Merchandise replenishment system, management device, rotary rack, unpacking unit, and package transfer unit

Abstract

According to one embodiment of the present disclosure, there is provided a merchandise replenishment system 1 including: a rotary rack 200 comprising a plurality of racks 210 on which packages P accommodating merchandise are placed, the plurality of racks 210 being configured to circulate on the rotary rack 200; and a merchandise replenishment robot 100 that performs an action of grasping merchandise accommodated in the packages P placed on the racks 210 of the rotary rack 200 and moving the merchandise to a display shelf.

Description

Commodity replenishment system, management device, rotary rack, unpacking unit, and package transfer unit

[0001] The present disclosure relates to a commodity replenishment system, a management device, a rotary rack, an unpacking unit, and a package transfer unit.

[0002] Patent Document 1 discloses a commodity transfer system including a commodity transfer device that transfers commodities placed on a stock shelf in a store such as a convenience store to a display shelf different from the stock shelf. This commodity transfer device includes a gripping part that grips a commodity, an arm part that moves the gripping part to the stock shelf and the display shelf, a first imaging part that photographs the display shelf, a second imaging part that photographs the stock shelf, and a control part that controls the operations of the arm part, the gripping part, the first and second imaging parts.

[0003] Based on the display shelf imaging image data generated by the first imaging part photographing the display shelf, the control part of the commodity transfer device identifies a replenishment target commodity, which is a commodity that needs to be replenished on the display shelf, and based on the stock shelf imaging image data generated by the second imaging part photographing the stock shelf, identifies the position of the stock commodity corresponding to the replenishment target commodity in the stock shelf imaging image data. The control part further causes the gripping part to grip the replenishment target commodity based on the stock shelf imaging image data, and after the gripping part grips the replenishment target commodity, moves the gripping part toward the display shelf, and places the replenishment target commodity on the commodity placement position on the display shelf based on the display shelf imaging image data.

[0004] Thus, the commodity transfer device disclosed in Patent Document 1 executes an operation of transferring and replenishing commodities from the stock shelf to the display shelf.

[0005] International Publication No. 2103 / 022,214

[0006] Generally, products such as bottled and canned beverages are delivered to stores in packaging made of cardboard or plastic film, and the packages are stacked and stored in the store's storage area. In the system disclosed in Patent Document 1, store employees need to identify and remove the package containing the product to be replenished from among the stacked packages, and then unpack the package, take out the product, and replenish the inventory shelves as needed. In particular, in stores such as large supermarkets, many packages of various beverage products are piled up in the back room of the beverage section, so identifying and removing the package containing the product to be replenished requires the loading, unloading, and rearranging of many packages, making the process of replenishing inventory shelves labor-intensive.

[0007] The purpose of this disclosure is to provide a means that makes it possible to reduce the burden of product replenishment work.

[0008] According to one aspect of the present disclosure, a product replenishment system is provided, comprising: a rotary rack having a plurality of racks on which packages containing products are placed, wherein the plurality of racks are configured to rotate around the rotary rack; and a product replenishment robot that performs the operation of grasping products contained in packages placed on the racks of the rotary rack and moving them to a display shelf.

[0009] Other features and advantages of this disclosure can be understood from the following description and accompanying drawings, which are given illustratively and non-exclusively.

[0010] This disclosure provides means that enable the reduction of the burden of product replenishment work.

[0011] This figure shows the overall configuration of a product replenishment system according to one embodiment of the present disclosure, and its arrangement within a store. This is a view of the display shelf from the front. This is a schematic side view showing the configuration of the product replenishment robot. This is a perspective view showing the surrounding structure of the tip of the arm of the product replenishment robot. This is a block diagram showing the configuration of the product replenishment robot. This is an image of the display shelf taken by the first camera (left side) of the product replenishment robot. This is a flowchart showing the product replenishment operation by the product replenishment robot. This is a perspective view showing the overall configuration of a rotary rack included in the product replenishment system. This is a magnified view showing the connection end area with the mounting section of the rotary rack. This is a magnified view showing the connection end area with the transfer section of the rotary rack. This is a magnified view showing the area in the rotary rack where the drive unit is provided. This is a magnified view showing the area in the rotary rack where the drive unit is provided. This is a perspective view showing the overall configuration of an unpacking unit included in the product replenishment system. This is a magnified perspective view showing the unpacking gripper unit in the unpacking unit. This is a magnified perspective view showing the lower side of the unpacking gripper unit in the unpacking unit. This is a magnified perspective view showing the first vertical movement unit, camera, horizontal movement unit, and second vertical movement unit in the unpacking unit. This is a magnified perspective view showing the opposite side of the first and second vertical movement units in the unpacking unit. This is a magnified perspective view showing the cutting unit in the unpacking unit. This is a magnified view showing another orientation of the cutting unit in the unpacking unit. This is a magnified perspective view showing yet another orientation of the cutting unit in the unpacking unit. This is a perspective view showing the forward and backward movement unit in the unpacking unit. This is a perspective view showing the stage unit in the unpacking unit. This is a perspective view showing the underside of the stage unit in the unpacking unit. This is a perspective view showing the overall configuration of the package transfer unit included in the product replenishment system. This is a magnified perspective view showing the gripper in the package transfer unit. This is a schematic perspective view showing the product image acquisition unit installed on the product replenishment robot. This is a block diagram showing the configuration of the management device. This is a flowchart for explaining an example of the operation of the product replenishment system.This diagram schematically illustrates the process of cutting a package containing plastic film packaging. This diagram schematically illustrates the process of cutting a package containing corrugated cardboard packaging. This diagram schematically illustrates the process of unpacking a package containing plastic film packaging. This diagram schematically illustrates the process of unpacking a package containing plastic film packaging. This diagram schematically illustrates the change in the posture of the grip roller brought about by the connecting mechanism of the unpacking grip unit. This diagram schematically illustrates the process of unpacking a package containing corrugated cardboard packaging.

[0012] The embodiments of this disclosure will be described below with reference to the drawings. <Overall configuration of the product replenishment system and layout within the store>

[0013] First, the overall configuration of a product replenishment system according to one embodiment of this disclosure and its placement within a store will be described. Figure 1 is a diagram showing the overall configuration of a product replenishment system according to one embodiment of this disclosure and its placement within a store.

[0014] As shown in Figure 1, a product replenishment system 1 according to one embodiment of the present disclosure includes a product replenishment robot 100 for moving products, a rotary rack unit 200 having a plurality of racks 210 on which packaged products P are each placed, and configured to rotate the plurality of racks 210 in a carousel-like manner, an unpacking unit 300 for unpacking the package P so that the products inside the package P can be removed, a package transfer unit 400 configured to pull out the package P placed on the racks 210 of the rotary rack unit 200 and transfer it to the unpacking unit 300, and after the package P is unpacked by the unpacking unit 300, to return the unpacked package P to the original rack 210, a product image acquisition unit 500 provided on the product replenishment robot 100, and a management device 600 that controls the operation of the product replenishment robot 100, the rotary rack 200, the unpacking unit 300, and the package transfer unit 400. The product replenishment robot 100 is positioned within the store and replenishes products from unpacked packages P placed on racks 210 of the rotary rack unit 200 to the display shelves SL10.

