Recommend
Stored in commodity item commodity from robot 100 to customer recommendation product name.Stored in recommending content items in order to
The information for promoting customer to buy Recommendations and being given orders or instructions by robot 100.In these shop title, product name and information extremely
Any one can recommend customer as merchandise news less.
The information is logged in when commodity are logged on to recommendation table storage unit 111g.Moreover, the composition of the information uses
The style that the shop title of shop project will be recommended to be composed.Also, it is recommended to also containing the library for indicating commodity in content
Deposit the information of situation and display place etc..
In recommendation table 600, stored in a recommendation shop, Recommendations and recommendation essentially for a merchandise classification
Hold.Therefore, it when selecting a merchandise classification, will uniquely determine to recommend shop, Recommendations and recommendation.
The merchandise classification for recommending implementation 111h to make the mobile table 500 of customer is matched with the merchandise classification of recommendation table 600,
And identify matched merchandise classification be included in recommendation table 600 which record in.Therefore, it is recommended that implementation 111h can
Selection makes robot 100 with which commodity in which shop of what kind of commending contents from recommendation table 600.
For example, being illustrated using the mobile table 500 of customer and recommendation table 600 by recommending implementation 111h to make robot
100 implement to recommend the table entries of when institute reference.Firstly, recommending implementation 111h according to the mobile table 500 of the customer of Fig. 8, determine
" the summer women's dress " that the customer is look for is used as merchandise classification.Then, recommend implementation 111h according to recommendation table 600,
It selects to recommend the Recommendations " one-piece dress 1 " in shop " shop A " as the commodity recommended.At this point, also according to recommendation table 600
Select recommendation for " one-piece dress 1 of this season prevalence is learnt about? the shop A is on sale.".Then, which is pushed away by robot 100
It recommends to customer.
In addition, in projects such as the also settable shelf numbers for indicating the place configured with Recommendations of recommendation table 600.
For example, " B-1 shelf " can be infused in the shelf number successful project bidding when recommending shop " shop A " setting shelf number project
And it is stored.Also, find that the commodity recommended of robot 100 have been sold off after going to sales field in order to prevent, it can be with
The projects such as inventory tags are set in recommendation table 600.At this point, as shown in the recommendation table 600 in shop, such as make
Recommend shop " shop A ", Recommendations " half body skirt 1 " recommendation column in comprising place Recommendations " half body skirt 1 " " B-
The inventory of 1 shelf " and Recommendations " half body skirt 1 " is content as " 2 ".Then, shown by robot 100 to customer
Information after out combining the shelf for being placed with the shelf of Recommendations number with inventory.Receive customer's energy of the recommendation information
Recommended commodity can be found by enough grasping which shelf gone in shop.
Also, it is recommended to can also be equipped with multiple merchandise classifications in table of contents 600.At this point, being determined in identical merchandise classification
The priority recommended.It is stored in multiple recommendation tables 600 as shown in figure 9, can store for a merchandise classification
Recommend shop and Recommendations.At this point, customer urges the Recommendations in above-mentioned recommendation shop " shop A " to robot 100 " even
When recommendation other than clothing skirt 1 ", the Recommendations of recommending implementation 111h that next candidate can be selected to recommend shop " shop B "
" one-piece dress 2 " is implemented to recommend.
A bit about priority supplement, different according to the stop place of customer, the recommendation table 600 of institute's reference is then not
Together.For example, when customer is rested in public domain 301, it can be for same merchandise classification using multiple shops as recommendation shop
Candidate, can also for same recommendation shop using multiple commodity as the candidate of Recommendations.In addition, customer rests on shop
It, can also be for candidate of the commodity as Recommendations that same merchandise classification will only stop shop when in 310.
In addition, priority can successively be set since the top of recommendation table 600 from high to low.For example, commodity class
Not Wei " summer children's garment ", recommend shop when be " shop A ", the priority of Recommendations " half body skirt 1 " is set to higher than pushing away
Recommend the priority of commodity " half body skirt 2 ".At this point, by recommending implementation 111h to recommend the higher Recommendations of priority
" half body skirt 1 ".But if Recommendations " half body skirt 1 " do not have inventory, can be selected by recommendation implementation 111h preferential suitable
The high Recommendations of sequence second " half body skirt 2 ", and recommend to customer.The setting of priority and the selection method of commodity
Example that it's not limited to that.
