Product replenishment system

Abstract

To reduce the cost of replenishing shelves with products and reduce the installation space required.SOLUTION: A product replenishment system 1 includes an imaging unit 40, a storage shelf 10 that stores products G, a replenishment unit 30 that replenishes a product shelf 20 with the products G stored in the storage shelf 10, a control unit 60 that controls at least the imaging unit 40 and the replenishment unit 30, and an alarm unit 70 that alerts to abnormalities. The control unit 60 determines whether or not the characteristics of the products detected in the storage shelf 10 are in coincidence with pre-stored characteristics based on image data captured by the imaging unit 40, and controls the alarm unit 70 to alert if the characteristics of the products detected in the storage shelf 10 differ from the pre-stored characteristics.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a product replenishment system. [Background technology]

[0002] Conventionally, products such as beverage cans and plastic bottles are sold on shelves in supermarkets, convenience stores, etc. When a shopper removes a product from the shelf, replenished products are moved inward in each lane arranged on the shelf, so the products gradually become scarce.

[0003] Therefore, store clerks need to replenish products from the back yard to the product shelves. To assist store clerks in replenishing products, a product replenishment system has been proposed that detects when products are running low on the shelves and replenishes the products (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-110755 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the product replenishment system described in Patent Document 1 requires that a detection sensor for detecting when products are running low be placed on each lane of the product shelves, which is costly.Furthermore, the need to install a detection sensor on each lane of the product shelves results in wasted installation space.

[0006] The present invention was made in consideration of the above-mentioned situation, and one of its objectives is to provide a product replenishment system that can reduce the cost of replenishing products on product shelves and reduce the installation space required. [Means for solving the problem]

[0007] A product replenishment system according to one aspect of the present embodiment includes an imaging unit, a storage shelf for storing products, a replenishment unit for replenishing the product shelves with products stored in the storage shelves, a control unit for controlling at least the imaging unit and the replenishment unit, and an alarm unit for notifying an abnormality. The control unit determines whether or not characteristics of products detected on the storage shelves match pre-stored characteristics based on image data captured by the imaging unit, and controls the alarm unit to notify an abnormality if the characteristics of the products detected on the storage shelves differ from the pre-stored characteristics.

[0008] A product replenishment system according to another aspect of the present embodiment includes an imaging unit, a storage shelf for storing products, a replenishment unit for replenishing a product shelf with products stored in the storage shelf, and a control unit for controlling at least the imaging unit and the replenishment unit. The control unit determines whether or not characteristics of products detected in the storage shelf match pre-stored characteristics based on image data captured by the imaging unit, and when the characteristics of the products detected in the storage shelf match the pre-stored characteristics, controls the replenishment unit to replenish the product shelf with products stored in the storage shelf. [Effects of the Invention]

[0009] According to the present invention, it is possible to reduce the cost of replenishing shelves with products and reduce the installation space. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is an overall perspective view of a product replenishment system according to an embodiment of the present invention; [Figure 2] FIG. 1 is a cross-sectional view of a product replenishment system. [Figure 3] FIG. 1 is an overhead view of a product replenishment system. [Figure 4] FIG. 1 is a side view of a product replenishment system. [Figure 5] FIG. 4 is an enlarged view showing details of the replenishing section. [Figure 6]FIG. 4 is an enlarged view showing details of the replenishing section. [Figure 7] FIG. 10 is a schematic diagram illustrating calculation of a distance to a product by an imaging unit. [Figure 8] FIG. 10 is a schematic diagram illustrating calculation of a distance to a product by an imaging unit. [Figure 9] FIG. 10 is a schematic diagram for explaining the orientation of a product. [Figure 10] 10 is a flowchart illustrating an example of a product replenishment process executed in the product replenishment system. [Figure 11] 10 is a flowchart illustrating an example of an empty lane check process. [Figure 12] 10 is a flowchart illustrating an example of an inventory detection process. [Figure 13] 10 is a flowchart illustrating an example of a product replenishment process. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of a product replenishment system according to the present invention will be described with reference to the drawings. Figs. 1 to 4 are explanatory diagrams of the configuration of a product replenishment system according to this embodiment. As shown in Figs. 1 to 4, a product replenishment system 1 according to this embodiment transports products G stored on a storage shelf 10 and replenishes them on a product shelf 20. Fig. 1 is an overall perspective view of the product replenishment system 1. Fig. 2 is a cross-sectional view of the product replenishment system 1. Fig. 3 is an overhead view of the product replenishment system 1. Fig. 4 is a side view of the product replenishment system 1.