[0015] When package P is delivered to the store by a delivery company, the delivery company or store staff place package P onto a rack 210 of the rotary rack 200. At this time, package P is placed on an empty rack 210 of the rotary rack 200 that does not yet have package P on it, or on a rack 210 that has been emptied of package P (with all the contents removed except for the packaging material) by removing the packaging material.

[0016] The rotary rack 200 rotates multiple racks 210 in a carousel-like manner, moving the rack 210 carrying the unopened package P to a transfer position where the package transfer unit 400 can hand it over to the unpacking unit 300. The package transfer unit 400 pulls the unopened package P from the rack 210 located at the transfer position and moves it onto the unpacking unit 300. The unpacking unit 300 unpacks the package P placed on top of it, making the contents of the package P removable, and then the package transfer unit 400 returns the opened package P to its original rack 210 located at the transfer position.

[0017] The rotary rack 200 rotates multiple racks 210 in a carousel-like manner, moving the racks 210 on which the opened packages P are placed to a retrieval position where the product replenishment robot 100 can take the products from the packages P. The product replenishment robot 100 moves the products from the opened packages P placed on the racks 210 at the retrieval position to the display shelves SL10, thereby replenishing the display shelves SL with products.

[0018] Thus, the product replenishment system 1 of this disclosure allows for the unpacking of packages P placed on racks 210 of rotary racks 200 in an unopened state by an unpacking unit 300, making the products available for removal, and enables the product replenishment robot 100 to move the products to a removal position where they can be taken out, thereby directly replenishing the products from packages P to display shelves SL10.

[0019] Next, I will explain the store layout.

[0020] As shown in Figure 1, the store is divided into a storefront space SH1 and a backroom space SH2. Storefront space SH1 is the space where customers select and purchase products T. Backroom space SH2 is the space where the inventory of products T is stored. Display shelves SL10, a product replenishment robot 100, a rotary rack 200, an unpacking unit 300, and a package transfer unit 400 are arranged in the store. A track consisting of two rails R is laid on the floor between the display shelves SL10, the rotary rack 200, the unpacking unit 300, and the package transfer unit 400 in the store, and the product replenishment robot 100 is configured to move along these rails R in the left-right direction as shown in the figure.

[0021] Product T is, for example, a beverage container or cylindrical beverage can having a main body and a cap portion provided at the upper end of the main body. Product T can be made from various materials such as PET, glass, aluminum, and metals such as steel.

[0022] Figure 2 is a view of the display shelf SL10 from the front. As shown in Figure 2, the display shelf SL10 has multiple shelves SL11 (also called shelves). Multiple types of products T are placed on the shelves SL11. For example, the same type of product T may be arranged in two or three rows. The products T may also be arranged in only one row. Multiple partition plates SL12 are provided on the top surface of each shelf SL11 to separate the products T in each row. Figure 2 shows an example where the same type of product T is arranged in two rows, and in this example, partition plates 12 are provided every two rows of products T. The arrangement of the partition plates SL12 is not limited to this, and the partition plates SL12 can be arranged at intervals of one row or two or more rows.

[0023] The front of the display shelf SL10 faces the store space SH1, allowing customers to take products T from the front of the display shelf SL10. The shelf board SL11 is sloped so that the front side of the display shelf SL10 is relatively lower than the rear side. As a result, when a customer takes a product T, other products T that were lined up behind that product T slide along the shelf board SL11 and move to the front.

[0024] The rear of the display shelf SL10 faces the backroom space SH2, and a store employee or product replenishment robot 100 replenishes the product T into the display shelf SL10 from the rear side. Although not shown in the illustration, doors may be provided on the front and rear of the display shelf SL10. In Figure 2, only one display shelf SL10 is depicted for simplification, but multiple display shelves SL10 may be arranged in the store.

[0025] The rotary rack 200, unpacking unit 300, and package transfer unit 400 are arranged in the backyard space SH2 so as to face each other on the rear side of the display shelf SL10, with a track consisting of two rails R in between for the movement of the product replenishment robot 100.

[0026] <Configuration and Operation of Product Replenishment Robot 100> The product replenishment robot 100 will be described below with reference to Figures 1, 3 to 5. Figure 3 is a schematic side view showing the configuration of the product replenishment robot 100. Figure 4 is a perspective view showing the surrounding structure of the tip of the arm of the product replenishment robot 100. Figure 5 is a block diagram showing the configuration of the product replenishment robot 100.

[0027] The product replenishment robot 100 includes a gripping unit 10, an arm unit 20, a contact detection sensor 30, first cameras 50R and 50L, a second camera 60, a third camera 70, a horizontal movement mechanism 80, a lifting mechanism 90, and a control device 150. The product replenishment robot 100 is a robot that moves in the space between the display shelf SL10, the rotary rack 200, and the unpacking unit 300. The product replenishment robot 100 uses the gripping unit 10 to grip the product T inside the unpacked package P placed on the rack 210 of the rotary rack 200, and moves the gripped product T to the display position of that product on the display shelf SL10 (the lane in which the product T is displayed).

[0028] As shown in Figure 4, the gripping portion 10 has a pair of fingers 11a and 11b for gripping an object. The pair of fingers 11a and 11b are shaped to grip the area around the cap Tb of a product T container, such as a PET bottle beverage, and also to grip the outer circumference of a product T, such as a canned beverage. In addition to being composed of a pair of fingers 11a and 11b, the gripping portion 10 may also have an adsorption structure for adsorbing and holding an object, or a structure that holds an object using adhesive force, magnetic force, etc. Preferably, the gripping surfaces of each finger 11a and 11b are provided with a flexible holding member (not shown) so that the product T can be held more securely when gripped. The holding member can be formed from, for example, a rubber sheet or a urethane resin sheet.

[0029] The arm portion 20 has a plurality of link members 21, 22, and 23. The plurality of link members 21, 22, and 23 constitute a multi-joint robot arm. The multi-joint robot arm may, for example, be a 6-axis arm that has degrees of freedom in the linear directions along the X-axis, Y-axis, and Z-axis, and also has degrees of freedom in the directions around the X-axis, Y-axis, and Z-axis. The multi-joint robot arm may also have any other mechanism, such as a Cartesian coordinate system robot arm, a polar coordinate system robot arm, a cylindrical coordinate system robot arm, or a SCARA robot arm. One end of the arm portion 20 is fixed to the lifting mechanism 90. A gripping portion 10 is provided at the tip of the arm portion 20. The movement of the arm portion 20 is controlled by the control device 150.

