KR20240038660A - Robot apparatus for calculating product each customer and preventing collision with customer - Google Patents

Abstract

The product calculation robot device using product code reading according to the present invention reads the product code of each of a plurality of products placed in the upper area of the checkout conveyor for payment and calculates payment amount information for each customer. Product calculation using product code reading A robotic device, comprising: a conveyor divider that separates the plurality of products for each customer who selects the product, and a photographing unit that generates a conveyor image by photographing the checkout conveyor on which the plurality of products are arranged in an upper area; a processor that recognizes a divider position of the conveyor divider from the conveyor image and sets a payment product area in the upper area of the checkout conveyor based on the divider position; And a robot arm unit that holds the product and moves it to the code reading unit so that the product code, which includes the price information of the product and is placed on one side of the product, is read, wherein the processor determines the product code of the product placed in the payment product area. The price information read from can be added up to calculate the payment amount information indicating the payment amount to be paid by the customer.

Description

{Robot apparatus for calculating product each customer and preventing collision with customer}

The present invention relates to a product calculation robot device using product code reading, and more specifically, to read product codes of products placed on a checkout conveyor using a robot arm, and to read product codes of products placed on a checkout conveyor by a plurality of customers. This relates to a product calculation robot device using product code reading that can separate products by customer and calculate payment amount information for each customer.

When shopping at a large supermarket or large shopping mall, the buyer purchases the product, settles the bill at the cash register, packs it at a self-packing stand, moves the packaged product to a cart to the parking lot, loads it, settles the parking fee, and then leaves the car. .

Meanwhile, in large supermarkets or large shopping malls, buyers often purchase a large quantity of products at once. However, when the quantity is large, it is inconvenient to place the products on the counter for payment, and it is difficult for the elderly or pregnant women to remove products from the cart and pay. In some cases, it takes a lot of strength, and even short people find it difficult to remove products from a large cart. Due to this inconvenience, multiple cashiers are sometimes placed at one checkout counter for customer convenience.

To this end, there is a need to efficiently improve product purchasing through unmanned checkout technology using robots.

Korean Patent Publication No. 10-2018-0109107

The purpose of the present invention is to separate a plurality of products placed on the checkout conveyor by a plurality of customers by customer and calculate payment amount information for each customer, thereby providing a product code that can calculate the products on the checkout conveyor placed in succession for each customer. To provide a product counting robot device using reading.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention that are not mentioned can be understood by the following description and will be more clearly understood by the examples of the present invention. Additionally, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof indicated in the patent claims.

The product calculation robot device using product code reading according to the present invention reads the product code of each of a plurality of products placed in the upper area of the checkout conveyor for payment and calculates payment amount information for each customer. Product calculation using product code reading A robotic device, comprising: a conveyor divider that separates the plurality of products for each customer who selects the product, and a photographing unit that generates a conveyor image by photographing the checkout conveyor on which the plurality of products are arranged in an upper area; a processor that recognizes a divider position of the conveyor divider from the conveyor image and sets a payment product area in the upper area of the checkout conveyor based on the divider position; And a robot arm unit that holds the product and moves it to the code reading unit so that the product code, which includes the price information of the product and is placed on one side of the product, is read, wherein the processor determines the product code of the product placed in the payment product area. The price information read from can be added up to calculate the payment amount information indicating the payment amount to be paid by the customer.

Preferably, the processor may divide the upper area into a plurality of product areas based on the divider position, and set the product area located at the forefront among the plurality of product areas as the payment product area.

Preferably, the robot arm may hold the product placed in the payment product area and move it to the code reading unit so that the product code of the product placed in the payment product area is read.

Preferably, when there is no product placed in the payment product area, the processor may generate a payment amount information message guiding the payment amount indicated by the payment amount information.

Preferably, when there is no product placed in the payment product area, the processor generates a payment method information request message requesting input of payment method information indicating the type of payment method to pay the payment amount indicated by the payment amount information. can do.

Preferably, when the payment method information is input in response to the payment method information request message, the processor may generate a payment request message requesting payment using the payment method indicated by the payment method information.

Preferably, when the payment method indicated by the payment method information is cash, the processor calculates the amount difference by subtracting the payment amount indicated by the payment amount information from the amount of cash input into the cash entry and exit unit, and calculates the amount difference. You can create a message informing you of the price difference.