[0012] In this embodiment, the direction from the storage shelf 10 to the product shelf 20 is defined as the X direction. The X direction is the direction in which a shopper takes out a product G from the product shelf 20, i.e., the direction of the take-out opening 21 of the product shelf 20. The width direction of the storage shelf 10 and the product shelf 20 is defined as the Y direction. The height direction of the storage shelf 10 and the product shelf 20 is defined as the Z direction.

[0013] The storage shelf 10 is composed of a plurality of shelves 111. On each shelf 111, a plurality of types of products G are stored for each product storage position. The same type of products G is stored in the same product storage position. The products G stored in each product storage position may be of the same type or may be of different types.

[0014] The product shelf 20 is composed of a plurality of shelf boards 211. Each shelf board 211 is stocked with a plurality of types of products G for each lane. The same type of products G is stocked in the same lane. The products G stocked in each lane may be of the same type or may be of different types.

[0015] Merchandise replenishment system 1 includes a replenishment unit 30, an imaging unit 40, a rotation unit 50, a control unit 60, an alarm unit 70, and a memory unit 80. Merchandise replenishment system 1 may include other components not shown in FIGS. 1 to 4. The replenishment unit 30, the imaging unit 40, the rotation unit 50, the control unit 60, the alarm unit 70, and the memory unit 80 are connected, for example, via a wireless network. The replenishment unit 30, the imaging unit 40, the rotation unit 50, the control unit 60, and the alarm unit 70 may also be connected via a wired network.

[0016] The replenishment unit 30 replenishes the products G stored in the storage shelf 10 to the product shelf 20. Figures 5 and 6 are enlarged views showing the details of the replenishment unit 30. Figure 5 is an overall perspective view of the replenishment unit 30. Figure 6 is a side view of the replenishment unit 30. The replenishment unit 30 is composed of, for example, a slide unit 310 and an articulated arm unit 320.

[0017] The sliding section 310 is composed of, for example, a pair of left and right sliding sections 311, 312, a vertical sliding section 313, and a base section 314. The pair of left and right sliding sections 311, 312 are arranged along the width direction at the upper and lower ends of the product shelf 20. The vertical sliding section 313 is arranged along the height direction of the product shelf 20, and is connected to the left and right sliding sections 311, 312 at the upper and lower ends of the product shelf 20. The base section 314 is a stand to which the arm section 320 is fixed.

[0018] The arm portion 320 is configured by, for example, a first arm portion 321, a second arm portion 322, a third arm portion 323, and a grip portion 324. The first arm portion 321 is formed, for example, in a cylindrical shape. One end of the first arm portion 321 is fixed to the base portion 314. The first arm portion 321 extends upward in the vertical direction (Z-axis direction) from the base portion 314. The other end of the first arm portion 321 is rotatably supported by the second arm portion 322.

[0019] The second arm portion 322 is formed, for example, in a rectangular parallelepiped shape. One end of the second arm portion 322 is rotatably supported by the other end of the first arm portion 321. The other end of the second arm portion 322 is rotatably supported by the third arm portion 323.

[0020] The third arm portion 323 is formed, for example, in a rectangular parallelepiped shape. One end of the third arm portion 323 is rotatably supported by the other end of the second arm portion 322. The other end of the third arm portion 323 is rotatably supported by the grip portion 324.

[0021] The gripping portion 324 is formed so as to be able to grip the product G. The gripping portion 324 is formed, for example, with a U-shaped cross section. The gripping width of the gripping portion 324 can be freely changed depending on the width and thickness of the product G.

