JP2024105320A - ROBOT CONTROL METHOD, ROBOT CONTROL DEVICE, AND PROGRAM - Google Patents

Abstract

[Problem] To provide a robot control method that can improve the efficiency of replenishing products in a sales floor. [Solution] In this robot control method, sales floor information indicating the number of products 4 to be arranged for each type is obtained (step S20), warehouse information indicating the storage position of the products 4 for each type is obtained (step 40), regulation information indicating the prescribed position and prescribed number of products 4 to be arranged in the sales floor 20 for each type is obtained (step S10), group information indicating multiple product groups is generated (step S30), and a control signal is generated and transmitted to the robot 10 (step S50). Here, in step S30, multiple product groups are determined such that the prescribed positions of products 4 belonging to at least one replenishment type included in each of the multiple product groups are close to each other. [Selected Figure] Figure 12A

Description

This disclosure relates to a robot control method in which a computer controls a robot.

For example, in a store, when the number of products on display in a sales area becomes low, the products must be transported from the warehouse to the sales area in order to replenish the items. To do this, store employees visually check the number of products on the sales area, then search for the necessary products in the warehouse and transport them. A product sorting device has been proposed that takes out products from such a warehouse and sorts them (see, for example, Patent Document 1).

JP 2016-74499 A

However, even with the product sorting device of Patent Document 1, there is a problem in that it is difficult to efficiently replenish products in the sales area.

Therefore, this disclosure provides a robot control method that can improve the efficiency of replenishing products in sales areas.

A robot control method according to one aspect of the present disclosure is a robot control method in which a computer controls a robot, and includes the steps of: acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in a sales floor for each product type; acquiring warehouse information indicating the storage positions of products stored in a warehouse for each product type; acquiring prescribed information indicating the prescribed positions and prescribed numbers of products arranged on the sales floor for each product type; generating replenishment information indicating two or more replenishment varieties, which are varieties to which products having a number of products arranged less than the prescribed number belong, based on the sales floor information and the prescribed information; grouping the two or more replenishment varieties indicated by the replenishment information based on the prescribed information, thereby generating group information indicating a plurality of product groups, each of which is composed of at least one of the replenishment varieties; and comparing the generated group information and the warehouse information. Based on this, a control signal is generated and transmitted to the robot to cause the robot installed in the warehouse to carry out a product transport task, and the grouping involves determining the multiple product groups such that (1) the specified positions of the products belonging to at least one of the replenishment varieties included in the product group are close to each other, or (2) the replenishment varieties that have the specified positions on two or more product shelves that face each other across an aisle in the sales floor are included in the product group, and the transport task involves removing products belonging to the replenishment varieties included in each of the multiple product groups from the storage positions in the warehouse that correspond to the replenishment varieties in the warehouse information, transporting them to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the removed products on the replenishment table.

These comprehensive or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. The recording medium may also be a non-transitory recording medium.

The robot control method disclosed herein can improve the efficiency of replenishing merchandise in sales areas.

Further advantages and benefits of certain aspects of the present disclosure will become apparent from the specification and drawings. Such advantages and/or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them need be provided to obtain one or more identical features.

FIG. 1 is a diagram showing a robot control device and the inside of a store according to an embodiment. FIG. 2 is a diagram for explaining the robot according to the embodiment. FIG. 3 is a diagram for explaining the movement of the robot in the embodiment. FIG. 4 is a diagram showing a state in which products are arranged on a replenishment table in the embodiment. FIG. 5 is a block diagram showing a functional configuration of the robot control device according to the embodiment. FIG. 6 is a diagram showing an example of selling area information according to the embodiment. FIG. 7 is a diagram showing an example of a layout of a sales floor according to the embodiment. FIG. 8 is a diagram illustrating an example of regulating information according to the embodiment. FIG. 9 is a diagram illustrating an example of warehouse information according to the embodiment. FIG. 10 is a diagram illustrating an example of group information generated by a generating unit in the embodiment. FIG. 11 is a diagram illustrating an example of a control signal generated by a transmission processing unit in the embodiment. FIG. 12A is a flowchart showing the processing operation of the robot control device according to the embodiment. FIG. 12B is a flowchart showing details of generation of group information in the embodiment. FIG. 13 is a block diagram showing a functional configuration of a robot control device in the first modification of the embodiment. FIG. 14 is a diagram illustrating an example of passage information according to the first modification of the embodiment. FIG. 15 is a diagram illustrating an example of limit number information used by the limit number determination unit in the first modification of the embodiment. FIG. 16 is a flowchart showing details of generation of group information in the first modification of the embodiment. FIG. 17 is a block diagram showing a functional configuration of a robot control device in the second modification of the embodiment. FIG. 18 is a diagram showing an example of customer information according to the second modification of the embodiment. FIG. 19 is a flowchart showing details of generation of group information in the second modification of the embodiment. FIG. 20 is a block diagram showing a functional configuration of a robot control device in the third modification of the embodiment. FIG. 21 is a diagram illustrating an example of limit number information used by the limit number determination unit in the third modification of the embodiment. FIG. 22 is a flowchart showing details of generation of group information in the third modification of the embodiment. FIG. 23 is a diagram showing an example of regulating information according to the fourth modification of the embodiment. FIG. 24 is a flowchart showing details of generation of group information in the fourth modification of the embodiment. FIG. 25 is a block diagram showing a functional configuration of a robot control device in the fifth modification of the embodiment. FIG. 26 is a diagram showing an example of region information according to the fifth modification of the embodiment. FIG. 27 is a diagram illustrating an example of limit number information used by the limit number determination unit in the fifth modification of the embodiment. FIG. 28 is a flowchart showing details of generation of group information in the fifth modification of the embodiment.

(Findings that form the basis of this disclosure)
The present inventor has found that the following problems occur with the product sorting device of Patent Document 1 described in the "Background Art" section.

In Patent Document 1, workers move products to delivery cases placed near the sorting shelves. Meanwhile, in retail stores and the like, in order to replenish products on the sales floor, products must be transported from a warehouse within the store to the product shelves in the sales floor. The product sorting device in Patent Document 1 does not take into consideration the efficiency of transporting products from the warehouse to the sales floor and replenishing them, and there is a demand for efficiency improvements in this regard.

In order to solve such problems, a robot control device according to one aspect of the present disclosure is a robot control method in which a computer controls a robot, and includes the steps of: acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in a sales floor for each product type; acquiring warehouse information indicating the storage positions of products stored in a warehouse for each product type; acquiring prescribed information indicating the prescribed positions and prescribed numbers of products arranged on the sales floor for each product type; generating replenishment information indicating two or more replenishment varieties, which are varieties to which products having a number of products arranged less than the prescribed number belong, based on the sales floor information and the prescribed information; generating group information indicating a plurality of product groups, each of which is composed of at least one of the replenishment varieties, by grouping the two or more replenishment varieties indicated by the replenishment information based on the prescribed information; Based on the warehouse information, a control signal is generated to cause a robot installed in the warehouse to perform a product transport task and is sent to the robot. In the grouping, the multiple variety groups are determined such that, for each of the multiple variety groups, (1) the specified positions of the products belonging to at least one of the replenishment varieties included in the variety group are close to each other, or (2) the replenishment varieties that have the specified positions on two or more product shelves that face each other across an aisle in the sales floor are included in the variety group. The transport task is a task of removing products belonging to the replenishment varieties included in each of the multiple variety groups from the storage positions in the warehouse that correspond to the replenishment varieties in the warehouse information, transporting them to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the removed products on the replenishment table.

As a result, the product type that is in short supply in the sales floor is identified as a replenishment product type, and group information indicating multiple product groups is generated by grouping two or more replenishment products. By this grouping, multiple replenishment products whose specified positions are close to each other are included in one product group, as in (1) above. Or, as in (2) above, replenishment products whose specified positions are on two or more product shelves that face each other are included in one product group. Then, in each of such multiple product groups, the product of each replenishment product included in the product group is taken out by the robot from its storage position in the warehouse, transported to the replenishment table, and placed on the replenishment table. As a result, the worker can reduce the workload of walking around the warehouse to collect products that are in short supply in the sales floor. Furthermore, if the worker takes each replenishment product included in the product group from the replenishment table for each product group and carries it to each of one or more product shelves in the sales floor at once, the worker can replenish those products while reducing the distance that the worker travels. In other words, the worker can be prevented from walking from one end of the sales floor to the other end in order to replenish products. This will help improve the efficiency of replenishing products in the sales area.

In addition, in the sales floor, each of the multiple product shelves is installed along at least one aisle that corresponds to the product shelf, and in generating the group information, aisle information indicating the width of each of the at least one aisle is obtained, and the total number of products belonging to at least one of the supplementary varieties included in the variety group may be adjusted according to the width of the aisle corresponding to the product shelf on which the products are placed, as indicated by the aisle information. For example, in generating the group information, a limit number may be determined according to the width of the aisle corresponding to the product shelf on which the products belonging to at least one of the supplementary varieties included in the variety group are placed, and the total number in the variety group may be adjusted to be equal to or less than the limit number.

For example, when an aisle is wide, a worker can carry many products to one or more shelves along the aisle at once. Conversely, when an aisle is narrow, a worker cannot carry many products to one or more shelves along the aisle at once. Therefore, in a robot control method according to one aspect of the present disclosure, as described above, the total number of products in a variety group is adjusted to be equal to or less than a limit number determined according to the width of the aisle. For example, when the aisle is wide, a large limit number is determined, and conversely, when the aisle is narrow, a small limit number is determined. Therefore, when the aisle is wide, a worker can carry many products belonging to one variety group to one or more shelves corresponding to the aisle at once. Also, even when the aisle is narrow, a worker can carry all products belonging to one variety group to one or more shelves corresponding to the aisle at once. This can further improve the efficiency of replenishing products in the sales floor.

In addition, in generating the group information, customer information indicating the number of customers around each of the multiple product shelves may be acquired, and the multiple product groupings may be determined based on the customer information. For example, in generating the group information, the multiple product groups may be determined by excluding, from the two or more replenishment products indicated in the replenishment information, a product product type that is placed on a product shelf among the multiple product shelves, where the number of customers indicated in the customer information is equal to or greater than a first threshold, and grouping the two or more replenishment products from which the product type has been excluded using the specified information.

As a result, even if a product is in short supply on a shelf, if there are many customers gathered around that shelf, that product type will not be treated as a replenishment type and the product will not be replenished. This makes it possible to prevent the restocking of products that may be a nuisance to many customers.

In addition, in generating the group information, transportation information indicating a transportation means for transporting products from the replenishment table to each of the multiple product shelves may be obtained, and the total number of products belonging to at least one of the replenishment varieties included in the variety group may be adjusted according to the transportation means indicated by the transportation information. For example, in generating the group information, a limit number for the variety group may be determined according to the transportation means indicated by the transportation information, and the total number in the variety group may be adjusted to be equal to or less than the limit number.

For example, when the transportation means is a cart, the worker can use the cart to transport many products of at least one replenishment variety included in one variety group at once. On the other hand, when the transportation means is handheld, the worker cannot transport many products at once. Therefore, in the robot control method according to one aspect of the present disclosure, as described above, the total number of products in the variety group is adjusted to be equal to or less than the limit number determined according to the transportation means. For example, when the transportation means is a cart, a large limit number is determined, and conversely, when the transportation means is handheld, a small limit number is determined. Therefore, when the transportation means is a cart, the worker can transport many products belonging to one variety group to one or more product shelves in the sales floor at once. Also, even when the transportation means is handheld, the worker can transport all products belonging to one variety group to one or more product shelves in the sales floor at once. This can further improve the efficiency of replenishing products in the sales floor.

In addition, in generating the group information, the multiple groups are determined by repeating an extraction process that extracts a group consisting of two supplementary varieties with the shortest distance between the specified positions from the two or more supplementary varieties indicated in the supplement information, and an integration process that integrates two groups among the multiple groups with an inter-group distance equal to or less than a second threshold value is repeated until each inter-group distance becomes longer than the second threshold value, thereby determining the multiple variety groups that satisfy (1), and the inter-group distance may be the distance between two groups and the average value of the distance between the specified positions of products belonging to at least one of the supplementary varieties included in one of the two groups and the specified positions of products belonging to at least one of the supplementary varieties included in the other group.

This allows a variety group containing multiple replenishment varieties whose specified product positions are close to each other to be determined, allowing appropriate grouping according to the distance between the specified positions.

In addition, in generating the group information, area information indicating the size of each of the multiple areas in the replenishment table is obtained, and in generating the group information, the total number of products belonging to at least one of the replenishment varieties included in the variety group may be adjusted according to the size of the area indicated in the area information, which is the size of the area among the multiple areas that corresponds to the variety group. For example, in generating the group information, a limit number may be determined according to the size of the area that corresponds to the variety group, and the total number in the variety group may be adjusted to be equal to or less than the limit number.

For example, if the area of the replenishment table is large, the worker can place many products of at least one replenishment variety included in one variety group in that area. On the other hand, if the area of the replenishment table is small, the worker cannot place many products in that area. Therefore, in a robot control method according to one aspect of the present disclosure, as described above, the total number of products in a variety group is adjusted to be equal to or less than a limit number determined according to the size of the area of the replenishment table corresponding to that variety group. For example, if the area of the replenishment table is large, a large limit number is determined, and conversely, if the area of the replenishment table is small, a small limit number is determined. Therefore, if the area of the replenishment table is large, the robot can place many products belonging to one variety group in that area at once. Also, even if the area of the replenishment table is small, the robot can place all products belonging to one variety group in that area at once. This can further improve the efficiency of replenishment of products to the sales floor.

In addition, in generating the control signal, an area of the plurality of areas on the replenishment table that is closest to the specified position of a product belonging to at least one of the replenishment varieties included in the variety group may be determined, and the control signal may be generated to indicate that the product is to be placed in the determined area.

As a result, each product belonging to one product group is placed by the robot in the area of the replenishment table that is closest to the product shelf on which the product is located. This reduces the distance that an employee must carry the product from the replenishment table to the product shelf. This makes it possible to further improve the efficiency of replenishing products on the sales floor.

