Cleaning and sales promotion robot

Abstract

To provide an autonomous mobile robot that can be easily applied to spaces where unspecified users come and go, such as stores.SOLUTION: A cleaning and sales promotion robot includes: a traveling unit that comprises an obstacle detection section that detects obstacles on its movement path, wheels that enable it to move on a floor, and a traveling control section that controls the wheels; a cleaning unit that performs at least one of wiping and sweeping the floor; a commodity shelf that is arranged above the traveling unit and comprises a second obstacle detection section that detects obstacles on its movement path; and a display operation section that is arranged above the commodity shelf and displays at least one of image information regarding images displayed on an in-store display device aimed at visiting customers and sales promotion images regarding commodities in the store, and accepts setting operations by an operator that include at least setting a traveling route of the traveling control section.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cleaning sales promotion robot. [Background technology]

[0002] BACKGROUND ART Conventionally, there has been known a robot device that autonomously moves and cleans a floor surface under computer control (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2023-545273 Summary of the Invention [Problem to be solved by the invention]

[0004] A robot device that cleans floor surfaces while moving autonomously is preferably applicable not only to spaces where specific users enter and exit, such as homes and offices, but also to spaces where unspecified users enter and exit, such as stores. However, the conventional autonomous cleaning robots described above were not necessarily suitable for unspecified users, as they were unfamiliar with cleaning robots and therefore had difficulty noticing the presence of the cleaning robot or the user came into contact with the cleaning robot. In other words, conventional cleaning robots had the problem of being difficult to apply to spaces where an unspecified number of users come and go, such as stores.

[0005] An object of the present invention is to provide an autonomous mobile robot that can be easily applied to spaces where unspecified users come and go, such as stores. [Means for solving the problem]

[0006] One aspect of the present invention is a cleaning and sales promotion robot that includes a traveling unit having an obstacle detection unit that detects obstacles on its movement path, wheels that enable it to move on a floor surface, and a traveling control unit that controls the wheels; a cleaning unit that performs at least one of wiping and sweeping the floor surface; a product shelf that is arranged above the traveling unit and has a second obstacle detection unit that detects obstacles on its movement path; and a display operation unit that is arranged above the product shelf and displays at least one of image information regarding images that are displayed on an in-store display device aimed at customers and sales promotion images regarding products in the store, and accepts setting operations by an operator that include at least setting the travel route of the traveling control unit. [Effects of the Invention]

[0007] According to the present invention, an autonomous mobile robot that can be easily applied to spaces where unspecified users come and go, such as a store, can be provided. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of the appearance of a cleaning sales promotion robot according to an embodiment of the present invention, viewed from the front. FIG. [Figure 2] FIG. 2 is a diagram illustrating an example of the appearance of the cleaning sales promotion robot of the present embodiment as viewed from the bottom. [Figure 3] FIG. 2 is a diagram illustrating an example of a partially disassembled cleaning unit according to the present embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a display screen of a display operation unit according to the embodiment. [Figure 5] FIG. 2 is a diagram illustrating an example of an imaging range of an imaging unit according to the present embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of a functional configuration of the store management system according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A cleaning sales promotion robot 10 according to this embodiment will be described with reference to the drawings. The embodiment described below is merely an example, and the embodiments to which the present invention is applied are not limited to the following embodiment. In all the drawings for explaining the embodiments, the same reference numerals are used for components having the same functions, and repeated explanations will be omitted. Furthermore, in this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0010] (Embodiment) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the device configuration of a cleaning sales promotion robot 10 will be described with reference to Figs.