[0022] The base 314 to which the arm 320 is fixed is fixed so as to be slidable in the vertical direction (Z-axis direction) on the vertical slide 313. Therefore, the arm 320 is fixed so as to be movable in the width direction (Y-axis direction) and vertical direction (Z-axis direction) of the product shelf 20. This allows the replenishing unit 30 to freely transport the product G gripped by the gripper 324.

[0023] Furthermore, the base part 314 is axially supported so as to be rotatable in the horizontal direction. This makes it possible to rotate the base part 314 so that the replenishment part 30 faces the storage shelf 10 and grip the product G stored on the storage shelf 10, as shown in the upper part of Fig. 2. Furthermore, as shown in the lower part of Fig. 2, by rotating the base part 314 so that the replenishment part 30 faces the product shelf 20 and releasing the grip of the product G by the gripping part 324, the product G can be replenished on the product shelf 20.

[0024] The imaging unit 40 captures an image of the product G. The imaging unit 40 is disposed, for example, in the replenishing unit 30. The imaging unit 40 is disposed, for example, on the first arm unit 321 of the replenishing unit 30. The imaging unit 40 is, for example, two or more pairs of stereo cameras with different depths of field. The imaging unit 40 is, for example, configured with two pairs of stereo cameras L and R.

[0025] 7 and 8 are schematic diagrams illustrating how the distance to the product G is calculated using the imaging unit 40. As shown in FIGS. 7 and 8, the control unit 60 can calculate the distance d from the imaging unit 40 to point P on the product G based on the imaging data captured by the stereo cameras L and R, which are spaced apart from each other. Assume that the principal points of the stereo cameras L and R are calibrated and have the same pixel coordinates in the left and right images, respectively. Furthermore, assume that the rows of these images are aligned and that all pixel rows in the stereo camera L are accurately aligned with the corresponding rows in the stereo camera R. Then, it is assumed that the real-world point P exists in the left and right image views and its horizontal coordinate is x l and x r In this case, the disparity l (meters) between the stereo cameras L and R is x l -x r The control unit 60 calculates the distance d to the point P of the product G using the principle of triangulation using Equation 1. d(meters)= ((l(meters))×(f(pixels))) / ((x l -x r )(pixels))...(Formula 1) f=focal length

[0026] The control unit 60 detects the number of products arranged in a lane of the product shelf 20 based on the distance d calculated from the product G being replenished on the product shelf 20. As a pre-processing step, the control unit 60 controls, for example, the replenishment unit 30 to move to the front of the lane of the product shelf 20 for which the type of product G is stored in the memory unit 80. The control unit 60 calculates the distance d to the product G by capturing images of the lane to which the control unit 60 has moved using the stereo camera L and stereo camera R. The control unit 60 calculates the number of missing products (shortage quantity) from the calculated distance d, for example, using one of the following calculation examples 1 to 3. The lanes for each type of product G are stored in a table in the memory unit 80. The lanes for each type of product G may also be stored in a server (not shown).

[0027] (Calculation example 1) The control unit 60 calculates the number of missing products (number of missing products) for any lane by subtracting the distance df when the lane is filled with product G (hereinafter referred to as ``when the product is filled'') from the calculated distance d and dividing the result by the length of one product G replenished in that lane.

[0028] (Calculation Example 2) In any lane, the control unit 60 measures the distance de until the lane is empty by subtracting one product G at a time from the distance df when the lane is full of products. The control unit 60 compares the distance d calculated for any lane with the distance de until the lane is empty to calculate the number of products that are missing (the number of products that are missing).

[0029] (Calculation Example 3) In any lane, the control unit 60 measures the distance de until the lane is empty by subtracting one product G at a time from the distance df when the lane is full of products, and inputs the image data captured by the imaging unit 40 into a deep neural network (DNN). The control unit 60 calculates the value calculated by the deep neural network as the number of missing products (shortage number).

[0030] The control unit 60 stores the type of missing product and the number of missing products (missing quantity) calculated using any of calculation examples 1 to 3 in a replenishment product list stored in the storage unit 80. The control unit 60 executes the calculation of the missing quantity for all lanes arranged on the product shelf 20.