Preferably, when the payment of the product placed in the payment product area is completed, the robot arm arranges the conveyor divider closest to the payment product area outside the upper area of the checkout conveyor, and the processor The product area set as and the neighboring product area can be reset to the payment product area.

Figure 1 is a diagram showing a product calculation robot device using product code reading, a code reading unit, products, and a checkout counter according to an embodiment of the present invention.
Figure 2 is a block diagram of a product calculation robot device using product code reading according to an embodiment of the present invention.
Figure 3 is a diagram illustrating a process of setting a payment product area by a product calculation robot device using product code reading according to an embodiment of the present invention.
Figures 4 and 5 are diagrams for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention moves a product to a code reading unit in consideration of physical quantity information of the product.
Figure 6 is a diagram illustrating a process in which a product calculation robot device using product code reading according to an embodiment of the present invention guides the payment amount and requests input of the type of payment method.
Figure 7 is a diagram illustrating a process of requesting payment by a product calculation robot device using product code reading according to an embodiment of the present invention.
Figure 8 is a diagram for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention requests collection of a payment method.
Figures 9 and 10 are diagrams for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention outputs a risk warning message.

Hereinafter, various embodiments of the present invention are described with reference to the accompanying drawings. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include various modifications, equivalents, and/or alternatives to the embodiments of the present invention. In connection with the description of the drawings, similar reference signs may be used for similar components.

In this document, expressions such as “have,” “may have,” “includes,” or “may include” refer to the presence of the corresponding feature (e.g., numerical value, function, operation, or component such as a part). , and does not rule out the existence of additional features.

In this document, expressions such as “A or B,” “at least one of A or/and B,” or “one or more of A or/and B” may include all possible combinations of the items listed together. . For example, “A or B,” “at least one of A and B,” or “at least one of A or B” (1) includes at least one A, (2) includes at least one B, or (3) It can refer to all cases including both at least one A and at least one B.

As used herein, expressions such as "first", "second", "first", or "second" may modify various elements in any order and/or importance, and may refer to one element. It is only used to distinguish from other components and does not limit the components. For example, a first user device and a second user device may represent different user devices regardless of order or importance. For example, a first component may be renamed a second component without departing from the scope of rights described in this document, and similarly, the second component may also be renamed to the first component.

A component (e.g., a first component) is “(operatively or communicatively) coupled with/to” another component (e.g., a second component). When “connected to” is mentioned, it should be understood that any component may be directly connected to the other component or may be connected through another component (e.g., a third component). On the other hand, when a component (e.g., a first component) is referred to as being “directly connected” or “directly connected” to another component (e.g., a second component), it is said that the component and the other component are It may be understood that no other components (e.g., third components) exist between components.

The expression "configured to" used in this document may be used depending on the context, for example, "suitable for," "having the capacity to." )", "designed to", "adapted to", "made to", or "capable of". . The term “configured (or set) to” may not necessarily mean “specifically designed to” in hardware. Instead, in some contexts, the expression “a device configured to” may mean that the device is “capable of” working with other devices or components. For example, the phrase "control configured (or set) to perform operations A, B, and C" means that a dedicated processor (e.g., an embedded processor) to perform those operations, or by executing one or more software programs stored in memory, , may refer to a general-purpose processor (e.g., CPU or application processor) capable of performing the corresponding operations.

In particular, in this specification, “~device” may include one or more of a central processing unit (CPU), an application processor (AP), and a communication processor (CP). .

In this specification, “~device” refers to all types of hardware devices including at least one processor, and depending on the embodiment, it may be understood as encompassing software configurations operating on the hardware device. For example, “~device” can be understood as including, but is not limited to, a mechanical drive device, smartphone, tablet PC, desktop, laptop, and user clients and applications running on each device.

Terms used in this document are merely used to describe specific embodiments and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions, unless the context clearly indicates otherwise. Terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by a person of ordinary skill in the technical field described in this document. Among the terms used in this document, terms defined in general dictionaries may be interpreted to have the same or similar meaning as the meaning they have in the context of related technology, and unless clearly defined in this document, they may be interpreted in an ideal or excessively formal sense. It is not interpreted. In some cases, even terms defined in this document cannot be interpreted to exclude embodiments of this document.

