Commodity sales system

Abstract

To perform unmanned business outside manned business hours without making a customer enter a store.SOLUTION: A commodity selling device (2) installed at the boundary between the inside and the outside of a store (3) so that the front surface thereof faces the outside of the store (3), and a picking robot (5) capable of moving in the same direction as the direction in which commodities (41) are displayed on commodity shelves (4) in the store (3) are provided. The product selling device 2 includes an order reception unit 21 that receives an order of the product 41 from a customer and a picking processing unit 22 that instructs the picking robot 5 to pick the product 41 related to the order from the product shelf 4 and convey the product 41 to the product storage space 28 included in the product selling device 2, and the picking robot 5 reads the AR marker 42 arranged on the product shelf 4, moves to a position corresponding to the product 41 instructed from the product selling device 2, picks the product 41, and conveys the product 41 to the product storage space 28.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for selling products in a physical store, and more particularly to a technology that is effective when applied to a product sales system for selling products in an unmanned physical store. [Background technology]

[0002] Convenience stores (hereinafter referred to as "convenience stores") and other retail businesses have expanded their business hours by offering convenience to customers through late-night and early-morning hours and 24-hour service, thereby increasing sales and profits by increasing customer opportunities. However, due to the declining birthrate and aging population, particularly the decline in the working population among young people, the retail industry is also facing a serious labor shortage, making it difficult to secure personnel who can work late-night and early-morning hours. While the cost of securing personnel during these hours is high, there are fewer customers and sales are lower than during the day. Therefore, there is a growing trend to shorten business hours by ceasing 24-hour and late-night / early-morning operations. Similarly, at places like airports and train stations, for example, kiosks are closing early in the evening despite the presence of customers.

[0003] In response to this situation, consideration is being given to operating stores unmanned without requiring human intervention during night and early morning hours. For example, Japanese Patent Laid-Open Publication No. 2019-021283 (Patent Document 1) describes an unmanned store system that includes an authentication device that performs biometric authentication of a user, a gate control device that opens a gate to allow the user to enter and exit the store if authenticated, and an unmanned cash register that performs biometric authentication of the user to settle the product price. Furthermore, Non-Patent Document 1 describes a demonstration experiment of unmanned operation of a convenience store during late-night hours. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2019-021283 [Non-patent literature]

[0005] [Non-Patent Document 1] "Experimental Start of Unmanned Late-Night Operations," [online], March 29, 2019, Lawson, Inc., [Retrieved October 18, 2020], Internet<URL:https: / / www.lawson.co.jp / company / news / detail / 1369017_2504.html> Summary of the Invention [Problem to be solved by the invention]

[0006] According to conventional technology, it is possible for existing retail stores to operate normally during the day and operate unmanned only at night or early in the morning when it is difficult to secure staff, without the need to install dedicated sales areas, product pickup areas, or devices such as vending machines for unmanned sales. However, with a system that allows customers to enter an unmanned store, there is a limit to how much security and crime prevention risks can be reduced, no matter how many measures are taken.

[0007] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a merchandise sales system that enables unmanned sales outside of manned business hours without requiring customers to enter the store.

[0008] The above and other objects and novel features of the present invention will become apparent from the description of this specification and the accompanying drawings. [Means for solving the problem]

[0009] Among the inventions disclosed in this application, the outline of representative inventions will be briefly explained as follows.

[0010] A representative embodiment of the present invention is a product sales system that sells products displayed on product shelves in a store to customers, wherein the products are displayed on the product shelves in one or more rows, and predetermined markers that can identify each product are placed at positions corresponding to the displayed positions of each product. The system comprises a product sales device installed at the boundary between the inside and outside of the store with its front facing outside the store, and a picking robot that can move within the store in the same direction as the products are displayed on the product shelves.

[0011] The product sales device has an order reception unit that receives orders for the products from the customers, and a picking processing unit that instructs the picking robot to pick the ordered product from the product shelf and transport it to a product storage space provided in the product sales device, and the picking robot reads the specified marker, moves to a position corresponding to the product instructed by the product sales device, picks up the product instructed by the product sales device, and transports it to the product storage space. [Effects of the Invention]

[0012] The effects obtained by the representative inventions disclosed in this application can be briefly explained as follows.