In addition, the sales floor information may be acquired by acquiring images from a camera installed in the sales floor, and identifying the type and number of products arranged on each of the multiple product shelves from the images.

This allows us to obtain sales floor information that accurately indicates the number of products placed in real time.

The sales floor information may be obtained by identifying the type and number of products sold that are recorded in the point of sale (POS) system of the sales floor.

This makes it easy to obtain sales floor information without having to install cameras or other devices in the sales floor.

The robot may also be provided with a cart, and when performing the transport operation in accordance with the control signal, the robot may load products belonging to at least one of the replenishment varieties included in the variety group indicated in the group information onto the cart and move it to the replenishment table.

This allows all products belonging to a product group to be picked up from multiple inventory shelves in a warehouse and transported to the replenishment table all at once.

In addition, when acquiring the sales floor information, the sell-by date of each product placed in the sales floor may be acquired, and for each type of product, the number of products that belong to that type and are placed on the product shelf and have not yet passed their sell-by date may be determined as the number of products placed. For example, if the product is food or beverage, the sell-by date may be the best-before date or expiration date of the product.

As a result, even if a product whose sales date has passed is placed on the product shelf, the number of that product is not included in the placement number, and the product variety can be treated as a replenishment variety. As a result, the product shelves can be replenished with products whose sales date has not passed.

The generation of the group information may be performed periodically, and each time the group information is generated, the control signal may be generated based on the most recent group information generated and transmitted to the robot.

By appropriately setting this cycle, it is possible to both shorten the period during which product shortages persist on the sales floor and reduce the unnecessary work of generating group information and sending control signals to the robot even when there is no product shortage.

In addition, a robot control device according to one aspect of the present disclosure is a robot control method in which a computer controls a robot, and the method includes: acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in a sales floor for each product type; acquiring warehouse information indicating the storage positions of products stored in a warehouse for each product type; acquiring prescribed information indicating the prescribed positions and prescribed numbers of products arranged on the sales floor for each product type; generating replenishment information indicating two or more replenishment varieties, which are varieties to which products having a number of products arranged less than the prescribed number belong, based on the sales floor information and the prescribed information; The system generates group information indicating a plurality of product groups each consisting of at least one of the replenishment products by grouping the products based on the specified positions, generates a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information, and transmits the control signal to the robot, and the transport task is a task of taking out a product belonging to the replenishment product included in each of the plurality of product groups from the storage position in the warehouse that is associated with the replenishment product in the warehouse information, transporting the product to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the taken-out product on the replenishment table.

Even in this type of configuration, grouping based on the specified information is performed for two or more replenishment varieties, so the efficiency of replenishing products in the sales area can be improved, just like the robot control device described above.

The refill tray may also be a mobile tray.

This allows the products placed on the refill table to be transported simply by moving the refill table. This eliminates the need to take the trouble of packing the products placed on the refill table into a cart or similar in order to transport them to the shelves. As a result, it is possible to further improve the efficiency of refilling products on the sales floor.

These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of a system, a method, an integrated circuit, a computer program, or a recording medium. The recording medium may also be a non-transitory recording medium.

The following describes the embodiment in detail with reference to the drawings.

Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, the arrangement and connection of the components, steps, and the order of steps shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, those components that are not described in an independent claim that indicates the highest concept are described as optional components. Furthermore, each figure is a schematic diagram and is not necessarily a precise illustration. Furthermore, the same components are given the same reference numerals in each figure.

(Embodiment)
FIG. 1 is a diagram showing a robot control device and the inside of a store according to an embodiment.

The store 2 is a store for selling various products such as food, stationery, books, or miscellaneous goods, and has a sales floor 20 and a warehouse 30. The sales floor 20 and the warehouse 30 are separated by a wall having an entrance 3. A worker 1 of the store 2 moves between the sales floor 20 and the warehouse 30 through the entrance 3. Note that the products are not limited to the above examples, and may be any item that is sold.

The sales floor 20 has a number of aisles 21, and a number of product shelves 22 are installed along these aisles 21. Products sold in the sales floor 20 are arranged on these product shelves 22. In addition, the sales floor 20 has a number of cameras 23 installed therein for capturing images of the situation within the sales floor 20. These cameras 23 are attached to the ceiling or walls of the store 2, etc.

The warehouse 30 is equipped with a replenishment table 31, multiple inventory shelves 32, and a robot 10. Multiple products are stored in each of the multiple inventory shelves 32. The replenishment table 31 is installed near the entrance 3, and products in the warehouse 30 are placed on the replenishment table 31. In other words, products to be replenished in the sales floor 20 are taken out from the warehouse 30 and placed on the replenishment table 31, and the worker 1 carries the products placed on the replenishment table 31 to the product shelves 22 in the sales floor 20. Therefore, the replenishment table 31 in this embodiment is used as a relay table for transporting products from the warehouse 30 to the sales floor 20, and is installed at the relay point between the sales floor 20 and the warehouse 30.

The robot 10 is a self-propelled robot that picks up products from each of a plurality of inventory shelves 32 and places the products on the restocking table 31. The worker 1 loads the products placed on the restocking table 31 into, for example, a cart, carries the products to a product shelf 22 in the sales floor 20, and places the products on the product shelf 22. Note that the restocking table 31 may be the cart itself. In other words, the restocking table 31 may be a mobile loading platform or the like.

The robot control device 100 controls the robot 10 based on images captured by the multiple cameras 23, for example. That is, the robot control device 100 controls the robot 10 remotely by transmitting a control signal to the robot 10 via wireless communication. Such a robot control device 100 may be configured by a computer system such as a personal computer or a server. The robot control device 100 may also be connected to an input unit 202 and a display unit 203. The input unit 202 is, for example, a keyboard, but may also be a touch sensor, a touch pad, or a mouse, and may be configured by at least two of them. The display unit 203 is, for example, a liquid crystal display, a plasma display, an organic EL (Electro-Luminescence) display, etc., but is not limited to these. The robot control device 100 may also be connected to a storage unit 204 (see FIG. 5) described later. The storage unit 204 is a recording medium for recording each piece of information, and may be a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), or a semiconductor memory. Such a storage unit 204 may be either volatile or non-volatile.

Figure 2 is a diagram for explaining the robot 10.

The robot 10 is an autonomously operable robot having a moving mechanism and a gripping mechanism, and as shown in FIG. 2, it includes a main body 12, an arm 11, a cart 13, and a delivery case 13a.

The main body 12 is equipped with a motor and wheels, and the wheels are driven by the motor to move autonomously on the floor of the warehouse 30. The base of the arm 11 is attached to the main body 12.

The cart 13 is connected to, for example, the rear of the main body 12 and is towed by the main body 12. The delivery case 13a is a box placed on the cart 13 for storing each product 4 on the inventory shelf 32, and has an opening on the upper side.

The arm 11 is a multi-jointed arm, and bending and straightening these joints moves the robot hand 11a at the tip of the arm 11 up, down, left and right. The robot hand 11a of the arm 11 is an end effector that grasps objects and releases the grasped objects. In other words, the robot hand 11a picks up the product 4. The robot hand 11a may grasp objects using a suction mechanism, for example a mechanism that uses vacuum suction. For example, the arm 11 grasps the product 4 on the inventory shelf 32 with the robot hand 11a, and while bending and straightening each joint, packs the product 4 into the delivery case 13a by carrying the product 4 into the delivery case 13a and releasing it.

The inventory shelf 32 may be equipped with multiple conveyor belts. These conveyor belts transport the products 4 placed on the inventory shelf 32 to a delivery port for the robot 10. In other words, when the robot 10 arrives in front of the delivery port of the inventory shelf 32, the conveyor belt starts operating and transports the products 4 from the back of the inventory shelf 32 to the delivery port. Then, the robot 10 uses the robot hand 11a to grab the products 4 that have been transported to the delivery port and pack them into the delivery case 13a, as described above.

Figure 3 is a diagram to explain the movement of the robot 10.

The robot 10 receives a control signal transmitted from the robot control device 100 and operates according to the control signal. For example, as shown in FIG. 3, the robot 10 shuttles between the inventory shelves 32 and the replenishment table 31 in the warehouse 30. That is, the robot 10 removes multiple items 4 from one or more inventory shelves 32 and stores them in a delivery case 13a, and then moves toward the replenishment table 31. When the robot 10 arrives at the replenishment table 31, it places all of the items 4 stored in the delivery case 13a on the replenishment table 31 using the arm 11. Then, when the robot 10 has placed all of the items 4 on the replenishment table 31, it moves toward the inventory shelves 32 as necessary, and repeats the process of removing items 4 and placing items 4 on the replenishment table 31 in the same manner as described above.

Figure 4 shows the state in which product 4 is placed on the refill table 31.

The replenishment table 31 may be divided into a number of tables 31a, 31b, and 31c, as shown in FIG. 4, for example. At least one product 4 is placed on each of these tables 31a, 31b, and 31c by the robot 10. Here, when the robot control device 100 determines a number of product groups, which will be described later, the robot 10 places a number of products 4 belonging to the product group corresponding to the table 31a on the table 31a. Similarly, the robot 10 places a number of products 4 belonging to the product group corresponding to the table 31b on the table 31b, and the robot 10 places a number of products 4 belonging to the product group corresponding to the table 31c on the table 31c.

In the example shown in FIG. 4, the refill table 31 is divided into multiple tables 31a, 31b, and 31c, but it does not have to be divided. In this case, the top surface of the refill table 31 is used by dividing it into multiple areas. In other words, when the robot control device 100 determines multiple product types (described below), the robot 10 places multiple products 4 belonging to the product type group corresponding to that area in each of the multiple areas.

The refill table 31 may also be equipped with multiple wheels and configured to be movable. If the refill table 31 is divided into multiple tables 31a, 31b, and 31c, each of the tables 31a, 31b, and 31c may also be equipped with multiple wheels and configured to be movable. In this case, the worker 1 may move the refill table 31 or each of the tables 31a, 31b, and 31c to carry the refill table 31 or the multiple products 4 placed on the table to the product shelves 22 in the sales area 20.

Figure 5 is a block diagram showing the functional configuration of the robot control device 100 in this embodiment.

The robot control device 100 in this embodiment includes a sales floor information acquisition unit 101, a regulation information acquisition unit 102, a warehouse information acquisition unit 103, a generation unit 104, a transmission processing unit 105, and a transmission unit 106. Such a robot control device 100 may be connected to a detection unit 201, an input unit 202, a display unit 203, and a storage unit 204. The detection unit 201 includes, for example, multiple cameras 23 shown in FIG. 1, and detects the status of the sales floor 20.

The sales floor information acquisition unit 101 acquires sales floor information. This sales floor information indicates the number of products 4 arranged on each of the multiple product shelves 22 installed in the sales floor 20 for each product type. In other words, the sales floor information indicates, for each of the multiple product types, the number of products 4 belonging to that product type arranged on the product shelves 22.

For example, the sales floor information acquisition unit 101 acquires sales floor information from the detection result of the detection unit 201. Specifically, the detection unit 201 generates one or more captured images by photographing a plurality of product shelves 22 in the sales floor 20, and transmits the one or more captured images to the sales floor information acquisition unit 101 as the detection result. The sales floor information acquisition unit 101 acquires sales floor information by identifying in real time the number of products 4 arranged on the product shelves 22 for each product type from the product shelves 22 shown in each of the one or more captured images. Note that machine learning or image analysis such as pattern recognition may be used as a method for identifying the product type and the number of products arranged from the photographed image.

In this way, the sales floor information acquisition unit 101 in this embodiment acquires images from each of the multiple cameras 23 installed in the sales floor 20, and acquires sales floor information by identifying the type and number of products 4 arranged on each of the multiple product shelves 22 from the captured images. This makes it possible to acquire sales floor information that appropriately indicates the number of products 4 arranged in real time. Note that in this embodiment, the detection unit 201 includes multiple cameras 23, but it may also include a single camera 23. In this case, the sales floor information acquisition unit 101 acquires images from the single camera 23, and acquires sales floor information from the captured images.

The sales floor information acquisition unit 101 may also acquire sales floor information by linking with a POS (Point of Sale) system in the store 2. In this case, the detection unit 201 is composed of at least some of the functions of the POS system. For example, the sales floor information acquisition unit 101 acquires the number of each product 4 sold for each variety from the POS system. Then, the sales floor information acquisition unit 101 determines in real time for each variety the number of products 4 arranged on the product shelves 22 in the sales floor 20 by subtracting the number of products 4 belonging to that variety from the initial number of products 4 arranged in the sales floor 20. In this way, the sales floor information is acquired.

In this manner, the sales floor information acquisition unit 101 in this embodiment may acquire sales floor information by identifying the type and number of products 4 sold, which are recorded in the POS system of the sales floor 20. This makes it possible to easily acquire sales floor information without installing a device such as a camera in the sales floor 20.

The regulation information acquisition unit 102 acquires regulation information. This regulation information indicates the prescribed positions and prescribed number of products 4 to be placed in the sales floor 20 for each product type. In other words, the regulation information indicates, for each of a plurality of product types, the prescribed positions and prescribed number of products 4 belonging to that product type to be placed in the sales floor 20. Note that the prescribed positions are positions that are determined in advance, and the prescribed number is a number that is determined in advance.

For example, the regulation information acquisition unit 102 may acquire the regulation information from the memory unit 204, or may acquire the regulation information from the input unit 202 in response to an input operation by the worker 1 to the input unit 202. In addition, when the position of each product shelf 22 in the store 2 is changed, or when the position or type of the product 4 arranged on each product shelf 22 is changed, such regulation information is updated in response to these changes.

The warehouse information acquisition unit 103 acquires warehouse information. This warehouse information indicates the storage location of the product 4 stored in the warehouse 30 for each product type. In other words, the warehouse information indicates, for each of a plurality of product types, the storage location of the product 4 belonging to that product type stored in the warehouse 30. Furthermore, the warehouse information may indicate not only the storage location but also the stock quantity of the product 4 belonging to that product type stored in the warehouse 30 for each of a plurality of product types.