Figure 1 is a diagram showing a product calculation robot device, code reading unit, product, and checkout counter (C) using product code reading according to an embodiment of the present invention, and Figure 2 is a diagram showing a product code according to an embodiment of the present invention. This is a block diagram of a product calculation robot device using reading.

Referring to Figures 1 and 2, the product calculation robot device 100 using product code reading according to an embodiment of the present invention is located on one side of the checkout counter (C) in the store, and places the product that the customer wants to pay at the checkout counter ( When placed on the checkout conveyor (CB) of C), the price information of the product is obtained by moving and rotating the product so that the product code provided on one side of the product is read, and only the products placed on the checkout conveyor (CB) by the same customer are displayed. By adding up the price information and calculating the payment amount information to be paid by the customer, the customer can pay for the product.

At this time, the product calculation robot device 100 using product code reading according to an embodiment of the present invention generates a message about the procedures to be performed by the customer and information to be provided to the customer in the process of paying for the product. Can be printed.

Meanwhile, the product calculation robot device 100 using product code reading according to an embodiment of the present invention is configured so that the robot arm 130 grasps and moves the product according to the allowable physical quantity conditions of the robot arm 130. A product may be allocated, and the allocated product may be configured to be moved by the corresponding robot arm unit 130.

At this time, the product calculation robot device 100 using product code reading according to an embodiment of the present invention can generate and output a message to prevent the robot arm unit 130 from colliding with the customer.

Meanwhile, the checkout counter (C) in the store may include a checkout conveyor (CB), a code reading unit (CR), and a packaging area (P).

The checkout conveyor (CB) may have a plurality of products selected by the customer and a conveyor divider (CD) arranged in the upper area to separate the plurality of products for each customer.

This checkout conveyor (CB) can move a plurality of products and a conveyor divider (CD) arranged in the upper area in the direction of progress.

At this time, the checkout conveyor (CB) is equipped with an object detection sensor at one end, and when an object (product or conveyor divider) is detected at one end by the object detection sensor, the movement of a plurality of products and the conveyor divider (CD) can be stopped.

Here, the moving direction is from the other end of the checkout conveyor (CB) to one end, and the code reading unit (CR) may be located closer to one end of the checkout conveyor (CB) than the other end.

Meanwhile, the conveyor divider (CD) is formed in a bar shape and can be placed in the upper area of the checkout conveyor (CB) to separate a plurality of products by customer.

For example, there is a conveyor between products A1, A2, A3 placed in the upper area of the checkout conveyor (CB) by customer A and products B1, B2, B3 placed in the upper area of the checkout conveyor (CB) by customer B. Products A1, A2, A3 placed in the upper area of the checkout conveyor (CB) by customer A with dividers (CD) placed and products B1, B2, B placed in the upper area of the checkout conveyor (CB) by customer B can be separated.

The code reading unit (CR) is located between the conveyor divider (CD) and the packaging area (P) and can obtain price information of the product by reading the product code of the product.

To this end, the code reading unit (CR) can read product codes in QR code format or barcode format.

Specifically, when the product code is in a barcode format, the code reading unit (CR) uses a visible light product code reading method that reads the product code by receiving visible light reflected from the product code, and a visible light product code reading method that reads the product code by inputting visible light reflected from the product code and reads the product code by receiving red light reflected from the product code. Note that one or more of the red light product code reading methods for reading the code may be used, but the reading method is not limited as long as price information of the product is obtained from the product code.

Meanwhile, the product code may be printed on one side of the product or printed on a tag made of plastic and provided on one side of the product, and the price information of the product may be encoded and displayed.

At this time, the product code may be in QR code format or barcode format.

When the product code is in barcode format, it can be formed in any one of the following methods: Code 11 method, Code 39 method, Code 93 method, Code 128 method, UPC method, EAN 8 method, EAN 13 method, PDF 417 method, and Data Matrix method. However, please note that the code method is not limited as long as the product price information is included.

The product calculation robot device 100 using product code reading according to an embodiment of the present invention includes a photographing unit 110, a processor 120, a robot arm unit 130, a display 140, a speaker 150, It may include a payment unit 160, a communication unit 170, and a storage unit 180.