[0011] [Device configuration of cleaning sales promotion robot] FIG. 1 is a diagram showing an example of the external appearance of a cleaning sales promotion robot 10 according to this embodiment, viewed from the front. FIG. 2 is a diagram showing an example of the appearance of the cleaning sales promotion robot 10 of this embodiment as viewed from the bottom. FIG. 3 is a diagram showing an example of a partial disassembly of the cleaning unit 120 of this embodiment. In this embodiment, when necessary to indicate the position or direction of the cleaning sales promotion robot 10, a three-dimensional Cartesian coordinate system with x, y and z axes will be used. The x axis indicates the left-right direction of the cleaning sales promotion robot 10. The y axis indicates the front-rear direction of the cleaning sales promotion robot 10. The z axis indicates the direction perpendicular to the plane on which the cleaning sales promotion robot 10 moves (for example, the height direction of the cleaning sales promotion robot 10). The cleaning sales promotion robot 10 is movable in any direction on the plane formed by the x-axis and y-axis (for example, the floor surface of the store 2). In addition, in the following description, the x-axis direction may be abbreviated to the left and right of the cleaning sales promotion robot 10, the y-axis direction to the front and back of the cleaning sales promotion robot 10, and the z-axis direction to the height of the cleaning sales promotion robot 10.

[0012] The cleaning sales promotion robot 10 includes a support 101, a traveling unit 110, a cleaning unit 120, a product shelf 130, a display operation unit 140, an imaging unit 150, a transmitting unit 160, and a receiving unit 170.

[0013] [Travel unit] The traveling unit 110 includes an obstacle detection unit 111, a charging terminal 112, a charging device communication unit 113, a space scanner 114, a traveling control unit 115, and wheels 116.

[0014] The obstacle detection unit 111 detects obstacles on the movement path 11 of the cleaning sales promotion robot 10. As an example, the obstacle detection unit 111 includes a front obstacle detection unit 1111, a contact detection unit 1112, a lower obstacle detection unit 1113, and a rear obstacle detection unit 1114.

[0015] The forward obstacle detection unit 1111 includes, for example, a laser sensor, and detects the presence or absence of an obstacle ahead of the cleaning sales promotion robot 10 and the distance to the obstacle by reflecting a laser. The contact detection unit 1112 is a so-called bumper sensor, and detects whether or not there is contact with a person or an object (for example, the product display shelf 27). The lower obstacle detection unit 1113 includes, for example, a laser sensor, and detects whether or not there is an obstacle on the floor in front of the cleaning sales promotion robot 10 and the distance to the obstacle. The rear obstacle detection unit 1114 includes, for example, a laser sensor, and detects the presence or absence of an obstacle behind the cleaning sales promotion robot 10 and the distance to the obstacle by reflecting a laser.

[0016] The charging terminal 112 is connected to a charging device (not shown) installed in the store 2. The power supplied from the charging device is charged into a storage battery (not shown) of the cleaning sales promotion robot 10 via the charging terminal 112. The charging device communication unit 113 includes, for example, an infrared communication unit, and communicates with the charging device.

[0017] The spatial scanner 114 is equipped with, for example, an omnidirectional laser sensor, and receives reflected light of the emitted laser while rotating the direction of the laser irradiation around the z-axis, thereby acquiring the three-dimensional shape of the surroundings of the cleaning sales promotion robot 10. The spatial scanner 114 outputs the acquired three-dimensional shape to the travel control unit 115.

[0018] The travel control unit 115 includes, for example, a CPU (central processing unit) and controls the wheels 116 based on programs and data stored in a storage unit (not shown). As an example, the travel control unit 115 determines the travel route 11 based on the three-dimensional shape of the interior of the store 2 acquired by the spatial scanner 114, and moves along the travel route 11 based also on the detection results of the obstacle detection unit 111.

[0019] The wheels 116 include, for example, a drive wheel 1161, a front auxiliary wheel 1162, and a rear auxiliary wheel 1163, and enable movement on the floor surface.