Also, it usually has many tenants of different sizes in large-scale shopping center, department store etc. to enter.Moreover,
Sometimes different tenants can manage the commodity of same merchandise classification.Accordingly it is also possible to the commodity for managing same merchandise classification
Each tenant prepares to set the recommendation table 600 of priority.Moreover, recommending implementation 111h can also be by recommending
Referring to recommendation table 600 when merchandise news, to mark priority to implement to recommend each tenant.For example, purchasing sometimes
Object center can enter the shop having stationed other than a Jia Huoduojia store and store.Assuming that the shop other than store and store
The commodity of same merchandise classification are managed, then recommending implementation 111h can be with the commodity of preferential recommendation store.
In addition, recommendation table 600 can also be stored in supervisory control of robot center 120.At this point, robot controller
110 in more new commodity every time, downloads newest recommendation table 600 from robot monitoring center 120.
[explanation for the flow chart being related to customer recommendation merchandise news]
Figure 10 be for illustrate with robot 100 to customer recommendation merchandise news it is related implement processing flow chart.
Firstly, test section 111i of stopping carries out image procossing by the video to the camera 102a from robot 100,
To detect the customer stopped in the region in the area information logging unit 111f for logging on to robot controller 110
(S10).For example, test section 111i of stopping is compared multiple images that same place is continuously shot, detection is in fixed position
The customer of stipulated time is stopped.When test section 111i of stopping detects to stop (S10 is yes), the customer stopped is set as making
For the customer (hereinafter referred to as " recommended customer ") of recommended, S11 is entered step.Test section 111i of stopping, which is not detected, to stop
When step (S10 is no), terminate present treatment.
Then, the video detection recommended that face detection portion 111e takes according to the camera 102a of robot 100
The face image (S11) of customer.Then, based on detected face image, the recommendation implementation of robot controller 110
The customer that 111h obtains recommended customer from the mobile table storage unit 111d of customer is mobile table 500 (S12).In addition, institute as above
It states, the record region for having customer mobile and the residence time stopped in the zone in the mobile table 500 of customer.
Then, recommend implementation 111h by recommendation table matching treatment shown in following Figure 11, obtain (reading)
The recommendation (S13) provided to recommended customer.Recommendation table matching treatment is the customer referring to recommended customer
The processing that mobile table 500 (merchandise classification related with the region that customer stops) and recommendation table 600 carry out.In addition, as above
Described, record has the recommendation implementing the commodity recommended to customer and providing to customer in recommendation table 600.
Then, recommend implementation 111h judgement that can obtain recommendation (S14).Recommending implementation 111h to be determined as can
S15 (S14 is yes) is entered step when obtaining recommendation, being judged to terminating when can not obtain recommendation present treatment, (S14 is
It is no).
Then, the current location of mobile position and robot 100 of the instruction unit 111b based on recommended customer, retrieval
(calculating) generates movement routine to the shortest path of recommended customer.Then, mobile instruction unit 111b indicates robot 100
Drive control part 101a move (S15) along movement routine 303.
Drive control part 101a drives driving mechanism 102f along the movement routine by moving instruction unit 111b instruction, and controls
Robot 100 moves it near recommended customer.In addition, the position of recommended customer is based in step S10
It is set as the video of the camera 102a of robot 100 when recommended customer and the detection data meter of distance measuring sensor 102d
It calculates.
Then, the view of the camera 102a of the test section 111i handling machine people 100 of stopping of robot controller 110
Frequently, determine whether recommended customer moves since the place (S16) of 100 direction of robot.Test section 111i of stopping determines
It enters step S17 (S16 is yes) when not moving for recommended customer, terminates present treatment when being determined as mobile (S16 is no).
Then, recommend implementation 111h to the dialogue control unit 101b of robot 100 instruction based on obtaining in step S13
The recommendation (S17) of recommendation.Talk with control unit 101b by using loudspeaker based on from the instruction for recommending implementation 111h
102e allows robot 100 to say recommendation, to implement to recommend to recommended customer, and terminates present treatment.In addition, Figure 10
Shown in when processing terminate, robot 100 returns to standby place.Or it also can be set as that robot 100 is made to be moved to other
At recommended customer.