Figure 3 is a diagram illustrating a process of setting a payment product area by a product calculation robot device using product code reading according to an embodiment of the present invention.

The photographing unit 110 may generate a conveyor image by photographing a plurality of products and the checkout conveyor (CB) on which the above-described conveyor divider (CD) is placed in the upper area.

To this end, the photographing unit 110 may be equipped with a camera module that generates images. Additionally, the photographing unit 110 may be equipped with a vision sensing camera module that performs vision sensing on an object.

The processor 120 may recognize the divider position of the conveyor divider (CD) from the conveyor image and set the payment product area (PA) in the upper area (CA) of the checkout conveyor (CB) based on the divider position.

Specifically, the processor 120 divides the upper area (CA) into a plurality of product areas (UA1, UA2) based on the divider position, and selects a product area (UA1) located at the forefront among the plurality of product areas (UA1, UA2). ) can be set as the payment product area (PA).

Here, the product area located at the forefront may mean the product area (UA1, PA) that is most advanced among the plurality of product areas (UA1, UA2) based on the direction of movement of the checkout conveyor (CB). .

More specifically, the processor 120 forms a virtual plane corresponding to the divider position in the upper area (CA), which is a three-dimensional space, and divides the area divided from the upper area (CA) by the virtual plane into a plurality of product areas. It can be divided into (UA1, UA2).

At this time, the virtual plane is erect on the upper surface of the checkout conveyor (CB), that is, the lower surface of the upper area (CA), and the straight line where the virtual plane and the upper surface of the checkout conveyor (CB) are in contact with the checkout conveyor (CB) The angle formed by the moving direction may be formed to be the same as the angle formed by the moving direction of the conveyor divider (CD) and the checkout conveyor (CB).

The processor 120 may form a virtual plane equal to the number of conveyor dividers (CD) disposed in the upper area (CA).

Accordingly, when there is one conveyor divider (CD) disposed in the upper area (CA), the processor 120 can form one virtual plane and partition two product areas.

Additionally, when there are two conveyor dividers (CDs) disposed in the upper area (CA), the processor 120 can form two virtual planes and partition three product areas.

Thereafter, the processor 120 may set the product area UA1 located at the forefront among the plurality of product areas UA1 and UA2 as the payment product area PA based on the direction of movement of the checkout conveyor CB.

As the checkout conveyor (CB) moves a plurality of products and the conveyor divider (CD) in the direction in which the checkout counter conveyor (CB) moves, the processor 120 may correct the settings of the payment product area (PA) at preset intervals.

Meanwhile, the processor 120 moves the product to the code reading unit (CR) by the robot arm 130 among the products placed in the payment product area (PA) to have the product code read (hereinafter referred to as 'moved target product'). ) can be determined.

Specifically, the processor 120 may determine the product located at the forefront among products placed in the payment product area (PA) as the product to be moved based on the direction of movement.

Figures 4 and 5 are diagrams for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention moves a product to the code reading unit (CR) in consideration of physical quantity information of the product.

There may be multiple robot arm units 130 according to the present invention. The processor 120 selects one of the plurality of robot arm units 130a and 130b to move the product to the code reading unit (CR) according to the physical quantity information of the product to be moved to the code reading unit (CR). The robot arm part can be determined.

To this end, the processor 120 may obtain physical quantity information for each of a plurality of products from the conveyor image.

Specifically, the processor 120 extracts the product image of the product to be moved from the conveyor image and inputs the product image of the product to be moved to the physical quantity artificial intelligence model trained to determine the physical quantity information of the product. Thus, physical quantity information of the product to be moved can be obtained.

To this end, the processor 120 may train a physical quantity artificial intelligence model using a learning product image and learning physical quantity information corresponding to the learning product image.

Here, the physical quantity artificial intelligence model is trained and learned using learning data consisting of a product image for learning and physical quantity information for learning, and can be used to infer physical quantity information as a result value for the product image as input data, and inference The value can be used as a basis for judgment to perform any operation.

Here, artificial intelligence refers to a field that studies artificial intelligence or methodologies to create it, and machine learning (machine learning) refers to a field that defines various problems dealt with in the field of artificial intelligence and studies methodologies to solve them. means. Machine learning is also defined as an algorithm that improves the performance of a task through consistent experience.