[0013] That is, according to the representative embodiment of the present invention, it is possible to operate an unmanned store outside of staffed business hours without requiring customers to enter the store. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a diagram showing an outline of a configuration example of a product sales system according to an embodiment of the present invention; [Figure 2] 1 is a diagram showing an overview of an example of product shelves and product displays according to an embodiment of the present invention. FIG. [Figure 3] 1 is a diagram showing an overview of an example of a store viewed from above in an embodiment of the present invention. FIG. [Figure 4] FIG. 10 is a diagram showing an overview of another example of a store viewed from above in the embodiment of the present invention. [Figure 5] 1 is a diagram showing an outline of an example of a store viewed from the outside in an embodiment of the present invention. FIG. [Figure 6] 1 is a diagram illustrating an overview of a configuration example of a picking robot according to an embodiment of the present invention. [Figure 7] 1A and 1B are diagrams showing an outline of an example of the configuration of a product conveying table according to an embodiment of the present invention. [Figure 8] FIG. 2 is a diagram illustrating an example of a data configuration of a product master DB according to an embodiment of the present invention. [Figure 9] FIG. 2 is a diagram illustrating an example of a data configuration of an inventory DB according to an embodiment of the present invention. [Figure 10] FIG. 2 is a diagram outlining an example of a data configuration of an order DB according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In all drawings used to explain the embodiments, the same parts are generally designated by the same reference numerals, and repeated explanations will be omitted. However, parts that have been designated and explained in one drawing may be referred to by the same reference numerals in the explanation of other drawings, although they will not be shown again.

[0016] <Summary> One embodiment of the product sales system of the present invention provides a service that enables sales of products to customers at physical stores that sell products to customers, such as convenience stores, department stores, supermarkets, drugstores, shopping complexes, bookstores, shops, and kiosks at airports and train stations, by using robots to automate operations outside of business hours (for example, late at night, early in the morning, on weekends, holidays, the New Year holidays, etc.).

[0017] Here, "business hours" refers to the time period during which store staff or other personnel perform operations such as selling products, and "outside business hours" refers to the time period other than the above-mentioned "business hours." According to this embodiment, "outside business hours" can also be considered to be the time period during which "business" is conducted, since robots can sell products to customers. Therefore, hereinafter, the time period during which store staff perform operations (corresponding to the conventional "business hours") may be referred to as "staffed business hours," and the time period during which robots perform operations (corresponding to the conventional "outside business hours") may be referred to as "unstaffed business hours."

[0018] In this embodiment, during unmanned business hours, a product vending device is installed at the boundary between the inside and outside of the store, and customers order, pay for, and receive products from outside the store via the product vending device. During unmanned business hours, customers are physically restricted from entering the store, but inside the store, a robot moves around the unmanned store on behalf of the customers, picking and collecting ordered and paid for products from the shelves one by one, and transporting them from inside the store to a delivery space provided by the product vending device. Customers can then retrieve the products delivered to the delivery space from outside the store. This makes it possible for a store to sell products inside the store (operate unmanned) without allowing customers inside, even during "off-hours."

[0019] The store is not particularly limited as long as it is a physical store that sells products to customers as described above, but in this embodiment, we will use as an example a store such as a convenience store (souvenir shop) at an airport or train station, where customers can freely enter and exit to pick up and purchase products during manned business hours, but which is closed or partitioned off to prevent customers from entering and exiting during unmanned business hours, and explain an example where only certain products such as best-selling souvenirs are sold even during unmanned business hours.

[0020] <System configuration> 1 is a diagram showing an overview of an example of the configuration of a product sales system according to one embodiment of the present invention. The product sales system 1 is composed of, for example, one or more picking robots 5 that move around a store 3, picking products ordered by customers from shelves 4, and transporting them to a dedicated delivery location, and a product sales device 2 that processes product orders and payments, and delivers products inside and outside the store 3.

[0021] [Product shelf] FIG. 2 is a diagram outlining an example of a product shelf and product display in one embodiment of the present invention. In this embodiment, products 41 are arranged on a product shelf 4 in a stacked state, and as described below, a picking robot 5 picks the products 41 from above. Therefore, the products 41 are preferably box-shaped with flat top and bottom surfaces so that they can be stacked vertically (in the z direction). To simplify the picking process, the products 41 are preferably arranged in a single row on the product shelf 4 (in a single row horizontally (x direction) in the example of FIG. 2). However, different products 41 may be arranged in two or more rows, one behind the other (in the y direction), as shown on the left side of the example of FIG. 2. In addition, because the products 41 are picked from above, the product shelf 4 in the example of FIG. 2 has only one shelf. However, a multi-tiered shelf configuration is also possible as long as sufficient space is available for picking the products 41 from above.

[0022] In this embodiment, it is assumed that product shelves 4 displaying products 41 to be sold during unmanned business hours (for example, popular souvenirs at airports or train stations) as shown in the example of Fig. 2 are prepared exclusively for unmanned business hours, and the product shelves 4 are placed in predetermined positions in the store 3 when switching to unmanned business hours, but this is not limited to this. The product shelves 4 and products 41 used during manned business hours may be used as they are during unmanned business hours.

