Showcase

Abstract

This control method for a shipping system (2600) including a display device (2610) comprises: acquiring a first product ID identifying a first product on the basis of sensing data acquired from a sensor; acquiring a first bottom surface image showing the shape of the bottom surface of the first product on the basis of the acquired first product ID and a first database that associates and manages product IDs with images showing the shapes of the bottom surfaces of the products corresponding to the product IDs; and controlling the display device (2610) to display the first bottom surface image within a placement area where the first product is to be placed.

Description

[Technical Field]

[0001] This disclosure , Shi Regarding the showcase. [Background technology]

[0002] Patent Document 1 discloses a heating cabinet in which guide marks are formed on the bottom surface to indicate the optimum position for placing food by using light from a light emitting unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6746332 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is room for improvement in the heating chamber of Patent Document 1.

[0005] Therefore, the present disclosure provides a control method and the like that is improved over conventional methods. [Means for solving the problem]

[0006] According to one aspect of the present disclosure The showcase is a showcase comprising a plurality of shelves for placing products thereon, the plurality of shelves being arranged in a plurality of stages in a vertical direction, an actuator for changing the position of each of the plurality of shelves in a front-to-rear direction, a signal acquisition unit for acquiring a signal from outside the showcase, and a first controller for controlling the actuator, wherein the plurality of shelves include a first shelf, and when the first controller acquires the signal acquired by the signal acquisition unit, the signal requesting that the first shelf be moved forward, the first controller controls the actuator to move the first shelf from a first position to a second position located forward of the first position. .

[0007] These comprehensive or specific aspects may be realized as an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination thereof. [Effects of the Invention]

[0008] The control method and the like of the present disclosure can be further improved. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating a shipping system according to an embodiment. [Figure 2] FIG. 2 is a diagram illustrating a state in which a purchased first product is placed on a display device and displayed in a multi-tiered case in the shipping system according to the embodiment. [Figure 3] FIG. 3 is a block diagram illustrating a shipping system according to an embodiment. [Figure 4] FIG. 4 is a flowchart showing a first operation example of the shipping system according to the embodiment. [Figure 5] FIG. 5 is a flowchart showing a second operation example of the shipping system according to the embodiment. [Figure 6] FIG. 6 is a flowchart showing a third operation example of the shipping system according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing a fourth operation example of the shipping system according to the embodiment. [Figure 8] FIG. 8 is a flowchart showing a fifth operation example of the shipping system according to the embodiment. [Figure 9A] FIG. 9A is a diagram illustrating a shipping system according to a first modification of the embodiment. [Figure 9B] FIG. 9B is a block diagram illustrating a shipping system according to the first modification of the embodiment. [Figure 10A] FIG. 10A is a diagram illustrating a shipping system according to a second modification of the embodiment. [Figure 10B] FIG. 10B is a diagram illustrating a shipping system according to the third modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or as any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.

[0011] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Among the components in the following embodiments, components not described in the independent claims are described as optional components.

[0012] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0013] (Embodiment) The shipping system 2600 according to this embodiment will be described below with reference to FIGS.

[0014] Fig. 1 is a diagram illustrating a shipping system 2600 according to an embodiment. Fig. 2 is a diagram illustrating a state in which a purchased first product is placed on a display device 2610 and displayed in a multi-tiered case in the shipping system 2600 according to an embodiment. The dashed lines in Fig. 2 indicate the range of movement of a robot arm 2620. Fig. 3 is a block diagram illustrating the shipping system 2600 according to an embodiment.

[0015] 1 to 3, when a user orders a first product via a terminal device, shipping system 2600 acquires order information indicating the ordered first product, and is used to ship (pick) the first product indicated in the acquired order information and display the first product procured for shipping in a multi-tiered case. For this reason, in shipping system 2600, the first product ordered by the user is procured in advance and displayed in a multi-tiered case, and the first product ordered by the user is delivered by an unmanned aerial vehicle, a baggage transport device, or the like, described in the above-mentioned first embodiment, etc.

[0016] Specifically, in a store that displays and ships first products, this shipping system 2600 can automatically display the first product delivered to the store and removed from the delivery case, i.e., the purchased first product, in a multi-tiered case using the robot arm 2620, the display device 2610, etc. An operator places the purchased first product in the placement area, which is the display screen 2611 of the display device 2610, and the shipping system 2600 can cause the robot arm 2620 to lift the first product and display it in a predetermined location in the multi-tiered case. Furthermore, in the shipping system 2600, when an ordered first product is to be shipped, the robot arm 2620 can remove the ordered first product from the multi-tiered case and move it into a shipping box for delivery. This allows the operator to carry the first product moved to the box and attach the first product to an automated guided vehicle, which can then deliver the first product to the user who ordered the first product.

[0017] Such a shipping system 2600 includes a barcode reader 2605 , a data management unit 2606 , a display device 2610 , and a robot arm 2620 .

[0018] The barcode reader 2605 can read the barcode attached to the purchased first product when the first product is purchased. The barcode reader 2605 can be used by an operator to read the barcode attached to the purchased first product, but it may also be capable of automatically reading the barcode of the first product. The barcode reader 2605 outputs the unique first product ID attached to the read first product to the data management unit 2606. The barcode reader 2605 is an example of a sensor.

[0019] The data management unit 2606 holds a first database and a second database, which are information about all products that a user can order, and manages the first database and the second database. The data management unit 2606 has a storage unit 2624 such as a memory, and the storage unit 2624 stores the first database and the second database.

[0020] The first database includes a plurality of data items each associating a product ID, which is an ID for identifying a product, with a bottom image, which is an image showing the shape of the bottom of the product corresponding to the product ID, and the plurality of data items are organized as a list. The first database may also include a plurality of data items each associating a product ID with an exterior image, which is an image showing the exterior of the product corresponding to the product ID, and the plurality of data items are organized as a list. In other words, the first database is, for example, a data table in which at least the product ID and the bottom image are associated with each other for all of the plurality of products. The exterior image of the product may be an orthographic projection, such as a plan view or a front view, of the product when viewed from vertically above, or a product image showing the exterior of the product.

[0021] The second database is configured as a list of multiple data items, each of which associates a product ID, which is an ID for identifying a product, with three-dimensional data of the product corresponding to the product ID. In other words, the second database is a data table in which the product ID and the three-dimensional data of the product are linked so as to correspond to each other for all multiple products. Here, the three-dimensional data includes the three-dimensional shape, size, height, etc. of the product.

[0022] The data management unit 2606 can acquire a first product ID that identifies the first product based on the sensing data obtained from the barcode reader 2605. When the data management unit 2606 acquires the first product ID from the barcode reader 2605, it identifies a first bottom image, a first exterior image, and three-dimensional data corresponding to the acquired first product ID from the first database and the second database. Here, the first bottom image is an image showing the shape of the bottom of the first product, and is a bottom image corresponding to the first product ID from among the multiple bottom images included in the first database. Also, the first exterior image is an image showing the exterior shape of the first product, and is an exterior image corresponding to the first product ID from among the multiple exterior images included in the first database. The three-dimensional data is three-dimensional data of the first product, and is three-dimensional data corresponding to the first product ID from among the multiple three-dimensional data included in the first database.

[0023] The data management unit 2606 outputs the identified first product ID and three-dimensional data to the robot arm 2620, and outputs the first bottom image and first exterior image to the display device 2610.

[0024] The display device 2610 is a display for displaying a first bottom image and a first exterior image of the first product on the display screen 2611. For example, in the case of a container such as a plastic bottle, if the first bottom image when the plastic bottle is upright is circular, the display device 2610 can display a first bottom image having a shape and size similar to that of the bottom of the plastic bottle on the display screen 2611. After the barcode reader 2605 reads the first product ID of the first product, the display device 2610 displays the first bottom image and the first exterior image of the first product on the display screen 2611.

[0025] Specifically, the display device 2610 has a display control unit 2612 that controls the display screen 2611 to display a first bottom image and a first exterior image corresponding to the first product whose first product ID has been read. The display control unit 2612 may also display only the first bottom image on the display screen 2611. The display control unit 2612 does not have to be mounted on the display device 2610, and may be a device separate from the display device 2610.

[0026] More specifically, the display device 2610 can acquire a first bottom image of the first product based on the first database and the acquired first product ID. This allows the display control unit 2612 of the display device 2610 to display the first bottom image on the display screen 2611, which is within a placement area for placing the first product. The placement area corresponds to the area on the display where the first bottom image is displayed, has the same size and shape as the display screen 2611, and is synonymous with the display screen 2611.

[0027] In addition, the display device 2610 may have a touch panel in the placement area where an image is displayed on the display screen 2611. In this case, it may be possible to recognize that the first product has been placed in the placement area. Furthermore, the display device 2610 may be a projector for projecting the first bottom image onto a screen. In this case, the placement area corresponds to the area on the screen onto which the first bottom image is projected, and the area onto which the first bottom image is projected becomes the display screen 2611.

[0028] The display device 2610 can also acquire a first appearance image, which is an image showing the appearance of the first product, based on the first database and the acquired first product ID. This allows the display control unit 2612 of the display device 2610 to display the first appearance image together with the first bottom image on the display screen 2611, which is within the placement area for placing the first product.

[0029] In this way, the first bottom image of the first product is displayed on the display screen 2611 of the display device 2610, and the first exterior image is displayed on the display screen 2611 of the display device 2610, so the worker can place the first product whose first product ID has been read so that it is superimposed on the first location where the first bottom image or first exterior image displayed on the display screen 2611 is displayed.

[0030] The display device 2610 further includes a position determination processing unit 2614 that, when a first product is placed on the placement area, determines whether the first product is correctly placed at a first location in the placement area where the first bottom image is displayed on the display screen 2611. The position determination processing unit 2614 does not have to be a part of the display device 2610, and may be a device separate from the display device 2610 as long as it is included in the components of the shipping system 2600.

[0031] If the position determination processing unit 2614 determines that the first product is correctly placed in the first location on the placement area, the display control unit 2612 controls the display screen 2611 to display an image indicating that the first product has been correctly placed in the first location on the display screen 2611. On the other hand, if the position determination processing unit 2614 determines that the first product is not correctly placed in the first location, the display control unit 2612 controls the display screen 2611 to display an image indicating that the first product is not correctly placed in the first location on the display screen 2611.

