WO2020085565A1 - Système et procédé de présentation automatique de marchandises - Google Patents

Système et procédé de présentation automatique de marchandises Download PDF

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Publication number
WO2020085565A1
WO2020085565A1 PCT/KR2018/013985 KR2018013985W WO2020085565A1 WO 2020085565 A1 WO2020085565 A1 WO 2020085565A1 KR 2018013985 W KR2018013985 W KR 2018013985W WO 2020085565 A1 WO2020085565 A1 WO 2020085565A1
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WO
WIPO (PCT)
Prior art keywords
unit
store
product
display
transfer
Prior art date
Application number
PCT/KR2018/013985
Other languages
English (en)
Korean (ko)
Inventor
홍성호
홍영진
최영호
최연서
Original Assignee
한국로봇융합연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 한국로봇융합연구원 filed Critical 한국로봇융합연구원
Publication of WO2020085565A1 publication Critical patent/WO2020085565A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F13/00—Shop or like accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles

Definitions

  • the present invention relates to an automatic display system of a product, and more particularly, to a system and a method capable of automatically displaying a product in an unmanned store.
  • Some unmanned stores may consist only of vending machines in stores. This type has the advantage of reducing labor costs, but the types of products sold by vending machines are limited (for example, drinks, snacks, convenience foods, etc.), and there is a disadvantage that workers must refill the products of vending machines.
  • this unmanned store is an unmanned and automated payment method
  • a separate salesperson or manager must be resident in order to display products on the storefront.
  • the salesman had to check each store every fixed time to correct the crooked product, and fill in the empty space of the sold product.
  • sales and payment have been progressed to a certain extent as unmanned and automated, but it was only necessary to rely on salespeople to move the goods stored in the inventory warehouse to the storefront and display them. As a result, full unmanned operation was impossible, and the labor cost of the clerk was spent.
  • the present invention is to solve the above problems, the first object of the present invention is a retail store, a 24-hour convenience store, discount stores, etc., the robot automatically transfers the goods stored in the inventory warehouse to display on the store's stand. It is to provide an automatic display system and a method for enabling the product.
  • the second object of the present invention is to provide a product automatic display system and a method for grasping the quantity of products in a store through a payment process of a product, etc., and allowing a robot to automatically display and display the product.
  • a third object of the present invention is to provide a product automatic display system and a method of enabling a robot to be transported using a ceiling in a store and not colliding with structures or customers in the store during the transfer process.
  • the stockpile 110 includes at least one of the type of the product 60, the maximum stockpile, the current stockpile, and the date of receipt.
  • the inventory grasping unit 130 includes at least one of the maximum display number of the product 60, the current display number, the display location, and the display direction.
  • the transfer unit 300 includes a grip unit 360 for mounting the product 60; An X-axis driving part 330 and a Y-axis driving part 340 to enable the grip part 360 to be transported in the X-Y direction of the ceiling; A Z-axis driving part 350 that enables the grip part 360 to be transported in the vertical direction of the ceiling; And a transfer control unit 310 that controls the grip unit 360, the X-axis driving unit 330, the Y-axis driving unit 340, and the Z-axis driving unit 350.
  • the transfer unit 300 the robot camera 400 for photographing the product 60; And a scanner 420 that scans the bar code of the product 60.
  • the transport control unit 310 further includes at least one of an image of the robot camera 400 and read information of the scanner 420.
  • At least one store camera 220 for photographing the store 100 is further installed on the ceiling of the store 100, and the control unit 200 further transfers the store 300 based on the image of the store camera 220. To control.
  • the transfer unit 300 is based on the location information of the stand 10 and the structure 30 in the store 100 and the image of the store camera 220, which is pre-entered, to the moving line 22 information of the customer 20. Further comprising a path generation unit 320 for generating a collision avoidance path based.
  • a robot entrance 40 through which the transfer unit 300 can pass is further formed between the storage unit 110 and the store 100.
  • the control unit 200 controls the transfer unit 300 based on the payment information further.
  • the control unit 200 is stored in the information of the stockpile 110, inventory inventory 130 and payment unit 210 Designating a product that needs to be displayed on the basis (S100);
  • the transfer unit 300 picks up a designated product from the stockpile 110 (S110); And a step in which the path generation unit 320 creates a path to the display location of the designated product through the ceiling of the store 100 (S120); is executed simultaneously, sequentially or in reverse order;
  • the transfer unit 300 transfers the designated product along the path (S130); A step in which the grip unit 360 displays the designated product at the display position (S140); And a step (S150) of confirming that the predetermined display is completed by photographing the display location and the designated product placed on the display location by the robot camera 410 (S150).
  • the step of generating a route includes: a step in which the store camera 220 photographs the store 100 to identify the customer 20 (S122); Determining the location of the customer 20 and the moving line 22 (S124); And generating a collision avoidance route based on the location information of the stand 10 and the structure 30 in the pre-entered store 100 and the location of the customer 20 and the moving line 22 information (S126). do.
  • a product stored in a warehouse in a retail shop, a 24-hour convenience store, a discount store, a super super market (SSM), etc. can be automatically displayed by a robot and displayed on the store's stand.