[0030] The arm section 20 can move the gripping section 10 toward the rotary rack 200 or toward the display shelf SL10 by moving each of the link members 21, 22, and 23. The orientation of the arm section 20 is not fixed in a specific direction, but for the sake of explanation, the direction in which each of the link members 21, 22, and 23 is extended is referred to as the extension direction Ax of the arm section 20 (see Figure 4). The arm section 20 advances the gripping section 10 toward the product T to grip the product T. The extension direction Ax of the arm section 20 corresponds to the forward direction of the gripping section 10 in the gripping operation.

[0031] The contact detection sensor 30 is a sensor that detects when the gripping part 10 makes contact with the product T when the gripping part 10 grips the product T, and when the product T gripped by the gripping part 10, the gripping part 10, or the arm part 20 makes contact with an obstacle such as the wall or support column of the display shelf SL10 when the product T gripped by the gripping part 10 is placed on the shelf board SL11 of the display shelf SL10. For example, the contact detection sensor 30 can be a torque sensor, an acceleration sensor, an inertial measurement unit (IMU), a motor input current sensor, etc.

[0032] As a torque sensor, for example, a strain gauge can be used to detect the torque generated at the axis of each joint of the arm section 20. As an acceleration sensor, various types of acceleration sensors, such as capacitive or piezoresistive types, can be installed on the gripping section 10 or the arm section 20.

[0033] An Inertial Measurement Unit (IMU) is a device that detects three-dimensional inertial motion (translational and rotational motion in three orthogonal axes), and comprises an acceleration sensor for detecting translational motion and an angular velocity (gyro) sensor for detecting rotational motion. By detecting angular velocity with the gyro sensor, the angle or change in angle of an object can be obtained. For example, if a gear or a gear and a toothed belt are used as the drive transmission means for the wrist portion of the gripping unit 10, redundancy may occur in the movement of the wrist portion of the gripping unit 10 due to play between the gears or stretching of the toothed belt. Therefore, for example, if, during the operation of placing a product T gripped by the gripping unit 10 onto the shelf board SL11 of the display shelf SL10, the arm portion 20 is further moved while the product T is in contact with the shelf board SL11, and more force is applied to the gripping unit 10, some displacement will occur in the wrist portion of the gripping unit 10, and the posture (i.e., angle) of the gripping unit 10 will change. Therefore, by detecting such angle changes that may occur in the gripping part 10 during the operation of placing product T on the shelf board SL11 using an IMU installed on the gripping part 10, it is possible to detect that product T has come into contact with the shelf board SL11.

[0034] When servo motors or the like are used to drive each joint of the arm 20, when an external force occurs that causes an angular deviation from the angle maintaining the gripping posture, the servo motor operates to reduce the angular deviation to zero in order to maintain the original angle. When the arm 20 is moved further while the product T gripped by the gripping unit 10 is in contact with the shelf board SL11 of the display shelf SL10, a current is input to the servo motor in an attempt to drive the servo motor against the load. Therefore, by detecting the current input to the servo motor for such operation with a motor input current sensor, it is possible to detect that the product T is in contact with the shelf board SL11. The motor input current sensor can be configured, for example, in the control unit 151 (see Figure 5), which will be described later.

[0035] The two first cameras 50R and 50L are positioned on the left and right sides of the arm portion 20, respectively. The first camera 50L, mounted on the first side surface 23a, which is the left side of the arm portion 20, is oriented in a first orientation A1 along a direction perpendicular to the extending direction Ax of the arm portion 20 (see Figure 4). The first camera 50L is mainly used to photograph the display shelf SL10. The first camera 50R, mounted on the second side surface 23b, which is the right side of the arm portion 20 and parallel to the first side surface 23a, is oriented in a second orientation A2, which is opposite to the first orientation A1. The first camera 50R is mainly used to photograph the rack 210 of the rotary rack 200 (including the packages P placed on it). Because the first cameras 50R and 50L are positioned facing opposite directions, the display shelf SL10 and the rack 210 can be photographed simultaneously with the first cameras 50R and 50L while keeping the arm 20 in the same position.

[0036] The performance of the first cameras, 50R and 50L, may be the same or different, but for the sake of simplicity, the following explanation will describe an example where both cameras have the same performance. However, since the purpose and shooting conditions for photographing the display shelf SL10 are different from those for photographing the rack 210, it is naturally permissible to use cameras with different performance characteristics to suit each purpose and condition.

[0037] The first cameras 50R, 50L may include, for example, an image sensor that generates an image (an RGB image, for example) in which pixels are arranged two-dimensionally, and a depth sensor which is a distance detection device that generates distance data. The depth sensor is not limited to any particular method as long as it can acquire distance data to an object. For example, a stereo lens method or a LiDAR (Light Detection and Ranging) method can be used. The depth sensor may also generate a depth image, for example. In another embodiment of the present invention, either or both of the first cameras 50R, 50L may acquire distance data using, for example, an ultrasonic element.

[0038] Note that the first camera 50L is oriented in the first orientation A1, which means that the imaging direction of the image sensor and depth sensor of the first camera 50L is orientation A1. Similarly, the fact that the first camera 50R is oriented in the second orientation A2 means that the imaging direction of the image sensor and depth sensor of the first camera 50R is orientation A2. Orientations A1 and A2 do not necessarily have to be 180° opposite directions; they just need to be orientations that allow imaging of the display shelf SL10 and the rack 210.

[0039] One or both of the first cameras 50R and 50L may be provided on the gripping portion 10. The first cameras 50R and 50L do not necessarily have to be provided on the same member; for example, the first camera 50R may be attached to one of the link members 21 to 23, and the first camera 50L may be attached to the other of the link members 21 to 23. However, when the first cameras 50R and 50L are provided on the same member, there is an advantage in that the coordinate system is shared, making image processing calculations easier compared to when each camera 50R and 50L is provided on separate link members.

[0040] The second camera 60 is used to photograph the state in which the gripping part 10 is gripping the product T, and the relative positional relationship between the product T gripped by the gripping part 10 and the shelf board SL11 of the display shelf SL10 or the rack 210. The second camera 60, like the first cameras 50R and 50L described above, may also have, for example, an image sensor that generates an image (an RGB image in one example) in which pixels are arranged two-dimensionally, and a depth sensor that generates distance data.