[0032] Furthermore, the shipping system 2600 may include a speaker 2633. In this case, when the position determination processing unit 2614 determines that the first product has been correctly placed in the first location on the placement area, the position determination processing unit 2614 may control the speaker 2633 to output a sound from the speaker 2633 indicating that the first product has been correctly placed in the first location. Furthermore, when the position determination processing unit 2614 determines that the first product has not been correctly placed in the first location on the placement area, the position determination processing unit 2614 may control the speaker 2633 to output a sound from the speaker 2633 indicating that the first product has not been correctly placed in the first location.

[0033] Furthermore, the display screen 2611 may display an image indicating that the first product has been placed correctly, and the speaker 2633 may output a sound indicating that the first product has been placed correctly. Alternatively, the display screen 2611 may display an image indicating that the first product has been placed incorrectly, and the speaker 2633 may output a sound indicating that the first product has been placed incorrectly.

[0034] Furthermore, the shipping system 2600 may have a fall sensor 2631 that detects a fall of the first product. In this case, the shipping system 2600 may further have a fall determination processing unit 2632 that determines whether the first product lifted by the robot arm 2620 has fallen based on sensing data acquired from the fall sensor 2631. The fall sensor 2631 is an infrared sensor, a camera sensor, or the like, and is one example of a sensor. Furthermore, the fall sensor 2631 may be installed in the store or may be installed in the robot arm 2620.

[0035] When the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has fallen, the display control unit 2612 may control the display screen 2611 to display an image indicating that the first product has fallen on the display screen 2611. Furthermore, when the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has fallen, the drop determination processing unit 2632 may cause the speaker 2633 to output a sound indicating that the first product has fallen.

[0036] In addition, if the first product lifted by the robot arm 2620 falls, the display screen 2611 may display an image indicating that the first product has fallen, and the speaker 2633 may output a sound indicating that the first product has fallen.

[0037] The shipping system 2600 may also have a camera capable of outputting image information representing an image of the placement area and the first product placed in the placement area. In this case, the position determination processor 2614 may determine whether the first product is correctly placed in the first location based on the image information acquired from the camera.

[0038] If the position determination processing unit 2614 determines based on the image information that the first product has been correctly placed in the first location, the display control unit 2612 may control the display screen 2611 to display an image on the display screen 2611 indicating that the first product has been correctly placed in the first location. Furthermore, if the position determination processing unit 2614 determines based on the image information that the first product has been correctly placed in the first location, the display control unit 2612 may control the display screen 2611 to display an image on the display screen 2611 indicating that the first product has been correctly placed in the first location. Furthermore, if the position determination processing unit 2614 determines based on the image information that the first product has not been correctly placed in the first location, the display control unit 2612 may control the display screen 2611 to display an image on the display screen 2611 indicating that the first product has not ... output a sound on the display screen 2611 indicating that the first product has not been correctly placed in the first location.

[0039] Furthermore, when the first product is placed in the first location where the first bottom image is displayed on the display screen 2611, the display control unit 2612 outputs first location information, which is information indicating the first location where the first bottom image is displayed within the placement area, which is the display screen 2611, to the robot arm 2620. The first location information is indicated, for example, by the position coordinates where the first bottom image is displayed on the placement area. The position coordinates are the same as or substantially the same as the position coordinates of the product placed on the placement area. Furthermore, the first location information may further include location information, which is information indicating the location where the first exterior image is displayed.

[0040] The display device 2610 may further include a placement sensor 2613 that detects the placement of a first product in a first location where a first bottom image of the first product and a first exterior image of the first product are displayed on the display screen 2611. The placement sensor 2613 is, for example, a camera, a pressure sensor, or an infrared sensor, and is an example of a sensor. When the placement sensor 2613 detects that the first product has been placed in the first location where the first bottom image of the first product and the first exterior image of the first product are displayed on the display screen 2611, the display control unit 2612 stops the display of the first bottom image of the first product and the first exterior image of the first product on the display screen 2611. The placement sensor 2613 is an example of a camera.

[0041] Robot arm 2620 is composed of multiple arms and multiple joints (axes), and is capable of moving freely, lifting and moving a first product. In other words, robot arm 2620 can move a first product placed in the placement area of display device 2610 to a multi-tiered case for display, or move a first product displayed in a multi-tiered case to a luggage box.

[0042] Specifically, the robot arm 2620 has a displacement unit 2622, a first actuator 2621, an arm control unit 2623, and a storage unit 2624.

[0043] The displacement unit 2622, when driven by the first actuator 2621, can lift one or more first products placed in the placement area, which serve as a target, and change the position of the first product. The displacement unit 2622 includes a gripping unit capable of clamping and holding the first product, an adsorption unit capable of adsorbing and holding the first product by sucking air, or a magnetic unit that holds the first product by attracting the first product with magnetic force. FIG. 2 and other figures illustrate a case in which a gripping unit is used as an example of the displacement unit 2622. Here, the target refers to a product that the displacement unit 2622 is intended to lift.

[0044] The displacement unit 2622 can lift up a first product placed in the placement area of the display device 2610, move the first product into the multi-tiered case, and display it in the multi-tiered case. Furthermore, the displacement unit 2622 can lift up a first product displayed in the multi-tiered case and move the first product to a luggage box.

[0045] The first actuator 2621 can drive the displacement unit 2622 by being controlled by the arm control unit 2623. For example, the first actuator 2621 can be controlled by the arm control unit 2623 to cause the displacement unit 2622 to lift up a first product placed in the placement area of the display device 2610, thereby moving the first product.

[0046] The arm control unit 2623 can control the driving of the first actuator 2621. The arm control unit 2623 can cause the displacement unit 2622 to lift the first product by controlling the first actuator 2621. Specifically, the arm control unit 2623 determines a method for lifting the first product by the displacement unit 2622 by controlling the first actuator 2621 using the second database, the first product ID, and first location information which is information indicating the first location in the placement area where the first bottom image is displayed.

[0047] Here, the arm control unit 2623 determining the method for lifting the first product includes the arm control unit 2623 determining a first portion, which is a portion for lifting the first product by the displacement unit 2622. Specifically, after the first product is placed at a first location in the placement area, the arm control unit 2623 controls the first actuator 2621 to connect the first portion of the first product on the placement area to the displacement unit 2622. In other words, the arm control unit 2623 determines which portion of the first product to connect to in order to connect the first product to the displacement unit 2622 and move it. This makes it less likely that the first product will fall off the displacement unit 2622, even if the first product is moved after the displacement unit 2622 lifts it.

[0048] After the first product is placed in the first location within the placement area, the arm control unit 2623 controls the first actuator 2621 to cause the displacement unit 2622 to lift the first product on the placement area in a determined manner, and moves the first product into the multi-tier case for display.

[0049] Furthermore, when the robot arm 2620 stores the first products in a predetermined location in the multi-tier case, the arm control unit 2623 can associate the first product ID with the location of each first product stored in the multi-tier case and store the associated information in the memory unit 2624 based on information about the multi-tier case stored in the memory unit 2624 of the robot arm 2620, a control command from the first actuator 2621, and the like. The information about the multi-tier case indicates the number of shelves in the multi-tier case, the height of each shelf, the position of each shelf, the storage space of each shelf, the distance from the robot arm 2620 to each shelf, and the like. Therefore, since the position of each first product displayed in the multi-tier case is stored in the memory unit 2624, the robot arm 2620 can grab the first product with the first product ID indicated in the order information from the multi-tier case and move it to a shipping box without being equipped with a camera sensor or the like. This allows the first product indicated in the order information to be shipped.

[0050] [Example 1] In this operation example, the operation from reading the first product ID of the purchased first product to displaying the product in the multi-tiered case will be described with reference to FIG.

[0051] FIG. 4 is a flowchart showing a first operation example of the shipping system 2600 according to the embodiment.

[0052] 4, the barcode reader 2605 reads the barcode attached to the n-th first product when the first product is purchased (S2601). The barcode reader 2605 outputs the first product ID attached to the read n-th first product to the data management unit 2606.

[0053] Next, when the data management unit 2606 acquires a first product ID from the barcode reader 2605, it identifies a first bottom image corresponding to the acquired first product ID from the first database and identifies three-dimensional data corresponding to the acquired first product ID from the second database. The data management unit 2606 outputs the first product ID identified from the second database and the three-dimensional data of the first product ID to the robot arm 2620, and outputs the first bottom image identified from the first database to the display device 2610 (S2602). Furthermore, when the data management unit 2606 acquires the first product ID from the barcode reader 2605, it may further identify a first exterior image corresponding to the acquired first product ID from the first database. In this case, the data management unit 2606 may output the first exterior image to the display device 2610.

[0054] Next, when the display device 2610 acquires the first bottom surface image from the data management unit 2606, it displays the acquired first bottom surface image on the display screen 2611 (S2603). That is, the display control unit 2612 of the display device 2610 displays the first bottom surface image in a first location on the display screen 2611, which is within the placement area for placing the first product. Furthermore, when the display device 2610 acquires the first exterior image from the data management unit 2606, it may display the acquired first exterior image on the display screen 2611. In this case, the display control unit 2612 may further display the first exterior image in a specified location on the display screen 2611, which is within the placement area for placing the first product. The display device 2610 outputs first location information, in which the first bottom surface image is displayed in the placement area, to the robot arm 2620.

[0055] Next, the first product whose first product ID has been read by the barcode reader 2605 is placed in a first location within the placement area (S2604). In this embodiment, a worker places the first product whose first product ID has been read in the first location within the placement area, but a robot may also place the first product in the first location within the placement area.

[0056] Next, the robot arm 2620 moves the first product placed in the first location (S2605). Specifically, the robot arm 2620 acquires the first product ID and three-dimensional data corresponding to the first product ID identified from the second database from the data management unit 2606, and acquires the first location information from the display device 2610. Then, the robot arm 2620 uses the displacement unit 2622 to lift and move the first product placed in the first location indicated in the first location information.

[0057] Next, the robot arm 2620 determines whether the movement of the first product has been completed (S2606). That is, the arm control unit 2623 controls the first actuator 2621, causing the displacement unit 2622 to lift the first product placed in the first location and move the first product into the multi-tiered case. At this time, the robot arm 2620 determines whether the first product has been completely displayed in the multi-tiered case.

[0058] If the robot arm 2620 determines that the movement of the first product has not been completed (NO in S2606), the process returns to step S2605 and executes step S2605.