Figure 11 is the flow chart for the recommendation table matching treatment for recommending implementation 111h to carry out in step S13.Through this process,
Implementation 111h is recommended to make in the merchandise classification and recommendation table storage unit 111g of the mobile table 500 of the customer of recommended customer
The merchandise classification of the recommendation table 600 of storage matches, and obtains recommendation.
Firstly, implementation 111h is recommended to determine whether to occur event insertion (S20).When generation event is inserted into (S20 is yes),
Recommendation of the priority higher than the recommendation of recommendation table 600 is preset.Herein, event refers to such as weather
Variation (occur rainfall) etc., event insertion refer in rainfall to the insertion process of customer recommendation umbrella merchandising location.It pushes away
It recommends implementation 111h and obtains to be inserted into after related recommendation to return with the event in generation and recommend implementation processing (S21).It does not send out
When part of making trouble is inserted into (S20 is no), implementation 111h is recommended to enter step S22.
Then, implementation 111h is recommended to determine whether to occur moment insertion (S22).Occur when moment insertion (S22 is yes),
Recommendation of the priority also above the recommendation of recommendation table 600 is preset.Herein, the moment, which is inserted into consideration, is
For the insertion etc. in lunch to customer recommendation dining room.Implementation 111h is recommended to be inserted at the time of acquisition with generation related
Recommendation simultaneously returns to recommendation implementation processing (S23).Do not occur to recommend implementation 111h to enter when moment insertion (S22 is no)
Step S24.
Then, the mobile table 500 of customer for recommending implementation 111h meeting probe recommended customer, determines in each shifting
The residence time of dynamic number is repeatedly continuous according to mobile sequence with the presence or absence of having in same the merchandise classification more than stipulated time
The merchandise classification (S24) of record.There are (S24 are yes) when the merchandise classification, recommend implementation 111h from recommendation table 600
It is middle to obtain the residence time as the recommendation of the most merchandise classification of record the read-around ratio more than set time, and return to recommendation
Implementation handles (S25).On the other hand, when the merchandise classification is not present, implementation 111h is recommended to enter step S26 (S24 is no).
For example, the merchandise classification of " summer women's dress " is continuously remembered in the merchandise classification that a residence time is more than the stipulated time
When recording most, recommended customer is higher searching " summer women's dress " a possibility that, therefore implementation 111h is recommended to obtain " summer
The recommendation of women's dress ".
Then, recommend the mobile table 500 of the customer of implementation 111h probe recommended customer, determine whether that there are one
The secondary residence time is merchandise classification (S26) more than the set time.There are (S26 are yes) when the merchandise classification, recommend implementation
111h obtains that have the residence time with record recently be the related quotient in more than set time commodity region from recommendation table 600
The other recommendation of category, and return and recommend implementation processing (S27).On the other hand, when the merchandise classification is not present, recommend to implement
Portion 111h does not obtain recommendation and ends processing (S26 is no).
For example, the nearest residence time be the set time or more merchandise classification be " summer children's garment " when, determine recommended care for
Visitor is look for that a possibility that " summer children's garment " is higher, and obtains the recommendation of " summer children's garment ".
About the step S20 and S22 in Figure 11, also can be set as can by recommend implementation 111h come change whether
The insertion of implementation event and moment insertion.For example, can be set as event insertion and the moment insertion all implemented, can also set
Not implement.In addition it is also possible to be set as only implementing any of event insertion or moment insertion.
In above embodiment, the situation that recommendation table 600 shares in building, but the present invention and unlimited are illustrated
Due to this, recommendation table 600 can also be prepared to each shop.For example, recommending real when the position that customer is stopped is in shop
The portion 111h of applying also can select the recommendation for the commodity sold in the shop based on the recommendation table 600 in the shop that customer is stopped
Content.
System involved in an embodiment from the description above can make the robot 100 of autonomous close
The customer stopped, and the commodity seen in building 300 based on customer carry out recommendation appropriate, whether patron or new
Customer can be effectively performed positive merchandise news and recommend.
