Replenishment robot

Abstract

A replenishment robot includes a robot body, a cabinet identification module, a product quantity identification module, a positioning module, and a navigation module. The robot body has a gripping component. The cabinet identification module is used to identify at least one currently identified product displayed in the currently identified cabinet, thereby obtaining information about at least one currently identified product. When the product quantity identification module determines that the quantity of a currently identified product is less than the minimum display quantity, the gripping component of the robot body grips the currently identified cabinet. The positioning module is used to locate the current cabinet position on a map. The navigation module navigates the robot body to a replenishment area to replace the cabinet, and then returns to the current cabinet position to replenish the product.

Description

Technical Field

[0001] This invention relates to a replenishment robot, and more particularly to a replenishment robot that performs automatic inspections for replenishment operations. Background Technology

[0002] The time required to organize products on shelves and process goods is now much tighter than before, and much less time is needed. Quick replenishment and quick picking are now the most important issues.

[0003] Generally, the time required for picking and replenishing goods is affected by the type and quantity of goods being searched or picked, as well as the time spent moving back and forth. Therefore, improving the efficiency of picking operations mainly relies on reducing the time spent searching for goods and moving them back and forth. In hypermarkets, employees often need to move products back and forth, spending almost half of their day moving and replenishing stock. Each time, replenishment staff must go to the front of the store to inspect the goods on the shelves, confirm the quantity and placement, then organize the goods on the shelves, and finally replenish the missing items.

[0004] As mentioned above, replenishment mainly refers to the work of stock clerks replenishing priced goods to the shelves according to their designated display locations, either regularly or irregularly. Regular replenishment refers to replenishing goods during off-peak hours, while irregular replenishment refers to replenishing goods as soon as they are about to run out, in order to avoid affecting sales due to stockouts. This requires manpower to handle the checking and replenishment work, which is very time-consuming. Summary of the Invention

[0005] Given that in the existing technology, the current merchandise replenishment operation relies on the regular or irregular inspections by stock clerks, and the replenishment process requires back-and-forth movement, which is very labor-intensive and time-consuming; therefore, the main objective of this invention is to provide a replenishment robot that can automatically identify whether the merchandise on the shelves is sufficient and automatically perform replenishment operations when insufficient, thereby reducing the consumption of manpower.

[0006] To address the problems of the prior art, the present invention provides a replenishment robot for replenishment operations in a business premises. The business premises are equipped with a shelf for placing at least one movable cabinet for displaying at least one item. The replenishment robot includes a robot body, a cabinet identification module, an item quantity identification module, a positioning module, and a navigation module.

[0007] The robot moves along a default patrol path in a map data, has a gripping component, the patrol path passes through at least one shelf, and each at least one shelf is equipped with at least one movable cabinet for displaying at least one item.

[0008] The cabinet recognition module is installed on the robot body to recognize at least one currently recognized product displayed in the currently recognized cabinet when the robot body moves to a currently recognized cabinet in at least one movable cabinet, thereby obtaining information about at least one currently recognized product, wherein the currently recognized cabinet is located within a gripping range of the gripping component.

[0009] The product quantity recognition module is electrically connected to the cabinet recognition module to identify the quantity of the currently recognized product displayed in the currently recognized cabinet. When it is determined that the quantity of the product is less than the minimum display quantity, the gripping component of the robot body grips the currently recognized cabinet.

[0010] The positioning module is located on the robot body and is used to locate the current compartment of the identified compartment in the map data.

[0011] The navigation module is located on the robot body and is electrically connected to the product quantity recognition module and the positioning module. It is used to navigate the robot body, which is currently gripping the currently recognized cabinet, from the current cabinet position to a replenishment area position. In the replenishment area position, the robot body uses the gripping component to grip a replenishment cabinet with more than the minimum number of currently recognized products displayed, and then navigates the robot body to the current cabinet position. In the current cabinet position, the robot body uses the gripping component to place the replenishment cabinet on the shelf.

[0012] As described above, since the replenishment robot of the present invention can automatically inspect and replace the shelves when it detects that the goods displayed in the shelves are insufficient, it can effectively save human resources and thus reduce costs.

[0013] The specific embodiments adopted in this invention will be further explained through the following embodiments and accompanying drawings. Attached Figure Description

[0014] Figure 1 This diagram shows a three-dimensional view of the replenishment robot provided in a preferred embodiment of the present invention.