[0041] The second camera 60 is, for example, installed on the underside of the link member 23 closest to the gripping portion 10 among the link members 21 to 23 of the arm 20, in a position close to the gripping portion 10, and the imaging direction of its image sensor and depth sensor is directed directly below the link member 23 and the gripping portion 10 (in the -z direction in Figures 3 and 4) or slightly to the front and below (somewhat to the +x direction than the -z direction in Figures 3 and 4). As a result, the second camera 60 can photograph at least the lower part of the product T gripped by the gripping portion 10 and the shelf board SL11 or rack 210 located in front of the gripping portion 10.

[0042] The third camera 70 is a camera that changes direction in response to, for example, an operation by a remote operator to photograph a predetermined object. The third camera 70 is attached to a part of the lifting mechanism 90, as an example. The third camera 70 can move horizontally and vertically in the space between the display shelf SL10, the rotary rack 200, the unpacking unit 300, and the package transfer unit 400, in conjunction with the operation of the horizontal movement mechanism 80 and the lifting mechanism 90. Furthermore, the part of the lifting mechanism 90 to which the third camera 70 is attached is rotatable around the support column 95, and the third camera 70 is configured to rotate left and right around the support column 95 in conjunction with the rotation of that part, so as needed, it can photograph the display shelf SL10 or the rotary rack 200.

[0043] The third camera 70 may be, for example, a stereo lens type. Although not limited thereto, the third camera 70 may have a wider field of view than the first cameras 50R, 50L and the second camera 60.

[0044] The horizontal movement mechanism 80 has a base plate 81 and a drive mechanism (not shown). The base plate 81 supports the lifting mechanism 90 and slides along a rail R (see FIG. 1) laid between the display shelf SL10 in the store and the rotary rack 200, the unpacking unit 300, and the package transfer unit 400. The drive mechanism (not shown) includes a motor, rollers, etc., and operates based on a control signal from the control device 150 (see FIG. 5) to move the lifting mechanism 90 to a predetermined position along the rail.

[0045] The lifting mechanism 90 has a support column 95, a first lifting mechanism 91, and a second lifting mechanism 92. The support column 95 is fixed on the base plate 81 and extends in the vertical direction.

[0046] The first lifting mechanism 91 has a drive mechanism (not shown). The drive mechanism (not shown) includes a motor, a linear guide, etc., and operates based on a control signal from the control device 150 (see FIG. 5). By operating the drive mechanism (not shown), the first lifting mechanism 91 moves vertically along the support column 95. The upper part of the first lifting mechanism 91 to which the third camera 70 is attached is configured to be rotationally driven in the left - right direction around the support column 95.

[0047] The second lifting mechanism 92 is held by the first lifting mechanism 91. One end of the arm part 20 is attached to the second lifting mechanism 92. The second lifting mechanism 92 has a drive mechanism (not shown). The drive mechanism (not shown) includes a motor, a linear guide, etc., and operates based on a control signal from the control device 150 (see FIG. 5). By operating the drive mechanism (not shown), the second lifting mechanism 92 also moves vertically.

[0048] When gripping a product T existing at a predetermined height, the lifting mechanism 90 moves the arm part 20 and the gripping part 10 near the height at which the product T can be gripped by the first lifting mechanism 91, and finely adjusts the height of the arm part 20 and the gripping part 10 by the second lifting mechanism 92.

[0049] In this embodiment, a first lifting mechanism 91 and a second lifting mechanism 92 are provided as the lifting mechanism, but in other embodiments of the present invention, a configuration with only one lifting mechanism may be provided.

[0050] <Configuration of the control device 150> As shown in Figure 5, the control device 150 includes a control unit 151, a storage unit 160, an input unit 191, an output unit 193, and a communication unit 195. In Figure 5, the control device 150 is depicted as a single element, but the control device 150 does not necessarily have to be a single physical element, and may be composed of multiple physically separate elements.

[0051] The input unit 191 is a device for receiving input from the operator. The input unit 191 may consist of devices for inputting to a computer, such as a keyboard, mouse, or touch panel. The input unit 191 may also have an audio input device such as a microphone. Furthermore, the input unit 191 may have a gesture input device that recognizes and identifies the operator's movements using image recognition.

[0052] The output unit 193 is for the product replenishment robot 100 to output alerts to store staff, etc., and is composed of one or a combination of a speaker, display, light-emitting device, and vibration device. The communication unit 195 has the function of receiving data from an external source and the function of transmitting data to an external source. If the product replenishment robot 100 is configured to be remotely controllable, input from the operator is received by the communication unit 195 via the operation unit of an external device (not shown), such as a management device 600, and the control device 150 causes the product replenishment robot 100 to perform a predetermined operation based on that input. The communication between the operation unit of the external device and the communication unit 195 may be either wired communication or wireless communication.

[0053] If the product replenishment robot 100 is configured to be remotely operated, the operating unit 191 may be a device worn by the operator. This device includes a display device (not shown) and an operating device (not shown). The display device may be, for example, a head-mounted display (HMD) having a display visible to the operator. The operating device may include, for example, one or more input sensors that can detect the movement of a part of the operator's body (e.g., hands or arms).

[0054] The memory unit 160 includes temporary or non-temporary storage media such as ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disk Drive). The memory unit 160 stores computer programs executed by the control unit 151 and learned models, which will be described later. The computer programs stored in the memory unit 160 include commands that implement the control method of the product replenishment robot 100 by the control unit 151, which will be described later with reference to Figures 7 and 28.

[0055] The storage unit 160 includes an acquired data storage unit 160a and a reference data storage unit 160b. The acquired data storage unit 160a stores, for example, image data captured by each camera 50R and 50L, 60, and 70. The reference data storage unit 160b stores various data necessary for the operation of the product replenishment robot 100. This various data includes, for example, data related to the display shelves SL10 (shape data, position data, or lane coordinate data, etc.), data related to the rotary racks 200 (shape and placement position of each rack 210, etc.), and data related to the products T (shape data, position data, surrounding image data, etc.).

[0056] The control unit 151 is composed of, for example, one or more CPUs (Central Processing Units). The control unit 151 functions as an operation control unit 152, an imaging control unit 153, and an image data processing unit 155 by executing a computer program stored in the storage unit 160.

[0057] The motion control unit 152 generates control signals to operate the gripping unit 10, the arm unit 20, the horizontal movement mechanism 80, the lifting mechanism 90, and the control device 150. The motion control unit 152 generates control signals by referring to input signals from the operation unit 191 and various data stored in the storage unit 160. Control signals may also be generated using the processing results of the image data processing unit 155. The motion control unit 152 also transmits and receives data via the communication unit 195 and outputs predetermined data via the output unit 193.

[0058] The imaging control unit 153 controls the operation of each camera 50R, 50L, 60, and 70. The imaging timing and other parameters for each camera 50R, 50L, 60, and 70 may be determined, for example, using data pre-stored in the reference data storage unit 160b.