Artificial Neural Network (ANN) is a model used in machine learning. It can refer to an overall model with problem-solving capabilities that is composed of artificial neurons (nodes) that form a network through the combination of synapses. Artificial neural networks can be defined by connection patterns between neurons in different layers, a learning process that updates model parameters, and an activation function that generates output values.

An artificial neural network may include an input layer, an output layer, and optionally one or more hidden layers. Each layer includes one or more neurons, and the artificial neural network may include synapses connecting neurons. In an artificial neural network, each neuron can output the function value of the activation function for the input signals, weight, and bias input through the synapse.

Model parameters refer to parameters determined through learning and include the weight of synaptic connections and the bias of neurons. Hyperparameters refer to parameters that must be set before learning in a machine learning algorithm and include learning rate, number of repetitions, mini-batch size, initialization function, etc.

The purpose of artificial neural network learning can be seen as determining model parameters that minimize the loss function. The loss function can be used as an indicator to determine optimal model parameters in the learning process of an artificial neural network.

Machine learning can be classified into supervised learning, unsupervised learning, and reinforcement learning depending on the learning method.

Supervised learning refers to a method of training an artificial neural network with a given label for the learning data. A label refers to the correct answer (or result value) that the artificial neural network must infer when learning data is input to the artificial neural network. It can mean. Unsupervised learning can refer to a method of training an artificial neural network in a state where no labels for training data are given. Reinforcement learning can refer to a learning method in which an agent defined within an environment learns to select an action or action sequence that maximizes the cumulative reward in each state.

Among artificial neural networks, machine learning implemented with a deep neural network (DNN) that includes multiple hidden layers is also called deep learning, and deep learning is a part of machine learning. In this specification, machine learning is used to include deep learning.

Here, the physical quantity information may include one or more of volume information, weight information, width information, height information, and width information of the product (product to be moved).

Thereafter, the processor 120 may determine whether the physical quantity information of the product to be moved satisfies the allowable physical quantity condition of any robot arm unit among the allowable physical quantity conditions of each of the plurality of robot arm units 130a and 130b.

Here, the allowable physical quantity condition may represent the physical quantity range of the object that the robot arm can move according to the object movement ability of the robot arm.

Specifically, the processor 120 may allocate the moving target product to the robot arm under an allowable physical quantity condition indicating a physical quantity range that includes the physical quantity indicated by the physical quantity information of the moving target product.

An example in which the physical quantity information is weight information, the physical quantity range indicated by the allowable physical quantity condition of the first robot arm unit 130a is greater than 0 g and less than 1 kg, and the physical quantity range indicated by the allowable physical quantity condition of the second robot arm unit 130b is greater than 0 g and less than 2 kg. Let me explain.

As shown in FIG. 4, when the physical quantity information of the product to be moved is 800g, the processor 120 applies to the first robot arm unit 130a an allowable physical quantity condition indicating a physical quantity range including 800g of the physical quantity information of the product to be moved. You can assign products to be moved.

In addition, as shown in FIG. 5, when the physical quantity information of the product to be moved is 1.5 kg, the processor 120 sets the second robot arm unit of the allowable physical quantity condition indicating the physical quantity range including 1.5 g of the physical quantity information of the product to be moved. The product to be moved can be assigned to (130b).

A plurality of robot arm units (130a, 130b) are arranged in the payment product area (PA) and, when a moving target product determined to be moved is assigned, the moving target product is assigned such that the product code of the moving target product is read by the code reading unit (CR). can be grasped and moved to the code reading unit (CR).

Thereafter, the plurality of robot arm units 130a and 130b may move the product for which the product code has been read to the packaging area P. Here, the packaging area P is an area where the product to be moved, for which the product code has been read and price information has been acquired by the processor 120, is moved, and may be an area where the product is received by the customer.

To this end, the plurality of robot arm units 130a and 130b may be controlled to operate based on control signals received from the processor 120. The plurality of robot arm parts 130a and 130b may each include a robot arm 131 with one end fixed to the support part J and a grip part 132 connected to the other end of the robot arm 131.

At this time, the lower end of the support part J is fixed to the ground adjacent to the counter C, and one end of the robot arm 131 is connected to the upper end to support the moving robot arm 131.

Additionally, the gripping portion 132 may be formed in the shape of tongs and configured to hold the product by pressing both sides of the product.