[0015] Figure 2 This is a three-dimensional schematic diagram showing another perspective of the replenishment robot provided in a preferred embodiment of the present invention;

[0016] Figure 3 This shows a system block diagram of the replenishment robot provided in a preferred embodiment of the present invention;

[0017] Figure 4 This diagram shows a floor plan of the replenishment robot provided by a preferred embodiment of the present invention applied in a business premises.

[0018] Figure 5 This is a three-dimensional schematic diagram showing the replenishment robot of the preferred embodiment of the present invention identifying the currently identified cabinet at its current location;

[0019] Figure 6 This is a three-dimensional schematic diagram showing the replenishment robot provided in a preferred embodiment of the present invention extending its gripping component toward the currently identified compartment at the current compartment position;

[0020] Figure 7 This diagram shows a three-dimensional view of the replenishment robot provided in a preferred embodiment of the present invention, where the robot controls the gripping component to grip the currently identified shelf at its current location; and...

[0021] Figure 8 This is a three-dimensional schematic diagram showing the replenishment robot provided in a preferred embodiment of the present invention using a gripping component to grip the currently identified compartment to the retrieval platform at the current compartment location.

[0022] Explanation of icon numbers:

[0023] 100: Replenishment Robot

[0024] 1: Robot body

[0025] 11: Mobile equipment

[0026] 12: Gripping component

[0027] 121: Lifting mechanism

[0028] 122: Item retrieval platform

[0029] 123: Gripper base

[0030] 1231: Gripper setting substrate

[0031] 12311: Limiting hole

[0032] 1232: Substrate driver

[0033] 12321, 12431, 12441: Screw

[0034] 12322, 12432, 12442: Motor

[0035] 124: Gripper Mechanism

[0036] 1241: First gripper

[0037] 12411: First extended limiting structure

[0038] 1242: Second gripper

[0039] 12421: Second extended limiting structure

[0040] 1243: First gripper drive component

[0041] 1244: Second gripper drive component

[0042] 2: Cabinet Identification Module

[0043] 3: Product Quantity Recognition Module

[0044] 31: Image scanning unit

[0045] 32: Cabinet outline data

[0046] 33: Scanned image comparison unit

[0047] 4: Positioning Module

[0048] 41: Map Data

[0049] 42: Environmental Monitoring Unit

[0050] 43: Position Comparison Unit

[0051] 5: Navigation Module

[0052] 51: Product Location Data

[0053] 52: Navigation Unit

[0054] BA: Business Premises

[0055] PS1, PS2: Shelf

[0056] CB: Movable cabinet

[0057] PD: Product

[0058] PP: Patrol Route

[0059] D1: Vertical direction

[0060] D2: Direction of object retrieval

[0061] D3: First clamping direction

[0062] D4: Second clamping direction

[0063] QC: Barcode Detailed Implementation

[0064] Please see Figures 1 to 5 , Figure 1 This diagram shows a three-dimensional view of the replenishment robot provided in a preferred embodiment of the present invention. Figure 2 This is a three-dimensional schematic diagram showing another perspective of the replenishment robot provided in a preferred embodiment of the present invention; Figure 3 This shows a system block diagram of the replenishment robot provided in a preferred embodiment of the present invention; Figure 4 This diagram shows a floor plan of the replenishment robot provided by a preferred embodiment of the present invention applied in a business premises. Figure 5This diagram shows a three-dimensional representation of the replenishment robot provided in a preferred embodiment of the present invention identifying the currently identified cabinet.

[0065] like Figures 1 to 5 As shown, a replenishment robot 100 includes a robot body 1, a cabinet recognition module 2, a product quantity recognition module 3, a positioning module 4, and a navigation module 5. The replenishment robot 100 is used for replenishment operations in a retail store (BA). The BA has multiple shelves PS1 and PS2 (only two are shown in the figure), and each shelf PS1 and PS2 holds at least one movable cabinet CB, which is used to display at least one product PD.

[0066] The robot body 1 includes a moving device 11 and a gripping assembly 12. In this embodiment, the moving device 11 is a power unit that uses electricity for movement. It mainly consists of two drive wheels (not shown) for adjusting direction and four driven wheels (not shown). Internally, it includes motors, drivers, and batteries for controlling the drive and driven wheels. Since the power unit is a common technology in the art, it will not be described in detail here. Furthermore, in this embodiment, the moving device 11 moves along a patrol path PP that passes through the shelf PS1.

[0067] The gripping assembly 12 includes a lifting mechanism 121, a picking platform 122, a gripper base 123, and a gripper mechanism 124.