[0059] On the other hand, if the robot arm 2620 determines that the movement of the first product has been completed (YES in S2606), it sets n to n+1, which is the next first product (S2607). Then, the shipping system 2600 returns to step S2601 and repeats the operation for the next first product, the n+1th first product. In this way, when the first products are delivered, the shipping system 2600 can read the first product IDs of each first product, lift up the first products placed in the placement area, and display them in the multi-tiered case.

[0060] [Example 2] In this operation example, an operation in step S2604 of FIG. 4 in which the result of determining whether the first product has been correctly placed in the first location is displayed as an image will be described with reference to FIG.

[0061] FIG. 5 is a flowchart showing a second operation example of the shipping system 2600 according to the embodiment.

[0062] First, as shown in FIG. 5, when a first product is placed on the placement area, the position determination processing unit 2614 of the display device 2610 determines whether the first product is correctly placed in the first location within the placement area where the first bottom image is displayed on the display screen 2611 (S2611).

[0063] If the position determination processing unit 2614 determines that the first product has been correctly placed in the first location on the placement area (YES in S2611), the display control unit 2612 of the display device 2610 controls the display screen 2611 to display an image indicating that the first product has been correctly placed in the first location on the display screen 2611 (S2612). Then, the flowchart of Fig. 5 ends. As a result, the display device 2610 outputs first location information, which is information indicating the first location where the first product has been placed, to the robot arm 2620, so that the robot arm 2620 can lift up the first product placed in the first location.

[0064] On the other hand, if the position determination processing unit 2614 determines that the first product is not correctly placed in the first location (NO in S2611), the display control unit 2612 controls the display screen 2611 to display an image indicating that the first product is not correctly placed in the first location (S2613), and then returns to step S2611 and executes step S2611. In this case, the worker can recognize that the purchased first product is not placed in the correct location, and can re-place the purchased first product in the correct first location. As a result, the display device 2610 outputs first location information, which is information indicating the first location of the re-placed first product, to the robot arm 2620, and the robot arm 2620 can lift up the first product placed in the first location.

[0065] [Example 3] In this operation example, the operation when the result of determining whether the first product has been correctly placed in the first location in step S2604 of Fig. 4 is output as audio will be described with reference to Fig. 6. Operations that are the same as those in Fig. 5 are given the same reference numerals and descriptions thereof will be omitted where appropriate.

[0066] FIG. 6 is a flowchart showing a third operation example of the shipping system 2600 according to the embodiment.

[0067] As shown in Fig. 6, if the answer is YES in step S2611, the shipping system 2600 causes the speaker 2633 to output a sound indicating that the first product has been correctly placed in the first location (S2614). Then, the flowchart in Fig. 6 ends. As a result, the display device 2610 outputs first location information, which is information indicating the first location where the first product has been placed, to the robot arm 2620, so that the robot arm 2620 can lift up the first product placed in the first location.

[0068] If the result of step S2611 is NO, the shipping system 2600 causes the speaker 2633 to output a sound indicating that the first product has not been placed correctly in the first location (S2615), returns to step S2611, and executes step S2611. In this case, the worker can recognize that the purchased first product has not been placed in the correct location, and can re-place the purchased first product in the correct first location. As a result, the display device 2610 outputs first location information, which is information indicating the first location of the re-placed first product, to the robot arm 2620, and the robot arm 2620 can lift up the first product placed in the first location.

[0069] [Example 4] In this operation example, Figure 7 is used to explain the operation in step S2606 of Figure 4, in which the result of determining whether the first product has fallen while being lifted and moved is displayed as an image.

[0070] FIG. 7 is a flowchart showing a fourth operational example of the shipping system 2600 according to the embodiment.

[0071] First, as shown in FIG. 7, the drop determination processing unit 2632 of the shipping system 2600 determines whether the first product lifted by the robot arm 2620 has dropped (S2621).

[0072] If the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has fallen (YES in S2621), the display control unit 2612 controls the display screen 2611 to display an image indicating that the first product has fallen on the display screen 2611 (S2622). Then, the flowchart in FIG. 7 ends. This allows the worker to recognize that the purchased first product has fallen, and allows the worker to have the robot arm 2620 grab the purchased first product again. Furthermore, if the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has fallen, the worker may stop driving the robot arm 2620.

[0073] On the other hand, if the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has not fallen (NO in S2621), the flow chart of FIG. 7 ends.

[0074] [Example 5] In this operation example, Figure 8 is used to explain the operation in step S2606 of Figure 4, where the result of determining whether the first product has fallen while lifting and moving the first product is output as audio.

[0075] FIG. 8 is a flowchart showing a fifth operation example of the shipping system 2600 according to the embodiment.

[0076] As shown in Fig. 8, if the answer is YES in step S2621, the shipping system 2600 controls the display screen 2611 to output a sound from the speaker 2633 indicating that the first product has fallen (S2623). Then, the flowchart in Fig. 8 ends. This allows the worker to recognize that the purchased first product has fallen, and allows the worker to have the robot arm 2620 grab the purchased first product again.

[0077] On the other hand, if the drop determination processing unit 2632 determines that the first product lifted by the robot arm 2620 has not fallen (NO in S2621), the flow chart of FIG. 8 ends.

[0078] [Action and effect] Next, the effects of the control method, program, and shipping system 2600 according to this embodiment will be described.

[0079] The control method of this embodiment is a control method in a shipping system 2600 including a display device 2610, and includes acquiring a first product ID that identifies a first product based on sensing data obtained from a sensor, a first database that associates and manages product IDs with images showing the shapes of the bottom surfaces of the products corresponding to the product IDs, acquiring a first bottom surface image that shows the shape of the bottom surface of the first product based on the acquired first product ID, and controlling the display device 2610 to display the first bottom surface image within a placement area for placing the first product.

[0080] This allows the display device 2610 to display the first bottom image of the first product, so that the first product can be placed at the location where the first bottom image is displayed. Therefore, even if the location where the first product is placed is not identified by a sensor or the like, it can be estimated that the location where the first product is placed is the location where the first bottom image is displayed.

[0081] Therefore, this control method makes it possible to easily estimate the location where the first product is placed, and also makes it possible to prevent costs in the shipping system 2600 from rising.

[0082] The shipping system 2600 of this embodiment executes the above-described control method.

[0083] In this case, the same effects as those of the above-described control method are achieved.

[0084] The program of this embodiment is a program for causing the shipping system 2600 to execute the control method.

[0085] In this case, the same effects as those of the above-described control method are achieved.

[0086] In the control method of this embodiment, the first database further manages product IDs in association with images showing the appearance of the products corresponding to the product IDs. Also, the control method acquires a first bottom image and a first appearance image showing the appearance of the first product based on the first database and the acquired first product ID, and controls the display device 2610 to display the first bottom image and the first appearance image in the placement area.

[0087] According to this, the display device 2610 can display the first bottom image and the first exterior image, so that the correct first product can be placed in the location where the first bottom image and the first exterior image are displayed. This allows the picking of purchased products to be carried out smoothly, thereby suppressing the rise in energy costs and labor costs, including those of the shipping system 2600.

[0088] In the control method of this embodiment, the shipping system 2600 further includes a robot arm 2620. The robot arm 2620 also includes a displacement unit 2622 that lifts one or more first products placed in the placement area, each of which serves as a target, to change the position of the first product. The displacement unit 2622 is driven by a first actuator 2621. The control method further includes determining a method for lifting the first product by the displacement unit 2622 using a second database that associates and manages product IDs and three-dimensional data of the products corresponding to the product IDs, the first product IDs, and first location information that is information indicating a first location in the placement area displaying the first bottom image; and, after the first product is placed in the first location in the placement area, controlling the first actuator 2621 to lift the first product on the placement area by the displacement unit 2622 using the determined method.

[0089] This allows the robot arm 2620 to lift up the first product placed in the placement area of the display device 2610 and move it to another location. This makes it possible to display the purchased first product in a predetermined location, or to remove the displayed first product and ship it.

[0090] The control method of this embodiment further includes, when a first product is placed on the placement area, determining whether the first product is placed correctly in the first location, and if it is determined that the first product is placed correctly in the first location, controlling the display device 2610 to display an image on the display device 2610 indicating that the first product has been placed correctly in the first location, and if it is determined that the first product has not been placed correctly in the first location, controlling the display device 2610 to display an image on the display device 2610 indicating that the first product has not been placed correctly in the first location.

[0091] According to this, when the first product is correctly placed in the first location, an image indicating that the first product has been correctly placed can be displayed. Also, when the first product is not correctly placed in the first location, an image indicating that the first product has not been correctly placed can be displayed. This allows the worker to easily recognize whether or not the first product has been correctly placed.

[0092] In the control method of this embodiment, shipping system 2600 further includes speaker 2633. The control method further includes, when a first product is placed on the placement area, determining whether the first product has been placed correctly in the first location, and, if it is determined that the first product has been placed correctly in the first location, controlling speaker 2633 to output a sound from speaker 2633 indicating that the first product has been placed correctly in the first location, and, if it is determined that the first product has not been placed correctly, controlling speaker 2633 to output a sound from speaker 2633 indicating that the first product has not been placed correctly in the first location.

[0093] According to this, when the first product is correctly placed in the first location, a sound can be output indicating that the first product has been correctly placed. Also, when the first product is not correctly placed in the first location, a sound can be output indicating that the first product has not been correctly placed. This allows the worker to easily recognize whether or not the first product has been correctly placed.

[0094] The control method of this embodiment determines whether the first product is placed correctly based on image information acquired from the camera.

[0095] This allows the camera to be used to determine whether the first product is placed correctly, and also allows accurate determination of whether the first product is placed correctly based on the image information.

[0096] In the control method of this embodiment, the displacement unit 2622 includes a gripping unit capable of clamping and holding the first product, an adsorption unit capable of adsorbing and holding the first product by sucking in air, or a magnetic unit that holds the first product by attracting it to the first product using magnetic force.

[0097] This allows the first product to be lifted regardless of the type of the first product.

[0098] In the control method of this embodiment, the displacement unit 2622 is a device for holding by pinching. In the control method, determining a method for lifting the first product by the displacement unit 2622 includes determining a first portion for lifting the first product, and after the first product is placed on a first location in the placement area, controlling an actuator to cause the displacement unit 2622 to lift the first portion of the first product on the placement area.