[0031] The control unit 60 detects the inventory quantity of the product G arranged at the storage position of the product G stored on the storage shelf 10 (hereinafter referred to as the "product storage position") based on the distance d calculated for the product G stored on the storage shelf 10. As a pre-processing, the control unit 60, for example, controls the replenishment unit 30 to move to a position in front of the product storage position on the storage shelf 10 for which the type of product G is stored in the memory unit 80. The control unit 60 calculates the distance d to the product G by capturing images with the stereo cameras L and R at the product storage position to which the control unit 60 has moved. The control unit 60 determines, for example, from the calculated distance d whether the product G is in stock. The product storage position of each type of product G is stored in the memory unit 80. In addition, the product storage position of each type of product G may be stored in a server (not shown).

[0032] When product G is out of stock at the product storage location on the storage shelf 10, the control unit 60 controls the notification unit 70 to notify the store clerk that product G is out of stock. The notification unit 70 is formed, for example, by a speaker, display, rotating light, etc., and issues a message, sound, etc. to notify the store clerk. The notification unit 70 can be placed, for example, on the back of the product shelf 20 or at the cash register so that only the store clerk can see it. The store clerk who receives the notification from the notification unit 70 can quickly know that the product is out of stock, which can prevent product shortages.

[0033] When a product G is in stock at a product storage location on the storage shelf 10, the control unit 60 determines whether the product is in good condition based on the image data of the product G captured by controlling the imaging unit 40. The control unit 60 can determine whether the product G is in good condition by, for example, determining whether the characteristics of the product G obtained from the image data of the product G captured by controlling the imaging unit 40 match the characteristics of the product G previously stored in the storage unit 80. The characteristics of the product G may be stored in a server (not shown). If the product G does not match the previously stored characteristics of the product G due to deformation or the product G having fallen over, the control unit 60 controls the alarm unit 70 to alert the store clerk that there is something wrong with the product G. The store clerk who receives the alarm from the alarm unit 70 can quickly learn that there is something wrong with the product G, thereby preventing customers from being inconvenienced by the abnormal product G.

[0034] If there is no abnormality in the product, the control unit 60 controls the replenishment unit 30 to grasp the product G stored on the storage shelf 10 and place it on the rotation unit 50. The rotation unit 50 rotates the product G replenished by the replenishment unit 30 to align the orientation of the product. The rotation unit 50 is formed, for example, by a disk-shaped base. Based on the control of the control unit 60, the rotation unit 50 rotates the product G placed by the replenishment unit 30 around a vertical axis (Z-axis) to align the orientation of the product.

[0035] FIG. 9 is a schematic diagram for explaining the orientation of product G. In this embodiment, the surface of product G to which package C is attached is referred to as the front, and the surface opposite to the surface to which package C is attached is referred to as the back. FIG. 9(A) is a diagram showing the front of product G. FIG. 9(B) is a diagram showing the back of product G. FIG. 9(C) and FIG. 9(D) are diagrams showing the side of product G.

[0036] The control unit 60 can detect the front and back of the product G by performing pattern matching with images of the product G captured from multiple directions by the imaging unit 40 while rotating the product G placed on the rotating unit 50. The control unit 60 stores the image data captured by the imaging unit 40 in the memory unit 80 along with the rotation angle until the product G is face-up. The control unit 60 can perform pattern matching based on, for example, the pattern on the package C of the product G. This can shorten the recovery time in the event of a reading error compared to detecting the front and back of the product G based on a two-dimensional code such as a barcode. Pattern matching information is stored in the memory unit 80. The pattern matching information may also be stored in a server (not shown).

[0037] The control unit 60 stops the rotation of the rotation unit 50 at a position where the back surface of the product G faces the replenishment unit 30, based on the relationship between the rotation speed of the rotation unit 50 and the pattern matching position imaged by the imaging unit 40. For example, the control unit 60 rotates the rotation unit 50 by a face-up rotation angle based on the matched image data, and stops the rotation at the position shown in Figure 9(B).