[0059] The image data processing unit 155 performs various information processing using the captured image data and distance data (depth data) taken by each camera 50R, 50L, 60, 70 and the product image acquisition unit 500, which will be described later. The image data processing unit 155 includes a replacement feasibility determination unit 155a and a gripping target identification unit 155b.

[0060] The replenishment feasibility determination unit 155a determines, for example, whether there is space Sp behind the last product T lined up on the display shelf SL10 where additional products can be placed, based on at least one of the captured image data and distance data captured by the first camera 50L. Figure 6 is an image of the display shelf SL10 taken by the first camera (left side) of the product replenishment robot. If there is space Sp where products can be placed, then the product T needs to be replenished. Therefore, if space Sp exists, the replenishment feasibility determination unit 155a sends a notification to the operation control unit 151 that the product T should be replenished on the shelf SL11 below that space Sp. When the operation control unit 151 receives this notification, it performs a replenishment operation for the product T.

[0061] The gripping target identification unit 155b performs at least one of the following processes based on at least one of the captured image data and distance data captured by the first camera 50R: determining whether or not a product to be replenished, which is the target of gripping, is present in the package P placed on the rack 210 of the rotary rack 200; identifying the size or shape of the product to be replenished; and determining the gripping position of the product to be replenished. If the product T has a cap, the gripping target identification unit 155b sets the gripping position to, for example, the vicinity of the cap. On the other hand, if the product T is a canned beverage or the like that does not have a cap, the gripping target identification unit 155b may set the side portion of the container as the gripping position.

[0062] (Product replenishment operation by product replenishment robot 100) Next, we will explain the product replenishment operation by product replenishment robot 100. Below, we will explain an example of replenishing products in packages P placed on rack 210 of rotary rack 200 to display shelf SL10. Figure 7 is a flowchart showing the product replenishment operation by product replenishment robot 100.

[0063] First, in step S11, the rear surface of the display shelf SL10 is photographed by the first camera 50L installed on the arm 20 of the product replenishment robot 100. The product replenishment robot 100 moves the arm 20, the horizontal movement mechanism 80, and the lifting mechanism 90 so that each shelf of the display shelf SL10 can be photographed by the first camera 50L. Next, the product replenishment robot 100 operates the first camera 50L to acquire an image of the rear surface of the display shelf SL10 and to acquire distance data to the products lined up on the display shelf SL10.

[0064] Next, in step S12, a determination is made as to whether or not replenishment is possible. The "determination of whether or not replenishment is possible" is a step in which the replenishment feasibility determination unit 155a in the image data processing unit 155 of the product replenishment robot 100 analyzes the captured image of the rear surface of the display shelf SL10 and determines which product T can be displayed on which shelf board SL11 (in other words, which products need to be replenished). The product replenishment robot 100 acquires an image of the rear surface of the display shelf SL10 as shown in Figure 6.

[0065] The image data processing unit 155 of the product replenishment robot 100 identifies the lane on the shelf board SL11 of the display shelf SL10 where the product will be displayed, based on the image data captured by the first camera 50L. Furthermore, the image data processing unit 155 of the product replenishment robot 100 can acquire distance data to the product (depth data Dep, visualized in Figure 6), so it can recognize that there is space Sp behind the product T for products whose display quantity has decreased, such as the products in lanes "7" and "8". The replenishment feasibility determination unit 155a of the product replenishment robot 100 determines the presence or absence of space Sp for the product based on the distance data to the product, and determines whether or not more product T can be displayed in lanes "7" and "8". Step S12 determines which product needs to be replenished on which shelf board SL11 of the display shelf SL10.

[0066] Furthermore, the method for determining whether or not a product needs to be replenished is not limited to the method described above, and various methods can be used. For example, one could determine what percentage of a given three-dimensional space the product occupies, and if that value is below a predetermined threshold, it could be determined that product T needs to be replenished.

[0067] Next, in step S13, the rack 210 of the rotary rack 200 that holds the package P containing the product to be replenished is photographed. Information regarding which rack 210 holds which type of package P is obtained through a process described later. The product replenishment robot 100 operates the arm 20, the horizontal movement mechanism 80, the lifting mechanism 90, and the first camera 50R to photograph the rack 210 from the front. The photographing of the rack 210 does not need to be done after the photographing of the display shelf SL10; the rack 210 may be photographed before the photographing of the display shelf SL10.

[0068] Next, in step S14, the image data processing unit 155 of the product replenishment robot 100 analyzes the image of the rack 210 acquired in step S13 and identifies the products contained in the packages P placed on the rack 210. Furthermore, the gripping target identification unit 155b of the image data processing unit 155 identifies the gripping position of the products. Through these steps, the product replenishment robot 100 acquires information indicating which product needs to be replenished, which position on which shelf SL11 of the display shelf SL10, and information indicating which rack 210 and position the corresponding product to be replenished is located, as well as the gripping position of that product.

[0069] Next, in step S15, the product replenishment robot 100 performs a product replenishment operation (pick and place operation) based on the acquired information. Specifically, the motion control unit 152 of the control unit 151 (see Figure 7) of the product replenishment robot 100 operates the arm unit 20, the horizontal movement mechanism 80, and the lifting mechanism 90 to move the gripping unit 10 toward a predetermined product to be replenished in the package P on the rack 210. Then, the gripping unit 10 grasps the product to be replenished at a predetermined gripping position (if the product is a PET bottle beverage, its cap) and lifts the product. After that, the motion control unit 152 operates the arm unit 20, the horizontal movement mechanism 80, and the lifting mechanism 90 to move the grasped product to a predetermined placement position on the display shelf SL10, and releases the product from the gripping unit 10 to place the product in the predetermined position. Thereafter, the product replenishment robot 100 repeats the same pick and place operation to complete the product replenishment.

[0070] <Configuration and Operation of Rotary Rack 200> Figure 8 is a perspective view showing the overall configuration of the rotary rack 200 included in the product replenishment system 1 shown in Figure 1. The rotary rack 200 is broadly composed of a main body section 200A equipped with multiple racks 210, a placement section 200B for placing packages P on the racks 210 of the main body section 200A, and a transfer section 200C for transferring packages P between the rotary rack 200 and the package transfer unit 400.

[0071] The main body 200A of the rotary rack 200 has a plurality of support columns 202 arranged at intervals from one another along the longitudinal direction, a plurality of circumferential guide rails 220 fixedly supported in multiple stages on these support columns 202, and a plurality of racks 210 installed so as to circle around each of the circumferential guide rails 220. In the illustrated example, a six-tier rotary rack 200 is configured with six circumferential guide rails 220 in the height direction of the support columns 202. Note that in Figure 8, for the sake of simplicity in illustration, only the topmost and fourth-tier circumferential guide rails 220 out of the six circumferential guide rails 220 are shown, but in reality, a circumferential guide rail 220 is installed on each of the six tiers.