[0020] [Cleaning unit] The cleaning unit 120 includes a rotating brush 121 , a roller mop 122 , a guide portion 123 , a suction port 124 , and a wastewater filtering portion 125 . The rotating brushes 121 are provided on the left and right sides of the front of the cleaning sales promotion robot 10, and each rotates around the z-axis. By rotating while the cleaning sales promotion robot 10 is moving, the rotating brushes 121 sweep up dirt and debris on the front left and front right sides of the movement path 11 of the cleaning sales promotion robot 10 to the center of the left and right sides of the cleaning sales promotion robot 10. The guide portion 123 collects the dust scraped up by the rotary brush 121 into the suction port 124 . The suction port 124 is an opening for sucking dust into a vacuum cleaner (not shown) provided in the cleaning unit 120 .

[0021] The roller mop 122 rotates around the x-axis and wipes off water supplied from a fresh water tank (not shown) provided in the cleaning unit 120, thereby wiping the floor surface of the store 2 with water. The dirty water filtering section 125 filters the dirty water wiped off by the roller mop 122.

[0022] Note that cleaning unit 120 may include only either rotating brush 121 or roller mop 122. In other words, cleaning unit 120 performs at least one of wiping and sweeping of the floor surface.

[0023] [Other units] The traveling unit 110 and the cleaning unit 120 constitute the main body of the cleaning sales promotion robot 10. A support 101 is provided on the top surface of the main body of the cleaning sales promotion robot 10. The support 101 holds the product shelf 130, the display operation unit 140, the imaging unit 150, the transmitting unit 160, and the receiving unit 170 above the main body.

[0024] [Product shelf] The product shelf 130 is disposed above the traveling unit 110. The product shelf 130 includes a lower product shelf 131 and an upper product shelf 132.

[0025] The product shelf 130 includes a second obstacle detection unit 133 that detects obstacles on the movement path 11. The second obstacle detection unit 133 is, for example, an ultrasonic sensor that detects the presence or absence of obstacles such as people or objects and the distance to the obstacles by reflecting ultrasonic waves.

[0026] Products 5 intended for customers of the store 2 are placed on the product shelves 130. The cleaning sales promotion robot 10 offers the products 5 to customers while moving. Because the cleaning sales promotion robot 10 moves within the store 2, it is more likely to attract the attention of customers than products 5 displayed on fixed shelves or the like. Therefore, the cleaning sales promotion robot 10 can contribute to promoting sales of the products 5.

[0027] On the other hand, the cleaning sales promotion robot 10 moves around the store 2 to clean the floors. Therefore, it is desirable for the cleaning sales promotion robot 10 to stop moving when the distance between the cleaning sales promotion robot 10 and the customer becomes too close. Since the obstacle detection unit 111 described above is provided in the traveling unit 110 at the bottom of the cleaning sales promotion robot 10, it may be difficult to detect whether there is an obstacle to the product shelf 130 provided at the top of the cleaning sales promotion robot 10 or the distance between the product shelf 130 and the obstacle.

[0028] The cleaning sales promotion robot 10 of this embodiment is provided with not only a main body but also a second obstacle detection unit 133 at the height of the product shelf 130. Therefore, the cleaning sales promotion robot 10 can detect an obstacle above the robot (for example, a customer reaching out to the product shelf 130). Therefore, according to the cleaning and sales promotion robot 10 of this embodiment, while moving around the store 2 to clean the floor, it detects customers who are approaching the product shelves 130 and stops moving, thereby promoting sales of the products 5 while ensuring higher safety.

[0029] The cleaning sales promotion robot 10 is also provided with a second obstacle detection unit 133 on both the lower product shelf 131 and the upper product shelf 132. This allows the cleaning sales promotion robot 10 to increase the area of the product shelves 130 for sales promotion of products 5 in the vertical direction, while increasing the accuracy of detecting customers reaching out to each product shelf 130.

[0030] [Display operation section] The display operation unit 140 includes, for example, a liquid crystal display with a touch panel, and displays various images and accepts operations from the user.