The plurality of robot arm units 130a and 130b can control the operation of each robot arm 131 and the grip unit 132 according to the control signal from the processor 120.

Specifically, the plurality of robot arm units 130a and 130b can grip parts of the product to be moved through the robot arm 131 and the gripper 132 and move the product to the code reading unit CR.

Thereafter, the plurality of robot arms (130a, 130b) can move and rotate the product to be moved so that the product code faces the code reading unit (CR).

Through this, the plurality of robot arms (130a, 130b) allow the customer to simply place the product at the checkout counter (C) even if the employee does not directly move the product code of the product to the code reading unit (CR) and scan the product code. , by holding the product so as not to obscure the product code and allowing the product code to be read, product calculation can be completed quickly and without labor.

To this end, the plurality of robot arm parts 130a and 130b may be configured to implement mechanical movement. Specifically, the plurality of robot arm units 130a and 130b may be provided with one or more joints (or joints), links, gears, etc. that can perform various tasks. The plurality of robot arm units 130a and 130b may include a plurality of joints, a plurality of links connected to each other by the plurality of joints, and a drive motor that rotates the plurality of joints. At this time, the processor 120 controls the operation of the drive motor to control the plurality of robot arm parts 130a and 130b, and through this, the plurality of robot arm parts 130a and 130b are connected to the robot arm 131 and the gripping part 132. ) can be controlled.

Meanwhile, the processor 120 may calculate payment amount information indicating the payment amount to be paid by the customer by adding up the price information read from the product codes of the products placed in the payment product area (PA).

That is, the processor 120 can calculate payment amount information by adding up only the price information of products that are placed in the same payment product area (PA) and whose product codes have been read.

Through this, the processor 120 can calculate payment amount information by adding up only the price information of products placed on the checkout conveyor (CB) by one customer.

If there are no products placed in the payment product area, that is, if the product codes of all products placed in the payment product area are read, the processor 120 may generate a member information request message requesting the customer's member information. .

At this time, the member information request message may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a member information request message, which is a text message. Additionally, the speaker 150 may output a member information request message, which is a voice message.

Here, the member information is information about a customer who has registered as a member in the store, and may include a customer serial number, customer name information, customer address information, and customer point information.

At this time, the customer can provide customer information by directly entering customer information into an input unit (not shown) or by inserting a membership card.

Figure 6 is a diagram illustrating a process in which a product calculation robot device using product code reading according to an embodiment of the present invention guides the payment amount and requests input of the type of payment method.

The processor 120 generates a payment amount information message guiding the payment amount indicated by the payment amount information when there is no product placed in the payment product area, that is, when the product codes of all products placed in the payment product area are read. can do.

At this time, the payment amount information message M1 may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a payment amount information message (M1), which is a text message. Additionally, the speaker 150 may output a payment amount information message (M1), which is a voice message.

Through this, customers can immediately check the amount they need to pay.

Meanwhile, if there is no product placed in the payment product area, the processor 120 may generate a payment method information request message requesting input of payment method information indicating the type of payment method to pay the payment amount indicated by the payment amount information. You can.

Here, the payment method information may represent cash or a credit card.

At this time, the payment method information request message (M2) may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a payment method information request message (M2), which is a text message. Additionally, the speaker 150 may output a payment method information request message (M2), which is a voice message.

Through this, customers can select their payment method.

Figure 7 is a diagram illustrating a process of requesting payment by a product calculation robot device using product code reading according to an embodiment of the present invention.

When payment method information is input in response to the payment method information request message, the processor 120 may generate a payment request message (M3) requesting payment using the payment method indicated by the payment method information.

At this time, the payment request message (M3) may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a payment request message (M3), which is a text message. Additionally, the speaker 150 may output a payment request message (M3), which is a voice message.

Meanwhile, the payment unit 160 can perform a payment using the payment method input by the customer up to the payment amount indicated by the payment amount information.

For this purpose, the payment unit 160 includes a credit card payment unit 161 that pays the payment amount with a credit card, receives cash input, recognizes the input amount of the cash, and withdraws cash equal to the requested withdrawal amount. A unit 162 may be provided.