[0072] Furthermore, the rotary rack 200 is equipped with a control unit (not shown) which comprises at least a control unit that controls the drive units and cameras in each part of the rotary rack 200 as described below, a storage unit that temporarily stores information generated in relation to the control thereof, and a communication unit that communicates wirelessly or via wired connection with an external device such as a management device 600.

[0073] Furthermore, around the circular guide rail 220 of each level except the bottom level, there is an empty slot equivalent to the width of one rack 210. The empty slot is formed so that there is space between two adjacent racks 210 to install one rack 210. This empty slot is provided to secure space for the product replenishment robot 100 to access the products in the package P of the rack 210 below it.

[0074] Figure 9 is an enlarged view of the connection end region between the rotary rack 200 and the mounting section 200B shown in Figure 8. Figure 10 is an enlarged view of the connection end region between the rotary rack 200 and the transfer section 200C shown in Figure 8.

[0075] Each circulating guide rail 220 has an elongated oval shape extending in the longitudinal direction, and supports multiple racks 210 so that they can circle around the outside of the circulating guide rail 220. Chain gears (sprockets) 222 are rotatably supported near both ends in the longitudinal direction of each circulating guide rail 220, and a chain 224 is wound between these chain gears 222. This causes the chain 224 to rotate between the two chain gears 222.

[0076] Each rack 210 has a slider section 212 that moves along the circular guide rail 220, a support arm 214 fixed to the lower part of the slider section 212 and extending outward from the circular guide rail 220, and a tray 216 placed on the support arm 214.

[0077] As shown in Figure 10, the slider section 212 is provided with a rotating support roller 212a that can move along the upper groove 220a of the circumferential guide rail 220, and is supported by the rotating support roller 212a so as to be movable along the circumferential guide rail 220. The slider section 212 is connected to the chain 224 and moves along the upper groove 220a of the circumferential guide rail 220 as the chain 224 moves. For example, by connecting the slider section 212 to the joint pins that connect the links that make up the chain 224, it is possible to connect the slider section 212 to the chain 224 so that the slider section 212 does not obstruct the circumferential movement of the chain 224.

[0078] The support arm 214 has two arm sections spaced horizontally apart, and the tray 216 is supported on these two arm sections. The tray 216 simply rests on the support arm 214, and it can be easily pulled out from the support arm 214 and returned to the support arm 214.

[0079] The tray 216 has a bottom surface 216a and two side guards 216b provided on both sides of the bottom surface 216a. The package P is placed in the area between the two side guards 216b on the bottom surface 216a of the tray 216.

[0080] Each circular guide rail 220 is provided with a drive unit 240 that rotates the chain 224 in its intermediate region (the region between the two chain gears 222 near both ends). Figures 11 and 12 are enlarged views showing the intermediate region in the rotary rack 200 shown in Figure 8 where the drive unit 240 is provided.

[0081] As shown in Figure 11, the drive unit 240 that rotates the chain 224 includes an air cylinder 242 driven by air pressure, a shaft 244 that is extended and retracted by the air cylinder 242, and a ratchet mechanism 246 provided at the tip of the shaft 244.

[0082] The air cylinder 242 is provided with a first air inlet 242a and a second air inlet 242b. The first air inlet 242a and the second air inlet 242b are, for example, switchably connected to the same compressed air supply source (not shown), so that compressed air is selectively supplied from the compressed air supply source (not shown). A piston (not shown) is provided inside the air cylinder 242, coupled to the base end of the shaft 244.

[0083] When compressed air is supplied from a compressed air supply source (not shown) to the first air inlet 242a of the air cylinder 242, the piston (not shown) is pushed and moves to the left in the diagram toward the second air inlet 242b of the air cylinder 242. At this time, the air present in the region of the air cylinder 242 on the side of the piston (not shown) toward the second air inlet 242b is discharged to the outside from the second air inlet 242b as the piston (not shown) moves. Conversely, when compressed air is supplied from a compressed air supply source (not shown) to the second air inlet 242b of the air cylinder 242, the piston (not shown) is pushed and moves to the right in the diagram toward the first air inlet 242a of the air cylinder 242. At this time, the air present in the region of the air cylinder 242 on the side of the piston (not shown) toward the first air inlet 242a is discharged to the outside from the first air inlet 242a as the piston (not shown) moves.

[0084] In this manner, the air cylinder 242 reciprocates an internal piston (not shown) in the left-right direction shown in the illustration, thereby making it possible to move the shaft 244 connected to the piston (not shown) between a retracted position shown in Figures 11 and 12, where it is most retracted within the air cylinder 242, and a forward position (not shown), where it protrudes most from within the air cylinder 242.

[0085] The ratchet mechanism 246, located at the tip of the shaft 244, is installed on the tip of the shaft 244 so as to be pivotable around the shaft pin 246a via the shaft pin 246a. The ratchet mechanism 246 has a slanted portion 246b that is inclined to protrude outward from the circumferential guide rail 220 from the tip to the base end, and an engagement groove portion 246c formed on the base end side of the slanted portion 246b. The slanted portion 246b and the engagement groove portion 246c are arranged as a pair, separated in the vertical direction shown with the chain 224 in between. Inside the ratchet mechanism 246, there is a spring (not shown) that biases the ratchet mechanism 246 to a rotational position where the base end of the slanted portion 246b of the ratchet mechanism 246 protrudes outward from the circumferential guide rail 220 as shown. As a result, the ratchet mechanism 246 is normally in a steady position that protrudes outside the circular guide rail 220 shown in the figure. When a force is applied that pushes the inclined surface 246b inward, it pivots and rotates counterclockwise around the shaft pin 246a, as shown in the figure, against the biasing force of the spring (not shown).

[0086] Furthermore, as shown in Figure 12, the chain 224 is provided with a plurality of engagement pins 224a that engage with the engagement grooves 246c of the chain mechanism 246. The engagement pins 224a are, for example, integrated with joint pins that connect the links constituting the chain 224, and have a configuration that extends from the joint pins in the vertical direction shown in the figure. These engagement pins 224a are arranged at equal intervals of a distance that is approximately the same as, or somewhat shorter than, the stroke distance between the retracted position and the forward position of the shaft 244 of the air cylinder 242. In this example, the distance between adjacent engagement pins 224a is approximately the same as the width of one rack 210.

[0087] Furthermore, as shown in Figure 12, a detection unit 210a is provided on the rear side (the side facing the circular guide rail 220) of at least one of the multiple racks 210 installed on each circular guide rail 220 of the rotary rack 200, and a plurality of detection units 250 (six detection units 250 corresponding to six circular guide rails 220 in the illustrated example) are installed on at least one support column 202 of the rotary rack 200 to detect the detection units 210a installed on the racks 210 of each stage of the circular guide rail 220. The detection unit 210a and the detection unit 250 may be composed of, for example, a two-dimensional code and a camera that captures it, or a light detection unit and a light sensor that detects it, or they may be composed of other means.