For example, the warehouse information acquisition unit 103 may acquire the warehouse information from the storage unit 204, or may acquire the warehouse information from the input unit 202 in response to an input operation to the input unit 202 by the worker 1. In addition, if the detection unit 201 includes, for example, a plurality of cameras installed in the warehouse 30, the warehouse information acquisition unit 103 may acquire the warehouse information from the detection result of the detection unit 201, similar to the sales floor information acquisition unit 101. Specifically, the detection unit 201 generates one or more captured images by photographing a plurality of inventory shelves 32, and transmits the one or more captured images to the warehouse information acquisition unit 103 as the detection result. The warehouse information acquisition unit 103 acquires the warehouse information by identifying the inventory number and storage location of the products 4 arranged on the inventory shelves 32 in real time for each product type from the inventory shelves 32 shown in each of the one or more captured images.

Furthermore, when the robot 10 removes products 4 from the inventory shelf 32, the warehouse information acquisition unit 103 may update the warehouse information by subtracting the number of products 4 removed from the inventory quantity indicated by the warehouse information. For example, the warehouse information acquisition unit 103 acquires a control signal generated by the transmission processing unit 105, and identifies the type and number of products 4 to be removed from the inventory shelf 32 by the robot 10 based on the control signal and the warehouse information. The warehouse information acquisition unit 103 then updates the warehouse information by subtracting the identified number from the inventory quantity of the identified type indicated by the warehouse information.

The generating unit 104 generates replenishment information based on the sales floor information and the specified information. The replenishment information indicates two or more replenishment varieties, which are varieties to which the products 4 whose number of placements is less than the specified number belong. Furthermore, the generating unit 104 generates group information indicating a plurality of variety groups, each of which is made up of at least one replenishment variety, by grouping the two or more replenishment varieties indicated by the replenishment information based on the specified information.

The transmission processing unit 105 generates a control signal based on the group information and warehouse information generated by the generation unit 104. This control signal is a signal for causing the robot 10 installed in the warehouse 30 to carry out the transport work of the product 4. The transport work is a work of taking out the product 4 belonging to a replenishment variety included in each of the multiple variety groups from a storage position in the warehouse 30 that is associated with the replenishment variety in the warehouse information, transporting it to a replenishment table 31 installed at a relay point between the sales floor 20 and the warehouse 30, and placing the taken out product 4 on the replenishment table 31.

The transmitting unit 106 transmits the control signal generated by the transmission processing unit 105 to the robot 10. When the robot 10 receives the control signal from the transmitting unit 106, it performs the above-mentioned transport operation according to the control signal.

[Examples of information acquired]
FIG. 6 is a diagram showing an example of sales area information.

As shown in FIG. 6, the sales floor information indicates, for each of a plurality of product varieties, the dimensions of the product 4 of that variety, the weight of the product 4 of that variety, and the number of products 4 of that variety. For example, the sales floor information indicates the variety "ID01", the dimensions of the product 4 of that variety "ID01" "10×13×4 cm", the weight of the product 4 of that variety "ID01" "200 g", and the number of products 4 of that variety "ID01" "2". In other words, the sales floor information indicates that the dimensions of the product 4 of the variety "ID01" are 10×13×4 cm, the weight of the product 4 is 200 g, and further indicates that two products 4 of the variety "ID01" are placed on the product shelf 22 of the sales floor 20. Similarly, the sales floor information indicates that the dimensions of product 4 of type "ID02" are 15 x 7 x 3 cm, the weight of product 4 is 100 g, and further indicates that four products 4 of type "ID02" are placed on the product shelf 22 of sales floor 20. Note that the type of product 4 may be the product name of product 4.

When acquiring the sales floor information shown in FIG. 6, the sales floor information acquisition unit 101 may identify the type and number of products 4 arranged on the product shelf 22 from the one or more captured images described above, and acquire information indicating the dimensions and weight corresponding to the type from the memory unit 204. The sales floor information acquisition unit 101 may then generate the sales floor information shown in FIG. 6 by associating the identified type and number with the dimensions and weight indicated in the information acquired from the memory unit 204. The sales floor information is acquired through this generation.

The dimensions and weight of the product 4 indicated in such sales floor information may be included in the control signal generated by the transmission processing unit 105. In this case, when the robot 10 takes out the product 4 from the inventory shelf 32 in the warehouse 30, the robot 10 uses the dimensions and weight of the product 4 to identify the gripping position of the product 4. For example, the robot 10 identifies a gripping position of the product 4 from which the product 4 can be stably taken out, specifically, a position corresponding to the center of gravity of the product 4, and grasps the product 4 by placing the robot hand 11a at that gripping position. This makes it possible to prevent the product 4 from being missed.

In the example shown in FIG. 6, the sales floor information indicates the dimensions and weight of product 4, but at least one of the dimensions and weight does not have to be indicated.

Figure 7 shows an example of the layout of multiple product shelves 22 in a sales area 20.

As shown in FIG. 7, the specified information indicates the specified positions of the products 4 to be placed in the sales floor 20 based on the layout of multiple product shelves 22 in the sales floor 20. The layout indicates the positions of each product shelf 22 with shelf IDs "A" to "R" in the sales floor 20 using X-axis and Y-axis coordinates. Note that the X-axis and Y-axis are mutually orthogonal axes that run along the floor surface of the store 2 or the sales floor 20, and the origins of the X-axis and Y-axis coordinates may be at any position. The shelf ID is information for identifying the product shelf 22.

Figure 8 shows an example of the stipulation information.

8(a), the prescribed information indicates, for each of the product shelves 22 in the sales floor 20, the shelf ID of the product shelf 22, the position coordinates of the product shelf 22, each display location included in the product shelf 22, the type of product 4 to be placed in the display location, and the prescribed number of the product 4. The position coordinates of the product shelf 22 are composed of X-axis coordinates and Y-axis coordinates, and may indicate the center position of the product shelf 22 or the position of a corner on the origin side. As shown in FIG. 8(b), the product shelf 22 includes multiple display locations "a", "b", "c", .... Products 4 belonging to a predetermined type are displayed or placed in these display locations. The prescribed position of the product 4 is expressed by a combination of the position coordinates of the product shelf 22 and the display location. Note that the prescribed position may be expressed by X-axis coordinates, Y-axis coordinates, and Z-axis coordinates instead of such a combination. The prescribed number is a predetermined number of products 4 to be displayed or placed in the display location, and is composed of a minimum number and a maximum number.

For example, the stipulated information indicates a shelf ID "A", the position coordinates (X, Y) = (0.5, 10.0) of the product shelf 22 with the shelf ID "A", the display locations "a", "b", "c", ... included in the product shelf 22, the varieties of products 4 to be placed in those display locations "ID01", "ID02", "ID03", ..., the minimum number of products 4 belonging to those varieties "5", "7", "5", ..., and the maximum number of products 4 belonging to those varieties "20", "15", "12", .... In other words, the stipulated information indicates that the product shelf 22 with the shelf ID "A" is installed at the position coordinates (X, Y) = (0.5, 10.0). Furthermore, the stipulated information indicates that the product shelf 22 with the shelf ID "A" includes multiple display locations "a", "b", "c", .... Furthermore, the regulation information indicates that the minimum number of product 4 of product type "ID01" to be displayed in display location "a" on product shelf 22 with shelf ID "A" is equal to or greater than "5" and equal to or less than the maximum number of product 4 of product type "ID01".

Figure 9 shows an example of warehouse information.

As shown in FIG. 9, the warehouse information indicates, for each of a plurality of varieties of products 4 stored in the warehouse 30, the number of products 4 of that variety in stock and the storage location of the products 4 of that variety. The storage location is indicated by x-axis coordinates, y-axis coordinates, and z-axis coordinates in the warehouse 30. Note that the x-axis and y-axis are mutually orthogonal axes along the floor surface of the store 2 or warehouse 30, and the z-axis is an axis perpendicular to the floor surface. The origins of the x-axis coordinates, y-axis coordinates, and z-axis coordinates may be at any position. The storage location is a position included in the inventory shelves 32 installed in the warehouse 30.

For example, the warehouse information indicates the variety "ID01" of product 4, the number of product 4 of the variety "ID01" in stock "15", and the storage location (x, y, z) = (0.5, 0.5, 0.2) where the product 4 of the variety "ID01" is stored. In other words, the warehouse information indicates that 15 units of product 4 of the variety "ID01" are stored in the location in the inventory shelf 32 of the warehouse 30 indicated by the storage location (x, y, z) = (0.5, 0.5, 0.2).

The warehouse information acquisition unit 103 may update the stock quantity included in the warehouse information as described above from time to time. When the stock quantity falls below the lower limit, the warehouse information acquisition unit 103 may output to the display unit 203 a signal indicating that the stock quantity of the product 4 corresponding to that stock quantity is insufficient. For example, the warehouse information acquisition unit 103 outputs to the display unit 203 a signal indicating that the stock quantity of the product 4 belonging to the product type "ID03" is insufficient. When the display unit 203 receives the signal, it displays the content indicated by the signal, for example, a message notifying that the stock quantity of the product 4 belonging to the product type "ID03" is insufficient. By looking at the message, the worker 1 can easily understand the stock shortage of the product 4 of the product type "ID03", and can prevent the product 4 from running out of stock.

[Processing of generation unit 104]
The generating unit 104 generates the group information shown in FIG. 10 using, for example, the selling area information shown in FIG. 6 and the regulating information shown in FIG. 8(a).

Figure 10 shows an example of group information generated by the generation unit 104.

The group information indicates multiple variety groups as described above. A variety group consists of at least one replenishment variety. A replenishment variety is a variety of product 4 that is to be replenished in the sales area 20. As shown in FIG. 10, such group information indicates, for each position on the replenishment table 31, the variety group of product 4 to be placed at that position. Note that, if the top surface of the replenishment table 31 is divided into multiple areas, the position on the replenishment table 31 indicates any one of those multiple areas. Also, if the replenishment table 31 is divided into multiple tables as in the example shown in FIG. 4, the position on the replenishment table 31 indicates any one of those multiple tables.

For example, the group information indicates the position "001" on the replenishment table 31 and the variety group of the product 4 placed at that position "001". The variety group corresponding to this position "001" includes replenishment varieties "ID01", "ID06", and "ID14". Furthermore, the group information indicates the number of products 4 of each replenishment variety included in the variety group to be replenished. Specifically, the group information indicates the number of products 4 replenished with the replenishment variety "ID01" being "3", the number of products 4 replenished with the replenishment variety "ID06" being "2", and the number of products 4 replenished with the replenishment variety "ID14" being "4". In other words, the group information indicates that three products 4 of the replenishment variety "ID01", two products 4 of the replenishment variety "ID06", and four products 4 of the replenishment variety "ID14" are to be placed in the area or table indicated by the position "001" on the replenishment table 31 for replenishment to the sales floor 20.

When generating such group information, the generating unit 104 first generates replenishment information indicating two or more replenishment varieties to which the products 4 whose placement count is less than the specified number belong, as described above. This specified number may be the minimum number shown in FIG. 8(a) or the maximum number. In other words, the generating unit 104 generates replenishment information indicating multiple replenishment varieties, which are varieties of products 4 that need to be replenished in the sales area 20.

When the specified number is the minimum number, the generation unit 104 identifies, as a replenishment variety, a variety of the multiple product varieties indicated by the specified information, for which the placement number indicated by the sales floor information is less than the minimum number. In other words, the generation unit 104 determines that it is necessary to replenish the identified replenishment variety of product 4 in the sales floor 20. The generation unit 104 generates replenishment information indicating the identified two or more replenishment varieties by identifying two or more such replenishment varieties. At this time, the generation unit 104 calculates the replenishment number of the replenishment variety by subtracting the placement number from the maximum number indicated by the specified information for each of the identified two or more replenishment varieties. Alternatively, the generation unit 104 may calculate the replenishment number of the replenishment variety by subtracting the placement number from the minimum number indicated by the specified information for each of the identified two or more replenishment varieties.

Furthermore, if the specified number is the maximum number, the generation unit 104 identifies as a replenishment variety, among the multiple product varieties indicated by the specified information, a variety for which the placement number indicated by the sales floor information is less than the maximum number. In other words, the generation unit 104 determines that it is necessary to replenish the products 4 of the identified replenishment variety in the sales floor 20. The generation unit 104 generates replenishment information indicating the identified two or more replenishment varieties by identifying two or more such replenishment varieties. At this time, the generation unit 104 calculates the replenishment number of each of the identified two or more replenishment varieties by subtracting the placement number from the maximum number indicated by the specified information.

Next, the generating unit 104 generates group information shown in FIG. 10 by grouping the two or more identified supplementary varieties. For example, the generating unit 104 derives the distance between the respective specified positions of the two or more identified supplementary varieties. Then, the generating unit 104 groups the two or more supplementary varieties by a group average method, which is a clustering method using these distances. Note that the distance may be a Euclidean distance.

For example, the generation unit 104 selects, from the multiple supplementary varieties, two supplementary varieties with the shortest distance between the specified positions, and generates a first variety group consisting of the two supplementary varieties. Next, from the multiple supplementary varieties that do not yet belong to a variety group, the generation unit 104 selects, in the same manner as described above, two supplementary varieties with the shortest distance between the specified positions, and generates a second variety group consisting of the two supplementary varieties. The generation unit 104 repeats the generation of such variety groups until the number of supplementary varieties that do not belong to a variety group becomes 0 or 1. When the number of supplementary varieties that do not belong to that variety group becomes 1, the generation unit 104 generates a variety group consisting of that one supplementary variety.

Next, the generation unit 104 calculates the distance between each of the generated multiple variety groups as the inter-group distance. For example, for each combination of the specified position of each supplementary variety belonging to the first variety group and the specified position of each supplementary variety belonging to the second variety group, the generation unit 104 calculates the distance between the specified positions in that combination. Then, the generation unit 104 calculates the average value of the distances for those combinations as the inter-group distance between the first variety group and the second variety group.