  • SSM super super market
  • the robot can be transported using the ceiling in the store, and it is safe because it does not collide with structures or customers in the store during the transfer process.
  • the automatic display system through the ceiling as in the present invention, has high advantages in terms of space utilization and efficiency.
  • FIG. 1 is an external perspective view of a store equipped with an automatic product display system according to an embodiment of the present invention.
  • FIG. 2 is a detailed internal configuration diagram of the store 100 shown in FIG. 1.
  • FIG 3 is a view showing a situation in which the transfer unit 300 and the grip unit 360 approach the pole 10.
  • FIG 4 is a view showing the copper wire 22 of the customer 20 in the store 100.
  • FIG. 5 is a view showing a situation in which goods are automatically displayed on a stand 10.
  • FIG. 6 is a schematic block diagram of an automatic product display system according to an embodiment of the present invention.
  • FIG. 7 is a detailed block diagram of the transfer unit 300 in FIG. 6.
  • FIG. 8 is a flowchart illustrating a method for automatically displaying a product according to an embodiment of the present invention.
  • FIG. 1 is an external perspective view of a store equipped with an automatic product display system according to an embodiment of the present invention.
  • the store 100 has an interior space of a predetermined size, and a door through which a guest can enter and exit is provided.
  • the stockpile 110 is a place where goods are stored in a separate compartment within the store 100 or in contact with the store 100.
  • the storage unit 110 is connected to the store 100 through a separate robot entrance 40.
  • the receiving part 120 is provided on one side of the storage part 110 and is a place where goods are distributed and unloaded through a vehicle from outside.
  • the receiving part 120 is connected to the stocking part 110 so that the worker can load the product on the stocking part 110 through the receiving part 120.
  • FIG. 2 is a detailed internal configuration diagram of the store 100 shown in FIG. 1.
  • the store 100 shows and explains a convenience store as an example.
  • a stand 10 for displaying the product 60 is provided, and a door (unnumbered), structure (eg, wall, partition, table, etc. 30) and payment for entry and exit of the customer are provided.
  • the counter 50 is provided.
  • the stand 10 is a concept including a conventional stand for displaying products, a freezer for frozen food, a refrigerator for refrigerated food, and the like.
  • the counter 50 is for payment of a product and may be operated by incentives, or may be an electronically unmanned store.
  • the store camera 220 is installed on the ceiling to photograph the inside of the store 100.
  • the store camera 220 may be appropriately disposed in the middle and middle considering the size of the store 100 as well as each corner area of the store 100.
  • the captured image of the store camera 220 is transmitted to the control unit 200 to grasp the situation of the store 100 (eg, fire, theft, security, accident, etc.) or the presence or absence of the customer 20, the movement of the customer 20 Used to identify the back.
  • the robot entrance 40 is provided between the stockpile 110 and the store 100 to function as a passage through which the transfer unit 300 can be transported through the ceiling.
  • FIG. 3 is a view showing a situation in which the transfer unit 300 and the grip unit 360 approach the stand 10
  • FIG. 4 is a view showing the moving line 22 of the customer 20 in the store 100
  • FIG. 5 is a view showing a situation of automatically displaying a product on the stand (10).
  • the ceiling of the store 100 is provided with a transfer platform 370 so that the transfer unit 300 is movable in the X-Y direction (horizontal direction).
  • the transfer unit 300 is an XY robot 380 that can run on the transfer platform 370, a round body that is expandable and contractible in the Z-axis direction (vertical direction) from the XY robot 380, and the robot vision unit 400 provided in the body.
  • a grip unit 360 mounted on a round body.
  • the customer 20 moves around in the store 100, and the trajectory is called a moving line 22, which can be generated as a route through the store camera 220 and a known algorithm.
  • the grip part 360 may be a robot having one arm or a cooperative robot using two arms, and the product 60 may be grasped and lifted, or a display position, display angle may be changed or dropped on a stand 10. have.
  • the control unit 200 includes a stockpile 110, an inventory grasping unit 130, a stocking unit 120, a database unit 140, a payment unit 210, a transfer unit 300, and a robot It is connected to the vision unit 400 and the store camera 220 to exchange information or data, and functions to store and control it.
  • the control unit 200 can be realized by a personal computer, a server computer, or the like, and can transmit and receive commands or data through communication with the central computer of the head office.
  • the stockpile 110 is the type of product 60 (e.g., trademark, snack, ice cream, beverage, sundries, dairy, coffee, etc.), the maximum stockpile (e.g. 60 ⁇ canned coffee), the current stockpile (e.g. : ⁇ 48 canned coffee), generates and stores information about the receipt date, and transmits it to the control unit 200.
  • product 60 e.g., trademark, snack, ice cream, beverage, sundries, dairy, coffee, etc.
  • the maximum stockpile e.g. 60 ⁇ canned coffee
  • the current stockpile e.g. : ⁇ 48 canned coffee
  • the inventory grasping unit 130 includes information on the maximum number of displays of the product 60, the current number of displays, the display location, and the display direction. Also, the quantity of products in the stockpile 110 may be referred to.
  • the inventory determining unit 130 determines the number of display products of the store 100, and when the number of products of the store 100 is insufficient, determines the number of display items of the goods from the storage unit 110 and generates a transfer command. , When the quantity of the stockpile 110 is insufficient, it functions to request a product order from the central computer of the head office.