[0023] AR markers 42 such as ArUco are placed on the top surface of the product shelf 4 near positions corresponding to the positions on the product shelf 4 where each product 41 is placed (positions in the horizontal direction (x direction) in the example of FIG. 2). These AR markers 42 are associated with the products 41 at the corresponding positions in the product master DB 24, which will be described later, and the picking robot 5 can identify the product 41 placed at the corresponding position by reading the AR markers 42.

[0024] 2, for example, when different products 41 are arranged in two rows in the front-to-back direction (y direction), the corresponding AR markers 42 are placed near the corresponding positions. Including such a case, the approximate position of each product 41 in the front-to-back direction (y direction) may be a predetermined value, or the actual position of the product may be obtained from the product master DB 24, inventory DB 25, etc., which will be described later. Not only the approximate position in the front-to-back direction, but also the approximate position in the horizontal direction (x direction) may be obtained from the product master DB 24, inventory DB 25, etc., instead of being specified by the AR markers 4.

[0025] In addition, in this embodiment, AR markers 42 such as ArUco are used as markers for identifying the positions where each product 41 is placed, but this is not limited to this. For example, a general barcode or two-dimensional code may be used as the marker as long as it can represent readable identification information that can be associated with each product 41. In the example of FIG. 2, the AR marker 42 is placed on the top surface of the product shelf 4, but this is not limiting as long as it is in a position that can be read by the picking robot 5. For example, the AR marker 42 may be placed on the front side of the product shelf 4.

[0026] [Store] FIG. 3 is a diagram showing an example of a store 3 according to an embodiment of the present invention, viewed from above (the positive side of the z-direction). In this embodiment, store 3 is assumed to be an open-space store without an entrance or exit door, such as a souvenir shop at an airport or train station, but the present invention is not limited to this and can be applied to any space that has a structure that can restrict customers from entering the store during unmanned business hours. Furthermore, if the space has such a structure, the original use of the space does not necessarily have to be a "store," and the present invention can also be applied to spaces that are not originally intended for use as a "store."

[0027] In the example of FIG. 3, product shelves 4 are located at the innermost side of store 3 (the positive side in the y direction), and a picking robot 5 is located in front of them. The picking robot 5 can move along a movement guide 31 laid on the floor of store 3 parallel to the product shelves 4 (in the x direction). That is, in the example of FIG. 3, the picking robot 5 can move back and forth horizontally (in the x direction) and pick up a target product 41 using a means described below. The movement guide 31 may be, for example, a rail (or two rails), or a medium that can be read and followed by the picking robot 5, such as a magnetic tape. As long as the picking robot 5 can move back and forth horizontally (in the x direction), it may also be a means that uses, for example, a sensor or a camera to determine its own position, eliminating the need for a movement guide 31.

[0028] A product vending device 2 and a partition 32 are placed in predetermined positions at the front of the area where the picking robot 5 moves. The product vending device 2 and the partition 32 physically separate the inside and outside of the store 3, isolating customers outside the store 3 so that they cannot enter the inside of the store 3.

[0029] The picking robot 5 (which may include the moving guide 31), the product vending device 2, the partition 32, and other equipment may be arranged when the store 3 switches from manned business hours to unmanned business hours, and moved or removed when the store switches from unmanned business hours to manned business hours. This allows customers to freely access the product shelves 4 and pick up and purchase the products 41 during manned business hours, but restricts customers from accessing the product shelves 4 during unmanned business hours. Furthermore, the product shelves 4 may be arranged as shown in the example of FIG. 3 during unmanned business hours, and then rearranged to have a different layout during manned business hours.

[0030] In this embodiment, as shown in the example of Figure 3, the product shelves 4 in the store 3 are arranged in a horizontal direction (x direction), i.e., in a direction approximately perpendicular to the direction in which the product sales device 2 and the customers using it are facing, and the moving guides 31 are laid out parallel to this, but this configuration is not limited to this.

[0031] FIG. 4 is a diagram outlining another example of a store 3 according to an embodiment of the present invention, as viewed from above. As shown in the example of FIG. 4, a configuration may be adopted in which product shelves 4 are arranged in the front-to-rear direction (y direction), and movable guides 31 are laid out parallel to these shelves. In this case, the horizontal position (x direction) at which movable guides 31 are laid out will be a position that roughly coincides with the position at which product vending device 2 is installed, as shown in the figure. Furthermore, when this configuration is adopted, product shelves 4 can also be arranged on both sides of picking robot 5, facing each other, as shown in the figure.