[0038] The control unit 60 controls the replenishment unit 30 to move the product G, while holding it from the back side, to the lane of the product shelf 20 where it should be replenished. The control unit 60 then calculates the distance d from the imaging unit 40 to point P of the product G arranged in the lane of the product shelf 20, based on the imaging data captured by the stereo cameras L and R, which are separated from each other.

[0039] The control unit 60 determines whether the lane is full of products G, i.e., whether there is any free space in the lane, based on the calculated distance d to point P of the products G placed in the lane of the product shelf 20.

[0040] If the lane is full of product G, that is, if there is no free space to replenish product G, the control unit 60 controls the replenishment unit 30 to return product G to the original product storage position on the storage shelf 10 where product G was stored. In this case, the control unit 60 deletes the corresponding missing product from the replenishment product list stored in the memory unit 80 or sets the number of missing products (missing quantity) to 0.

[0041] If there is a shortage of product G in the lane, that is, if there is available space to replenish product G, the control unit 60 controls the replenishment unit 30 to place the package C of product G toward the outlet 21 of the product shelf 20, as shown in FIG. 2. This allows the package C of product G to be replenished facing the front side of the product shelf. The face-up can be performed automatically. In this embodiment, "face-up" refers to the process of placing the package C of product G toward the outlet 21 of the product shelf 20. In this case, the control unit 60 subtracts 1 from the number of products (shortage number) of the corresponding missing product from the replenishment product list stored in the memory unit 80.

[0042] The control unit 60 is configured by, for example, a CPU (Central Processing Unit), a multi-core CPU, or a programmable device (PLD (Programmable Logic Device)). The control unit 60 controls the entire product replenishment system 1. The control unit 60 performs various controls and product replenishment processing based on programs stored in the storage unit 80.

[0043] Next, a product replenishment method according to the product replenishment process executed in the product replenishment system 1 will be described. Figs. 10 to 13 are flowcharts showing an example of the product replenishment process executed in the product replenishment system 1. First, the control unit 60 periodically performs an empty lane detection process (step S11). In the empty lane detection process, the control unit 60 periodically checks the product shelves 20 from the back yard side to see if there is a shortage of products G. If there are no products G to be replenished, i.e., no empty lane, the control unit 60 puts the process on hold.

[0044] Fig. 11 is a flowchart showing an example of the vacant lane check process executed in step S11 of Fig. 10. First, the control unit 60 controls the replenishing unit 30 to move to a position in front of an uninspected lane among the lanes of the product shelf 20 stored in advance (step S111). In the uninspected lane to which the control unit 60 has moved, the control unit 60 calculates the distance d from the imaging unit 40 to the product G using the stereo cameras L and R of the imaging unit 40, and detects the number of products based on the calculated distance d (step S112).

[0045] The control unit 60 determines whether the number of products detected in step S112 is equal to or less than a predetermined number (step S113). If the number of detected products is greater than the predetermined number (step S113: NO), the process proceeds to step S115. If the number of detected products is equal to or less than the predetermined number (step S113: YES), the control unit 60 determines that the number of products is equal to or less than the predetermined number as missing products, and stores the missing products and the number of missing products (missing quantity) in a replenishment product list stored in the memory unit 80 (step S114).

[0046] In step S115, the control unit 60 determines whether or not there are any uninspected lanes on the product shelf 20. If there are any uninspected lanes (step S115: YES), the control unit 60 proceeds to step S111, and the control unit 60 repeatedly executes the processes of steps S111 to S115 until there are no more uninspected lanes. Then, if there are no more uninspected lanes (step S115: NO), the empty lane check process ends, and the process proceeds to step S12 in FIG. 10.

[0047] In step S12 of Fig. 10, the control unit 60 determines whether or not there is an available lane. If there is no available lane (step S12: NO), the process waits until an available lane appears. If there is an available lane, the control unit 60 performs inventory detection processing (step S13).

[0048] Fig. 12 is a flowchart showing an example of the inventory detection process executed in step S13 of Fig. 10. First, the control unit 60 controls the replenishment unit 30 to move to the product storage position on the storage shelf 10 (step S131).