[0068] The lifting mechanism 121 is mounted on the mobile implement 11, and in this embodiment it is a scissor-type lifting mechanism. It should be specifically noted that... Figure 1 , Figure 2 as well as Figures 5 to 8 The image shows only schematically the scissor lift mechanism. The retrieval platform 122 is connected to the lifting mechanism 121 and is movable on the mobile device 11 along a vertical direction D1 by being driven by the lifting mechanism 121.

[0069] The gripper base 123 includes a gripper mounting base 1231 and a base plate drive member 1232. The gripper mounting base 1231 is movably mounted on the picking platform 122 along a picking direction D2 perpendicular to the vertical direction D1, and has a limiting hole 12311 extending along a first clamping direction D3 perpendicular to both the vertical direction D1 and the picking direction D2. The base plate drive member 1232 includes a screw 12321 and a motor 12322. The screw 12321 extends along the picking direction D2 and is screwed through the gripper mounting base 1231. Motor 12322 is connected to screw 12321 for rotating screw 12321; since gripper mounting base 1231 is screwed to screw 12321, when motor 12322 drives screw 12321 to rotate, it will further drive gripper mounting base 1231 to move forward or backward along the picking direction D2.

[0070] In addition, the gripping assembly 12 may also have a guide structure such as a guide groove or guide rail extending along the gripping direction D2 on the gripping platform 122 to guide the gripper mounting substrate 1231 to reciprocate along the gripping direction D2; or, the gripping assembly 12 may also have a guide bar passing through the substrate driving member 1232 on the other side of the gripper mounting substrate 1231 relative to the substrate driving member 1232, so that the substrate driving member 1232 can reciprocate smoothly along the gripping direction D2.

[0071] The gripper mechanism 124 includes a first gripper 1241 and a second gripper 1242, a first gripper drive member 1243 and a second gripper drive member 1244.

[0072] The first gripper 1241 has a first extension limiting structure 12411, which is inserted through the limiting hole 12311 to restrict the first gripper 1241 to be movably disposed on the object retrieval platform 122 along the first gripping direction D3.

[0073] The second gripper 1242 has a second extension limiting structure 12421, which is provided through the limiting hole 12311 to restrict the second gripper 1242 to be movably disposed on the object retrieval platform 122 along a second clamping direction D4 opposite to the first clamping direction D3.

[0074] The first gripper drive member 1243 includes a screw 12431 and a motor 12432. The screw 12431 extends along the first clamping direction D3 and is screwed through the first extension limiting structure 12411. The motor 12432 is drivenly connected to the screw 12431 to rotate the screw 12431. Since the first extension limiting structure 12411 is screwed to the screw 12431, when the motor 12432 drives the screw 12431 to rotate, it will further drive the first gripper 1241 to move forward or backward along the first clamping direction D3.

[0075] The second gripper drive member 1244 includes a screw 12441 and a motor 12442. The screw 12441 extends along the second clamping direction D4 and is screwed through the second extension limiting structure 12421. The motor 12442 is drivenly connected to the screw 12441 to rotate the screw 12441. Since the second extension limiting structure 12421 is screwed to the screw 12441, when the motor 12442 drives the screw 12441 to rotate, it will further drive the second gripper 1242 to move forward or backward along the second clamping direction D4.

[0076] The cabinet recognition module 2 is located below the retrieval platform 122. When the robot body 1 moves to a currently recognized cabinet among multiple movable cabinets CB, it recognizes the currently recognized product displayed in the currently recognized cabinet, thereby obtaining at least one product information. The currently recognized cabinet is located within a gripping range of the gripping component 12, and the product information includes a product size, which includes data on the product volume.

[0077] The product quantity recognition module 3 includes an image scanning unit 31, a cabinet outline data 32, and a scanned image comparison unit 33. The image scanning unit 31 is disposed on the gripper mounting base plate 1231 of the robot body 1 and is used to scan the movable cabinet CB to generate a scanned outline image. In this embodiment, the image scanning unit 31 is, for example, a LiDAR (Light Detection and Ranging) system, which can scan the 2D outline image of the movable cabinet CB.

[0078] The cabinet outline data 32 stores the size specifications corresponding to the movable cabinet CB; in this embodiment, the size specifications of the movable cabinet CB are, for example, a volume of 45cm in length, 33cm in width and 25cm in height, and the thickness of the side panel, back panel and bottom panel is 1cm, and the accommodating space is a three-dimensional space of 44cm in length, 32cm in width and 24cm in height.