[0032] FIG. 5 is a diagram showing an example of a store 3 according to an embodiment of the present invention as seen from the outside. For ease of explanation, the picking robot 5 and the moving guide 31 are not shown in the example of FIG. 5. As shown in the figure, the product selling device 2 is an information processing device having a housing, such as an ATM (Automatic Teller Machine) or a KIOSK terminal, and is installed so that its front surface (the surface having the display (touch panel) operated by the customer) faces the outside of the store 3. Customers can order products 41 displayed on the product shelves 4 by operating the display (touch panel) on top. The device is also equipped with payment methods such as touch-screen or barcode payment, allowing cashless payment (cash payment methods may also be provided).

[0033] Once payment is complete, the picking robot 5 picks the target product 41 from the product shelf 4 and transports it to a product storage space (not shown) on the rear side of the product vending device 2 (a space that penetrates from the rear to the front of the product vending device 2). Once transportation is complete, the product vending device 2 unlocks the product removal door 27 located on its front side. This allows the customer to open the product removal door 27 and remove the product 41. In this embodiment, the product vending device 2 is equipped with the product removal door 27, restricting the customer from removing the product 41 until it is unlocked. However, if the shape, structure, and layout within the store 3 are such that the product shelves 4, products 41, picking robot 5, etc. inside the store 3 cannot be physically accessed from outside the store 3 via the product storage space, a configuration without the product removal door 27 is also possible, i.e., a configuration in which the customer can immediately remove the product 41 as soon as it is transported to the product storage space.

[0034] In this embodiment, when a customer operates the display (touch panel) of the product selling device 2 to order a product 41, the customer actually looks at the products 41 displayed on the product shelves 4, selects the product 41, and places the order. Therefore, the partition 32 is made of a material that allows the product shelves 4 and products 41 inside the store 3 to be seen from outside, but the material is not particularly limited. For example, it may be a lattice-shaped material as shown in the figure, or a material made of transparent resin. Note that even if a material that does not allow direct visibility inside the store 3 is used, it is still applicable as long as it allows the customer to select the product 41 displayed on the product shelves 4, for example, by displaying a camera image of the product shelves 4 on the display of the product selling device 2.

[0035] As described above, the partition 32 is not permanently installed, but may be placed only during unmanned business hours of the store 3 and moved or removed during manned business hours. In this case, a movable and removable structure is used, but the structure is not particularly limited. For example, it may be an accordion-shaped member as shown in the figure, or a plate-like structure like a sash or a shoji door that slides or fits into guides or holes provided on the floor (or ceiling, or both). It may also be a shutter or curtain-like structure that hangs from the ceiling.

[0036] [Picking robot] 6 is a diagram schematically illustrating an example of the configuration of a picking robot 5 according to an embodiment of the present invention. The picking robot 5 includes various components, such as an automatic guided vehicle (AGV) 51, a control unit 52, an arm 53, a suction pad 54, a vacuum pump 55, a barometer 56, a depth sensor 57, and a product transport platform 58.

[0037] As described above, the automated guided vehicle 51 is configured to move and travel along the moving guide 31 laid in parallel to the product shelves 4 in the store 3. Specifically, for example, a rail-guided AGV manufactured by Sharp Corporation<XFシリーズ> As described above, the moving guide 31 is formed of, for example, a rail, but it may also be a medium such as a magnetic tape that can be read and followed by the picking robot 5. As long as it can move back and forth in the lateral direction (x direction), it may be a means that uses, for example, a sensor or a camera to determine its own position and does not require the moving guide 31, or it may be configured to move and travel while automatically recognizing the layout within the store 3 and its own position using SLAM (Simultaneous Localization and Mapping) technology.

[0038] The control unit 52 includes, for example, a CPU (Central Processing Unit), a storage device such as memory, a communication device, etc., and communicates with the product sales device 2 via a network or short-range wireless communication (not shown) to receive instructions related to picking the products 41 and to notify the transport status. The control unit 52 also controls the overall operation of the picking robot 5 based on instructions from the product sales device 2, and picks and transports the products 41 from the product shelves 4. After receiving instructions from the product sales device 2, the control unit 52 may independently control all of the picking robot 5, or may communicate with the product sales device 2 in real time and adjust the control content accordingly in response to instructions from the product sales device 2.

[0039] A suction pad 54 is attached to the tip of the arm 53 as a product picking means, and the suction pad 54 can be moved to a desired position by bending and extending each movable part of the arm 53 based on instructions from the control unit 52. The suction pad 54 is connected to a barometer 56 and a vacuum pump 55 via a hose, and the vacuum suction function of the suction pad 54 is realized by controlling the vacuum pump 55 based on instructions from the control unit 52 (the success or failure of suction can be determined by the barometer 56). Specifically, the arm 53 can be configured, for example, by a UR5 from Universal Robots, the suction pad 54 can be configured, for example, by a bell-shaped vacuum pad from Schmalz Corporation, and the vacuum pump 55 can be configured, for example, by a Linicon LV660 from Nitto Kohki Co., Ltd.