If the inter-group distance is equal to or less than a predetermined threshold, the generation unit 104 merges the two variety groups corresponding to the inter-group distance. The threshold is also called a second threshold, and may be, for example, 2 m, or may be the average width of the multiple product shelves 22 installed in the store 2. The generation unit 104 then repeatedly calculates the inter-group distance between each of the multiple variety groups using the variety group obtained by the merge. The generation unit 104 repeats this merger of variety groups and calculation of the inter-group distance until the inter-group distance between all of the variety groups becomes longer than the above-mentioned second threshold. As a result, multiple variety groups whose inter-group distances exceed the second threshold are finally determined. The group information indicates the multiple variety groups determined in this way and the number of supplementary varieties included in each of the multiple variety groups.

In this manner, the generating unit 104 in this embodiment determines a plurality of groups by repeating an extraction process for extracting a group consisting of two supplementary varieties with the shortest distance between the specified positions from two or more supplementary varieties indicated in the supplement information. Next, the generating unit 104 determines a plurality of variety groups by repeating an integration process for integrating two groups among the plurality of groups whose inter-group distance is equal to or less than the second threshold until each inter-group distance is longer than the second threshold. The inter-group distance is the distance between two groups, and is the average value of the distance between the specified position of the product 4 belonging to each of at least one supplementary variety included in one of the two groups and the specified position of the product 4 belonging to each of at least one supplementary variety included in the other group. As a result, the plurality of variety groups are determined such that the specified positions of the products 4 belonging to each of at least one supplementary variety included in the variety group are close to each other in each of the plurality of variety groups. In other words, a plurality of supplementary varieties whose specified positions of the products 4 are close to each other are included in one variety group. As a result, for each of a number of replenishment varieties whose specified positions for products 4 are close to each other, a variety group containing those multiple replenishment varieties can be determined, and appropriate grouping can be performed according to the distance between the specified positions.

The generating unit 104 may also periodically generate such group information. For example, the generating unit 104 may generate the latest group information at that time every hour, every two hours, or every three hours. That is, the generating unit 104 periodically generates group information. Then, the transmission processing unit 105 generates a control signal based on the latest group information generated each time the group information is generated, and causes the transmission unit 106 to transmit the control signal to the robot 10. Therefore, the worker 1 goes to pick up the product 4 placed on the replenishing table 31 at a timing that matches the period, and carries the product 4 to the product shelf 22 of the sales floor 20. By appropriately setting the period, it is possible to shorten the period during which the shortage of products continues in the sales floor 20, and to reduce the wasteful work of generating group information and transmitting a control signal to the robot 10 even when there is no shortage of products.

The generating unit 104 may also group the above-mentioned replenishment varieties within the range of one or more product shelves 22 lined up in a row toward one aisle 21. For example, in the layout shown in FIG. 7, the generating unit 104 may group the above-mentioned replenishment varieties within the range of the product shelf 22 with shelf ID "D", or within the range including each of the product shelves 22 with shelf IDs "D" and "E". Alternatively, the generating unit 104 may group the above-mentioned replenishment varieties within the range of two or more product shelves 22 lined up in two rows toward one aisle 21. For example, in the layout shown in FIG. 7, the generating unit 104 may group the above-mentioned replenishment varieties within the range including each of the product shelves 22 with shelf IDs "D" and "F", or within the range including each of the product shelves 22 with shelf IDs "D", "E", "F" and "G".

[Processing of transmission processing unit 105]
The transmission processing unit 105 generates a control signal using, for example, the warehouse information shown in FIG. 9 and the group information shown in FIG.

Figure 11 shows an example of a control signal generated by the transmission processing unit 105.

As described above, the control signal is a signal for causing the robot 10 installed in the warehouse 30 to carry out the transport work of the product 4, and indicates each of a plurality of control numbers and the control content corresponding to the control number, as shown in FIG. 11. In other words, the control signal indicates a plurality of control contents of the robot 10 to be executed in the order of the plurality of control numbers. The control contents include a movement position, an action, and a hand position. The movement position is a position to which the robot 10 is moved, and is indicated by x-axis coordinates and y-axis coordinates in the warehouse 30, similar to the storage position in the warehouse information. The action indicates the action of the robot hand 11a. The action is, for example, "grab" or "place". The hand position is a position of the robot hand 11a, and is indicated by x-axis coordinates, y-axis coordinates, and z-axis coordinates in the warehouse 30, similar to the storage position in the warehouse information.

For example, the control signal indicates a movement position (x, y) = (0.4, 0.5), an action "grab", and a hand position (x, y, z) = (0.5, 0.2, 1.0) as the control content corresponding to the control number "001". The movement position (x, y) = (0.4, 0.5) is near the inventory shelf 32 in the warehouse 30. In other words, the control signal indicates that the robot 10 moves to the movement position (x, y) = (0.4, 0.5) and the robot hand 11a moves to the hand position (x, y, z) = (0.5, 0.2, 1.0) to grab the product 4 on the inventory shelf 32.

The control signal indicates a movement position (x, y) = (0.4, 0.5), an action "Place", and a hand position (x, y, z) = (0.4, 0.55, 0.2) as the control content corresponding to the control number "002" following the control number "001". The hand position (x, y, z) = (0.4, 0.55, 0.2) is the position of the robot 10 inside the delivery case 13a. In other words, the control signal indicates that when the robot 10 is in the movement position (x, y) = (0.4, 0.5), the robot hand 11a moves to a hand position (x, y, z) = (0.4, 0.55, 0.2) and places the grasped product 4 inside the delivery case 13a.

The control signal also indicates the control content corresponding to each of the control numbers "003" and "004" following the control number "002". In other words, the control signal indicates that the robot 10 moves to the movement position (x, y) = (1.3, 2.8) and the robot hand 11a moves to the hand end position (x, y, z) = (1.4, 2.8, 0.6) to grab the product 4 on the inventory shelf 32. Furthermore, the control signal indicates that the robot hand 11a moves to the hand end position (x, y, z) = (1.3, 3.0, 0.2) to place the grabbed product 4 in the delivery case 13a.

The control signal also indicates the movement position (x, y) = (4.5, 0.7), the action "grab", and the hand position (x, y, z) = (4.5, 1.2, 0.2) as the control content corresponding to the control number "030". The movement position (x, y) = (4.5, 0.7) is near the refill tray 31 in the warehouse 30, and the hand position (x, y, z) = (4.5, 1.2, 0.2) is the position of the robot 10 in the delivery case 13a. In other words, the control signal indicates that the robot 10 moves to the movement position (x, y) = (4.5, 0.7) near the refill tray 31, and the robot hand 11a moves to the hand position (x, y, z) = (4.5, 1.2, 0.2) to grab the product 4 in the delivery case 13a.

The control signal indicates the movement position (x, y) = (0.4, 0.7), the action "Place", and the hand position (x, y, z) = (4.0, 0.6, 0.8) as the control content corresponding to the control number "031" following the control number "030". The hand position (x, y, z) = (4.0, 0.6, 0.8) is a position on the replenishment table 31. In other words, the control signal indicates that with the robot 10 at the movement position (x, y) = (0.4, 0.7), the robot hand 11a should move to the hand position (x, y, z) = (4.0, 0.6, 0.8) and place the grasped product 4 on the replenishment table 31.

When the transmission processing unit 105 generates such a control signal, it first searches the warehouse information shown in FIG. 9 for each replenishment variety indicated in the group information shown in FIG. 10. Then, when the transmission processing unit 105 finds a replenishment variety in the warehouse information, it identifies the storage location associated with the replenishment variety in the warehouse information.

When the transmission processing unit 105 identifies the storage location of each replenishment item, it determines the control content corresponding to each of the first control number and the second control number for removing the replenishment item from the inventory shelf 32 and placing it in the delivery case 13a. The control content corresponding to the first control number is, for example, the control content corresponding to the control number "001" shown in FIG. 11, and the control content corresponding to the second control number is, for example, the control content corresponding to the control number "002" shown in FIG. 11.

Specifically, the transmission processing unit 105 derives the movement position of the robot 10 from the storage position identified for the replenishment variety, and associates the action "grab" with the movement position. Furthermore, the transmission processing unit 105 determines the control content corresponding to the first control number by associating the storage position with the movement position as a hand position. For example, the transmission processing unit 105 may derive the x-axis and y-axis coordinates of the identified storage position as the x-axis and y-axis coordinates of the movement position of the robot 10. Alternatively, the transmission processing unit 105 may derive the movement position of the robot 10 by inputting the x-axis and y-axis coordinates of the identified storage position into an arithmetic expression or a conditional expression.

Next, the transmission processing unit 105 determines the control content corresponding to the second control number by associating the action "Place" with the movement position, and further associating the position within the delivery case 13a as the hand position. The x-axis and y-axis coordinates of the position within the delivery case 13a are derived by adding or subtracting a predetermined offset value according to the shape of the robot 10, etc., to the x-axis and y-axis coordinates of the movement position. In addition, the z-axis coordinate of the position within the delivery case 13a is determined to a value predetermined according to the shape of the robot 10, etc.

The transmission processing unit 105 repeats the determination of the control content corresponding to each of the first control number and the second control number for the number of replenishments associated with the replenishment variety in the group information. Furthermore, if the inventory quantity associated with the replenishment variety in the warehouse information is less than the replenishment quantity, the transmission processing unit 105 may repeat the determination of the above-mentioned control content for the number of replenishments. Alternatively, the transmission processing unit 105 may notify the worker 1 that there is a shortage of product 4 of the replenishment variety by displaying a message indicating that the inventory quantity is less than the replenishment quantity on the display unit 203. Then, when the transmission processing unit 105 confirms that the inventory quantity has become equal to or greater than the replenishment quantity due to the replenishment of product 4 by the worker 1, it may repeat the determination of the above-mentioned control content for the number of replenishments.

When the transmission processing unit 105 determines the control content corresponding to each of the above-mentioned first and second control numbers for the replenishment variety, it determines the control content corresponding to each of the third and fourth control numbers for placing the product 4 of that replenishment variety on the replenishment table 31. The control content corresponding to the third control number is, for example, the control content corresponding to the control number "030" shown in FIG. 11, and the control content corresponding to the fourth control number is, for example, the control content corresponding to the control number "031" shown in FIG. 11.

Specifically, the transmission processing unit 105 derives the movement position of the robot 10 from the position on the replenishment table 31 that is associated with the replenishment variety in the group information, and associates the action "grab" with the movement position. Furthermore, the transmission processing unit 105 determines the control content corresponding to the third control number by associating the position in the delivery case 13a with the movement position as the hand position. For example, the transmission processing unit 105 may derive the x-axis coordinate and y-axis coordinate that are previously associated with the position of the replenishment table 31 as the x-axis coordinate and y-axis coordinate of the movement position of the robot 10. The x-axis coordinate and y-axis coordinate of the position in the delivery case 13a are derived by adding or subtracting a predetermined offset value according to the shape of the robot 10, etc., to the x-axis coordinate and y-axis coordinate of the movement position. In addition, the z-axis coordinate of the position in the delivery case 13a is determined to a value that is previously determined according to the shape of the robot 10, etc.

Next, the transmission processing unit 105 associates the action "Place" with the movement position, and further associates the position on the replenishment table 31 that is associated with that replenishment variety in the group information as the hand position, thereby determining the control content that corresponds to the fourth control number.

The transmission processing unit 105 repeats the determination of the control content corresponding to each of the third and fourth control numbers as many times as the number of replenishments associated with the replenishment variety in the group information. In addition, if the inventory quantity associated with the replenishment variety in the warehouse information is less than the replenishment quantity, the transmission processing unit 105 may repeat the determination of the above-mentioned control content as many times as the number of inventory.

The transmission processing unit 105 generates the control signal shown in FIG. 11 by arranging the control contents thus determined in the order of the control numbers. The transmission unit 106 acquires the control signal thus generated from the transmission processing unit 105 and transmits the control signal to the robot 10.

When the robot 10 receives the control signal, it executes each control content indicated in the control signal in the order of their control numbers. As a result, in each area on the top surface of the replenishment table 31, each product 4 belonging to the variety group corresponding to that area is placed. In other words, the products 4 of each replenishment variety included in the variety group are placed in one area on the top surface of the replenishment table 31, the number of products 4 corresponding to the replenishment number indicated in the group information. Note that if the replenishment table 31 is divided into multiple tables, each product 4 belonging to a variety group is placed on the table corresponding to that variety group. The worker 1 carries each product 4 placed on the replenishment table 31 by variety group to one or more product shelves 22 in the sales floor 20. This makes it possible to replenish products 4 that are in short supply in the sales floor 20.

[Processing flow]
FIG. 12A is a flowchart showing the processing operation of the robot control device 100 in this embodiment.

First, the regulating information acquisition unit 102 of the robot control device 100 acquires the regulating information (step S10).

Next, the sales floor information acquisition unit 101 acquires sales floor information (step S20).

Next, the generation unit 104 generates group information using the regulation information and sales area information (step S30).

Next, the warehouse information acquisition unit 103 acquires warehouse information (step S40).

Next, the transmission processing unit 105 generates a control signal using the warehouse information and group information, and causes the transmission unit 106 to transmit the control signal to the robot 10 (step S50).

Figure 12B is a flowchart showing the details of the generation of group information. In other words, Figure 12B is a flowchart showing the detailed processing operation of step S30 shown in Figure 12A.

The generation unit 104 generates supplementary information and derives the distance between the respective specified positions of two or more supplementary varieties indicated by the supplementary information (step S31).

Then, the generation unit 104 generates group information using the derived distance (step S32).