At this time, the processor 120 determines that the payment method indicated by the payment method information is cash, calculates the amount difference by subtracting the payment amount indicated by the payment amount information from the amount of cash inputted into the cash entry unit 162, and calculates the amount difference. You can create a message informing you of the price difference.

Afterwards, the display 140 may output a price difference information message, which is a text message. Additionally, the speaker 150 may output a price difference information message, which is a voice message.

Meanwhile, when the payment for the payment amount of the payment amount information is completed, the plurality of robot arm units (130a, 130b) move the conveyor divider (CD) closest to the payment product area (PA) to the outside of the upper area of the checkout conveyor (CB). It can be placed.

Thereafter, the processor 120 may reset the product area UA1 set as the payment product area PA and the neighboring product area UA2 to the payment product area.

That is, the processor 120 may reset the product area UA2 located behind the product area UA1 set as the payment product area PA to the payment product area based on the moving direction of the checkout conveyor CB.

Through this, the processor 120 can calculate product payment amount information for each customer.

Figure 8 is a diagram for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention requests collection of a payment method.

When payment of the payment amount indicated by the payment amount information is completed using the payment method provided by the customer, the processor 120 may generate a payment method recovery request message requesting recovery of the payment method.

At this time, if the previously obtained payment method type information indicates cash, the processor 120 determines if the difference between the amount of cash input into the cash entry unit 162 and the payment amount indicated by the payment amount information is a positive amount. You can only create a payment method recovery request message.

Meanwhile, if the previously obtained payment method type information indicates a credit card, the processor 120 checks whether a credit card has been inserted into the credit card payment unit 161 and inserts the credit card into the credit card payment unit 161. If so, you can create a payment method recovery request message.

At this time, the payment method recovery request message (M4) may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a payment method recovery request message (M4), which is a text message. Additionally, the speaker 150 may output a payment method recovery request message (M4), which is a voice message.

Figures 9 and 10 are diagrams for explaining a process in which a product calculation robot device using product code reading according to an embodiment of the present invention outputs a risk warning message.

The processor 120 may set a movable area (MA) for each of the plurality of robot arm units 130a and 130b and detect whether the customer's body enters the movable area (MA).

Here, the movable area MA may mean a space where the components of the plurality of robot arm units 130a and 130b can be arranged through the operation of the plurality of robot arm units 130a and 130b.

When the customer's body (B) is recognized in the first area image of the movable area (MA), the processor 120 detects that the customer's body has entered the movable area (MA), and detects that the customer's body has entered the movable area (MA), and the robot arm and the customer's body A hazard warning message can be generated that warns of the risk of collision between bodies.

At this time, the danger warning message (M5) may be one or more of a voice message and a text message.

Afterwards, the display 140 may output a danger warning message (M5), which is a text message. Additionally, the speaker 150 may output a danger warning message (M5), which is a voice message.

Meanwhile, when the processor 120 determines the product to be moved by one of the plurality of robot arm units, that is, the product to be moved, the processor 120 determines the product position of the product for which movement has been determined and the robot arm position of the corresponding robot arm unit. You can set the movement path area (MP) of the robot arm.

Here, the movement path area (MP) may mean a set of paths on which the components of the robot arm are arranged while the robot arm grasps the product to be moved and moves it to the code reading unit (CR).

When the customer's body (B) is recognized in the second area image that captures the movement path area (MP), the processor 120 detects that the customer's body has entered the movement path area (MP), and detects that the customer's body has entered the movement path area (MP), and A hazard warning message can be generated that warns of the risk of collision between bodies.

Meanwhile, the processor 120 according to another embodiment may calculate a fee based on the number of times setting the payment product area (PA) is performed.

More specifically, the processor 120 according to another embodiment may calculate a fee in proportion to the number of times the payment product area (PA) is set during a preset period at each preset cycle.

Here, the preset period may be the store's business hours, and the preset period may be one day.

For example, if the store's business hours are from 9:00 AM to 10:00 PM every day, the preset period is from 9:00 AM to 10:00 PM every day, and the processor 120 according to another embodiment may operate from 9:00 AM to 10:00 PM. Fees up to 10 o'clock can be calculated daily.

Meanwhile, the processor 120 according to another embodiment may calculate the fee by applying a unit fee to the number of times the payment product area (PA) is set during a preset period.