[0040] In this embodiment, the configuration includes two suction pads 54, but the number of suction pads 54 is not limited to this. Also, in this embodiment, a vacuum suction function using suction pads 54 and vacuum pump 55 is used as a means for picking a desired product 41 from above the product shelf 4, but the picking means is not limited to this. For example, it may be a mechanical gripping means using a mechanism that resembles a magic hand or a human hand, or a means that scoops up the product using a mechanism shaped like a fork or the like.

[0041] A depth sensor 57 is also attached near the tip of the arm 53. The depth sensor 57 is a sensor with depth detection and imaging functions, and specifically, may be configured, for example, by Intel's RealSense (registered trademark) Depth Camera. When the control unit 52 of the picking robot 5 identifies the position of the product 41 to be picked from the product shelf 4, as described above, the control unit 52 identifies the product 41 in the horizontal direction (x direction) by detecting the AR marker 42 placed at a position corresponding to the product 41, as shown in the example of FIG. 2 . The control unit 52 identifies the product 41 in the front-rear direction (y direction) by using a predetermined value (distance) or by obtaining the actual position of the product 41 from the product master DB 24, inventory DB 25, etc.

[0042] The distance (z direction) from above the product 41 is then determined based on depth information obtained from the depth sensor 57. Specifically, the approximate horizontal (x direction) and front-to-back (y direction) positions of the product 41 are determined using the means described above, and the tip of the arm 53 is moved above that position. Based on the image obtained by the depth sensor 57, the outer shape and flat parts (top surfaces of packaging boxes, etc.) of the product 41 are detected by image processing, and the position (x direction, y direction) of the product 41 and the distance in the vertical direction (z direction) to the product 41 are determined. Based on this information, the arm 53 and suction pad 54 are controlled to pick up and suck the target product 41 from above, and place it on the product conveying platform 58.

[0043] The product transport table 58 is a component that functions as a "shopping basket" that holds the product 41 picked up from the product shelf 4 by the picking robot 5 until the product 41 is transported to the product storage space of the product vending device 2. In this embodiment, the surface on which the product 41 is placed on the product transport table 58 is configured as a belt conveyor, so that the product 41 can be easily and smoothly transported to the product storage space.

[0044] FIG. 7 is a diagram outlining an example of the configuration of a product conveying platform 58 in one embodiment of the present invention (unlike FIGS. 2 to 6, this diagram is viewed from the side (x direction)). FIG. 7(a) is a diagram outlining an example of the configuration of a picking robot 5, mainly focusing on the product conveying platform 58. In this embodiment, a belt conveyor 581 is used as the loading surface of the product conveying platform 58. Specifically, this can be configured, for example, by a Mini Mini X2 (MMX2) manufactured by Maruyasu Machinery Co., Ltd. The picking robot 5 controls the arm 53 to pick up a product 41 by suction using a suction pad 54 from above the product shelf 4 and place the picked product 41 on the upper surface (loading surface) of the belt conveyor 581 as shown in the figure.

[0045] A protective wall 582 is provided on the outer periphery of the placement surface of the belt conveyor 581 to prevent the held products 41 from falling, etc. Of the four sides of the periphery, one side corresponding to the downstream side of the belt conveyor 581 (the left side (negative y-direction) in the example of FIG. 7(a)) is provided with a transport gate 583 as a product transport opening instead of a protective wall 582. The transport gate 583 is normally fixed in the closed state as shown in the figure to prevent the held products 41 from falling, etc.

[0046] FIG. 7(b) is a diagram outlining an example of a configuration when transporting a product 41 from a product conveying table 58 to a product storage space of a product vending device 2. Like FIG. 7(a), FIG. 7(b) also shows an excerpt of the product conveying table 58 of the picking robot 5. The picking robot 5 moves to a predetermined position in the lateral direction (x direction) so that the product conveying table 58 is positioned so that the product 41 can be transported from the rear side of the product vending device 2 to the product storage space 28. To enable the picking robot 5 to identify the predetermined position, for example, an AR marker 42 may be placed on the product vending device 2 or the product shelf 4 at a corresponding position (x direction), or information that enables the picking robot 5 to identify the corresponding position may be provided on the movement guide 31.

[0047] Furthermore, the picking robot 5 adjusts the height of the product transport platform 58 as necessary using a servo mechanism (not shown) or the like. The position of the product transport platform 58 in the y direction may be adjusted so that the product transport platform 58 reaches the product storage space 28 (as described above, in this embodiment, the picking robot 5 itself does not move in the y direction, but if it is movable in the y direction, the picking robot 5 itself may move).