[0079] The scanning image comparison unit 33 is electrically connected to the cabinet recognition module 2, the image scanning unit 31, the cabinet outline data 32 and the gripping component 12. It is used to receive the scanned outline image of the movable cabinet CB, the current product information recognized by the cabinet recognition module 2 and the size specifications of the movable cabinet CB stored in the cabinet outline data 32, so as to identify the quantity of the currently identified product corresponding to the currently identified cabinet. When it is determined that the quantity of the product is less than a minimum display quantity, the gripping component 12 is driven to grip the currently identified cabinet.

[0080] As mentioned above, since the scanned outline image obtained by the image scanning unit 31 from the movable cabinet CB in this embodiment is a 2D outline image, the scanned image comparison unit 33 can compare the dimensions of the movable cabinet CB in the cabinet outline data 32. For example, if the scanned outline image has an area of ​​approximately 45cm in length and 33cm in width on the periphery, but the accommodating space is approximately 22cm in length and 32cm in width, it can be determined that about half of the accommodating space of the movable cabinet CB contains merchandise PD. At this time, the scanned image comparison unit 33 can also calculate the number of currently identified merchandise based on the merchandise dimensions in the current merchandise information. For example, if the merchandise dimensions record a cross-sectional area of ​​10cm x 10cm, it can be calculated that the number of currently identified merchandise is approximately 6.

[0081] Furthermore, since the capacity of each movable cabinet CB is fixed, the minimum display quantity mentioned above is defined based on the product size of each product PD. The smaller the cross-sectional area of ​​the product size, the greater the minimum display quantity, and vice versa.

[0082] The positioning module 4 is installed on the mobile device 11 of the robot body 1 and stores map data 41 corresponding to the business premises (BA). The positioning module 4 also includes an environment detection unit 42 and a position comparison unit 43. The environment detection unit 42 is installed on the mobile device 11 and is used to detect the environment and generate terrain data. The position comparison unit 43 is electrically connected to the map data 41 and the environment detection unit 42, and is used to locate the current location of the identified cabinet in the map data 41 based on the terrain data detected by the environment detection unit 42. The map data 41 also includes the aforementioned patrol path PP by default.

[0083] In this embodiment, the environmental detection unit 42 is also a lidar, which can scan the business premises BA and the shelves PS1 set in the business premises BA, and then cross-compare the terrain data obtained by scanning with the map data 41 to locate the position of the robot body 1 and the corresponding current identification cabinet in the map data 41, and then define the position as the current cabinet position.

[0084] The navigation module 5 is installed on the mobile device 11 of the robot body 1 and includes a product location data 51 and a navigation unit 52. The product location data 51 stores multiple product locations corresponding to the map data 41 based on the product PDs displayed in the sales area (BA). The navigation unit 52 is electrically connected to the product quantity recognition module 3, the position comparison unit 43, and the product location data 51. It is used to navigate the robot body 1, which is currently picking up the identified shelf, from the current shelf location to a replenishment area location. In the replenishment area location, the robot body 1 uses the gripping component 12 to pick up a replenishment shelf displaying more than the minimum number of currently identified products, and then navigates the robot body 1 to the current shelf location. The robot body 1 then uses the gripping component 12 to place the replenishment shelf on the shelf PS1. The replenishment shelf displaying more than the minimum number of currently identified products is placed on the shelf PS2 within the replenishment area location.

[0085] Please continue reading. Figures 6 to 8 , Figure 6 This is a three-dimensional schematic diagram showing the replenishment robot provided in a preferred embodiment of the present invention extending its gripping component toward the currently identified compartment at the current compartment position; Figure 7 This is a three-dimensional schematic diagram showing the replenishment robot provided in the preferred embodiment of the present invention at the current shelf position, controlling the gripping component to grip the currently identified shelf; Figure 8 This is a three-dimensional schematic diagram showing the replenishment robot provided in a preferred embodiment of the present invention using a gripping component to grip the currently identified compartment to the retrieval platform at the current compartment location.

[0086] like Figures 1 to 8 As shown, when the robot body 1 moves along the patrol path PP to a currently identified compartment among multiple movable compartments CB, the compartment identification module 2 identifies the currently identified product displayed in the currently identified compartment, thereby obtaining at least one product information; wherein, the currently identified compartment is located within a gripping range of the gripping component 12, and in this embodiment, the compartment identification module 2 identifies the barcode QC set on the shelf PS1 corresponding to the movable compartment CB, and the barcode QC in this embodiment is a two-dimensional barcode that records the product information.

[0087] As mentioned above, when the robot body 1 moves to the currently identified cabinet, the product quantity identification module 3 will identify the quantity of the currently identified product displayed in the corresponding cabinet, thereby determining whether the product quantity is less than the minimum display quantity, which can be obtained by the cabinet identification module 2 when identifying the barcode QC.