In addition, robot controller 110 is according to the video taken using monitoring camera 200 and utilizes robot
It is useful that the mobile regional record of customer is resume by the video of 100 camera 102a shooting.Robot controller 110
By analyzing the mobile resume of customer, so as to detect stopping for customer, and it is interested in which kind of commodity to investigate customer
Or the opportunity that detection is recommended using robot.The commercial product recommending content that robot 100 can be made to be recommended is to be based on
Repeatedly continuously go out in the merchandise classification in the region of the merchandise classification or stop in the region that customer stops recently according to mobile sequence
The high-caliber merchandise news of existing same merchandise classification is recommended.
In addition, illustrating that robot management system 1 only has the case where 1 robot 100, but this in above embodiment
It's not limited to that for invention, and robot management system 1 can also have more robots 100.At this point, in the feelings for setting customer
It under condition, can indicate that the robot 100 in standby implements to recommend, can also indicate that robot 100 implementation nearest from customer pushes away
It recommends.
In addition, it is as shown in figure 11, when implementation 111h being recommended to obtain recommendation, can be inserted into according to event insertion, moment,
Continuously occur most merchandise classifications in stopping the region more than set time, stop in the region more than set time recently
The sequence of the merchandise classification in the region of stop marks priority and is handled.The sequence of these processing can also change,
Make in entirety a part processing without.
In addition, being sent out the present invention is not limited to above embodiment without departing from described in the scope of the claims
Bright purport, it is of course possible to obtain other various application examples and variation.
In order to be understood that in explaining the present invention, device and system are illustrated in above embodiment in detail and specifically
Structure, but it is not limited to all structures that must have illustrated.Furthermore, it is possible to by the part of embodiment described herein as
Structure replaces with the structure of other embodiments, can also add the knot of other embodiments in the structure of a certain embodiment
Structure.Further, it is also possible to be deleted the part-structure of each embodiment or added, replaced the structure of other embodiments.
It is thought of as being to illustrate required part in addition, control line and information wire are shown, needed for being not limited to show on product
All control lines and information wire.Actually it is also contemplated that being all connected with each other for almost all of structure.
Label declaration
1 ... robot management system,
100 ... robots,
102a ... camera,
111b ... moves instruction unit,
500 ... customers move table,
320 ... customers.
Claims (12)
1. a kind of robot management system characterized by comprising
Shoot the camera of customer；
Movable machine people；
Customer moves table, and the video that the mobile table of the customer is taken based on the camera stops in the zone in the customer
Residence time be it is more than the stipulated time in the case where, described in customer described in the mobile journal according to the customer is mobile
Region and the residence time；
Instruction unit is moved, when the movement instruction unit is based on the region read in table and the stop is moved from the customer
Between, indicate that the robot is moved to the position of the customer；And
Recommend implementation, which makes to be moved to the machine at the customer by the instruction of the mobile instruction unit
Device people implements commercial product recommending based on the relevant merchandise classification in the region that stops to the customer.
2. robot management system as described in claim 1, which is characterized in that
It further include recommendation table, which records the merchandise classification, customer Xiang Suoshu implements the quotient recommended
Product and recommendation to the customer recommendation,
It is described recommend implementation make the robot based on the merchandise classification finally recorded in the mobile table of the customer or
The same merchandise classification repeatedly recorded in the mobile table of the customer, implements based on the institute read from the recommendation table
State the recommendation of commodity and the recommendation.
3. robot management system as claimed in claim 2, which is characterized in that
It is described that implementation is recommended to make the robot based on the relevant merchandise classification in the region that stops to the customer
In, according to the customer mobile sequence is continuous and multiple merchandise classifications for being recorded in the mobile table of the customer, implement
The recommendation of the commodity.
4. robot management system as claimed in claim 2, which is characterized in that
It is described to recommend implementation selection based on the commodity relevant to the customer stop region more than stipulated time
The recommendation of the commodity of classification, or based in the relevant merchandise classification in the region that is stopped to the customer, press
The commodity of multiple merchandise classifications that are continuous according to the mobile sequence of the customer and being recorded in the mobile table of the customer
Recommendation in it is any number of, make the robot implement to recommend.