[0088] The position where the detection unit 250 is installed on the rotary rack 200 is the reference rotation position, and the rack 210 on which the detection unit 210a is provided is the reference rack 210 among multiple racks 210. When the rack 210 on which the detection unit 210a is provided moves to the reference rotation position, and its detection unit 210a is detected by the detection unit 250, it becomes possible to recognize that the reference rack 210 is positioned at the reference rotation position. This makes it possible to recognize the positions of each of the other racks 210 that rotate around the same rotation guide rail 220 on the rotation guide rail 220, and to identify which rack 210 on the rotation guide rail 220 is positioned at which rotation position.

[0089] In the rotary rack 200 of this embodiment, configured as described above, when a compressed air supply source (not shown) is controlled and driven to supply compressed air to the first air inlet outlet 242a of the air cylinder 242, the internal piston (not shown) moves toward the tip of the air cylinder 242, and consequently, the shaft 244 connected to the piston (not shown) moves from the retracted position to the forward position.

[0090] When the shaft 244 extends close to the forward position, the inclined portion 246b of the ratchet mechanism 246 installed on the tip side of the shaft 244 contacts the side surface of the engagement pin 224a. As the shaft 244 moves further toward the forward position from this contact point, the inclined portion 246b slides against the engagement pin 224a and is pushed by the engagement pin 224a, causing the ratchet mechanism 246 to rotate counterclockwise around the shaft pin 246a so that the base end of the inclined portion 246b moves inward of the circumferential guide rail 220. When the base end of the inclined portion 246b exceeds the engagement pin 224a, the ratchet mechanism 246 rotates clockwise around the shaft pin 246a due to the biasing force of a spring (not shown), returning to the steady position shown in Figure 11, etc. As a result, the engagement groove 246c of the ratchet mechanism 246 is positioned to engage with the engagement pin 224a of the chain 224.

[0091] Subsequently, when the compressed air supply source (not shown) is controlled and driven to allow compressed air to flow into the second air inlet outlet 242b of the air cylinder 242, the internal piston (not shown) moves towards the base end of the air cylinder 242, and consequently, the shaft 244 connected to the piston (not shown) moves from the forward position to the retracted position.

[0092] At this time, the engagement groove 246c of the ratchet mechanism 246 engages with the engagement pin 224a of the chain 224, and as the shaft 244 moves from the forward position to the retracted position, the ratchet mechanism 246, whose engagement groove 246c is engaged with the engagement pin 224a of the chain 224, moves to pull the engagement pin 224a towards the retracted position. As a result, the engagement pin 224a moves by a distance equivalent to one span between adjacent engagement pins 224a from the position where the engagement groove 246c of the ratchet mechanism 246 is engaged to the position of the engagement groove 246c at the retracted position of the shaft 244, and consequently, the chain 224 to which the engagement pin 224a is connected also rotates by that distance equivalent to one span.

[0093] In this way, as the air cylinder 242 extends and retracts in one reciprocating motion, the chain 224 is rotated by a distance equivalent to one span between adjacent engagement pins 224a, causing the multiple racks 210 fixed to the chain 224 to rotate around the circulating guide rail 220 in a carousel-like manner. The distance traveled by the racks 210 in one reciprocating motion of the air cylinder 242 is the distance equivalent to one span between adjacent engagement pins 224a, which is also the width of each rack 210. In other words, as the air cylinder 242 extends and retracts in one reciprocating motion, each rack 210 moves around the circulating guide rail 220 by the width of one rack 210.

[0094] Furthermore, the drive units 240 installed on each of the multiple circulating guide rails 220 provided on the rotary rack 200 are configured to be independently controlled and driven. Therefore, it is possible to rotate the racks 210 of at least two of the multiple circulating guide rails 220 simultaneously, or, instead of driving the drive units 240 of multiple circulating guide rails 220 simultaneously, it is possible to selectively drive only the drive unit 240 of one circulating guide rail 220. This makes it possible to rotate the racks 210 of multiple circulating guide rails 220 simultaneously, or to rotate only the rack 210 of one circulating guide rail 220.

[0095] <Configuration and Operation of Unpacking Unit 300> Figure 13 is a perspective view showing the overall configuration of the unpacking unit 300 included in the product replenishment system 1 shown in Figure 1.

[0096] The unpacking unit 300 includes a cutting unit 350 for cutting the packaging material (plastic film or corrugated cardboard) surrounding the package P, and an unpacking gripper unit 310 for gripping the cut plastic film or corrugated cardboard and opening the package P. After the cutting unit 350 cuts the packaging material (plastic film or corrugated cardboard) around the package P, the unpacking unit 300 grips the packaging material with the unpacking gripper unit 310 and unpacks the package P by opening the top.

[0097] The overall configuration of the unpacking unit 300 in this embodiment will be described with reference to Figure 13. The unpacking unit 300 has a base frame 302 which forms the body of the unpacking unit 300 and is installed on the floor of a store or the like, and a movable frame 304 which is supported on the base frame 302 so as to be movable in the front-rear direction (Y-axis direction in the figure) of the unpacking unit 300, as will be described later. The movable frame 304 extends in the X direction in the figure so as to straddle the two upper frames of the base frame 302, and both ends are each supported so as to be movable on the base frame 302.

[0098] The unpacking unit 300 further includes a first vertical movement unit 320 supported on one side of the mobile frame 304 and movable in the vertical direction (Z-axis direction in the illustration) relative to the mobile frame 304, a second vertical movement unit 360 supported on the other side of the mobile frame 304 and movable in the vertical direction (Z-axis direction in the illustration) relative to the mobile frame 304, a camera 330 (see Figure 16) provided on the second vertical movement unit 360, a lateral movement unit 340 provided on the mobile frame 304 and moving the second vertical movement unit 360 laterally (X-axis direction) along the extension direction of the mobile frame 304, a forward / backward movement unit 370 that moves the entire mobile frame 304 on which they are installed in the forward / backward direction (Y-axis direction in the illustration) of the unpacking unit 300, and a stage unit 380 for placing the package P, which is installed on the intermediate frame of the base frame 302.

[0099] The unpacking gripper unit 310 is attached to the lower end of the first vertical movement unit 320. The unpacking gripper unit 310 includes a rotary drive unit 311, part of which is fixed to the lower end of the second vertical movement unit 360, and the entire unpacking gripper unit 310 is configured to rotate clockwise and counterclockwise around the Z-axis, which is the longitudinal direction of the first vertical movement unit 320, by the rotary drive unit 311. Similarly, the cutting unit 350 is attached to the lower end of the second vertical movement unit 360. The cutting unit 350 also includes a rotary drive unit 351, part of which is fixed to the lower end of the second vertical movement unit 360, and the entire cutting unit 350 is configured to rotate clockwise and counterclockwise around the Z-axis, which is the longitudinal direction of the second vertical movement unit 360, by the rotary drive unit 351.