[0048] Thereafter, the belt conveyor 581 is rotated to move the products 41 held on the upper surface side downstream (to the negative side of the y direction). At this time, the transport gate 583 is opened as shown in the figure, allowing the products 41 to exit the product transport table 58. Note that in the example of FIG. 7(b), the transport gate 583 is configured to open like a double door, but this is not limited to this. For example, the transport gate 583 may be configured to open like a sliding door, or the transport gate 583 may be configured to open by moving entirely upward or downward. Furthermore, the transport gate 583 may be configured to open by tilting outward from the product transport table 58 or flipping up. Furthermore, the transport gate 583 may not be provided and may be always open.

[0049] Meanwhile, a belt conveyor 29 for receiving products 41 may also be installed on the bottom of the product storage space 28 as shown in the figure, and may rotate in conjunction with the belt conveyor 581 of the picking robot 5 to receive products 41 that have come out of the product transport table 58 and move and transport them to the front side of the product vending device 2 (the negative side of the y direction). In this case, the belt conveyor 29 may start rotating when it detects, for example, by a sensor (not shown), that it has received (or has received) a product 41, or it may be controlled to start rotating in response to an instruction from the picking robot 5. It is also possible to configure the product storage space 28 without the belt conveyor 29, so that the picking robot 5 moves the product transport table 58 and inserts it into the product storage space 28, and then comes out while placing products 41 one by one from the back side (the front side of the product vending device 2).

[0050] There may be multiple products 41 of various types placed on the belt conveyor 581 of the product conveying platform 58, and some products 41 may interfere with other products 41 when being transported to the product storage space 28, potentially damaging themselves or the other products 41. For this reason, for example, a weight sensor may be installed on the belt conveyor 581 to determine the total weight of the products 41 being held, and products 41 exceeding a predetermined weight may not be held (in this case, for example, all of the products 41 related to an order may be transported in multiple picking trips rather than being transported in a single picking trip).

[0051] Furthermore, the weight distribution and tilt of the upper surface of the products 41 held on the upper surface of the belt conveyor 581 may be detected, and the arm 53 may be controlled to adjust the placement position of the products on the product conveying table 58 to maintain overall balance and prevent the heavy products 41 from moving or sliding and interfering with other products. Alternatively, when placing the products 41 on the product conveying table 58, heavier products may be placed downstream first so that they are transported before lighter products 41 when transported to the product storage space 28, preventing them from interfering with the lighter products 41. Furthermore, depending on the shape of the products 41, the position of the products 41 when placed on the product conveying table 58 may be adjusted to be as stable as possible. Furthermore, multiple products 41 may be transported stably by stacking the products 41 one above the other in order of size.

[0052] [Product sales device] The product sales device 2 shown in the example of Fig. 1 functions as an information processing device that accepts orders from customers outside the store 3 and processes payments, as well as picking one or more ordered products 41 from the product shelves 4 and instructing their transport to its own product storage space 28. For example, inside a housing such as that shown in Fig. 1 or 5, a configuration equivalent to a general-purpose information processing terminal such as a PC (Personal Computer) or a configuration as a dedicated information processing terminal is built in.

[0053] The product sales device 2 realizes various functions (described later) related to product sales during unmanned business hours by, for example, using a CPU (not shown) to execute middleware such as an OS (Operating System), a Web server, and software running thereon, which are loaded from a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) onto memory. The product sales device 2 has, for example, various units implemented by software, such as an order receiving unit 21, a picking processing unit 22, and a payment processing unit 23. The product sales device 2 also has various data stores, such as a product master database (DB) 24, an inventory DB 25, and an order DB 26, which are configured from databases, files, etc.

[0054] The order receiving unit 42 has a function of receiving, via a touch panel or the like, order information including information on the product 41 that a customer instructs to purchase from among the products 41 displayed on the product shelves 4 arranged inside the store 3, the product's quantity, and payment, and recording the order information in the order DB 26 described below. Because customers can actually see the products 41 displayed on the product shelves 4, they can directly understand the types of products 41 available for purchase and the inventory status. Meanwhile, the product selling device 2 preferably grasps the inventory status of each product 41 using the inventory DB 25, and controls so as not to accept orders for products 41 that are out of stock (the product 41 cannot be selected). The product selling device 2 may also have a function of receiving orders online from customers' smartphones or the like.

[0055] The picking processing unit 22 has a function of issuing instructions and commands to the picking robot 5 regarding a series of processes, such as moving along the movement guide 31, sequentially picking up ordered products 41 displayed on the product shelf 4, transporting them from the rear side of the product vending device 2 to the product storage space 28, and returning to the waiting area. Necessary information regarding the series of picking processes (information on the product 41 to be picked, information on the display position on the product shelf 4, etc.) may be initially sent all at once to the picking robot 5, and thereafter the picking robot 5 may perform the picking process autonomously, or instructions may be issued sequentially while communicating with the picking robot 5 as needed in real time or in a similar manner.