[0049] At the moved product storage location, the control unit 60 calculates the distance d from the imaging unit 40 to the product G using the stereo cameras L and R of the imaging unit 40 (step S132), and determines whether the product is in stock based on the calculated distance d (step S133). If the product is out of stock (step S133: NO), the control unit 60 controls the alarm unit 70 to issue a first alarm to alert the store clerk that the product is out of stock (step S134). The first alarm is an alarm that alerts the store clerk using sound or light. By alerting the store clerk with the first alarm, the store clerk can be informed quickly that the product is out of stock, allowing the product to be replenished quickly. When this process is completed, the inventory detection process ends, and the process proceeds to step S14 of FIG. 10.

[0050] If the product is in stock (step S133: YES), the control unit 60 determines whether the product G is in good condition based on the imaging data obtained by imaging the product G with the imaging unit 40 (step S135). If the product is in poor condition (step S135: NO), the control unit 60 controls the notification unit 70 to issue a first alarm to warn the store clerk that the product is in poor condition (step S134). By notifying the store clerk with the first alarm, it is possible to quickly notify the store clerk that there is something wrong with the product, and to quickly prevent the defective product from reaching consumers. When this process is completed, the inventory detection process ends, and the process proceeds to step S14 in FIG. 10.

[0051] If the condition of product G is good (step S135: YES), the control unit 60 determines whether there are few products in stock (step S136). If there are few products in stock (step S136: YES), the control unit 60 controls the notification unit 70 to issue a second alarm to warn the store clerk that product G is low in stock (step S137). By notifying the store clerk with the second alarm, it is possible to quickly notify the store clerk that product G is low in stock, and to prevent product shortages. When this process is completed, the inventory detection process ends, and the process proceeds to step S14 in FIG. 10. If there are many products in stock (step S136: NO), the inventory detection process ends, and the process proceeds to step S14 in FIG. 10.

[0052] In step S14 of Fig. 10, the control unit 60 determines whether or not there is stock of the product to be replenished (step S14). If there is no stock of the product to be replenished (step S14: NO), the process proceeds to step S16. If there is stock of the product to be replenished (step S14: YES), the control unit 60 performs product replenishment processing (step S15).

[0053] Fig. 13 is a flowchart showing an example of the product replenishment process executed in step S15 of Fig. 10. First, the control unit 60 controls the replenishment unit 30 to grasp the product G at the product storage position on the storage shelf 10 (step S151). The control unit 60 controls the replenishment unit 30 to place the grasped product G on the rotation unit 50, and controls the rotation unit 50 to rotate the product G placed on the rotation unit 50 (step S152).

[0054] The control unit 60 detects the front and back of the product G by rotating the product G placed on the rotating unit 50 and performing pattern matching with images of the product G captured from multiple directions by the imaging unit 40 (step S153).

[0055] The control unit 60 stops the rotation of the rotating unit 50 at a position where the back of the product G faces the replenishment unit 30 based on the relationship between the rotation speed of the rotating unit 50 and the position of the pattern matching imaged by the imaging unit 40 (step S154).

[0056] The control unit 60 controls the replenishing unit 30 to move the package C of the product G to a replenishing position on the product shelf 20 while gripping the product G from the back side (step S155). This allows the product G to be replenishing with the package C of the product G facing the front side of the product shelf, i.e., with the product G face up.

[0057] The control unit 60 calculates the distance d to point P of the product G placed on the product shelf 20 based on the image data captured by the stereo camera L and the stereo camera R (step S156). Based on the calculated distance d to point P of the product G, the control unit 60 determines whether there are enough products, i.e., whether there are any available lanes (step S157).

[0058] If there is a shortage of products, i.e., if there is an available lane (step S157: NO), the control unit 60 controls the replenishment unit 30 to replenish products G (step S158). The control unit 60 subtracts 1 from the number of types of replenished products G from the replenishment product list (step S159). When this process is completed, the product replenishment process is completed, and the process proceeds to step S16 in FIG. 10.