5. robot management system as claimed in claim 2, which is characterized in that
It is described that implementation is recommended to be directed to based on the commodity relevant to the customer stop region more than stipulated time
The recommendation of the commodity of classification, based in the relevant merchandise classification in the region that is stopped to the customer according to described
The mobile sequence of customer is continuous and the recommendation of the commodity of multiple merchandise classifications that are recorded in the mobile table of the customer,
Recommendation based on current time or the recommendation based on event mark priority to each recommendation, implement the robot
The recommendation selected from high to low according to the priority.
6. the robot management system as described in any one of claim 3 to 5, which is characterized in that further include:
It stops test section, test section the stopping based on customer described in the video detection taken by the camera of stopping；
And
Face detection portion, the face detection portion are schemed based on the face of customer described in the video detection taken by the camera
Picture,
The recommendation implementation is read out from the mobile table of the customer to be detected by the test section of stopping and stops and by institute
State the movement routine that face detection portion detects the customer of the face image.
7. robot management system as claimed in claim 6, which is characterized in that
It further include the mobile table generating unit of customer, the mobile table generating unit of the customer generates the mobile table of the customer, the mobile table of the customer
Region comprising the region that arrival time, the residence time, the customer that the customer reaches the region stop
The merchandise classification of the commodity of title and the field sales.
8. robot management system as claimed in claim 7, which is characterized in that
The mobile table generating unit of the customer is when the residence time is more than the stipulated time, by what is stopped with the customer
The relevant merchandise classification in the region is additional and records to the mobile table of the customer.
9. robot management system as claimed in claim 8, which is characterized in that
The robot is configured in building together with the robot controller of movement for controlling the robot, into
Enter the shopping guide robot that the customer in building implements commercial product recommending,
The customer mobile table, the mobile instruction unit, the recommendation implementation, the recommendation table, the detection of stopping
Portion and the face detection portion are arranged in the robot controller connecting via network with the robot.
10. robot management system as claimed in claim 9, which is characterized in that
The camera is arranged in the building, and the monitoring camera in the region can be shot,
The step for the customer that the robot controller is gone out according to the video analysis taken based on the monitoring camera
State determines the customer.
11. a kind of commodity information recommendation method, which is characterized in that comprise the following steps:
The video that customer is taken based on camera in defined region, the residence time in the region that the customer stops
When to be more than the stipulated time, based on from the mobile region of customer described in the mobile journal according to the customer and described
The region read out in the mobile table of the customer of residence time and the residence time, instruction robot are moved to the customer
Position the step of；And
Make the robot being moved at the customer based on the relevant merchandise classification in the region that stops to the customer
The step of implementing commercial product recommending.
12. commodity information recommendation method as claimed in claim 11, which is characterized in that comprise the following steps:
Make the robot based on the merchandise classification or the mobile table of the customer finally recorded in the mobile table of the customer
The multiple same merchandise classification of middle record, based on out of, the commodity and the recommendation that read out in recommendation table
Hold and implement the step of recommending, record has the merchandise classification, customer's Xiang Suoshu implementation to recommend described in the recommendation table
Commodity and the recommendation provided to the customer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017172646A JP2019049785A (en) | 2017-09-08 | 2017-09-08 | Robot management system and commodity proposing method |
| JP2017-172646 | 2017-09-08 |
Publications (1)
| Publication Number | Publication Date |
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| CN109465818A true CN109465818A (en) | 2019-03-15 |
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| CN201810636518.2A Pending CN109465818A (en) | 2017-09-08 | 2018-06-20 | Robot management system and Method of Commodity Recommendation |
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| CN (1) | CN109465818A (en) |
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| KR102174848B1 (en) * | 2020-01-15 | 2020-11-05 | 주식회사 테헤란로 세공사들 | Robot arm for recommending and transferring eyeglasses based on user information and motion control method using the same |
| JP7465796B2 (en) | 2020-12-14 | 2024-04-11 | Kddi株式会社 | Mobile store management device and mobile store management system |
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Application publication date: 20190315 |