[0056] When the picking robot 5 picks a desired product from the shelf 4 (in this embodiment, it picks up the product using the suction pad 54), it needs to identify where on the shelf 4 the product is displayed. In this embodiment, as described above, the horizontal position (x direction) of the shelf 4 is identified by reading the AR marker 42 that is placed on the top surface of the shelf 4 or the like and associated with the product 41 at the corresponding position. Furthermore, the position in the front-rear direction (y direction) may be determined as a predetermined position (distance) by, for example, lining up the products 41 horizontally in a row at a predetermined position, or the actual position of the product 41 may be obtained from the product master DB 24, the inventory DB 25, etc.

[0057] Then, for the vertical position (z direction), the depth (distance from above) of the target product 41 is determined based on depth information obtained from the depth sensor 57 of the picking robot 5. That is, the depth sensor 57 captures an image of the vicinity of the target product 41 from above, and image recognition processing based on the captured image data is used to identify and specify the flat part of the top surface of the target product 41 (packaging box), and the depth information is further used to determine its vertical position.

[0058] The payment processing unit 23 has a function of performing payment processing for the products 41 ordered by the customer. It may have a function / device for cashless payment such as touch-type or barcode payment, or may have a function / device for payment by cash or credit card. The payment status for each order is recorded and managed, for example, in the order DB 26.

[0059] In this embodiment, the product selling device 2 is configured to perform a series of processes, such as ordering and settling products 41, instructing the picking robot 5 to pick up the products 41, and handing them over, all on a standalone basis, but the configuration is not limited to this. For example, the software, database, etc. of each of the above-mentioned components may be partially or entirely implemented on separate server devices or virtual servers built on a cloud computing service, and these may be connected to each other via a network such as the Internet (not shown).

[0060] <Data structure> 8 is a diagram outlining an example of the data configuration of the product master DB 24 in one embodiment of the present invention. The product master DB 24 is a table that holds master information about each product 41 sold in the store 3, and includes items such as product ID, product name, type, unit price, weight, size, and whether unattended sales are possible.

[0061] The product ID field holds identification information such as an ID or number that uniquely identifies each product 41. The product name, type, and unit price fields hold the name of the target product 41, information on the name and code value that identifies the type of product 41, and information on the unit sales price of the target product 41, respectively. The weight and size fields hold information on the weight per sales unit of the target product 41 and the size of the packaging box, etc. The unmanned sales availability field holds information such as a flag indicating whether the target product 41 is eligible for unmanned sales according to this embodiment. This makes it possible to forcibly set the target product 41 as not eligible for unmanned sales.

[0062] 9 is a diagram outlining an example of the data configuration of inventory DB 25 in one embodiment of the present invention. Inventory DB 25 is a table that holds information related to the inventory and display status of each product 41 sold in store 3, and has items such as product ID, marker ID, inventory quantity, display quantity, and display position.

[0063] The item "product ID" contains identification information such as an ID that uniquely identifies each product 41, and has the same content as the item "product ID" in the above-described product master DB 24. The item "marker ID" holds information that identifies the AR marker 42 associated with the target product 41 (information such as a number or ID recorded in the AR marker 42).

[0064] The inventory quantity item holds information on the inventory quantity of the target product 41 in the store 3 at that time. The display quantity item holds information on the display quantity of the target product 41 on the shelf 4 in the store 3 at that time. If the display quantity is zero, the product will be replenished from inventory and displayed during manned business hours unless the inventory quantity is zero, but during unmanned business hours, the product 41 will be treated as out of stock unless there is a means of unmanned replenishment and display using a robot or the like. The display position item holds information on the position in the front-to-back direction (y direction) where the target product 41 is displayed on the shelf 4. As mentioned above, the position in the horizontal direction (x direction) is determined by the AR marker 42 placed on the top surface of the shelf 4, etc.

[0065] 10 is a diagram outlining an example of the data configuration of order DB 26 in one embodiment of the present invention. Order DB 26 is a table that holds, for example, information related to the contents of orders from customers, and has items such as order ID, user ID, product ID, purchase quantity, payment amount, payment status, order date and time, and order status.

[0066] The order ID field holds identification information such as an ID or sequential number that uniquely identifies each order at the target store 3. The user ID field holds identification information such as an ID that uniquely identifies the account of the customer who placed the target order. When a customer places an order online using a smartphone or the like, this field is set as information that identifies the customer. The product ID and purchase quantity fields hold the product ID and quantity information that identify the product 41 that has been requested to be purchased in the target order. The product ID field has the same content as the product ID field in the product master DB 24 described above. Note that if the purchase of multiple products 41 has been requested in the target order, these fields are held for each requested product 41.