Here, the unit fee may refer to the fee charged when setting the payment product area (PA) once.

For example, if the processor 120 according to another embodiment sets the payment product area (PA) 10 times during a preset period of one day and the unit fee is 100 won, the processor 120 according to another embodiment sets the payment product area (PA) 10 times. The fee can be calculated as 1,000 won by multiplying 10 times by the unit fee of 100 won.

Meanwhile, the product calculation robot device 100 using product code reading according to an embodiment of the present invention includes a communication unit 170 for transmitting and receiving data, information and signals, and data, information and signals in order to perform the above-described functions. It may include a storage unit 180 for storing.

Meanwhile, the processor 120 may perform the operation of each of the above-described components, and may include one or more cores (not shown) and a graphics processing unit (not shown) and/or a connection passage for transmitting and receiving signals with other components ( For example, it may include a bus, etc.).

The processor 120 may be configured to perform the operation of each of the components described above by executing one or more instructions stored in the storage unit 180.

The storage unit 180 may store programs (one or more instructions) for processing and controlling the processor 120. Programs stored in the storage unit 180 may be divided into a plurality of modules according to their functions.

So far, the present invention has been examined with a focus on preferred embodiments. A person skilled in the art to which the present invention pertains will understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated in the claims rather than the foregoing description, and all differences within the equivalent scope should be construed as being included in the present invention.

As described above, although the present invention has been described with limited examples and drawings, the present invention is not limited thereto, and the technical idea of the present invention and the following will be understood by those skilled in the art to which the present invention pertains. Of course, various modifications and variations are possible within the scope of equivalence of the patent claims to be described.

100: Product calculation robot device using product code reading
110: Filming department
120: processor
130: Robot arm part
140: display
150: speaker
160: Payment department
170: Department of Communications
180: storage unit

Claims (1)

In the product calculation robot device using product code reading, which calculates payment amount information for each customer by reading the product code of each of a plurality of products arranged in the upper area of the checkout conveyor for payment,
a conveyor divider that separates the plurality of products for each customer who selects the product, and a photographing unit that generates a conveyor image by photographing the checkout conveyor on which the plurality of products are arranged in an upper area;
a processor that recognizes a divider position of the conveyor divider from the conveyor image and sets a payment product area in the upper area of the checkout conveyor based on the divider position; and
It includes a robot arm that holds the product and moves it to the code reading unit so that the product code, which includes the price information of the product and is placed on one side of the product, is read,
The processor is
Calculating the payment amount information indicating the payment amount to be paid by the customer by adding up the price information read from the product code of the product placed in the payment product area,
The processor is
Divide the upper area into a plurality of product areas based on the divider position, and set the product area located at the forefront among the plurality of product areas as the payment product area,
The processor is
Forming a virtual plane corresponding to the position of the divider in the upper area, which is a three-dimensional space, and dividing the area divided from the upper area by the virtual plane into the plurality of product areas,
The processor is
The virtual plane is formed to stand upright on the lower surface of the upper area, which is the upper surface of the checkout conveyor, and the angle formed by the straight line in contact between the virtual plane and the upper surface of the checkout conveyor and the moving direction of the checkout conveyor is, Forming the virtual plane to be equal to the angle formed by the moving direction of the conveyor divider and the checkout conveyor,
The processor is
As the checkout conveyor moves the plurality of products and the conveyor divider in a moving direction, the settings of the payment product area are corrected at preset intervals,
The processor is
When payment for all products placed in the payment product area is completed, the product area set as the payment product area and the neighboring product area are reset to the payment product area,
The processor is
Based on the product position of the product whose movement to the code reading unit is determined and the robot arm position of the robot arm unit, the components of the robot arm are disposed while the robot arm grasps the product whose movement has been determined and moves it to the code reading unit. A movement path area, which is a set of paths, is set, and when the customer's body is recognized in the second area image taken of the movement path area, it is detected that the customer's body has entered the movement path area, and the robot arm and the customer Generates a hazard warning message warning of the risk of collision between the bodies of
The processor is
Calculating a fee at each preset cycle by applying a unit fee to the number of times the payment product area is set during a preset period,
The processor is
When the product codes of all products placed in the payment product area are read, a member information request message is generated requesting the customer's member information.
A product counting robot device that can prevent collisions with customers.