[0031] 4 is a diagram showing an example of a display screen of the display operation unit 140 of this embodiment. On the display operation unit 140, for example, a sales promotion image 504 is displayed. The promotional image 504 is an image introducing the product 5 or a discount campaign related to the product 5. An example of the promotional image 504 is an image indicating that if you purchase a certain product 5, you will receive the same product 5 or another product 5 that is being promoted for free. The display operation unit 140 may also display other images that are not directly related to the products 5 sold in the store 2. For example, if an in-store display device 26 aimed at customers displays an introductory image of a movie, sporting event, or the like, the display operation unit 140 may display an image related to (for example, linked to) this image.

[0032] That is, the display operation unit 140 is positioned above the product shelf 130 and displays at least one of image information 503 relating to an image displayed on the in-store display device 26 for customers, and a sales promotion image 504 relating to the product 5 in the store 2.

[0033] Furthermore, the display operation unit 140 accepts various operations by the operator using an operation detection device such as a touch panel. For example, the display operation unit 140 accepts setting operations by the operator that include at least setting a driving route in the driving control unit 115. Here, the operator includes an employee of the store 2 and a supervisor in charge of the store 2. The display operation unit 140 may receive an operation for operation permission (for example, a password input operation) so that customers cannot operate the unit and only employees or supervisors of the store 2 (i.e., staff of the store 2) can operate the unit.

[0034] 1, the imaging unit 150 is equipped with a camera capable of capturing still images and videos, and captures images of the inside of the store 2. It is desirable that the imaging range of this imaging unit 150 is set so that the angle of view includes the product display shelves 27 from the bottom to the top while moving between the product display shelves 27.

[0035] 5 is a diagram showing an example of the imaging range of the imaging unit 150 of this embodiment. For example, it is desirable that the imaging range of the imaging unit 150 at least includes a height of 0 mm (i.e., floor height) to a height of 1800 mm at a position 500 mm away, which is half the aisle width (e.g., 1000 mm) between typical product display shelves 27.

[0036] That is, the imaging unit 150 can capture an image in a range from the floor surface to at least 1800 mm above the floor.

[0037] 1, the transmission unit 160 transmits the images of the inside of the store 2 captured by the imaging unit 150 to an external storage device via the network NT. The external storage device here is, for example, an image storage device 230 installed in the store office 22 of the store 2 or a cloud server (not shown). In this way, the cleaning sales promotion robot 10 transmits images of the inside of the store 2 captured by the imaging unit 150 to an external storage device, so that a supervisor or other person in charge of operation management and advice outside the store 2 can access the external storage device and check the situation inside the store 2 from a remote location.

[0038] In addition, when one supervisor is in charge of multiple stores 2, such as in a franchise chain, it is preferable to be able to confirm which store 2 an image stored in an external storage device shows. Here, each store 2 is assigned in advance information for identifying the store, such as a store code (i.e., store identification information 502). Therefore, the transmitting unit 160 transmits the image of the inside of the store 2 captured by the imaging unit 150 to the image storage device 230 (external storage device) via the network NT, together with store identification information 502 that identifies the store 2. According to the cleaning sales promotion robot 10 configured in this manner, a manager who has charge of a plurality of stores 2 can check the state of each store 2 from a remote location.

[0039] The receiving unit 170 can receive image information 503 to be displayed on the display operation unit 140 from an external device. This image information 503 may be provided from the display control device 210 that causes the in-store display device 26 to display an image. In other words, the image information 503 is received from the display control device 210 that causes the in-store display device 26 to display an image. In this case, the display operation unit 140 displays the received image information 503.

[0040] Here, the display control device 210 is a computer device such as a personal computer installed in the store office 22. The display control device 210 is connected to an in-store display device 26 (for example, a digital signage device using a liquid crystal display) attached above the cash register counter 25, and displays an image on the in-store display device 26.