[0067] The payment amount and payment status fields hold information on the total payment amount for the order and information on a flag indicating whether the customer has completed payment. The order date and time field holds information on the timestamp when the product selling device 2 accepted the order. The order status field holds information such as a character string or code value indicating the status of the order (e.g., "ordered," "delivered," "delivered," etc.).

[0068] As described above, according to the product sales system 1 which is one embodiment of the present invention, by installing a product sales device 2 at the boundary between the inside and outside of the store 3 during unmanned business hours, customers can order, pay for, and receive products 41 from outside the store 3 via the product sales device 2.

[0069] That is, during unmanned business hours, customers are physically restricted from entering the inside of the store 3, and inside the store 3, a picking robot 5 moves around the unmanned store on behalf of customers, sequentially picking and collecting ordered and paid for products 41 from the product shelves 4, and transporting them from inside the store 3 to the product storage space 28 provided in the product vending device 3. Customers can then remove the products 41 transported to the product storage space 28 from outside the store 3. This allows the store 3 to sell products 41 inside the store without allowing customers into the store, even "outside of business hours." Furthermore, customers can actually see and purchase the products 41 displayed on the product shelves 4.

[0070] The invention made by the inventor has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the above embodiments and can be modified in various ways without departing from the spirit of the invention. Furthermore, the above embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those having all of the described configurations. Furthermore, it is possible to add, delete, or replace part of the configuration of the above embodiments with other configurations.

[0071] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a storage device such as a memory, hard disk, or SSD, or in a storage medium such as an IC card, SD card, or DVD.

[0072] In addition, in the above figures, the control lines and information lines shown are those that are considered necessary for explanation, and do not necessarily show all the control lines and information lines that are actually implemented. In reality, it can be assumed that almost all components are interconnected. [Industrial Applicability]

[0073] The present invention can be used in a product sales system that sells products in unmanned brick-and-mortar stores. [Explanation of symbols]

[0074] 1...Product sales system, 2...Product sales device, 3...Store, 4...Product shelf, 5...Picking robot, 21...Order reception unit, 22...Picking processing unit, 23...Payment processing unit, 24...Product master DB, 25...Inventory DB, 26...Order DB, 27...Product removal door, 28...Product storage space, 29...Belt conveyor, 31...Moving guide, 32...Partition, 41...Product, 42...AR marker, 51...automated guided vehicle, 52...control unit, 53...arm, 54...suction pad, 55...vacuum pump, 56...barometer, 57...depth sensor, 58...product transport table, 581...belt conveyor, 582...protective wall, 583...transport gate

Claims

1. A product sales system that sells products displayed on product shelves in a store to customers, The products are displayed on the product shelf in one or more rows, and predetermined markers that can identify each product are placed at positions corresponding to the positions at which each product is displayed; a product sales device installed at the boundary between the inside and outside of the store with its front surface facing the outside of the store; a picking robot capable of moving within the store in the same direction as the direction in which the products are displayed on the product shelves, The product vending device an order receiving unit that receives an order for the product from the customer; a picking processing unit that instructs the picking robot to pick the product related to the order from the product shelf and transport it to a product storage space provided in the product selling device, The picking robot is A merchandise sales system that reads the specified marker, moves to a position corresponding to the merchandise instructed by the merchandise sales device, picks up the merchandise instructed by the merchandise sales device, and transports it to the merchandise storage space.

2. The product sales system according to claim 1, The store is divided into an inside and an outside by the product sales device and a predetermined partition, The merchandise sales system, wherein the merchandise sales device, the partition, and the picking robot are each installed in a predetermined position when the store switches from manned business hours to non-manned business hours.

3. The product sales system according to claim 2, A merchandise sales system in which the partition is made of a material that allows the inside of the store to be seen from the outside.

4. The product sales system according to claim 1, the product vending device has a product removal door on the front side of the product storage space, The merchandise sales system unlocks the merchandise removal door on the condition that the merchandise has been transported to the merchandise storage space and payment for the merchandise by the customer has been completed.

5. A product sales system that sells products displayed on product shelves in a store to customers, The products are displayed on the product shelves in one or more rows, a product sales device installed at the boundary between the inside and outside of the store with its front surface facing the outside of the store; a picking robot capable of moving within the store in the same direction as the direction in which the products are displayed on the product shelves, The product vending device an order receiving unit that receives an order for the product from the customer; a picking processing unit that instructs the picking robot to pick the product related to the order from the product shelf and transport it to a product storage space provided in the product selling device, The picking robot is A merchandise sales system that moves to a position corresponding to the merchandise instructed by the merchandise sales device, picks up the merchandise instructed by the merchandise sales device, and transports it to the merchandise storage space.

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