As described above, in the robot control device 100 in this embodiment, the sales floor information acquisition unit 101 acquires sales floor information indicating the number of products 4 arranged on each of the multiple product shelves 22 installed in the sales floor 20 for each product type. The warehouse information acquisition unit 103 acquires warehouse information indicating the storage location of the products 4 stored in the warehouse 30 for each product type. The regulation information acquisition unit 102 acquires regulation information indicating the prescribed position and prescribed number of products 4 arranged in the sales floor 20 for each product type. Then, based on the sales floor information and the regulation information, the generation unit 104 generates replenishment information indicating two or more replenishment varieties, which are varieties to which products 4 having a number of products less than the prescribed number belong. Furthermore, the generation unit 104 generates group information indicating a plurality of product groups each consisting of at least one replenishment variety by grouping the two or more replenishment varieties indicated by the replenishment information based on the regulation information. Based on the generated group information and warehouse information, the transmission processing unit 105 and the transmission unit 106 generate a control signal for causing the robot 10 installed in the warehouse 30 to carry out the transport work of the product 4, and transmit the control signal to the robot 10. Here, in the above-mentioned grouping, the multiple product groups are determined such that the specified positions of the products 4 belonging to at least one replenishment product included in each of the multiple product groups are close to each other. Also, the above-mentioned transport work is a work of taking out the product 4 belonging to the replenishment product included in each of the multiple product groups from the storage position in the warehouse 30 associated with the replenishment product in the warehouse information, transporting it to the replenishment table 31 installed at the relay point between the sales floor 20 and the warehouse 30, and placing the taken out product 4 on the replenishment table 31.

As a result, the variety of the product 4 that is in short supply in the sales floor 20 is identified as a replenishment variety, and group information indicating a plurality of variety groups is generated by grouping two or more replenishment varieties. By this grouping, a plurality of replenishment varieties whose specified positions of the products 4 are close to each other are included in one variety group. Then, for each of such a plurality of variety groups, the product 4 of each replenishment variety included in the variety group is taken out by the robot 10 from the storage position of the product 4 in the warehouse 30, transported to the replenishment table 31, and placed on the replenishment table 31. As a result, the worker 1 can reduce the workload of walking around the warehouse 30 to collect the products 4 that are in short supply in the sales floor 20. Furthermore, if the worker 1 takes the products 4 of each replenishment variety included in each variety group from the replenishment table 31 for each variety group and carries them to one or more product shelves 22 of the sales floor 20 at once, the products 4 can be replenished while reducing the moving distance of the worker 1. In other words, it is possible to prevent the worker 1 from walking around from one end of the sales floor 20 to the other end in order to replenish the products 4. This makes it possible to more efficiently stock the sales floor 20 with products 4.

In the grouping in the above example, the multiple variety groups are determined so that the specified positions of the products 4 belonging to at least one replenishment variety included in each of the multiple variety groups are close to each other. However, the grouping is not limited to this type of grouping. In other words, grouping may be performed for two or more replenishment varieties indicated by the replenishment information based on the specified positions of the products indicated by the specified information to generate group information indicating multiple variety groups each consisting of at least one replenishment variety. Even in such a case, since grouping based on the specified information is performed for two or more replenishment varieties, the efficiency of replenishment of the products 4 to the sales floor 20 can be improved, as with the robot control device 100 described above. In addition, the replenishment table 31 may be a movable loading platform. This allows the products 4 placed on the replenishment table 31 to be transported by moving the replenishment table 31. Therefore, it is possible to eliminate the need to take the trouble of packing the products 4 placed on the replenishment table 31 into, for example, a cart in order to transport the products 4 placed on the replenishment table 31 to the product shelf 22. As a result, the efficiency of replenishment of the products 4 to the sales floor 20 can be improved.

In this embodiment, the robot 10 is provided with a cart 13. When the robot 10 performs the above-mentioned transport operation in accordance with the control signal, the robot 10 places products 4 belonging to at least one replenishment product included in the product group indicated in the group information on the cart 13 and moves them to the replenishment table 31. This allows the robot 10 to simultaneously remove all products 4 belonging to the product group from, for example, multiple inventory shelves 32 installed in the warehouse 30 and transport them to the replenishment table 31. In this embodiment, the robot 10 is provided with a cart 13, but the cart 13 is not required. In this case, the robot 10 may transport the product 4 to the replenishment table 31 every time it removes the product 4 from the inventory shelves 32 in the warehouse 30.

In addition, in this embodiment, the generation unit 104 may determine a predetermined position on the replenishment table 31 for each variety group determined by grouping, or may determine an optimal position on the replenishment table 31 for the variety group. For example, the generation unit 104 determines an area on the replenishment table 31 that is closest to the specified position of the product 4 of each replenishment variety included in the variety group, and associates the position on the replenishment table 31 indicating the closest area with the variety group in the group information. Therefore, in this case, the transmission processing unit 105 generates a control signal for placing the product 4 of each replenishment variety included in the variety group in an area on the replenishment table 31 that is closest to the specified position of the product 4, based on the group information. In other words, the transmission processing unit 105 determines an area on the replenishment table 31 that is closest to the specified position of the product 4 belonging to at least one replenishment variety included in the variety group, and generates a control signal indicating that the product 4 is to be placed in the determined area. As a result, each product 4 belonging to one product group is placed by the robot 10 in the area of the replenishment table 31 that is closest to the product shelf 22 on which the product 4 is placed. This reduces the distance that the worker 1 must carry the product 4 from the replenishment table 31 to the product shelf 22. This makes it possible to further improve the efficiency of replenishing the products 4 in the sales area 20. Note that if the replenishment table 31 is divided into multiple tables as shown in FIG. 4, the closest table is determined instead of the area of the closest replenishment table 31 described above.

In addition, in this embodiment, the sales floor information acquisition unit 101 may acquire the sell-by date of each product 4 placed in the sales floor 20, and for each product type, the number of products 4 belonging to that type that are placed on the product shelf 22 and have not passed their sell-by date may be determined as the placement number of the products 4. For example, if the product 4 is a food or drink, the sell-by date may be the best-before date or expiration date of the product 4. The sell-by date may also be written on the product 4 and may be acquired by image analysis, image recognition, or a learning model for a photographed image showing the product 4. As a result, even if a product 4 whose sell-by date has passed is placed on the product shelf 22, the number of the product 4 is not included in the placement number, and the product type of the product 4 can be treated as a replenishment product. As a result, the product shelf 22 can be replenished with products 4 whose sell-by date has not passed.

(Variation 1)
The robot control device in this modification limits the total number of replenishment items, which is the sum of the replenishment numbers of each replenishment type included in each of the multiple product groupings shown in the group information, to a limit number or less. In this modification, the limit number is determined according to the aisle width of each aisle 21 in the sales floor 20.

Figure 13 is a block diagram showing the functional configuration of the robot control device in this modified example.

The robot control device 151 in this modified example includes the components of the robot control device 100 in the above embodiment, and further includes a passage information acquisition unit 107 and a limit number determination unit 108.

The aisle information acquisition unit 107 acquires aisle information. This aisle information indicates the aisle width of each of one or more aisles 21 in the sales floor 20, and one or more product shelves 22 installed facing the aisles 21. Note that a product shelf 22 installed facing an aisle 21 is a product shelf 22 installed along the aisle 21, or a product shelf 22 adjacent to the aisle 21, and is a product shelf 22 from which products 4 can be taken in and out from the aisle 21.

For example, the aisle information acquisition unit 107 may acquire the aisle information from the memory unit 204, or may acquire the aisle information from the input unit 202 in response to an input operation by the worker 1 to the input unit 202. In addition, when the layout of the sales floor 20 is changed, such aisle information is updated in response to the change.

The limit number determination unit 108 acquires aisle information from the aisle information acquisition unit 107. Then, the limit number determination unit 108 determines the limit number of the total replenishment quantity of the variety group corresponding to the one or more aisles 21 indicated in the aisle information, based on the aisle width of each of the aisles 21. Note that the variety group corresponding to an aisle 21 is a group that includes replenishment varieties that are associated with the product shelves 22 of the aisle 21 in the specified information.

In this modified example, the generation unit 104 generates group information so that the total number of replenishments for each variety group is equal to or less than the limit number determined by the limit number determination unit 108.

Figure 14 shows an example of passage information.

As shown in FIG. 14, the aisle information indicates, for each of one or more aisles 21 in the sales floor 20, the aisle ID of that aisle 21, the aisle width of that aisle 21, and the shelf ID of the product shelf 22 adjacent to that aisle 21. The aisle ID is identification information assigned to the aisle 21 for identifying that aisle 21.

For example, if the layout of the sales floor 20 is as shown in FIG. 7, the aisle information indicates the aisle ID "P001" of the first aisle 21, the aisle width "1.0 m" of the aisle 21, and the shelf IDs "A", "B", and "C" of the product shelves 22 adjacent to the aisle 21. This first aisle 21 is an aisle along the Y-axis direction in the sales floor 20, and is the aisle on the most negative side in the X-axis direction. Similarly, the aisle information indicates the aisle ID "P002" of the second aisle 21, the aisle width "0.8 m" of the aisle 21, and the shelf IDs "D", "E", "F", and "G" of the product shelves 22 adjacent to the aisle 21. This second aisle 21 is an aisle along the Y-axis direction in the sales floor 20, and is the second aisle from the most negative side in the X-axis direction.

Figure 15 shows an example of limit number information used by the limit number determination unit 108.

The limit number determination unit 108 holds limit number information, for example, as shown in FIG. 15. The limit number information indicates the limit number corresponding to each range of aisle width. For example, the limit number information indicates a limit number "10" corresponding to the aisle width range "0.60 to 0.79 m", a limit number "15" corresponding to the aisle width range "0.80 to 0.99 m", and a limit number "20" corresponding to the aisle width range "1.00 to 1.19 m".

The limit number determination unit 108 determines the limit number of the variety group corresponding to each of one or more aisles 21 indicated in the aisle information by referring to the limit number information, and notifies the generation unit 104 of the determined limit number. For example, when the limit number determination unit 108 determines the limit number of the variety group corresponding to the aisle 21 of the aisle ID "P001", it first identifies the aisle width "1.0 m" of the aisle 21 of the aisle ID "P001" from the aisle information. Then, the limit number determination unit 108 refers to the limit number information and identifies the limit number "20" associated with the aisle width "1.0 m" in the limit number information. Therefore, the limit number determination unit 108 determines the limit number of the variety group corresponding to the aisle 21 of the aisle ID "P001" to "20", and notifies the generation unit 104 of the determined limit number "20". Here, in the aisle information, the shelf IDs "A", "B", and "C" are associated with the aisle ID "P001". Therefore, when the limit number determination unit 108 notifies the generation unit 104 of the determined limit number "20", it may notify the generation unit 104 of the shelf IDs "A", "B", and "C" together with the limit number "20" instead of the aisle ID "P001".

The generating unit 104 generates the group information shown in FIG. 10, for example, in the same manner as in the above embodiment. The generating unit 104 then adjusts each replenishment number indicated in the group information so that the total replenishment number for each variety group indicated in the group information is equal to or less than the limit number notified by the limit number determination unit 108.

For example, the generation unit 104 identifies the limit number corresponding to each replenishment variety included in each of the multiple variety groups shown in the group information. That is, the generation unit 104 refers to the specified information shown in (a) of FIG. 8 and identifies the shelf ID associated with the above-mentioned replenishment variety in the specified information. Furthermore, the generation unit 104 identifies the limit number notified from the above-mentioned limit number determination unit 108 together with the shelf ID. In this way, the limit number corresponding to each replenishment variety included in the variety group is identified. For each of the multiple variety groups, the generation unit 104 determines the smallest limit number among the limit numbers corresponding to each replenishment variety included in the variety group as the final limit number corresponding to the variety group. Then, the generation unit 104 compares the total replenishment number of the variety group with the final limit number. Here, if the total replenishment number exceeds the final limit number, the generation unit 104 reduces the replenishment number of each replenishment variety included in the variety group so that the total replenishment number is equal to or less than the final limit number.

Specifically, the generation unit 104 updates the replenishment number of each replenishment variety included in the variety group by subtracting 1 from the replenishment number. The generation unit 104 then calculates the total replenishment number of the variety group using the updated replenishment number. If the total replenishment number exceeds the final limit number, the generation unit 104 updates the replenishment number of each replenishment variety included in the variety group by subtracting 1 from the replenishment number again. The generation unit 104 keeps the total replenishment number below the final limit number by repeating such replenishment number updates. Furthermore, the generation unit 104 calculates the required replenishment number of the replenishment variety by subtracting the arrangement number indicated in the sales floor information from the minimum number indicated in the specified information for each replenishment variety, and may prohibit the updated replenishment number from becoming less than the required replenishment number when updating the replenishment number.

Alternatively, when generating the group information shown in FIG. 10, that is, at the stage of grouping, the generating unit 104 may prohibit the integration of the variety groups such that the total number of replenishment of the variety groups exceeds the limit number. For example, when the inter-group distance between the variety groups 1 and 2 is equal to or less than the second threshold, the generating unit 104 identifies the limit number corresponding to each replenishment variety included in the variety group 1, as described above. Furthermore, the generating unit 104 identifies the limit number corresponding to each replenishment variety included in the variety group 2. The generating unit 104 determines the minimum limit number from the limit numbers corresponding to each replenishment variety included in the variety group 1 and the limit number of each replenishment variety included in the variety group 2. Then, the generating unit 104 compares the provisional total number of replenishment when the variety groups 1 and 2 are integrated with the minimum limit number. Here, the generating unit 104 prohibits the integration of the variety groups 1 and 2 if the provisional total number of replenishment exceeds the minimum limit number. In other words, even if the inter-group distance between variety group 1 and variety group 2 is equal to or less than the second threshold, if the provisional total number of replenishment items exceeds the minimum limit as described above, the generation unit 104 prohibits merging of variety group 1 and variety group 2. Note that even if each of variety group 1 and variety group 2 contains only one replenishment variety, such merging is prohibited.

Figure 16 is a flowchart showing the details of the generation of group information in this modified example. Note that the robot control device 151 in this modified example operates according to the flowchart shown in Figure 12A, as in the above embodiment. The detailed processing in step S30 in Figure 12A differs between this modified example and the above embodiment. Figure 16 is a flowchart showing the detailed processing in step S30 in this modified example.