[0041] As described above, the cleaning sales promotion robot 10 of this embodiment displays image information 503 provided by the display control device 210, which displays an image displayed on the in-store display device 26. With the cleaning sales promotion robot 10 configured in this manner, an image related to the image displayed on the in-store display device 26 can be displayed on the display operation unit 140, so that the in-store display device 26 and the cleaning sales promotion robot 10 can achieve a synergistic effect in sales promotion.

[0042] The cleaning and sales promotion robot 10 cleans, promotes sales, and takes images of the inside of the store 2 while traveling within the store 2.

[0043] The cleaning sales promotion robot 10 transmits the image of the inside of the store 2 captured by the imaging unit 150 as image information 503 to an external image storage device (for example, the display control device 210 in the store 2).

[0044] After the cleaning of the store 2 is completed, the cleaning sales promotion robot 10 returns to the position of a charging device (not shown) installed in the store 2. The cleaning sales promotion robot 10 is connected to the charging device and receives power from the charging device.

[0045] [Store Management System 1 Configuration] 6 is a diagram showing an example of the functional configuration of the store management system 1 of this embodiment. The store management system 1 is a system configured so that image information 503 captured by the cleaning sales promotion robot 10 can be used on the store manager terminal 30 via the network NT. The store management system 1 of this embodiment includes a cleaning sales promotion robot 10, a display control device 210, a wireless communication device 220, an image storage device 230, and an operation manager terminal 30.

[0046] The display control device 210 is installed in the store 2 (for example, the store office 22 of the store 2) and controls the display of the in-store display device 26. As an example, the display control device 210 acquires image information from an external information providing device via the network NT. For example, the in-store display device 26 displays introductory images for movies, sporting events, etc., and promotional images for the products 5 of the store 2. The wireless communication device 220 transmits and receives information to and from the cleaning sales promotion robot 10, for example, by a wireless local area network (wireless LAN) or a short-distance wireless communication method. As an example, the wireless communication device 220 receives image information 503 captured by the cleaning sales promotion robot 10.

[0047] The image storage device 230 includes, for example, a hard disk drive or a semiconductor storage device, and stores various images. The image storage device 230 stores image information provided from an external information providing device. The display control device 210 displays images on the in-store display device 26 based on the image information stored in the image storage device 230. The image storage device 230 also stores image information (i.e., image information 503 captured by the cleaning sales promotion robot 10) received by the wireless communication device 220 from the cleaning sales promotion robot 10. The display control device 210 transmits the image information 503 stored in the image storage device 230 to the operation manager terminal 30 via the network NT.

[0048] The operations manager terminal 30 is a computer device operated outside the store 2 by a person (e.g., a supervisor) who manages and provides advice on the operation of the store 2. By accessing the display control device 210 via the network NT, the operations manager terminal 30 can remotely check the status of the inside of the store 2 using the image information 503 stored in the image storage device 230. As an example, the image information 503 captures an image of the status of the products 5 placed on the product display shelves 27 in the store 2. In this case, the supervisor can use the operations manager terminal 30 to remotely check the display status of the products 5 in each store 2 (for example, sales, inventory, or out-of-stock status).

[0049] The store operation system 1 can also remotely update the control program of the cleaning sales promotion robot 10 from the operation manager terminal 30 via the network NT. For example, when the autonomous control program of the cleaning sales promotion robot 10 is updated, the operation manager terminal 30 transmits the updated autonomous control program to the cleaning sales promotion robot 10 via the network NT, the display control device 210, and the wireless communication device 220. This autonomous control program may be common to all stores 2, or may be different for each store 2. For example, the way in which the cleaning sales promotion robot 10 should move to perform more appropriate operations may differ depending on the location, size, or layout of the store 2. In such cases, the store management system 1 may group the stores 2 based on the location, size, or layout of the stores 2, and distribute different autonomous control programs to the cleaning sales promotion robot 10 for each group.