[0099] This allows the part of the first product to be lifted to be determined, and therefore the first product can be prevented from falling after being lifted.

[0100] In the control method of this embodiment, the shipping system 2600 further includes a speaker 2633. The control method further determines whether the first product lifted by the displacement unit 2622 has fallen based on the sensing result acquired from the sensor (fall sensor 2631), and after it is determined that the first product has fallen, controls the speaker 2633 to output a sound indicating that the first product has fallen.

[0101] According to this, if the first product lifted by the robot arm 2620 falls, a sound can be output to indicate that the first product has fallen. The worker can easily recognize whether the first product has been placed correctly, and can take action such as retrieving the fallen first product.

[0102] The control method of this embodiment further determines whether the first product lifted by the displacement unit 2622 has fallen based on the sensing result obtained from the sensor, and after it is determined that the first product has fallen, controls the display device 2610 to output an image indicating that the first product has fallen.

[0103] According to this, if the first product lifted by the robot arm 2620 falls, an image indicating that the first product has fallen can be displayed. The worker can easily recognize whether the first product has been placed correctly, and can take appropriate action, such as retrieving the fallen first product.

[0104] In the control method of this embodiment, the display device 2610 is a display for displaying a first bottom image of the first product in the placement area. The placement area corresponds to the area on the display where the first bottom image is displayed.

[0105] This allows the first bottom image to be displayed using a commonly used display.

[0106] In the control method of the present embodiment, the area of the display where the first bottom image is displayed is equipped with a touch panel.

[0107] This allows the user to determine whether the first product has been correctly placed simply by placing the first product in the area on the display where the first bottom image is displayed.

[0108] In the control method of this embodiment, the display device 2610 is a projector for projecting the first bottom image onto a screen, and the placement area corresponds to the area on the screen onto which the first bottom image is projected.

[0109] This can be used to determine whether the first product is correctly placed using the projector.

[0110] (First Modification of the Embodiment) In the following, since the basic configuration of the shipping system 2600a in this modified example is the same as the basic configuration of the shipping system in the embodiment, the basic configuration of the shipping system 2600a in this modified example will be given the same symbols as above and will not be explained as appropriate.

[0111] The configuration of this modified example will be described with reference to FIGS. 9A and 9B.

[0112] Fig. 9A is a diagram illustrating a shipping system 2600a according to Modification 1 of the embodiment. The dashed line in Fig. 9A indicates the movable range of the robot arm 2620 when the platform 2641 moves to a predetermined position on the belt conveyor 2650. Fig. 9B is a block diagram illustrating the shipping system 2600a according to Modification 1 of the embodiment.

[0113] As shown in FIGS. 9A and 9B, the shipping system 2600a further includes a belt conveyor 2650 for moving the robot arm 2620.

[0114] The belt conveyor 2650 includes a second actuator 2652 , a conveyor control unit 2651 , and a transport slider 2640 .

[0115] 9A, the belt conveyor 2650 is indicated by diagonal hatching and is arranged along the direction in which the multiple multi-tiered cases are arranged. In other words, the multiple multi-tiered cases are arranged along the longitudinal direction of the belt conveyor 2650. When driven by the second actuator 2652, the belt conveyor 2650 can transport the transport slider 2640 arranged on the belt conveyor 2650 along the longitudinal direction of the belt conveyor 2650, as indicated by the arrow.

[0116] The second actuator 2652 is controlled by the conveyor control unit 2651 to drive the belt conveyor 2650. For example, the second actuator 2652 is controlled by the conveyor control unit 2651 to move the transport slider 2640 to the front of a predetermined multi-stage case among a plurality of multi-stage cases.

[0117] The conveyor control unit 2651 can control the driving of the second actuator 2652. The conveyor control unit 2651 can drive and stop the belt conveyor 2650 by controlling the second actuator 2652. This allows the movement of the transport slider 2640 placed on the belt conveyor 2650 to be controlled, and the conveyor control unit 2651 can move the transport slider 2640 to the front of a predetermined multi-stage case.

[0118] The transport slider 2640 has a platform 2641 that moves together with the robot arm 2620 as the belt conveyor 2650 is driven. That is, the platform 2641 is placed on the belt conveyor 2650 and can be moved as the belt conveyor 2650 is driven. In addition, the robot arm 2620 is placed on the platform 2641, and as the belt conveyor 2650 is driven, the platform 2641 and the robot arm 2620 move to in front of a predetermined multi-tiered case.

[0119] Furthermore, a cache area in which multiple products can be placed is formed on the platform 2641. The cache area corresponds to the area on the top surface of the platform 2641. It can also be said that the cache area corresponds to the area on the top surface of the platform 2641 connected to the robot arm 2620.

[0120] Furthermore, when placing a product on the platform 2641, the displacement unit 2622 of the robot arm 2620 moves the first product from the placement area onto a cache area for temporarily placing the first product. When at least the first product is placed in the cache area, the cache area of the platform 2641 moves together with the robot arm 2620 as the second actuator 2652 is driven.

[0121] Furthermore, when placing multiple products on the platform 2641 of the transport slider 2640, the robot arm 2620 moves the first product, which is the first product, from the placement area and places it on a cache area for temporarily placing the first product. Furthermore, after the second product is placed in a second location within the placement area, the robot arm 2620 moves the second product on the placement area onto the cache area using a determined method. In other words, the robot arm 2620 moves the second product, which is the second product, from the placement area and places it on the cache area for temporarily placing the second product.

[0122] Furthermore, after the displacement unit 2622 lifts the first product, the shipping system 2600a may drive the second actuator 2652 to move the robot arm 2620 on the belt conveyor 2650 to a first predetermined location at the display destination. In other words, the conveyor control unit 2651 may control the second actuator 2652 to move the transport slider 2640 to the first predetermined location at the display destination.

[0123] After the robot arm 2620 arranged on the belt conveyor 2650 moves to a first predetermined location, the robot arm 2620 may drive the first actuator 2621 to move the first product lifted by the displacement part 2622 to a second predetermined location, which is a predetermined placement location.

[0124] In this shipping system 2600a, after the worker places a purchased first product in the placement area of the display device 2610, the robot arm 2620 can move the first product placed in the placement area to the upper surface of the platform 2641. Specifically, when the worker places the first product, which is the first product, in the placement area of the display device 2610, the robot arm 2620 lifts the first product using the displacement unit 2622 and then places the first product in a cache area on the upper surface of the platform 2641. At this time, when the robot arm 2620 places the first product in the cache area, it can associate the first product ID with the placement location of the first product placed in the cache area and store them in the memory unit 2624 based on information about the platform 2641 stored in the memory unit 2624, a control command for the first actuator 2621, and the like. The information about the platform 2641 is information indicating the height of the platform 2641, the position of the cache area, the space in the cache area, the distance from the robot arm 2620 to the cache area, and the like. Therefore, since the robot arm 2620 stores the position of the first product placed in the cache area in the memory unit 2624, it can move to the first predetermined location, grab the first product with the first product ID placed in the cache area, and move it to the second predetermined location in the multi-tiered case, without being equipped with a camera sensor, etc. This allows the delivered first product to be displayed in the multi-tiered case.

[0125] Furthermore, when multiple products, such as a first product and a second product, are placed in the cache area, when the worker places the first product, which is the first product, in the placement area of the display device 2610, the robot arm 2620 places the first product in the cache area on the upper surface of the platform 2641. Thereafter, when the worker places the second product, which is the second product, in the placement area of the display device 2610, the robot arm 2620 lifts the second product with the displacement unit 2622 and then places the second product in the cache area on the upper surface of the platform 2641. At this time, when the robot arm 2620 places the second product in the cache area, it can associate the second product ID with the placement location of the second product placed in the cache area and store them in the memory unit 2624 based on information about the platform 2641 stored in the memory unit 2624, a control command for the first actuator 2621, etc. Therefore, since the robot arm 2620 stores the position of the second product placed in the cache area in the memory unit 2624, it can move to the first predetermined location, grab the second product with the second product ID placed in the cache area, and move it to the second predetermined location in the multi-tiered case, without being equipped with a camera sensor, etc. This allows the delivered second products to be displayed in the multi-tiered case.

[0126] In this modification, if the first product lifted by the robot arm 2620 falls onto the belt conveyor 2650, the belt conveyor 2650 may be driven to move the first product to a position where it does not get in the way. In this case, a weight sensor may be provided to detect the first product that has fallen onto the belt conveyor 2650.

[0127] Next, the effects of the control method according to this modified example will be described.

[0128] In the control method of this modified example, shipping system 2600a further includes a belt conveyor 2650 for moving robot arm 2620. Belt conveyor 2650 is driven by a second actuator 2652. The control method further includes, after the displacement unit 2622 lifts the first item, driving second actuator 2652 to move robot arm 2620 on belt conveyor 2650 to a first predetermined location, and, after robot arm 2620 on belt conveyor 2650 has moved to the first predetermined location, driving first actuator 2621 to move the first item lifted by displacement unit 2622 to a second predetermined location.

[0129] This allows the robot arm 2620, which has lifted the first product, to move together with the first product on the belt conveyor 2650. Therefore, even if the placement area is far from the second predetermined location, the robot arm 2620 can move the first product to the second predetermined location.

[0130] The control method of this modified example is a control method for a shipping system 2600a including a robot arm 2620 and a display device 2610. The robot arm 2620 also includes a displacement unit 2622 that lifts an object and changes the position of the object. The displacement unit 2622 is driven by a first actuator 2621, and the shipping system 2600a further includes a belt conveyor 2650 for moving the robot arm 2620. The belt conveyor 2650 is driven by a second actuator 2652. The control method also includes acquiring a first product ID that identifies a first product based on sensing data obtained from a sensor, acquiring a first database that associates and manages product IDs with images showing the shapes of the bottom surfaces of products corresponding to the product IDs, acquiring a first bottom surface image that shows the shape of the bottom surface of the first product based on the acquired first product ID, and controlling the display device 2610 to display the first bottom surface image in a placement area for placing the product, acquiring a second product ID that identifies a second product based on sensing data obtained from the sensor, acquiring a second bottom surface image that shows the shape of the bottom surface of the second product based on the first database and the acquired second product ID, and controlling the display device 2610 to display the second bottom surface image in the placement area. The control unit 2652 determines a method for lifting the first product by the displacement unit 2622 using a second database that displays an image and manages product IDs in association with three-dimensional data of products corresponding to the product IDs, the first product ID, and first location information that indicates a first location within the placement area where the first bottom image is to be displayed, and after the first product is placed in the first location within the placement area, the control unit 2652 controls the first actuator 2621 to lift the first product on the placement area by the displacement unit 2622 using the determined method, and after the first product has been lifted, the control unit 2621 controls the first actuator 2621 to move the first product lifted by the displacement unit 2622 onto a cache area where the first product is temporarily placed. The cache area moves together with the robot arm 2620 as the second actuator 2652 is driven.The control method also includes determining a method for lifting the second product by the displacement unit 2622 using the second database, the second product ID, and second location information indicating a second location within the placement area where the second bottom image is displayed, and after the second product is placed at the second location within the placement area, controlling the first actuator 2621 to lift the second product on the placement area by the displacement unit 2622 in the determined method, and after the second product has been lifted, controlling the first actuator 2621 to move the second product lifted by the displacement unit 2622 onto a cache area for temporarily placing the second product.