First, the passage information acquisition unit 107 of the robot control device 151 acquires passage information (step S33).

Next, the limit number determination unit 108 determines the limit number of the product group corresponding to each of the one or more aisles 21 indicated in the aisle information acquired in step S33 by referring to the limit number information (step S34).

Next, the generation unit 104 derives the distance between the respective specified positions of two or more supplementary varieties (step S31).

Then, the generation unit 104 generates group information using the limit number of variety groups determined in step S34 and the distance derived in step S31 (step S32a).

In this manner, in this modified example, in the sales floor 20, each of the multiple product shelves 22 is installed along the aisle 21 corresponding to that product shelf 22, among at least one aisle 21. The aisle information acquisition unit 107 then acquires aisle information indicating the width of each of the at least one aisle 21. The generation unit 104 then adjusts the total number of products 4 belonging to at least one replenishment variety included in the variety group according to the width of the aisle 21 corresponding to the product shelf 22 on which the products 4 are arranged, as indicated by the aisle information. Specifically, the limit number determination unit 108 determines the limit number according to the width of the aisle 21 corresponding to the product shelf 22 on which the products 4 belonging to at least one replenishment variety included in the variety group are arranged. The generation unit 104 then adjusts the above-mentioned total number in the variety group to be equal to or less than the limit number.

For example, when the aisle 21 is wide, the worker 1 can carry many products 4 to one or more product shelves 22 along the aisle 21 at once. Conversely, when the aisle 21 is narrow, the worker 1 cannot carry many products 4 to one or more product shelves 22 along the aisle 21 at once. Therefore, in this modified example, as described above, the total number of products 4 in the variety group is adjusted to be equal to or less than the limit number determined according to the width of the aisle 21. For example, when the aisle 21 is wide, a large limit number is determined, and conversely, when the aisle 21 is narrow, a small limit number is determined. Therefore, when the aisle 21 is wide, the worker 1 can carry many products 4 belonging to one variety group to one or more product shelves 22 corresponding to the aisle 21 at once. Also, even when the aisle 21 is narrow, the worker 1 can carry all products 4 belonging to one variety group to one or more product shelves 22 corresponding to the aisle 21 at once. This makes it possible to further improve the efficiency of replenishing the products 4 in the sales floor 20.

(Variation 2)
In this modified example, when generating group information, if a variety identified based on the location and number of customers in the sales area 20 is indicated as a replenishment variety in the replenishment information, the robot control device excludes the identified replenishment variety from the grouping targets.

Figure 17 is a block diagram showing the functional configuration of the robot control device in this modified example.

The robot control device 152 in this modified example includes each of the components of the robot control device 100 in the above embodiment, and further includes a customer information acquisition unit 109.

The customer information acquisition unit 109 acquires customer information. This customer information indicates the number of customers around each of the multiple product shelves 22 installed in the sales area 20. The number of customers is also referred to as the customer count hereinafter.

For example, the customer information acquisition unit 109 acquires customer information from the detection result of the detection unit 201. Specifically, the detection unit 201 generates one or more captured images by capturing an image of the surroundings including each of the multiple product shelves 22, and transmits the one or more captured images to the customer information acquisition unit 109 as the detection result. The customer information acquisition unit 109 acquires customer information by identifying in real time the number of customers around each of the multiple product shelves 22 shown in each of the one or more captured images. Note that in the above example, the detection unit 201 is a plurality of cameras 23 attached to the ceiling or walls of the store 2, but may also be a laser range finder disposed on each of the multiple product shelves 22. In this case, the customer information acquisition unit 109 acquires customer information from the detection results of the laser range finders.

In this modified example, the generation unit 104 identifies the variety of product 4 placed on the product shelf 22 that is associated with a number of customers equal to or greater than a threshold in the customer information. Then, when generating group information, if the identified variety is indicated as a replenishment variety in the replenishment information, the generation unit 104 excludes the identified replenishment variety from the grouping targets. Note that the above-mentioned threshold for the number of customers is also referred to as the first threshold below.

Figure 18 shows an example of customer information.

As shown in FIG. 18, the customer information indicates, for each of the multiple product shelves 22 set up in the sales floor 20, the shelf ID of that product shelf 22 and the number of customers around that product shelf 22, i.e., within 0.5 m of the product shelf 22. For example, the customer information indicates the shelf ID "A" of the product shelf 22 and the number of customers "10" within 0.5 m of that product shelf 22. In other words, the customer information indicates that there are 10 customers around the product shelf 22 with shelf ID "A".

The generating unit 104 generates group information using such customer information. For example, the generating unit 104 searches for a product shelf 22 associated with a number of customers equal to or greater than the first threshold in the customer information. Specifically, the generating unit 104 finds the product shelf 22 with shelf ID "A" from the customer information shown in FIG. 18 as a product shelf 22 associated with a number of customers equal to or greater than the first threshold = 5. Then, the generating unit 104 specifies the varieties "ID01", "ID02", and "ID03" associated with the shelf ID "A" in the stipulated information as the varieties of the product 4 arranged on the product shelf 22 with shelf ID "A". Next, the generating unit 104 determines whether or not each of the specified varieties "ID01", "ID02", and "ID03" is included in two or more replenishment varieties shown in the replenishment information. Here, when the generating unit 104 determines that the variety "ID01" is included in the two or more replenishment varieties, it excludes the replenishment variety that is the variety "ID01" from the grouping targets. As a result, the generation unit 104 generates group information that indicates multiple product groups that do not each include the supplement product "ID01."

Figure 19 is a flowchart showing the details of the generation of group information in this modified example. Note that the robot control device 152 in this modified example operates according to the flowchart shown in Figure 12A, as in the above embodiment. The detailed processing in step S30 in Figure 12A differs between this modified example and the above embodiment. Figure 19 is a flowchart showing the detailed processing in step S30 in this modified example.

First, the customer information acquisition unit 109 of the robot control device 152 acquires customer information (step S35).

Next, the generation unit 104 derives the distance between the respective specified positions of two or more supplementary varieties (step S31).

Then, the generation unit 104 generates group information using the customer information acquired in step S35 and the distance derived in step S31 (step S32b).

In this manner, in this modified example, the customer information acquisition unit 109 acquires customer information indicating the number of customers around each of the multiple product shelves 22. The generation unit 104 then determines multiple product variety groups based on the customer information. Specifically, the generation unit 104 removes from the two or more replenishment products indicated in the replenishment information the product variety of the product 4 to be placed on the product shelf 22, among the multiple product shelves 22, for which the number of customers indicated in the customer information is equal to or greater than a first threshold value. The generation unit 104 then determines multiple product variety groups by grouping the two or more replenishment products from which the product variety has been removed, using the specified information.

As a result, even if there is a shortage of product 4 on a product shelf 22, if many customers are gathered around that product shelf 22, that variety of product 4 is not treated as a replenishment variety, and that product 4 is not replenished. Therefore, it is possible to prevent the replenishment of product 4, which may be a nuisance to many customers.

(Variation 3)
The robot control device in this modification limits the total replenishment number, which is the sum of the replenishment numbers of each replenishment variety contained in each of the multiple variety groups indicated in the group information, to a limit number or less. In this modification, the limit number is determined according to the means for transporting the products 4 from the replenishment table 31 to each product shelf 22 in the sales floor 20. Note that such means for transporting the products 4 will hereinafter be referred to as transport means.

Figure 20 is a block diagram showing the functional configuration of the robot control device in this modified example.

The robot control device 153 in this modified example includes the components of the robot control device 100 in the above embodiment, and further includes a transport information acquisition unit 110 and a limit number determination unit 111.

The transport information acquisition unit 110 acquires the transport information. This transport information is information indicating the transport means. In other words, the transport information indicates the means used by the worker 1 to transport the replenishment variety product 4 from the replenishment table 31 to each product shelf 22 in the sales floor 20. Specific examples of such transport means are a cart, a tray, or a container. The transport means may be a hand-held means in which the worker 1 carries the product 4 by hand without using any tools, or a hand-held means in which the worker 1 carries the product 4 by holding it in his/her arm. For example, the transport information acquisition unit 110 may acquire the transport information from the memory unit 204, or may acquire the transport information from the input unit 202 in response to an input operation by the worker 1 to the input unit 202.

The limit number determination unit 111 acquires transportation information from the transportation information acquisition unit 110. Then, the limit number determination unit 111 determines the limit number for the total replenishment quantity of the variety group based on the transportation means indicated in the transportation information.

In this modified example, the generation unit 104 generates group information so that the total number of replenishments for each variety group is equal to or less than the limit number determined by the limit number determination unit 111.

Figure 21 shows an example of limit number information used by the limit number determination unit 111.

The limit number determination unit 111 holds limit number information, for example, as shown in FIG. 21. The limit number information indicates the limit number corresponding to each transportation means. For example, the limit number information indicates a limit number of "40" corresponding to the transportation means "cart," a limit number of "25" corresponding to the transportation means "tray," and a limit number of "5" corresponding to the transportation means "handheld."

The limit number determination unit 111 determines the limit number of the variety group corresponding to the transportation means indicated in the transportation information by referring to the limit number information, and notifies the generation unit 104 of the determined limit number. For example, when the transportation information indicates the transportation means "cart", the limit number determination unit 111 refers to the limit number information and identifies the limit number "40" associated with the transportation means "cart" in the limit number information. The limit number determination unit 111 determines the limit number of the variety group to "40" by identifying the limit number in this way. Then, the limit number determination unit 111 notifies the generation unit 104 of the determined limit number "40". Similarly, when the transportation information indicates the transportation means "handheld", the limit number determination unit 111 refers to the limit number information and identifies the limit number "5" associated with the transportation means "handheld" in the limit number information. The limit number determination unit 111 determines the limit number of the variety group to "5" by identifying the limit number in this way. The limit number determination unit 111 then notifies the generation unit 104 of the determined limit number "5".

The generating unit 104 generates the group information shown in FIG. 10, for example, in the same manner as in the above embodiment. The generating unit 104 then adjusts each replenishment number indicated in the group information so that the total replenishment number for each variety group indicated in the group information is equal to or less than the limit number notified by the limit number determination unit 111.

For example, the generation unit 104 receives a notification from the limit number determination unit 111 indicating that the limit number for a variety group is "40". The generation unit 104 compares the total replenishment number for each of the multiple variety groups shown in the group information in FIG. 10 with the limit number "40". Here, if there is a variety group among the multiple variety groups whose total replenishment number exceeds the limit number "40", the generation unit 104 reduces the replenishment number of each replenishment variety included in that variety group so that the total replenishment number is equal to or less than the limit number "40".

Specifically, the generation unit 104 updates the replenishment number of each replenishment variety included in the variety group by subtracting 1 from the replenishment number. The generation unit 104 then calculates the total replenishment number of the variety group using the updated replenishment number. If the total replenishment number exceeds the limit number "40", the generation unit 104 updates the replenishment number again by subtracting 1 from the replenishment number of each replenishment variety included in the variety group. The generation unit 104 keeps the total replenishment number at or below the limit number "40" by repeating such replenishment number updates. In addition, the generation unit 104 calculates the required replenishment number of the replenishment variety by subtracting the arrangement number indicated in the sales floor information from the minimum number indicated in the specified information for each replenishment variety, and may prohibit the updated replenishment number from becoming less than the required replenishment number when updating the replenishment number.

Alternatively, when generating the group information shown in FIG. 10, that is, at the grouping stage, the generating unit 104 may prohibit merging of product groups that would cause the total number of replenishment of the product groups to exceed the limit number.

Figure 22 is a flowchart showing the details of the generation of group information in this modified example. Note that the robot control device 153 in this modified example operates according to the flowchart shown in Figure 12A, as in the above embodiment. The detailed processing in step S30 in Figure 12A differs between this modified example and the above embodiment. Figure 22 is a flowchart showing the detailed processing in step S30 in this modified example.

First, the transport information acquisition unit 110 of the robot control device 151 acquires transport information (step S36).

Next, the limit number determination unit 111 determines the limit number for the product group corresponding to the transportation means indicated in the transportation information acquired in step S36 by referring to the limit number information (step S37).

Next, the generation unit 104 derives the distance between the respective specified positions of two or more supplementary varieties (step S31).

Then, the generation unit 104 generates group information using the limit number of variety groups determined in step S37 and the distance derived in step S31 (step S32c).

In this manner, in this modified example, the transport information acquisition unit 110 acquires transport information indicating the transport means for transporting the products 4 from the replenishment table 31 to each of the multiple product shelves 22. The generation unit 104 then adjusts the total number of products 4 belonging to at least one replenishment variety included in the variety group according to the transport means indicated by the transport information. Specifically, the limit number determination unit 111 determines the limit number for the variety group according to the transport means indicated by the transport information. The generation unit 104 then adjusts the above-mentioned total number in the variety group to be equal to or less than the limit number.

For example, when the transportation means is a cart, the worker 1 can use the cart to transport many products 4 of at least one replenishment variety included in one variety group at once. On the other hand, when the transportation means is handheld, the worker 1 cannot transport many products 4 at once. Therefore, in this modified example, as described above, the total number of products 4 in the variety group is adjusted to be equal to or less than the limit number determined according to the transportation means. For example, when the transportation means is a cart, a large limit number is determined, and conversely, when the transportation means is handheld, a small limit number is determined. Therefore, when the transportation means is a cart, the worker 1 can transport many products 4 belonging to one variety group to one or more product shelves 22 in the sales floor 20 at once. Also, even when the transportation means is handheld, the worker 1 can transport all products 4 belonging to one variety group to one or more product shelves 22 in the sales floor 20 at once. This can further improve the efficiency of replenishing products 4 in the sales floor 20.