[0088] Next, when the product quantity recognition module 3 determines that the product quantity is less than the minimum display quantity, it will drive the gripping component 12 to... Figures 6 to 8The image shows the currently identified shelf being picked up. Then, through the positioning module 4 and navigation module 5, the replenishment robot 100 can move the currently identified shelf to the shelf PS2 in the replenishment area, replace the currently identified shelf with the replenishment shelf, and finally return the replenishment shelf to the position of the currently identified shelf for replacement.

[0089] In summary, since the replenishment robot of the present invention can automatically inspect and replace shelves when it detects that the goods displayed in the shelves are insufficient, it can effectively save human resources and thus reduce costs.

[0090] The detailed description of the preferred embodiments above is intended to more clearly illustrate the features and spirit of the present invention, but is not intended to limit the scope of the invention to the preferred embodiments disclosed herein. Rather, the aim is to cover various modifications and equivalent arrangements within the scope of the claims to which this invention is sought.

Claims

1. A replenishment robot for replenishment operations in a sales premises, the sales premises having at least one shelf, the at least one shelf holding at least one movable display case for displaying at least one item, the replenishment robot comprising: The robot body moves along a default patrol path in a map data and has a gripping component, the patrol path passing through the at least one shelf; A cabinet recognition module is disposed on the robot body and is used to recognize at least one currently recognized product displayed in the currently recognized cabinet when the robot body moves to the currently recognized cabinet in the at least one movable cabinet, thereby obtaining information on at least one currently recognized product, wherein the currently recognized cabinet is located within the gripping range of the gripping component. The product quantity recognition module is electrically connected to the cabinet recognition module to identify the quantity of the currently identified product displayed in the currently identified cabinet, and when it is determined that the quantity of the product is less than the minimum display quantity, the gripping component of the robot body grips the currently identified cabinet. A positioning module, installed on the robot body, is used to locate the current position of the currently identified cabinet in the map data; as well as A navigation module, located on the robot body and electrically connected to the product quantity recognition module and the positioning module, is used to navigate the robot body, which is gripping the currently identified shelf, from the current shelf position to the replenishment area position. In the replenishment area position, the robot body uses the gripping component to grip the replenishment shelf that displays more than the minimum display quantity of the currently identified products, and then navigates the robot body to the current shelf position to place the replenishment shelf on the shelf using the gripping component.

2. The replenishment robot of claim 1, wherein, The clamping component further includes: Lifting mechanism; The retrieval platform is connected to the lifting mechanism and is designed to be movable in the vertical direction under the drive of the lifting mechanism. The gripper base is movably disposed on the object retrieval platform along a lifting direction perpendicular to the vertical direction; as well as A gripper mechanism is provided on the retrieval platform to grip the currently identified compartment cabinet.

3. The replenishment robot according to claim 2, wherein, The gripper mechanism further includes: A first gripper is movably disposed on the object-retrieving platform along a first gripping direction perpendicular to the lifting direction; and The second gripper is movably disposed on the object retrieval platform along a second gripping direction opposite to the first gripping direction.

4. The replenishment robot according to claim 3, wherein, The gripper mechanism further includes: A first gripper drive unit is connected to the first gripper for driving the first gripper to move along the first gripping direction; and The second gripper drive is connected to the second gripper and is used to drive the second gripper to move along the second gripping direction.

5. The replenishment robot according to claim 4, wherein, The first gripper drive unit further includes: A screw extends along the first clamping direction and is screwed through the first gripper; and A motor is connected to the screw and is used to drive the first gripper to move along the first clamping direction by rotating the screw.

6. The replenishment robot according to claim 1, wherein, The product quantity identification module includes: An image scanning unit, disposed on the robot body, is used to scan the movable cabinet to generate a scanned outline image; The cabinet outline data stores the corresponding size specifications of the movable cabinet; and The scanning image comparison unit is electrically connected to the cabinet recognition module, the image scanning unit, the cabinet outline data, and the gripping component. It is used to identify the quantity of the currently identified product corresponding to the currently identified cabinet based on the scanned outline image, the cabinet outline data, and the at least one current product information. When it is determined that the quantity of the product is less than the minimum display quantity, the gripping component is driven to grip the currently identified cabinet.

7. The replenishment robot according to claim 1, wherein, The positioning module stores the map data corresponding to the business location, and the positioning module further includes: An environmental detection unit, installed on the robot body, is used to detect the environment and generate terrain data; and The location comparison unit is electrically connected to the environment detection unit and is used to locate the current identification cabinet location in the map data based on the terrain data.

Images