[0131] For example, if there is no cache area, the robot arm needs to pick up the first product one by one, move to a predetermined location for placing the first product, and then return after the movement.

[0132] In contrast, according to this modification, multiple products can be placed on the cache area, which allows the robot arm 2620 to quickly retrieve multiple products, move to a predetermined location efficiently, and place the products thereafter.

[0133] Furthermore, because the display device 2610 can display the first bottom image of the first product, the first product can be placed at the location where the first bottom image is displayed. Therefore, even if the location where the first product is placed is not identified using a sensor or the like, it can be estimated that the location where the first product is placed is the location where the first bottom image is displayed. The same applies to the second product. As a result, this control method can easily identify the locations where the first and second products are placed and can prevent costs from rising in the shipping system 2600a.

[0134] Furthermore, the robot arm 2620 can lift a first product placed in the placement area of the display device 2610 using the three-dimensional data of the first product and then move the first product to the cache area. After lifting the first product, the robot arm 2620 can subsequently lift a second product using the three-dimensional data of a second product and then move the second product to the cache area. In this way, multiple products can be placed in the cache area one after another. Therefore, multiple purchased products (first product and second product) can be placed in the cache area, and multiple products can be moved at once. This makes it possible to display multiple products in a predetermined location, or to remove and ship multiple displayed products.

[0135] This allows for smooth picking of purchased products and the like, thereby suppressing the rise in energy costs and labor costs, including those of the shipping system 2600a.

[0136] In the control method of this modification, the cache area corresponds to the area of the part connected to the robot arm 2620.

[0137] This allows the robot arm 2620 to be placed in the cache area, and the first and second products can be moved to the second predetermined location together with the robot arm 2620, making it possible to display multiple products in predetermined locations and remove and ship multiple displayed products. This prevents the time required for displaying and shipping multiple products from becoming too long.

[0138] In the control method of this modified example, the cache area corresponds to the area on the top surface of the platform 2641 that moves together with the robot arm 2620 by the belt conveyor 2650.

[0139] This allows the first and second products picked up by the robot arm 2620 to be easily placed on the top surface of the table.

[0140] (Modification 2 of the embodiment) In the following, since the basic configuration of the shipping system 2600b in this modified example is the same as the basic configuration of the shipping system in the embodiment, the basic configuration of the shipping system 2600b in this modified example will be given the same symbols as above and will not be explained as appropriate.

[0141] The configuration of this modified example will be described with reference to FIG. 10A.

[0142] FIG. 10A is a diagram illustrating a shipping system 2600b according to a second variation of the embodiment. (a) of FIG. 10A illustrates an example in which a first shelf 2656a on which a first product is displayed is moving upward. The two-dot chain line indicates the state after the first shelf 2656a has been raised. (b) of FIG. 10A illustrates an example in which the robot arm 2620 extends the second arm 2620b to grab the first product located at the back of the second shelf 2656b. (c) of FIG. 10A illustrates an example in which the displacement unit 2622 of the robot arm 2620 grasps the first product. (d) of FIG. 10A illustrates an example in which the displacement unit 2622 of the robot arm 2620 lifts the first product. (e) of FIG. 10A illustrates an example in which the robot arm 2620, having lifted the first product, retracts the extended second arm 2620b. FIG. 10A(f) shows the robot arm 2620 moving the first product that it has picked up.

[0143] 10A, shipping system 2600b further includes a multi-tiered case 2655. Note that shipping system 2600b may further include a belt conveyor 2650 for moving the robot arm 2620 described above.

[0144] Multi-tiered case 2655 has a plurality of shelves 2656 arranged in a plurality of tiers in the up-down direction. Specifically, multi-tiered case 2655 includes a plurality of shelves 2656, an actuator 2657 that changes the position of each of the plurality of shelves 2656 in the front-to-rear direction, and a control processing unit 2658 that controls the driving of actuator 2657. Multi-tiered case 2655 is an example of a showcase.

[0145] Each of the shelves 2656 is plate-shaped and arranged parallel to the horizontal direction. Each of the shelves 2656 is a shelf for placing a first product thereon, and is arranged in multiple tiers along the vertical direction. The first product is displayed on each of the shelves 2656 by the robot arm 2620.

[0146] Furthermore, the plurality of shelves 2656 includes a first shelf 2656a and a second shelf 2656b located one step below the first shelf 2656a. In this modification, two shelves adjacent to each other in the vertical direction among the plurality of shelves 2656, the first shelf 2656a and the second shelf 2656b, will be described as an example.

[0147] Each of the plurality of shelves 2656 can be moved up and down by being driven by an actuator 2657 controlled by a control processing unit 2658 .

[0148] The actuator 2657 is controlled by the control processing unit 2658 to move each of the plurality of shelves 2656 in the up-down direction. For example, the actuator 2657 is controlled by the control processing unit 2658 to move the top shelf 2656 of the plurality of shelves 2656 up-down to a predetermined shelf 2656.

[0149] The control processing unit 2658 can change the distance between the first shelf 2656a and the second shelf 2656b by controlling the actuator 2657. Specifically, when the control processing unit 2658 receives a first signal requesting an increase in the distance between the first shelf 2656a and the second shelf 2656b in the vertical direction, the control processing unit 2658 controls the actuator 2657 to change the distance from a first distance to a second distance that is larger than the first distance.

[0150] 10A(a), when the robot arm 2620 retrieves a first product displayed on the second shelf 2656b, which is the second shelf from the top, the control processing unit 2658 controls the actuator 2657 to raise the first shelf 2656a, which is the top shelf, upon receiving a first signal from the robot arm 2620. As a result, the first shelf 2656a is raised by the actuator 2657, and the vertical distance between the first shelf 2656a and the second shelf 2656b changes from the first distance to the second distance.

[0151] Before first shelf 2656a is raised, the distance between first shelf 2656a on which the first product is placed and the top surface of multi-tier case 2655 is preferably a third distance greater than the first distance so that the first product does not come into contact with the top surface of multi-tier case 2655. The third distance may be the same as or greater than the second distance. In other words, a space greater than the first distance is formed between the top shelf 2656 of multi-tier case 2655 and the top surface of multi-tier case 2655.

[0152] 10A(f), when the robot arm 2620 picks up the first product displayed at the back of the second shelf 2656b, which is the second shelf from the top, the control processing unit 2658, upon receiving a second signal from the robot arm 2620, controls the actuator 2657 to lower the first shelf 2656a, which is the top shelf, to its original position. As a result, the first shelf 2656a is lowered by the actuator 2657, and the vertical distance between the first shelf 2656a and the second shelf 2656b changes from the second distance to the first distance.

[0153] Next, an example of the operation of the shipping system 2600b according to this modified example will be described.

[0154] For example, when shipping a first product based on order information from a user, the shipping system 2600 may need to remove the first product to be shipped from the back of the shelf 2656. The shipping system 2600 manages all first products and multi-tiered cases 2655, and therefore manages which shelf 2656 in which multi-tiered case 2655 the first product to be shipped is located in and at what position. When the shipping system 2600 uses the robot arm 2620 to remove the target first product from the back of the shelf 2656, it may be difficult to remove the target first product because of a first product located at the front of the shelf 2656.

[0155] In this operation example, it is assumed that the robot arm 2620 lifts up and removes a target first product that is placed on the second shelf 2656b so as to be hidden by another first product, and then ships the removed first product.

[0156] 10A(a), the belt conveyor 2650 moves the transport slider 2640, causing the robot arm 2620 to move to the front of the multi-tiered case 2655 displaying the first target product. The robot arm 2620 then outputs a first signal to the multi-tiered case 2655 to request that the multi-tiered case 2655 increase the vertical distance between the first shelf 2656a and the second shelf 2656b. This causes the control processing unit 2658 of the multi-tiered case 2655 to acquire the first signal.

[0157] 10A (a) and (b), upon receiving the first signal, the control processing unit 2658 controls the actuator 2657 to change the vertical distance between the first shelf 2656a and the second shelf 2656b from the first distance to a second distance greater than the first distance. That is, under the control of the control processing unit 2658, the actuator 2657 raises the first shelf 2656a so that the first product does not come into contact with the top surface of the multi-tiered case 2655. This increases the distance between the second shelf 2656b on which the target first product is placed and the first shelf 2656a, allowing the robot arm 2620 to insert the displacement unit 2622 therebetween.

[0158] 10A(b), the robot arm 2620 extends the first arm 2620a upward, positions the displacement unit 2622 at a height between the first shelf 2656a and the second shelf 2656b, and extends the second arm 2620b horizontally. The robot arm 2620 also positions the displacement unit 2622 above a target first product that is placed at the back of the second shelf 2656b so as to be hidden by another first product, and displaces the posture of the displacement unit 2622 so as to be able to grab the target first product.

[0159] Next, as shown in (c) and (d) of FIG. 10A, the displacement unit 2622 of the robot arm 2620 grabs and lifts the target first product.

[0160] Next, as shown in FIG. 10A(e), the robot arm 2620 lifts up the target first product and then retracts the extended second arm 2620b.

[0161] 10A(f), after robot arm 2620 picks up the target first product, it outputs a second signal to multi-tier case 2655 to request that it reduce (restore) the vertical distance between first shelf 2656a and second shelf 2656b. As a result, control processing unit 2658 of multi-tier case 2655 acquires the second signal.