[0059] If there are sufficient products, that is, if there are no available lanes (step S157: YES), the control unit 60 returns the product G to the storage shelf 10 (step S160). The control unit 60 deletes the type of the returned product G from the replenishment product list (step S161). When this process is completed, the product replenishment process is completed, and the process proceeds to step S16 in FIG. 10.

[0060] 10, the control unit 60 determines whether or not a product is stored in the replenishment product list (step S16). If a product is stored in the replenishment product list (step S16: YES), the process returns to step S14, and steps S14 to S16 are repeatedly executed until all products in the replenishment product list are used up. If all products in the replenishment product list are used up (step S16: NO), the product replenishment process ends.

[0061] The control unit 60 of the above-described product replenishment system 1 detects the number of products G lined up on the product shelf 20 based on the imaging data captured by the imaging unit 40. If the detected number of products G is equal to or less than a predetermined number, the control unit 60 controls the replenishment unit 30 to transport the products G stored on the storage shelf 10, and controls the rotation unit 50 based on the imaging data captured by the imaging unit 40 to rotate the products G so that the front of the products G faces the access opening of the product shelf 20, thereby replenishing the products G on the product shelf 20. Therefore, by controlling the imaging unit 40, it is possible to detect the number of products G lined up on the product shelf 20. This allows products G to be replenished without providing a separate sensor, thereby reducing the cost of replenishing products on the product shelf 20 and reducing the installation space. [Industrial Applicability]

[0062] The product replenishment system of the present invention has the effect of reducing the cost of replenishing products on product shelves and reducing the installation space required, and is suitable for all product replenishment devices. [Explanation of symbols]

[0063] 1: Product replenishment system 10: Storage shelf 111: Shelf 20: Product shelf 21: Removal port 211: Shelf 30: Replenishment department 310: Slide section 311: Left and right sliding section 312: Left and right sliding section 313: Up and down sliding part 314: Base 320: Arm section 321: First arm 322: Second arm 323: Third arm 324: Grip part 40: Imaging unit 50: Rotating part 60: Control section 70: Information Department 80: Storage section G:Product L: Stereo camera R: Stereo camera

Claims

1. An imaging unit; Shelves for storing products; a replenishment unit that replenishes the merchandise stored in the storage shelves to the merchandise shelves; a control unit that controls at least the imaging unit and the supplement unit; a notification unit that notifies of an abnormality, The control unit determines whether or not the characteristics of the product detected on the storage shelf match the pre-stored characteristics based on the image data captured by the imaging unit, and controls the notification unit to notify if the characteristics of the product detected on the storage shelf differ from the pre-stored characteristics. A product replenishment system characterized by:

2. the imaging unit is configured with a stereo camera, The control unit calculates the distance from the imaging unit to the product on the storage shelf based on the image data captured by the imaging unit, detects the inventory of the product on the storage shelf based on the calculated distance, and controls the notification unit to notify when the inventory is below a predetermined number.

2. The product replenishment system according to claim 1.

3. the imaging unit is configured with a stereo camera, The control unit calculating a distance from the imaging unit to a product on the product shelf based on imaging data captured by the imaging unit, and determining whether or not the product on the product shelf is sufficient based on the calculated distance; When the product shelves are not full of products and the characteristics of the products detected in the storage shelves match the characteristics stored in advance, the replenishing unit is controlled to replenish the products stored in the storage shelves to the product shelves.

2. The product replenishment system according to claim 1.

4. The storage shelf further includes a rotation unit that rotates the orientation of the products stored on the storage shelf based on the image data captured by the image capturing unit.

2. The product replenishment system according to claim 1.

5. An imaging unit; Shelves for storing products; a replenishment unit that replenishes the merchandise stored in the storage shelves to the merchandise shelves; a control unit that controls at least the imaging unit and the supplement unit, The control unit determines whether or not the characteristics of the products detected in the storage shelf match the pre-stored characteristics based on the image data captured by the imaging unit, and when the characteristics of the products detected in the storage shelf match the pre-stored characteristics, controls the replenishment unit to replenish the products stored in the storage shelf to the product shelf. A product replenishment system characterized by:

Images