[0050] As described above, the cleaning sales promotion robot 10 of this embodiment is equipped with the product shelves 130 and the display operation unit 140, so that it not only cleans the inside of the store 2 but also has a mechanism that allows it to approach customers without making them feel uncomfortable. Furthermore, the cleaning sales promotion robot 10 is equipped with a second obstacle detection unit 133 (e.g., an ultrasonic sensor) on the product shelves 130 where customers reach out. Therefore, when a customer approaches the cleaning sales promotion robot 10, the robot can accurately detect the customer and move in a direction approaching the customer, or stop moving if it gets too close to the customer. Therefore, the cleaning sales promotion robot 10 has the effect of providing an autonomous mobile robot that can be easily applied to spaces such as stores where an unspecified number of users come and go.

[0051] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like are also included within the scope that does not deviate from the gist of the present invention. For example, a computer program for implementing the functions of each of the above-described devices may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read and executed by a computer system. Note that the term "computer system" may include hardware such as an OS and peripheral devices.

[0052] In addition, "computer-readable recording medium" refers to writable non-volatile memory such as a flexible disk, optical magnetic disk, ROM, or flash memory, portable media such as a DVD (Digital Versatile Disc), or a storage device such as a hard disk built into a computer system. Furthermore, "computer-readable recording medium" also includes those that retain a program for a certain period of time, such as volatile memory (e.g., DRAM (Dynamic Random Access Memory)) within a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

[0053] The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may also be a program for implementing some of the functions described above, or may be a so-called differential file (differential program) that can implement the functions described above in combination with a program already stored in the computer system. [Explanation of symbols]

[0054] 1...Store management system, 2...Store, 5...Product, 10...Cleaning sales promotion robot, 11...Movement path, 101...Support, 110...Traveling unit, 111...Obstacle detection unit, 1111...Front obstacle detection unit, 1112...Contact detection unit, 1113...Lower obstacle detection unit, 1114...Rear obstacle detection unit, 112...Charging terminal, 113...Charging device communication unit, 114...Spatial scanner, 115...Traveling control unit, 116...Wheels, 1161...Drive wheels, 1162...Front training wheels, 1163...Rear training wheels, 120...Cleaning unit, 121...Rotating brush, 122...Roller mop, 123...Guidance unit, 124...Suction port, 125...Sewage filtration unit, 1 30...product shelf, 131...lower product shelf, 132...upper product shelf, 133...second obstacle detection unit, 140...display operation unit, 150...imaging unit, 160...transmitting unit, 170...receiving unit, 20...store layout, 21...store entrance / exit, 22...store office, 23...toilet, 24...back yard, 25...checkout counter, 26...in-store display device, 27...product display shelf, 28...no entry area, 30...operator terminal, 210...display control device, 220...wireless communication device, 230...image storage device (external storage device), NT...network, 501...layout image, 502...store identification information, 503...image information, 504...sales promotion image

Claims

1. a traveling unit including an obstacle detection unit that detects obstacles on a travel path, wheels that enable the traveling unit to move on a floor surface, and a traveling control unit that controls the wheels; a cleaning unit that performs at least one of wiping and sweeping of the floor surface; a product shelf provided with a second obstacle detection unit disposed above the traveling unit and configured to detect an obstacle on the movement path; a display operation unit that is disposed above the product shelves and displays at least one of image information related to images displayed on an in-store display device facing customers and sales promotion images related to products in the store, and that accepts setting operations by an operator, including at least setting a travel route for the travel control unit; A cleaning sales promotion robot equipped with

2. an imaging unit capable of imaging an area at least 180 cm above the floor; a transmitting unit that transmits the image of the inside of the store captured by the imaging unit to an external storage device via a network, together with store identification information that identifies the store; The cleaning sales promotion robot of claim 1 further comprising:

3. a receiving unit that receives image information from a display control device that displays an image on the in-store display device; The display operation unit displays the received image information. The cleaning sales promotion robot according to claim 1.

Images