[0162] Next, upon receiving the second signal, the control processing unit 2658 controls the actuator 2657 to change the vertical distance between the first shelf 2656a and the second shelf 2656b from the second distance to the first distance, thereby returning the distance between the second shelf 2656b and the first shelf 2656a to the original first distance.

[0163] Next, as shown in FIG. 10A(f), when the second arm 2620b of the robot arm 2620 is retracted to a predetermined amount, the first arm 2620a is retracted downward to a predetermined amount.

[0164] Then, robot arm 2620 can place the lifted first product on platform 2641 of transport slider 2640. Robot arm 2620 continues to remove the target first product from multi-tiered case 2655. Note that robot arm 2620 may also move the target first product in a lifted state to a luggage box without placing it on platform 2641 of transport slider 2640.

[0165] In addition, in the shipping system 2600b, when the target first product is to be removed, it may be determined in advance whether it can be removed without raising the shelf 2656. If the shipping system 2600b determines that it cannot be removed without raising the shelf 2656, it may execute the above-described operation example.

[0166] Furthermore, while this modification illustrates an example in which only the top shelf 2656 is raised, for example, when the target first product is placed on the third shelf 2656 from the top and is positioned at the back so as to be hidden by another first product, upon receiving the first signal, the control processing unit 2658 controls the actuator 2657 to change the vertical distance between the second shelf 2656b and the third shelf (the third shelf 2656 from the top) from the first distance to the second distance. In other words, the actuator 2657 is controlled by the control processing unit 2658 to raise the first shelf 2656a and the second shelf 2656b so that the first product does not come into contact with the top surface of the multi-tiered case 2655. This increases the distance between the second shelf 2656b on which the target first product is placed and the third shelf, allowing the robot arm 2620 to insert the displacement unit 2622. In this manner, in this modified example, when the robot arm 2620 retrieves a first product that is placed at the back of the shelf 2656 so as to be hidden by another first product, all shelves above the shelf 2656 on which the target first product is placed are raised.

[0167] Next, the effects of the control method according to this modified example will be described.

[0168] In the control method of this modified example, shipping system 2600b further includes a showcase (multi-tiered case 2655), and the showcase includes a plurality of shelves 2656 for placing a first product thereon, the plurality of shelves 2656 forming a plurality of tiers in the vertical direction, and an actuator 2657 for changing the front-to-rear position of each of the plurality of shelves 2656. The plurality of shelves 2656 also includes a first shelf 2656a and a second shelf 2656b located one tier below the first shelf 2656a. When shipping system 2600b receives a first signal requesting an increase in the vertical spacing between first shelf 2656a and second shelf 2656b, it controls actuator 2657 to change the spacing from the first spacing to a second spacing greater than the first spacing.

[0169] According to this, even if a first product placed on a shelf 2656 is placed at the back of the shelf 2656 so as to be hidden by another first product, by increasing the vertical distance between the first shelf 2656a and the second shelf 2656b, the robot arm 2620 can lift the first product placed at the back of the shelf 2656. Therefore, the first product can be lifted no matter where it is placed on the shelf 2656, and the first products can be displayed in a manner that makes effective use of the space above the shelf 2656.

[0170] (Third Modification of the Embodiment) In the following, since the basic configuration of the shipping system 2600c in this modified example is the same as the basic configuration of the shipping system 2600c in the embodiment, the basic configuration of the shipping system 2600c in this modified example will be given the same symbols as above and will not be explained as appropriate.

[0171] The configuration of this modification will be described with reference to FIG. 10B. FIG. 10B is a diagram illustrating a shipping system 2600c according to a third modification of the embodiment. (a) of FIG. 10B illustrates a plurality of shelves 2656 on which first products are displayed. (b) of FIG. 10B illustrates a state in which the robot arm 2620 extends its arm to grab the first product located at the back of the first shelf 2656a. (c) of FIG. 10B illustrates a state in which the displacement unit 2622 of the robot arm 2620 grasps the first product. (d) of FIG. 10B illustrates a state in which the displacement unit 2622 of the robot arm 2620 lifts the first product. (e) of FIG. 10B illustrates a state in which the front wall 2662 is rotated and tilted, causing the shelf 2656 on which the first products are displayed to slide. Note that the numbers 1 to 7 next to FIG. 10B indicate the number of shelves 2656.

[0172] The shipping system 2600c includes a multi-tiered case 2655a and a robot arm 2620. The shipping system 2600c is an example of a showcase system.

[0173] As shown in (a) and (b) of FIG. 10B, multi-tiered case 2655a includes a plurality of shelves 2656 arranged vertically, a first actuator 2657a for horizontally moving a first shelf 2656a included in the plurality of shelves 2656, a signal acquisition unit 2660 for acquiring a signal from outside multi-tiered case 2655a, a signal transmission unit 2661 for transmitting a signal to the outside of multi-tiered case 2655a, a control processing unit 2658, a first curtain 2659a, a second curtain 2659b, and a second actuator 2657b. Multi-tiered case 2655a is an example of a showcase. At least one of signal acquisition unit 2660 and signal transmission unit 2661 may be mounted on control processing unit 2658. The exterior of multi-tiered case 2655a may include, for example, a robot arm 2620 or an external device of multi-tiered case 2655a.

[0174] Each of the shelves 2656 is plate-shaped and arranged parallel to the horizontal direction. Each of the shelves 2656 is a shelf for placing a first product thereon and is arranged side by side in the vertical direction. Each of the shelves 2656 is moved horizontally by a first actuator 2657a.

[0175] A first shelf 2656a of the multiple shelves 2656 can be moved between a first position and a second position located further forward than the first position by actuation of a first actuator 2657a. The first position is a position where the first shelf 2656a is housed in the multi-stage case 2655a. The second position is a position where the first shelf 2656a slides horizontally out of the multi-stage case 2655a and extends, protruding from the multi-stage case 2655a.

[0176] First curtain 2659a is disposed on the front side of shelves 2656 and extends downward from above multi-tier case 2655a. Specifically, the upper end of first curtain 2659a is connected to the upper plate of multi-tier case 2655a, and the lower end of first curtain 2659a can contact the upper end of second curtain 2659b.

[0177] The second curtain 2659b is disposed on the front side of the shelves 2656 and extends upward from below the multi-tiered case 2655a. Specifically, the lower end of the second curtain 2659b is connected to the lower plate of the multi-tiered case 2655a, and the upper end of the second curtain 2659b can contact the lower end of the first curtain 2659a.

[0178] The lower end of first curtain 2659a and the upper end of second curtain 2659b come into contact with each other, thereby closing the opening of multi-stage case 2655a.

[0179] Second actuator 2657b drives first curtain 2659a and second curtain 2659b. This allows the bottom end of first curtain 2659a and the top end of second curtain 2659b to move up and down. Furthermore, the bottom end of first curtain 2659a and the top end of second curtain 2659b move away from each other, thereby opening up the inside of multi-tiered case 2655a and exposing multiple shelves 2656. Note that second actuator 2657b may be provided for each of first curtain 2659a and second curtain 2659b.

[0180] Second actuator 2657b is controlled by control processing unit 2658 of multi-stage case 2655a. When control processing unit 2658 receives a signal requesting that first shelf 2656a be moved forward, which is received by signal receiving unit 2660, control processing unit 2658 controls first actuator 2657a to move first shelf 2656a from the first position to the second position. Specifically, when control processing unit 2658 receives a signal instructing that first shelf 2656a be moved forward while the opening of multi-stage case 2655a is closed, (1) control second actuator 2657b to form a first gap between the lower end of first curtain 2659a and the upper end of second curtain 2659b, and (2) control first actuator 2657a to move first shelf 2656a through the first gap from the first position to the second position. The control processing unit 2658 is an example of a controller.

[0181] The robot arm 2620 includes a displacement unit 2622 , an arm control unit 2623 , and an arm driving unit 2625 .

[0182] The displacement unit 2622 is driven by the arm drive unit 2625 to lift one or more target products (first products) placed on the first shelf 2656a and move the products lifted by the robot arm 2620 out of the multi-tiered case 2655a, thereby changing the position of the products. The displacement unit 2622 includes a gripping unit capable of clamping and holding the first product, an adsorption unit capable of adsorbing and holding the first product by sucking in air, or a magnetic unit that holds the first product by attracting it with magnetic force.

[0183] The displacement unit 2622 lifts up a first product placed on the shelf 2656 and moves the first product into the multi-tiered case 2655a, so that the first product can be displayed on another shelf 2656 or another multi-tiered case 2655a.

[0184] The arm driving unit 2625 drives the displacement unit 2622. Specifically, the arm driving unit 2625 is controlled by the arm control unit 2623, thereby being able to drive the displacement unit 2622. The arm driving unit 2625 may be read as the above-mentioned first actuator 2621. Therefore, the arm driving unit 2625 may have the same functional configuration as the first actuator 2621.

[0185] When arm control unit 2623 receives a signal instructing to remove the first product from first shelf 2656a, it causes robot arm 2620 to lift the product placed on first shelf 2656a, and after the product lifted by robot arm 2620 moves out of multi-tier case 2655a, first actuator 2657a is controlled by control processing unit 2658 to move first shelf 2656a from the first position to the second position, and thereby controls arm drive unit 2625 to cause displacement unit 2622 to displace the position of the first product on first shelf 2656a.

[0186] When control processing unit 2658 receives a signal instructing removal of a first product from first shelf 2656a while the opening (front removal opening) of multi-tier case 2655a is blocked by first curtain 2659a and second curtain 2659b, it (1) controls second actuator 2657b to form a first gap between the bottom edge of first curtain 2659a and the top edge of second curtain 2659b, and (2) controls first actuator 2657a to move first shelf 2656a from the first position to the second position through the first gap. After moving first shelf 2656a to the second position, control processing unit 2658 transmits a signal indicating that first shelf 2656a has been moved forward to robot arm 2620 via signal transmission unit 2661. Then, the arm control unit 2623 of the robot arm 2620 (3) controls the arm driving unit 2625 to cause the displacement unit 2622 to displace the position of the first product on the first shelf 2656a.

[0187] Next, an example of the operation of the shipping system 2600c according to this modified example will be described.

[0188] As shown in (b) of FIG. 10B, for example, when shipping a first product based on order information from a user, shipping system 2600c may need to remove the first product to be shipped from the back of shelf 2656. Shipping system 2600c manages all first products and multitiered cases 2655a, and therefore manages which shelf 2656, in which multitiered case 2655a, and in what position the first product to be shipped is located. When shipping system 2600c uses robot arm 2620 to remove the target first product from the back of shelf 2656, it may be difficult to remove the target first product because of first products located at the front of shelf 2656.