(Variation 4)
In generating group information, the robot control device 100 in this modification determines multiple product groupings based not only on the distance between the respective specified positions of two or more replenishment products but also on the installation relationship of the multiple product shelves 22. Then, the robot control device 100 generates group information indicating these multiple product groups. The installation relationship of the multiple product shelves 22 is a relationship in which the multiple product shelves 22 are installed along the same aisle 21 and are installed facing each other across the aisle 21, which is also called a face-to-face relationship. The robot control device 100 in this modification has the same configuration as the above embodiment.

Figure 23 shows an example of the stipulation information in this modified example.

The stipulated information acquisition unit 102 in this modified example acquires, for example, the stipulated information shown in FIG. 23. This stipulated information shows the same content as the stipulated information shown in FIG. 8(a) in the above embodiment, and further shows, for each of the multiple shelf IDs, the shelf ID of the product shelf 22 in the same aisle 21 as the product shelf 22 of that shelf ID. In other words, for each of the multiple product shelves 22, this stipulated information shows the shelf ID of at least one other product shelf 22 that is in the above-mentioned facing relationship with that product shelf 22. Specifically, the stipulated information shows that the product shelf 22 of shelf ID "A" is in a facing relationship with the product shelf 22 of shelf ID "B" and the product shelf 22 of shelf ID "C". Similarly, the stipulated information shows that the product shelf 22 of shelf ID "B" is in a facing relationship with the product shelf 22 of shelf ID "A" and the product shelf 22 of shelf ID "C". In other words, as shown in the layout in FIG. 7, the product shelf 22 with shelf ID "A", the product shelf 22 with shelf ID "B", and the product shelf 22 with shelf ID "C" are installed along the same aisle 21 and are installed facing each other across the aisle 21. Therefore, these product shelves 22 are in a face-to-face relationship. Note that the product shelf 22 with shelf ID "B" is installed adjacent to the product shelf 22 with shelf ID "C", but faces the product shelf 22 with shelf ID "A", so it can be said to be in a face-to-face relationship with the product shelf 22 with shelf ID "C".

When the generating unit 104 in this modified example acquires such specified information, it generates a variety group within the range of a plurality of product shelves 22 that are in a mutually facing relationship. In other words, when the inter-group distance between the variety group 1 and the variety group 2 is equal to or less than the second threshold, the generating unit 104 identifies the product shelf 22 on which the product 4 of the replenishment variety included in the variety group 1 is arranged and the product shelf 22 on which the product 4 of the replenishment variety included in the variety group 2 is arranged. Then, the generating unit 104 judges whether or not the two identified product shelves 22 are in the above-mentioned facing relationship. For example, the generating unit 104 refers to the specified information shown in FIG. 23 and judges whether or not the shelf ID of the product shelf 22 of the variety group 1 is associated with the shelf ID of the product shelf 22 of the variety group 2 in the specified information. Here, when the shelf IDs are associated in the specified information, the generating unit 104 merges the variety group 1 and the variety group 2 because the above-mentioned two product shelves 22 are in the above-mentioned facing relationship. On the other hand, if the shelf IDs are not associated in the stipulated information, the generation unit 104 prohibits merging of product group 1 and product group 2 even if the inter-group distance is equal to or less than the second threshold value, since the two product shelves 22 are not in the face-to-face relationship described above. Note that even if each of product group 1 and product group 2 contains only one supplementary product variety, such merging is prohibited. In this modified example, the final multiple product groups are determined by merging the product groups in this way.

Figure 24 is a flowchart showing the details of the generation of group information in this modified example. Note that the robot control device 100 in this modified example operates according to the flowchart shown in Figure 12A, as in the above embodiment. The detailed processing in step S30 in Figure 12A differs between this modified example and the above embodiment. Figure 24 is a flowchart showing the detailed processing in step S30 in this modified example.

First, the generation unit 104 of the robot control device 100 derives the distance between the respective specified positions of two or more replenishment varieties (step S31).

Then, the generation unit 104 generates group information using the facing relationship of the multiple product shelves 22 indicated in the specified information and the distance derived in step S31 (step S32d).

In this manner, in this modified example, multiple product groups are determined based on not only the distance but also the facing relationship, and group information including the multiple product groups is generated. For example, in the layout shown in FIG. 7, the product shelf 22 with shelf ID "D" is not facing the product shelf 22 with shelf ID "B". Therefore, even if the distance between the specified position of the product 4 of the replenishment product to be placed on the product shelf 22 with shelf ID "D" and the specified position of the product 4 of the replenishment product to be placed on the product shelf 22 with shelf ID "B" is equal to or less than the second threshold, the product group including the replenishment product corresponding to shelf ID "D" is prohibited from being integrated with the product group including the replenishment product corresponding to shelf ID "B". In other words, the product 4 of the replenishment product to be placed on the product shelf 22 with shelf ID "D" and the product 4 of the replenishment product to be placed on the product shelf 22 with shelf ID "B" are close to each other, but the product shelves 22 are behind each other. Therefore, if these replenishment varieties are included in the same variety group, the worker 1 must go around the product shelves 22 to carry each product 4 belonging to that variety group to each product shelf 22, and must travel a relatively long distance. However, in this modified example, such a variety group determination is prohibited. Therefore, the worker 1 does not have to go around the product shelves 22 to carry each product 4 belonging to a variety group to each product shelf 22, and can carry those products 4 to each product shelf 22 by traveling a relatively short distance. This can further improve the efficiency of replenishing the products 4 in the sales floor 20.

In this modified example, the group information is generated based on the distance between the respective specified positions of the two or more replenishment varieties and the facing relationship of the multiple product shelves 22, but the group information may be generated based on the facing relationship without using the distance. In other words, the generation unit 104 determines one variety group within the range of the products 4 arranged on each of the multiple product shelves 22 in the facing relationship. Note that the multiple product shelves 22 in such a facing relationship are indicated by the shelf ID in the specified information of FIG. 23 and the shelf ID of the product shelf 22 in the same aisle 21 as the product shelf 22 with that shelf ID. In other words, when performing grouping, the generation unit 104 determines multiple variety groups such that, in each of the multiple variety groups, replenishment varieties that have a specified position on each of two or more product shelves 22 that face each other across the aisle 21 of the sales floor 20 are included in the variety group. Therefore, even in such a case, similar to the above embodiment, the worker 1 can replenish the products 4 of each replenishment variety included in each variety group by taking them from the replenishment table 31 and carrying them to one or more product shelves 22 in the sales floor 20 at once, while minimizing the travel distance of the worker 1. This can improve the efficiency of replenishing the products 4 in the sales floor 20.

In addition, in this modified example, multiple product shelves 22 that are in a face-to-face relationship are shown in the specified information, but multiple product shelves 22 that are in a back-to-back relationship may also be shown in the specified information. A back-to-back relationship is a relationship in which multiple product shelves 22 are installed behind each other, such as the product shelf 22 with shelf ID "B" and the product shelf 22 with shelf ID "D" in the layout of Figure 7. In this case, the generation unit 104 generates group information such that the replenishment varieties of products 4 placed on each of the multiple product shelves 22 that are in a back-to-back relationship are not included in a single variety group.

In addition, in this modified example, when grouping two or more replenishment varieties, the Euclidean distance is used for the distance between the specified positions of the replenishment varieties. However, on the XY plane in the sales floor 20, the path along the aisle 21 may be used instead of the Euclidean distance. In this case, the path between the specified positions of the products 4 of the replenishment varieties arranged on each of the multiple product shelves 22 facing each other can be calculated to be short, and conversely, the path between the specified positions of the products 4 of the replenishment varieties arranged on each of the multiple product shelves 22 facing each other can be calculated to be long. This makes it easier for the replenishment varieties of the multiple product shelves 22 facing each other to be included in one variety group, and makes it harder for the replenishment varieties of the multiple product shelves 22 facing each other to be included in one variety group. Therefore, the worker 1 can replenish multiple products 4 belonging to a variety group while reducing the travel distance, as described above.

(Variation 5)
The robot control device in this modification limits the total number of replenishment items, which is the sum of the replenishment numbers of each replenishment type included in each of the multiple product groupings indicated in the group information, to a limit number. In this modification, the limit number is determined according to the size of each area on the top surface of the replenishment table 31.

Figure 25 is a block diagram showing the functional configuration of the robot control device in this modified example.

The robot control device 151 in this modified example includes the components of the robot control device 100 in the above embodiment, and further includes an area information acquisition unit 112 and a limit number determination unit 113.

The area information acquisition unit 112 acquires area information. This area information indicates the size of each area on the top surface of the refill stand 31. Note that if the refill stand 31 is divided into multiple stands as shown in FIG. 4, the area information indicates the size of the areas on the top surfaces of those stands.

For example, the area information acquisition unit 112 may acquire the area information from the memory unit 204, or may acquire the area information from the input unit 202 in response to an input operation by the worker 1 to the input unit 202. In addition, when the configuration of the refill table 31 is changed, such area information is updated in response to the change.

The limit number determination unit 113 acquires area information from the area information acquisition unit 112. Then, based on the size of each of the multiple areas indicated in the area information, the limit number determination unit 113 determines the limit number for the total number of replenishments for the variety group corresponding to that area.

In this modified example, the generation unit 104 generates group information so that the total number of replenishments for each variety group is equal to or less than the limit number determined by the limit number determination unit 113.

Figure 26 shows an example of area information.

As shown in FIG. 26, the area information indicates, for each of the multiple areas on the replenishment table 31, the position on the replenishment table 31 that corresponds to that area and the size of that area.

For example, the area information indicates a position "001" on the replenishment table 31 and a size of the area at that position of "0.52 ^m2 . Similarly, the area information indicates a position "002" on the replenishment table 31 and a size of the area at that position of "0.73 ^m2 , and indicates a position "003" on the replenishment table 31 and a size of the area at that position of "0.95 ^m2 .

Figure 27 shows an example of limit number information used by the limit number determination unit 113.

The limit number determination unit 113 holds limit number information shown in Fig. 27, for example. The limit number information indicates the limit number corresponding to each size range of the region. For example, the limit number information indicates a limit number "10" corresponding to the size range "0.50 to 0.69 ^m2 ", a limit number "15" corresponding to the size range "0.70 to 0.89 ^m2 ", and a limit number "20" corresponding to the size range "0.90 to ^1.09 m2".

The limit number determination unit 113 determines the limit number of the variety group corresponding to each of the multiple regions indicated in the region information by referring to the limit number information, and notifies the generation unit 104 of the determined limit number. For example, when the limit number determination unit 113 determines the limit number of the variety group corresponding to the region at position "001" on the replenishment stand 31, the limit number determination unit 113 first specifies the size of the region at position "001", which is "0.52 m ² ", from the region information. The limit number determination unit 113 then refers to the limit number information and specifies the limit number "10" associated with the size "0.52 m ² " in the limit number information. Therefore, the limit number determination unit 113 determines the limit number of the variety group corresponding to the region at position "001" on the replenishment stand 31 to be "10", and notifies the generation unit 104 of the determined limit number "10". At this time, the limit number determination unit 108 notifies the generation unit 104 of the position "001" on the replenishment stand 31 together with the limit number "10".

The generating unit 104 generates the group information shown in FIG. 10, for example, in the same manner as in the above embodiment. The generating unit 104 then adjusts each replenishment number indicated in the group information so that the total replenishment number for each variety group indicated in the group information is equal to or less than the limit number notified by the limit number determination unit 113.

For example, the generation unit 104 identifies the limit number corresponding to each of the multiple variety groups shown in the group information. Specifically, the generation unit 104 receives a notification from the above-mentioned limit number determination unit 113 informing it of the position on the replenishment table 31 and the limit number. The generation unit 104 then identifies the notified limit number for the variety group associated with the notified position on the replenishment table 31, among the multiple variety groups shown in the group information. This identifies the limit number corresponding to each of the multiple variety groups shown in the group information. The generation unit 104 then compares the total replenishment number of the variety group with the limit number identified for that variety group. Here, if the total replenishment number exceeds the limit number, the generation unit 104 reduces the replenishment number of each replenishment variety included in that variety group so that the total replenishment number is equal to or less than the limit number.

Specifically, the generation unit 104 updates the replenishment number of each replenishment variety included in the variety group by subtracting 1 from the replenishment number. The generation unit 104 then calculates the total replenishment number of the variety group using the updated replenishment number. If the total replenishment number exceeds the limit number, the generation unit 104 updates the replenishment number again by subtracting 1 from the replenishment number of each replenishment variety included in the variety group. The generation unit 104 keeps the total replenishment number below the limit number by repeating such updating of the replenishment number. Furthermore, the generation unit 104 calculates the required replenishment number of the replenishment variety by subtracting the arrangement number indicated in the sales floor information from the minimum number indicated in the specified information for each replenishment variety, and may prohibit the updated replenishment number from becoming less than the required replenishment number when updating the replenishment number.

Figure 28 is a flowchart showing the details of the generation of group information in this modified example. Note that the robot control device 154 in this modified example operates according to the flowchart shown in Figure 12A, as in the above embodiment. The detailed processing in step S30 in Figure 12A differs between this modified example and the above embodiment. Figure 28 is a flowchart showing the detailed processing in step S30 in this modified example.

First, the area information acquisition unit 112 of the robot control device 154 acquires area information (step S38).

Next, the limit number determination unit 113 determines the limit number of the variety group corresponding to each of the multiple areas indicated in the area information acquired in step S38 by referring to the limit number information (step S39).

Next, the generation unit 104 derives the distance between the respective specified positions of two or more supplementary varieties (step S31).

Then, the generation unit 104 generates group information using the limit number of variety groups determined in step S39 and the distance derived in step S31 (step S32e).

In this manner, in this modified example, the area information acquisition unit 112 acquires area information indicating the size of each of the multiple areas in the replenishment table 31. The generation unit 104 then adjusts the total number of products 4 belonging to at least one replenishment variety included in the variety group according to the size of the area indicated in the area information, which is the size of the area among the multiple areas that corresponds to that variety group. Specifically, the limit number determination unit 113 determines the limit number according to the size of the area that corresponds to that variety group. The generation unit 104 then adjusts the above-mentioned total number in that variety group to be equal to or less than the limit number.