  • the receiving unit 120 receives or generates data on the date of receipt, the type and quantity of the goods to be received, and stores the data.
  • the receiving unit 120 is connected to the control unit 200 and transmits information required by the control unit 200.
  • the database unit 140 is connected to the control unit 140, and is provided with a relational type of a database table for payment of goods, a database table for stockpiling, and payment. Data is received from the control unit 200 of the database unit 140 and stored as a record, and when a search request from the control unit 200 is requested, a search result is output.
  • the above-described stockpile unit 110, inventory grasping unit 130, receiving unit 120, and payment unit 210 may share or interlock some functions of the database unit 140.
  • the payment unit 210 controls payment of products that are paid by manned or unattended, and stores data generated therefrom.
  • the payment unit 210 includes a payment date, a product's trademark, type, quantity, unit price, price, payment method (eg, cash, credit card, mileage, etc.), approval result, discount information, receipt, etc.
  • the ID of the member is further included.
  • the payment unit 210 may be linked to or part of a point of sales (POS) system.
  • POS point of sales
  • FIG. 7 is a detailed block diagram of the transfer unit 300 in FIG. 6.
  • a transfer control unit 310 is provided in the transfer unit 300, a path generation unit 320, an X-axis driving unit 330, a Y-axis driving unit 340, and a Z-axis driving unit 350 , It includes a grip unit 360, further includes a robot vision unit 400.
  • the route generating unit 320 is based on the three-dimensional coordinates of the stand 10 and the structure 30 in the store 100 previously input in the store 100, and the location and copper line 22 of the customer 20. By creating a path of the transfer unit 300 does not collide to the specified pole (10). Alternatively, the route generating unit 320 may be programmed to operate intensively in the absence of the customer 20 or in the late night time period without the customer 20.
  • the X-axis driving part 330 moves the main body and the grip part 360 in the X-axis direction (for example, the column direction) of the transfer platform 370 installed on the ceiling.
  • the X-axis driving unit 330 may be implemented with a known servo motor and driving circuit.
  • the Y-axis driving part 340 moves the main body and the grip part 360 in the Y-axis direction (for example, the transverse direction) of the transfer platform 370 installed on the ceiling.
  • the Y-axis driving unit 340 may be implemented with a known servo motor and driving circuit.
  • the Z-axis driving part 350 extends and contracts the main body and the grip part 360 in the vertical direction to be movable.
  • the Z-axis driving unit 350 is for accessing a corresponding stage in a stand 10 composed of a plurality of stages.
  • the Z-axis driving unit 350 can be implemented with a known servo motor and a driving circuit, and a multi-stage kentry robot is applicable.
  • the body has a round spherical shape, and a driving actuator, a driving circuit, a sensor, and a robot vision unit 400 are provided therein.
  • the grip part 360 may be a robot and a grip device having one arm or a cooperative robot and a grip device using two arms, and the product 60 is gripped to lift or change the display position, display angle, or stand ( 10) Can be put down.
  • the robot vision unit 400 is composed of a robot camera 410 facing forward and a scanner 420 capable of scanning a barcode or a bar code of a product.
  • the scanned image (motion image or still image) of the robot camera 410 and the scan result of the scanner 420 are transmitted to the control unit 200 through the transfer control unit 310.
  • the robot camera 410 may photograph a product, recognize the appearance of the product, and recognize a front design, feature point, or character. In particular, the robot camera 410 can accurately grasp the product and display it at the correct position by recognizing the 3D depth using the stereo vision.
  • control unit 200 is based on the data of the inventory grasping unit 130 and the stockpile unit 110, and the number of products (eg, ⁇ sweets) that need to be displayed on the stand 10. (Example: 3) is designated (S100).
  • the transfer unit 300 moves to the stockpile 110 through the robot entrance 40, and then picks up the designated product from the stockpile 110 (S110). Pick-up is made through the grip part 360 and is confirmed through the robot vision part 400.
  • the path generation unit 320 generates a collision avoidance path to the location of the stand 10 where the designated product is displayed (S120).
  • the generated path is transmitted to the transfer control unit 310 and is used to control the X, Y, and Z-axis driving units 330, 340, and 350. More specifically, first, the store camera 220 photographs the store 100 to identify the customer 20 (S122). Then, the location of the customer 20 and the moving line 22 are determined (S124). Next, a collision avoidance route is generated based on the location information of the stand 10 and the structure 30 in the pre-entered store 100 and the location of the customer 20 and the moving line 22 information (S126).
  • the pickup step (S110) and the path generation step (S120) may be independently executed by separate processors (simultaneous execution), the pickup step (S110) and the path generation step (S120) may be executed sequentially, the path generation Step S120 and pickup step S110 may be performed sequentially.
  • the transfer unit 300 transfers the designated product along the generated collision avoidance path (S130).
  • the transfer control unit 310 controls the X, Y, and Z-axis driving units 330, 340, and 350, respectively.
  • the grip unit 360 displays the designated product transferred to the corresponding display position (S140).
  • the robot camera 410 photographs the display position and the designated product placed at the display position to check whether the predetermined display is completed (S150).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Business, Economics & Management (AREA)
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  • Quality & Reliability (AREA)
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  • Warehouses Or Storage Devices (AREA)