[0189] In this operation example, it is assumed that the shelf 2656 is moved, the robot arm 2620 lifts and removes the target first product, and the removed first product is shipped.

[0190] 10B(a), the opening of multi-tiered case 2655a may be blocked. Therefore, when robot arm 2620 retrieves the first product, control processing unit 2658 receives a signal from the data management unit instructing it to move first shelf 2656a forward when the opening of multi-tiered case 2655a is blocked.

[0191] As shown in (b) of FIG. 10B, the control processing unit 2658 controls the second actuator 2657b based on a signal instructing the first shelf 2656a to move forward, thereby forming a first gap between the lower end of the first curtain 2659a and the upper end of the second curtain 2659b. At this time, the control processing unit 2658 controls the second actuator 2657b so that the first gap is formed in front of the shelf (first shelf 2656a) from which the first product is to be removed. As a result, the lower end of the first curtain 2659a and the upper end of the second curtain 2659b are separated, and the first gap is formed in front of the first shelf 2656a from which the first product is to be removed. (b) of FIG. 10B illustrates an example in which the first gap is formed in front of the second-lowest shelf 2656.

[0192] Next, based on a signal instructing the first shelf 2656a to move forward, the control processing unit 2658 causes the robot arm 2620 to lift the product placed on the first shelf 2656a. After the product lifted by the robot arm 2620 has moved out of the multi-tiered case 2655a, the control processing unit 2658 controls the first actuator 2657a to move the first shelf 2656a from the first position to the second position through the first gap. As a result, the first shelf 2656a from which the first product is to be removed slides and moves horizontally from the first position to the second position. As a result, the first shelf 2656a, together with the first product, pops out of the multi-tiered case 2655a, allowing the robot arm 2620 to grab the first product from above.

[0193] 10B(b), upon receiving a signal instructing the removal of the first product on the first shelf 2656a, the arm control unit 2623 controls the arm driving unit 2625 to move the displacement unit 2622 vertically above the first product to be removed. Specifically, the robot arm 2620 moves the displacement unit 2622 horizontally to vertically above the first product to be removed.

[0194] Next, as shown in (c) and (d) of FIG. 10B, the displacement unit 2622 of the robot arm 2620 descends to grab and lift up the first product to be removed.

[0195] As a result, arm control section 2623 controls arm driving section 2625 to cause displacement section 2622 to displace the position of the first product on first shelf 2656a.

[0196] In this way, the displacement portion 2622 can lift the first product placed on the first shelf 2656a and store it in a shipping box for shipping.

[0197] 10B(d), for example, when a shelf 2656 located at the bottom of the plurality of shelves 2656 of the multi-tiered case 2655a is slid to move horizontally (from a first position to a second position), the shelf 2656 comes into contact with a front wall 2662 of the multi-tiered case 2655a. Therefore, when a shelf 2656 that comes into contact with the front wall 2662 of the multi-tiered case 2655a is slid to move horizontally, the front wall 2662 of the multi-tiered case 2655a may be rotated and tilted to prevent contact between the front wall 2662 of the multi-tiered case 2655a and the shelf 2656. Specifically, when moving a shelf 2656 that comes into contact with the front wall 2662 of the multi-tiered case 2655a from the first position to the second position, the control processing unit 2658 may control another actuator of the multi-tiered case 2655a to rotate the front wall 2662.

[0198] Next, the effects of the multi-stage case 2655 according to this modified example will be described.

[0199] The showcase (multi-tiered case 2655) of this modification includes a plurality of shelves 2656 on which products are placed, the plurality of shelves 2656 forming a plurality of tiers in the up-down direction, an actuator that changes the position of each of the plurality of shelves 2656 in the front-to-rear direction, a signal acquiring unit 2660 that acquires a signal from outside the showcase, and a controller (control processing unit 2658) that controls the actuator. The plurality of shelves 2656 includes a first shelf 2656a. When the controller acquires a signal acquired by the signal acquiring unit 2660 that requests moving the first shelf 2656a forward, the controller controls the actuator (first actuator 2657a) to move the first shelf 2656a from a first position to a second position that is located further forward than the first position.

[0200] This allows first shelf 2656a to be moved forward from the first position, making it easier to place products on first shelf 2656a and to remove products placed on first shelf 2656a.

[0201] In the showcase of this modification, the signal is transmitted based on an instruction from a controller that controls a robot arm 2620 that can place products in the showcase.

[0202] According to this, by transmitting a signal from the robot arm 2620, the first shelf 2656a can be moved forward from the first position. Furthermore, it can be expected that the first shelf 2656a will be moved forward from the first position at the timing when the robot arm 2620 places an item on the first shelf 2656a or when the robot arm 2620 takes an item from the first shelf 2656a and grabs it. This allows the robot arm 2620 to smoothly place an item on the first shelf 2656a and take an item from the first shelf 2656a. As a result, the overall operational efficiency of the showcase and the robot arm 2620 can be improved.

[0203] The showcase of this modification further includes a signal transmitter 2661 that transmits a signal to the outside of the showcase. After moving first shelf 2656a to the second position, the controller transmits a signal indicating that first shelf 2656a has been moved forward to robot arm 2620 via signal transmitter 2661.

[0204] According to this, the controller transmits a signal to the robot arm 2620, which enables the robot arm 2620 to recognize the timing to place a commodity on the first shelf 2656a or to take a commodity from the first shelf 2656a. This enables the robot arm 2620 to smoothly place a commodity on the first shelf 2656a and take a commodity from the first shelf 2656a. As a result, the overall operational efficiency of the showcase and the robot arm 2620 can be improved.

[0205] In this modified showcase, the controller further controls the actuator to move the first shelf 2656a from the first position to the second position after the robot arm 2620 lifts the product placed on the first shelf 2656a and the product lifted by the robot arm 2620 moves out of the showcase.

[0206] This allows the robot arm 2620 to quickly move the first shelf 2656a to the second position when the robot arm 2620 picks up the product.

[0207] (Other variations) Although the present disclosure has been described above based on the embodiments, the present disclosure is not limited to these embodiments, etc. Furthermore, the embodiments include Modifications 1 to 3 of the above-described embodiments and other modifications.

[0208] Furthermore, each of the components included in the shipping system and showcase according to the above-described embodiments may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0209] The components of the shipping system and the showcase are typically realized as LSIs, which are integrated circuits. These may be implemented as separate chips, or some or all of them may be integrated into a single chip.

[0210] Furthermore, the integration is not limited to LSI, but may be realized by dedicated circuits or general-purpose processors. FPGAs (Field Programmable Gate Arrays), which can be programmed after LSI manufacturing, or reconfigurable processors, which allow the connections and settings of circuit cells within LSIs to be reconfigured, may also be used.

[0211] In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for that component. Each component may also be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0212] Furthermore, all of the numbers used above are examples for specifically explaining the present disclosure, and the embodiments of the present disclosure are not limited to the numbers shown as examples.

[0213] The division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to another functional block.Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or time-shared by a single piece of hardware or software.

[0214] The order in which the steps in the flowchart are executed is merely an example for specifically explaining the present disclosure, and an order other than the above may be used. Also, some of the steps may be executed simultaneously (in parallel) with other steps.

[0215] Although the control method, program, shipping system, and showcase have been described based on the embodiments, the present disclosure is not limited to these embodiments. As long as they do not deviate from the spirit of the present disclosure, various modifications conceivable by those skilled in the art to the present embodiments, and forms constructed by combining components of different embodiments, may also be included within the scope of one or more aspects. [Industrial Applicability]

[0216] The present disclosure is applicable to, for example, showcases for displaying merchandise and merchandise shipping systems.

[0217] (Addendum) The following describes the features of the control method, program, shipping system, and showcase explained based on the above-mentioned embodiments.

[0218] <Technology 1> A control method in a shipping system including a display device, comprising: acquiring a first product ID that identifies the first product based on the sensing data obtained from the sensor; a first database that manages product IDs and images showing the shapes of the bottom surfaces of products corresponding to the product IDs in association with each other, and acquires a first bottom surface image showing the shape of the bottom surface of the first product based on the acquired first product ID; and controlling the display device to display the first bottom image within a placement area for placing the first product. Control method.

[0219] <Technology 1a> Another representation of the shipping system is as follows:

[0220] A control method in a shipping system including a display device, comprising: acquiring a first product ID that identifies the first product based on the sensing data obtained from the sensor; a first database that manages product IDs and images showing the shapes of the bottom surfaces of products corresponding to the product IDs in association with each other, and acquires a first bottom surface image showing the shape of the bottom surface of the first product based on the acquired first product ID; controlling the display device to display the first bottom image within a placement area for placing the first product; The aforementioned display the device is a display, the placement area corresponds to an area on the display where the first bottom image is displayed. Control method.

[0221] <Technology 1b> Yet another representation of the shipping system is as follows:

[0222] A control method for a shipping system including a display device and a robot arm, comprising: acquiring a first product ID that identifies the first product based on the sensing data obtained from the sensor; a first database that manages product IDs and images showing the shapes of the bottom surfaces of products corresponding to the product IDs in association with each other, and acquires a first bottom surface image showing the shape of the bottom surface of the first product based on the acquired first product ID; and controlling the display device to display the first bottom image within a placement area for placing the first product. Control method.

[0223] <Technology 1c> Yet another representation of the shipping system is as follows:

[0224] A control method in a shipping system including a display device, comprising: acquiring a first product ID that identifies the first product based on the sensing data obtained from the sensor; a first database that manages product IDs and images showing the shapes of the bottom surfaces of products corresponding to the product IDs in association with each other, and acquires a first bottom surface image showing the shape of the bottom surface of the first product based on the acquired first product ID; controlling the display device to display the first bottom image within a placement area for placing the first product; and controlling the display device to erase the first bottom image after the first product placed on the first bottom image displayed in the placement area is lifted by a robot arm. Control method.

[0225] <Technology 2> The first database further manages the product ID and an image showing the appearance of the product corresponding to the product ID in association with each other, acquiring the first bottom image and a first appearance image showing an appearance of the first product based on the first database and the acquired first product ID; controlling the display device to display the first bottom image and the first exterior image in the placement area; The control method described in Technology 1.