For example, if the area of the refill table 31 is large, the worker 1 can place many products 4 of at least one refill variety included in one variety group in that area. On the other hand, if the area of the refill table 31 is small, the worker 1 cannot place many products 4 in that area. Therefore, in this modified example, as described above, the total number of products 4 in a variety group is adjusted to be equal to or less than the limit number determined according to the size of the area of the refill table 31 corresponding to that variety group. For example, if the area of the refill table 31 is large, a large limit number is determined, and conversely, if the area of the refill table 31 is small, a small limit number is determined. Therefore, if the area of the refill table 31 is large, the robot 10 can place many products 4 belonging to one variety group in that area at once. Also, even if the area of the refill table 31 is small, the robot 10 can place all products 4 belonging to one variety group in that area at once. This makes it possible to further improve the efficiency of refilling products 4 to the sales floor 20.

Although the robot control device according to one or more aspects of the present disclosure has been described above based on at least one embodiment, the present disclosure is not limited to that embodiment. As long as it does not deviate from the spirit of the present disclosure, various modifications conceived by a person skilled in the art may also be included in the present disclosure. Furthermore, if there are multiple different embodiments, the present disclosure may also include a form constructed by combining the components of those embodiments. Furthermore, if there is at least one modified example, the present disclosure may also include a form constructed by combining the components of at least one embodiment and at least one modified example. Furthermore, if there are multiple different modified examples, the present disclosure may also include a form constructed by combining the components of those modified examples.

For example, when the robot 10 has placed all of the products 4 of each replenishment variety indicated in the group information on the replenishment table 31, it may notify the robot control device 100 that placement of all of the products 4 on the replenishment table 31 has been completed. In this case, upon receiving the notification, the robot control device 100 may display the contents of the notification on the display unit 203. This allows the worker 1 to start replenishing the products 4 from the replenishment table 31 to the product shelf 22 at the appropriate time, according to the contents of the notification displayed on the display unit 203.

In addition, the store 2 in the above embodiment and each of its modified examples has a sales floor 20 and a warehouse 30 adjacent to each other, but the sales floor 20 and the warehouse 30 may be separated. The refill table 31 is installed near the entrance 3 in the warehouse 30, but it may be installed in the sales floor 20, or if the sales floor 20 and the warehouse 30 are separated, it may be installed at a midpoint between them. The size of the refill table 31 may be a size according to the size of the store 2, or a size according to the type, size, and number of products 4. The refill table 31 may be a cart or a case.

In the above embodiment, as shown in FIG. 6, the sales floor information indicates the dimensions of each product 4 for each type of product 4, but these dimensions may be used when the product 4 is placed on the replenishment table 31. For example, when placing a product 4 in a specified area on the replenishment table 31, the robot 10 determines whether or not the product 4 can be placed in the specified area based on the dimensions of the product 4, and places the product 4 if it determines that it can. The robot 10 may also determine whether or not other products 4 can be stacked on top of products 4 already placed on the replenishment table 31 based on the dimensions of those products 4.

In addition, in the above embodiment, the group average method is used for grouping, i.e., clustering, of two or more supplementary varieties, but the group average method is only one example, and other clustering methods such as the center of gravity method may be used. Furthermore, the k-means method may be used for clustering. Even when using these methods, clustering is performed so that multiple supplementary varieties that are close to each other in specified positions are included in each variety group.

In at least one of the above embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Here, the software that realizes the robot control device of the above embodiment or each modified example is a program such as the following. That is, this program causes a computer to execute each step included in the flowcharts shown in Figures 12A, 12B, 16, 19, 22, 24, and 28.

The following cases are also included in this disclosure:

(1) The at least one device is specifically a computer system consisting of a microprocessor, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk unit, a display unit, a keyboard, a mouse, etc. A computer program is stored in the RAM or hard disk unit. The at least one device achieves its functions by the microprocessor operating in accordance with the computer program. Here, the computer program is composed of a combination of multiple instruction codes that indicate commands for the computer to achieve a specified function.

(2) Some or all of the components constituting at least one of the above devices may be composed of a single system LSI (Large Scale Integration). A system LSI is an ultra-multifunctional LSI manufactured by integrating multiple components on a single chip, and specifically, is a computer system comprising a microprocessor, ROM, RAM, etc. A computer program is stored in the RAM. The system LSI achieves its functions when the microprocessor operates in accordance with the computer program.

(3) Some or all of the components constituting at least one of the above devices may be composed of an IC card or a standalone module that is detachable from the device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include the above-mentioned ultra-multifunction LSI. The IC card or module achieves its functions when the microprocessor operates according to a computer program. This IC card or module may be tamper-resistant.

(4) The present disclosure may be the methods described above. It may also be a computer program that realizes these methods by a computer, or a digital signal that is a computer program.

The present disclosure may also be a computer program or a digital signal recorded on a computer-readable recording medium, such as a flexible disk, a hard disk, a CD (Compact Disc)-ROM, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, or the like. It may also be a digital signal recorded on such a recording medium.

The present disclosure may also involve the transmission of computer programs or digital signals via telecommunications lines, wireless or wired communication lines, networks such as the Internet, data broadcasting, etc.

The program or digital signal may also be implemented by another independent computer system by recording it on a recording medium and transferring it, or by transferring the program or digital signal via a network, etc.

This disclosure can be used in systems or devices for retrieving products from a warehouse and replenishing them on a sales floor.

LIST OF SYMBOLS 1 Worker 2 Store 3 Entrance/Exit 4 Product 10 Robot 11 Arm 11a Robot hand 12 Main body 13 Cart 13a Delivery case 20 Sales floor 21 Aisle 22 Product shelf 23 Camera 30 Warehouse 31 Replenishment table 31a to 31c Unit 32 Stock shelf 100, 151 to 154 Robot control device 101 Sales floor information acquisition unit 102 Regulation information acquisition unit 103 Warehouse information acquisition unit 104 Generation unit 105 Transmission processing unit 106 Transmission unit 107 Aisle information acquisition unit 108, 111, 113 Limit number determination unit 109 Customer information acquisition unit 110 Transport information acquisition unit 112 Area information acquisition unit 201 Detection unit 202 Input unit 203 Display unit 204 Memory unit

Claims (14)

A robot control method in which a computer controls a robot, comprising:
acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in the sales floor for each product type;
Obtaining warehouse information indicating the storage locations of products stored in a warehouse for each type of the products;
acquires regulation information indicating a prescribed position and a prescribed number of products to be arranged in the sales area for each type of the products;
generating replenishment information indicating two or more replenishment varieties, which are varieties to which the products whose number of placements is less than the specified number belong, based on the selling area information and the specified information;
generating group information indicating a plurality of product groupings, each of which is made up of at least one of the supplementary product varieties, by grouping the two or more supplementary product varieties indicated by the supplementary information based on the specified information;
generating a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information, and transmitting the control signal to the robot;
In the grouping, for each of the plurality of product groups,
(1) The specified positions of the products belonging to at least one of the supplementary varieties included in the variety group are close to each other, or
(2) The supplementary product group includes the product types that have the specified positions on two or more product shelves that face each other across an aisle in the sales area.
determining said plurality of product groupings;
The transport operation includes:
a task of taking out a product belonging to the replenishment product type included in each of the plurality of product groups from the storage location of the warehouse associated with the replenishment product type in the warehouse information, transporting the product to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the taken-out product on the replenishment table,
A method for controlling a robot. In the generation of the group information,
acquiring customer information indicating the number of customers around each of the plurality of product shelves;
determining the plurality of product groups based on the customer information;
The robot control method according to claim 1 . In the generation of the group information,
A product type to be placed on a product shelf where the number of customers indicated in the customer information is equal to or greater than a first threshold value among the plurality of product shelves is excluded from the two or more replenishment product types indicated in the replenishment information;
determining the plurality of product groupings by grouping the two or more supplementary product groups from which the product type has been removed using the specified information;
The robot control method according to claim 2 . In acquiring the sales floor information,
Acquire a photographed image from a camera installed in the sales area;
acquiring the sales floor information by identifying the type and number of products arranged on each of the plurality of product shelves from the photographed image;
The robot control method according to any one of claims 1 to 3. In acquiring the sales floor information,
acquiring the sales floor information by identifying the type and number of sold products recorded in a point of sale (POS) system of the sales floor;
The robot control method according to any one of claims 1 to 3. The robot includes a carriage,
When the conveying operation is performed in accordance with the control signal,
placing the products belonging to at least one of the replenishment product types included in the product group indicated in the group information on the cart and moving the cart to the replenishment table;
The robot control method according to any one of claims 1 to 5. In acquiring the sales floor information,
Obtaining the sales deadline of each product placed in the sales area;
For each type of the product, the number of products belonging to that type that are placed on the product shelf and that have not passed the sell-by date is determined as the number of the products to be placed.
The robot control method according to any one of claims 1 to 6. The generation of the group information is periodically performed;
generating the control signal based on the latest group information generated each time the group information is generated, and transmitting the control signal to the robot;
The robot control method according to any one of claims 1 to 7. A robot control method in which a computer controls a robot, comprising:
acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in the sales floor for each product type;
Obtain warehouse information indicating the storage locations of products stored in the warehouse for each type of the products;
acquires regulation information indicating a prescribed position and a prescribed number of products to be arranged in the sales area for each type of the products;
generating replenishment information indicating two or more replenishment varieties, which are varieties to which the products whose number of placements is less than the specified number belong, based on the selling area information and the specified information;
generating group information indicating a plurality of product groupings, each of which is composed of at least one of the supplementary product varieties, by grouping the two or more supplementary product varieties indicated by the supplement information based on the specified position of the product indicated by the specified information;
generating a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information, and transmitting the control signal to the robot;
The transport operation includes:
a task of taking out a product belonging to the replenishment product type included in each of the plurality of product groups from the storage location of the warehouse associated with the replenishment product type in the warehouse information, transporting the product to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the taken-out product on the replenishment table,
A method for controlling a robot. The refill platform is a movable platform.
The robot control method according to claim 9. A robot control device for controlling a robot,
a sales floor information acquisition unit that acquires sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in the sales floor for each product type;
a warehouse information acquisition unit that acquires warehouse information indicating storage locations of products stored in a warehouse for each type of the products;
a regulation information acquisition unit that acquires regulation information indicating a prescribed position and a prescribed number of products to be arranged in the sales area for each type of the products;
a generating unit that generates supplementary information indicating two or more supplementary varieties, which are varieties to which the products whose placement number is less than the specified number belong, based on the selling area information and the specified information, and generates group information indicating a plurality of product groupings, each of which is made up of at least one of the supplementary varieties, by grouping the two or more supplementary varieties indicated by the supplementary information based on the specified information;
a transmission processing unit that generates a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information;
a transmitting unit that transmits the generated control signal to the robot,
When performing the grouping, the generation unit performs the following for each of the plurality of product groups:
(1) The specified positions of the products belonging to at least one of the supplementary varieties included in the variety group are close to each other, or
(2) The supplementary product group includes the product types that have the specified positions on two or more product shelves that face each other across an aisle in the sales area.
determining said plurality of product groupings;
The transport operation includes:
a task of taking out a product belonging to the replenishment product type included in each of the plurality of product groups from the storage location of the warehouse associated with the replenishment product type in the warehouse information, transporting the product to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the taken-out product on the replenishment table,
Robot control device. A program for causing a computer to control a robot,
acquiring sales floor information indicating the number of products arranged on each of a plurality of product shelves installed in the sales floor for each product type;
Obtaining warehouse information indicating the storage locations of products stored in a warehouse for each type of the products;
acquires regulation information indicating a prescribed position and a prescribed number of products to be arranged in the sales area for each type of the products;
generating replenishment information indicating two or more replenishment varieties, which are varieties to which the products whose number of placements is less than the specified number belong, based on the selling area information and the specified information;
generating group information indicating a plurality of product groupings, each of which is made up of at least one of the supplementary product varieties, by grouping the two or more supplementary product varieties indicated by the supplementary information based on the specified information;
causing the computer to generate a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information, and to transmit the control signal to the robot;
In the grouping, for each of the plurality of product groups,
(1) The specified positions of the products belonging to at least one of the supplementary varieties included in the variety group are close to each other, or
(2) The supplementary product group includes the product types that have the specified positions on two or more product shelves that face each other across an aisle in the sales area.
determining said plurality of product groupings;
The transport operation includes:
a task of taking out a product belonging to the replenishment product type included in each of the plurality of product groups from the storage location of the warehouse associated with the replenishment product type in the warehouse information, transporting the product to a replenishment table installed at a relay point between the sales floor and the warehouse, and placing the taken-out product on the replenishment table,
program. A robot control method in which a computer controls a robot, comprising:
Obtaining warehouse information indicating the storage locations of products stored in a warehouse for each type of the products;
generating replenishment information indicating two or more replenishment varieties which are varieties to which products whose number of products arranged on each of a plurality of product shelves installed in a sales area is less than a predetermined number to be arranged in the sales area belong;
generating group information indicating a plurality of product groupings, each of which is made up of at least one of the supplementary product varieties, by grouping the two or more supplementary product varieties indicated by the supplementary information based on a specified position of the product to be arranged in the sales area;
a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and warehouse information, and transmitting the control signal to the robot. A robot control device for controlling a robot,
a warehouse information acquisition unit that acquires warehouse information indicating storage locations of products stored in a warehouse for each type of the products;
generating replenishment information indicating two or more replenishment varieties which are varieties to which products whose number of products arranged on each of a plurality of product shelves installed in a sales area is less than a predetermined number to be arranged in the sales area belong;
a generating unit that generates group information indicating a plurality of product groupings each consisting of at least one of the supplementary product varieties by grouping the two or more supplementary product varieties indicated by the supplementary information based on a specified position of the product to be arranged in the sales floor;
a transmitting unit that generates a control signal for causing a robot installed in the warehouse to carry out a product transport task based on the generated group information and the warehouse information, and transmits the control signal to the robot;
A robot control device comprising:

Images