Abstract

La présente invention concerne un système de présentation automatique de marchandises, et plus spécifiquement, un système et un procédé de présentation automatique de marchandises dans des magasins sans personnel et similaires. En particulier, le système de présentation automatique de marchandises comporte: une unité (110) d'approvisionnement placée à proximité d'un magasin (100) pour stocker des marchandises (60) à fournir au magasin (100) et conserver des informations relatives aux marchandises (60); une unité (130) de suivi d'inventaire servant à conserver la quantité et l'emplacement des marchandises (60) stockées présentées sur un rayonnage (10) de présentation dans le magasin (100); une unité (300) de transfert servant à permettre le transfert de produits entre l'unité (110) d'approvisionnement et le rayonnage (10) de présentation via le plafond du magasin (100); et une unité (200) de commande servant à commander l'unité (300) de transfert d'après des informations de l'unité (110) d'approvisionnement et de l'unité (130) de suivi d'inventaire.
PCT/KR2018/013985 2018-10-25 2018-11-15 Système et procédé de présentation automatique de marchandises WO2020085565A1 (fr)

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KR1020180128239A KR102200579B1 (ko) 2018-10-25 2018-10-25 상품 자동 진열 시스템 및 그 방법
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KR102387081B1 (ko) * 2021-10-18 2022-04-19 주식회사 위펀 임직원 복지 제공 시스템 및 이를 이용한 복지 제공 방법
KR102387076B1 (ko) * 2022-01-19 2022-04-18 주식회사 위펀 임직원 복지 제공 시스템 및 이를 이용한 복지 제공 방법
KR102387077B1 (ko) * 2022-01-19 2022-04-18 주식회사 위펀 임직원 복지 제공 시스템 및 이를 이용한 복지 제공 방법

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