[0226] <Technology 3> the shipping system further includes a robotic arm; the robot arm includes a displacement unit that lifts up one or more of the first commodities placed in the placement area, the first commodities being the target, to change the position of the first commodities; the displacement portion is driven by a first actuator, Furthermore, a method for lifting the first product by the displacement unit is determined using a second database that manages the product ID in association with the three-dimensional data of the product corresponding to the product ID, the first product ID, and first location information that is information indicating a first location within the placement area that displays the first bottom image; After the first product is placed at the first location in the placement area, controlling the first actuator to lift the first product on the placement area by the displacement unit in a determined manner. The control method according to technique 1 or 2.

[0227] <Technology 4> Furthermore, when the first product is placed on the placement area, it is determined whether the first product is correctly placed in a first location within the placement area; When it is determined that the first product has been correctly placed in the first location, the display device is controlled to display an image indicating that the first product has been correctly placed in the first location; and when it is determined that the first product is not correctly placed at the first location, controlling the display device to display an image indicating that the first product is not correctly placed at the first location. The control method according to any one of techniques 1 to 3.

[0228] <Technology 5> the shipping system further includes a speaker; Furthermore, when the first product is placed on the placement area, it is determined whether the first product is correctly placed in a first location within the placement area; When it is determined that the first product has been correctly placed in the first location, the method controls the speaker to output a sound indicating that the first product has been correctly placed in the first location; When it is determined that the first product is not placed correctly, controlling the speaker to output a sound indicating that the first product is not placed correctly in the first location. 5. The control method according to any one of techniques 1 to 4.

[0229] <Technology 6> determining whether the first product is placed correctly based on image information acquired from the camera; The control method according to technique 4 or 5.

[0230] <Technology 7> The displacement unit includes a gripping unit capable of pinching and holding the first product, an adsorption unit capable of adsorbing and holding the first product by sucking air, or a magnetic unit that holds the first product by attracting the first product with a magnetic force. The control method described in Technology 3.

[0231] <Technology 8> the displacement unit is a device for holding the device by pinching it, determining a method for lifting the first product by the displacement unit includes determining a first portion that is a portion for lifting the first product; and controlling the first actuator to cause the displacement unit to lift the first portion of the first product on the placement area after the first product is placed at the first location in the placement area. The control method described in Technology 7.

[0232] <Technology 9> the shipping system further includes a belt conveyor for moving the robot arm, the belt conveyor being driven by a second actuator; Furthermore, after the displacement unit lifts the first product, the second actuator is driven to move the robot arm on the belt conveyor to a first predetermined location; and driving the first actuator to move the first product lifted by the displacement unit to a second predetermined location after the robot arm on the belt conveyor has moved to the first predetermined location. A control method according to any one of techniques 3, 7, and 8.

[0233] <Technology 10> the shipping system further includes a speaker; Furthermore, based on the sensing result obtained from the sensor, it is determined whether the first product lifted by the displacement unit has fallen; After it is determined that the first product has fallen, the speaker is controlled to output a sound indicating that the first product has fallen. A control method according to any one of techniques 3, 7, 8, and 9.

[0234] <Technology 11> Furthermore, based on the sensing result obtained from the sensor, it is determined whether the first product lifted by the displacement unit has fallen; After it is determined that the first product has fallen, controlling the display device to output an image indicating that the first product has fallen. A control method according to any one of techniques 3, 7, 8, 9, and 10.

[0235] <Technology 12> A control method for a shipping system including a robot arm and a display device, wherein the robot arm includes a displacement unit that lifts an object and changes a position of the object, the displacement unit being driven by a first actuator; the shipping system further includes a belt conveyor for moving the robot arm; the belt conveyor is driven by a second actuator; acquiring a first product ID that identifies the first product based on the sensing data obtained from the sensor; a first database that manages product IDs and images showing the shapes of the bottom surfaces of products corresponding to the product IDs in association with each other, and acquires a first bottom surface image showing the shape of the bottom surface of the first product based on the acquired first product ID; Controlling the display device to display the first bottom image within a placement area for placing the product; acquiring a second product ID that identifies the second product based on the sensing data obtained from the sensor; acquiring a second bottom image showing a shape of a bottom surface of the second product based on the first database and the acquired second product ID; controlling the display device to display the second bottom image in the placement area; determining a method for lifting the first product by the displacement unit using a second database that manages the product ID in association with the three-dimensional data of the product corresponding to the product ID, the first product ID, and first location information that indicates a first location in the placement area where the first bottom image is to be displayed; After the first product is placed at the first location in the placement area, controlling the first actuator to cause the displacement unit to lift the first product on the placement area in a determined manner; After the first product is lifted, the first actuator is controlled to move the first product lifted by the displacement unit to a cache area where the first product is to be temporarily placed; the cache area moves together with the robot arm as the second actuator is driven; determining a method for lifting the second product by the displacement unit using the second database, the second product ID, and second location information indicating a second location in the placement area where the second bottom image is to be displayed; After the second product is placed at the second location in the placement area, controlling the first actuator to cause the displacement unit to lift the second product on the placement area in a determined manner; and after lifting the second product, controlling the first actuator to move the second product lifted by the displacement unit onto a cache area for temporarily placing the second product. Control method.

[0236] <Technology 13> the cache area corresponds to an area of a part connected to the robot arm; The control method described in Technology 12.

[0237] <Technology 14> the cache area corresponds to an area on the top surface of a platform that moves together with the robot arm via the belt conveyor; The control method according to technique 12 or 13.

[0238] <Technology 15> The shipping system further includes a showcase; The showcase is a plurality of shelves for placing the products, the plurality of shelves being arranged in a plurality of stages along a vertical direction; an actuator for changing the position of each of the plurality of shelves in the front-rear direction, the plurality of shelves includes a first shelf; When the showcase receives a first signal requesting that the first shelf be moved forward, the showcase controls the actuator to move the first shelf from a first position to a second position located forward of the first position. 15. The control method according to any one of the preceding claims.

[0239] <Technology 16> the display device is a display for displaying the first bottom image of the first product in the placement area, the placement area corresponds to an area on the display where the first bottom image is displayed. 16. The control method according to any one of techniques 1 to 15.

[0240] <Technology 17> The area of the display where the first bottom image is displayed is equipped with a touch panel. The control method described in Technology 16.

[0241] <Technology 18> the display device is a projector for projecting the first bottom image onto a screen, and the placement area corresponds to an area on the screen onto which the first bottom image is projected. 18. A control method according to any one of techniques 1 to 17.

[0242] <Technology 19> A shipping system that executes the control method described in any one of techniques 1 to 18.

[0243] <Technology 20> A program for causing the shipping system to execute the control method according to any one of techniques 1 to 18.

[0244] <Technology 21> It is a showcase, a plurality of shelves for placing products thereon, the plurality of shelves being arranged in a plurality of stages along the vertical direction; an actuator for changing the position of each of the plurality of shelves in the front-rear direction; a signal acquisition unit that acquires a signal from outside the showcase; a controller for controlling the actuator, the plurality of shelves includes a first shelf; when the controller receives the signal, which is received by the signal receiving unit and is a signal requesting that the first shelf be moved forward, the controller controls the actuator to move the first shelf from a first position to a second position located forward of the first position; Showcase.

[0245] <Technology 22> The signal is transmitted based on an instruction from the controller that controls a robot arm capable of placing the product in the showcase. Showcase according to art 21.

[0246] <Technology 23> Further, a signal transmitting unit that transmits a signal to the outside of the showcase is provided, After moving the first shelf to the second position, the controller transmits a signal indicating that the first shelf has been moved forward to the robot arm via the signal transmitting unit. Showcase according to art 22.

[0247] <Technology 24> The controller further controls the actuator to move the first shelf from the first position to the second position after the robot arm lifts the product placed on the first shelf and the product lifted by the robot arm moves out of the showcase. 24. A showcase according to any one of arts 21 to 23.

[0248] The determination of whether "the robot arm has lifted a product placed on the first shelf and moved the product lifted by the robot arm out of the showcase" may be made based on sensing results obtained from a sensor, or based on a signal indicating that the product has been moved out of the showcase, transmitted based on instructions from a control unit that controls the robot arm. For example, the sensor may be a weight sensor installed on the first shelf or a camera. Furthermore, the sensor may be a camera installed on the robot arm or a camera installed in the store. Furthermore, for example, it may be determined that the product has been moved out of the showcase after a predetermined time has elapsed after detecting that the product has been lifted based on sensing results from a weight sensor installed on the first shelf. [Explanation of symbols]

[0249] 2600, 2600a, 2600b, 2600c Shipping Systems 2605 Barcode reader (sensor) 2610 Display device 2613 Mounted sensors (cameras, sensors) 2620 Robot Arm 2621 First Actuator 2622 Displacement part (gripping part, suction part, magnetic part) 2631 Fall Sensor (Sensor) 2633 Speaker 2641 units 2650 conveyor belt 2652 Second Actuator 2655, 2655a Multi-tiered case (showcase) 2656 shelf 2656a 1st shelf 2656b Second shelf 2657 Actuator 2657a First Actuator (Actuator) 2657b Second Actuator (Actuator) 2658 Control processing unit (controller) 2660 Signal Acquisition Unit 2661 Signal Transmitter

Claims

1. It is a showcase, a plurality of shelves for placing products thereon, the plurality of shelves being arranged in a plurality of stages along the vertical direction; an actuator for changing the position of each of the plurality of shelves in the front-rear direction; a signal acquisition unit that acquires a signal from outside the showcase; a first controller that controls the actuator, the plurality of shelves includes a first shelf; When the first controller receives the signal for requesting that the first shelf be moved forward, the first controller controls the actuator to move the first shelf from a first position to a second position located forward of the first position. Showcase.

2. The signal is transmitted based on an instruction from a second controller that controls a robot arm capable of placing the product in the showcase. The showcase according to claim 1.

3. Further, a signal transmitting unit that transmits a signal to the outside of the showcase is provided, After moving the first shelf to the second position, the first controller transmits a signal indicating that the first shelf has been moved forward to the robot arm via the signal transmitting unit. The showcase according to claim 2.

4. The first controller further controls the actuator to move the first shelf from the first position to the second position after the robot arm lifts the product placed on the first shelf and the product lifted by the robot arm moves out of the showcase. The showcase according to claim 2 or 3.

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