[0100] The unpacking unit 300 is equipped with a control unit (not shown) which includes at least a control unit that controls each drive unit and camera in each part of the unpacking unit 300, a storage unit that temporarily stores information generated in relation to the control thereof, and a communication unit that communicates wirelessly or via wired connection with an external device such as a management device 600.

[0101] Next, the unpacking gripper unit 310 will be described in more detail with reference to Figures 14 and 15. Figure 14 is an enlarged perspective view showing the unpacking gripper unit 310 in the unpacking unit 300 shown in Figure 13. Figure 15 is an enlarged perspective view showing the lower side of the unpacking gripper unit 310 in the unpacking unit 300 shown in Figure 13.

[0102] The unpacking gripper unit 310 has a frame 312. Two suction units 313 are arranged along the longitudinal direction of the frame 312 near the center of the lower side. Each suction unit 313 comprises a suction cup 313a with a suction opening facing downwards, and a connection port 313b that is connected to an external vacuum pump (not shown) to suck air out of the suction cup 313a. The suction units 313 are mainly used to grip and remove the upper portion of a corrugated cardboard package P after it has been cut and separated by the cutting unit 350. After the upper portion of the corrugated cardboard package P has been cut by the cutting unit 350, the unpacking gripper unit 310 is moved until the suction opening of the suction cup 313a is pressed against the upper surface of the upper portion of the package P. Then, by operating the vacuum pump (not shown) to suck air out of the suction cup 313a, the upper portion of the package P can be gripped by the suction unit 313. Subsequently, when the air suction by the vacuum pump (not shown) is stopped, the air returns to the suction cup 313a, and the grip of the upper part of the package P by the suction unit 313 is released. In this embodiment, an example with two suction cups 313a is shown, but it is sufficient to have at least one suction cup 313a.

[0103] Furthermore, the frame 312 is provided with two grip rollers 314 that extend parallel to its longitudinal direction and are rotatable about their respective longitudinal central axes. These grip rollers 314 are positioned so that their circumferential surfaces are in some contact with each other. A gear 314a that meshes with each other is provided near one end of each grip roller 314. The outer circumferential surface of each grip roller 314 is formed of a material with relatively high frictional force, such as a flexible plastic material, silicone rubber, natural rubber material, or synthetic rubber material. These grip rollers 314 are used to grip a portion of the plastic film after the plastic film package P has been cut by the cutting unit 350.

[0104] The frame 312 is further equipped with a drive unit 315 that rotates the gear 314a of one of the grip rollers 314. The drive unit 315 has a gear 315a that meshes with the gear 314a of one of the grip rollers 314, and a motor unit 315b that rotates the gear 315a.

[0105] As a result, when the drive unit 315 rotates the gear 315a, the gear 314a of one of the grip rollers 314 that meshes with it rotates, and consequently, the gear 314a of the other grip roller 314 that meshes with that gear 315a also rotates. In the illustrated example, when the drive unit 315 rotates the gear 315a counterclockwise, one of the grip rollers 314 having a gear 314a that meshes with the gear 315a rotates clockwise, and the other adjacent grip roller 314 rotates counterclockwise. As a result, in the area where these grip rollers 314 contact each other, the plastic film can be wrapped between the grip rollers 314 and gripped in an upward direction. In contrast, when the drive unit 315 rotates the gear 315a clockwise, one grip roller 314 having a gear 314a that meshes with the gear 315a rotates counterclockwise, and the other adjacent grip roller 314 rotates clockwise. As a result, in the area where these grip rollers 314 come into contact with each other, the plastic film gripped between them is discharged downward, releasing the grip.

[0106] Furthermore, the unpacking gripper unit 310 includes a connecting mechanism 316 that connects the rotary drive unit 311 and the frame 312. The connecting mechanism 316 includes an upper portion 316a whose upper end is fixed to the rotary drive unit 311 and a lower portion 316b whose lower end is fixed to the frame 312. The lower portion 316b of the connecting mechanism 316 is supported so as to be movable relative to the upper portion 316a in the vertical direction (direction Z in the illustration). The illustration shows the lower portion 316b positioned as far down as possible relative to the upper portion 316a. The connecting mechanism 316 is equipped with a biasing means, such as a spring, that biases the lower portion 316b downward relative to the upper portion 316a. When the first vertical movement unit 320 moves the unpacking gripper unit 310 downward, causing the suction cup 313a and grip roller 314 to come into contact with the upper surface of the package P, attempting to move the unpacking gripper unit 310 further downward causes the lower portion 316b to move upward relative to the upper portion 316a. As a result, the biasing force generated by the biasing means such as the spring provided in the connecting mechanism 316 causes the suction cup 313a and grip roller 314, which are provided on the frame 312 supported by the lower portion 316b, to be pressed against the upper surface of the package P.

[0107] The connecting mechanism 316 further includes a link mechanism 317 that supports the two grip rollers 314 so that they can move in opposite directions in the vertical direction (Z direction in the figure). The link mechanism 317 is configured such that when one grip roller 314 is lifted upward, the other grip roller 314 moves downward, and conversely, when the other grip roller 314 is lifted upward, the one grip roller 314 moves downward.

[0108] Next, the first vertical movement unit 320 will be described in more detail with reference to Figures 16 and 17. Figure 16 is an enlarged perspective view showing the first vertical movement unit 320, camera 330, lateral movement unit 340, and second vertical movement unit 360 in the unpacking unit 300 shown in Figure 13. Figure 17 is an enlarged perspective view showing the opposite side of the first vertical movement unit 320 and the second vertical movement unit 360 in the unpacking unit 300 shown in Figure 13.

[0109] As shown in Figures 16 and 17, the first vertical movement unit 320 has a support portion 321 fixed to the approximate center of the horizontal direction (X-axis direction in the figure) of the movement frame 304, and a vertically extending frame 322 that is supported on the support portion 321 so as to be slidable in the vertical direction (Z-axis direction in the figure). The first vertical movement unit 320 further has a drive unit 323 equipped with a motor that rotates a gear 323a. The drive unit 323 is fixed to the support portion 321. A rack gear 322a is provided on the back side of the frame 322 along the vertical direction (Z-axis direction in the figure), which is the extension direction of the frame 322. The gear 323a of the drive unit 323 meshes with the rack gear 322a provided on the frame 322, and these gear 323a and rack gear 322a constitute a so-called rack and pinion mechanism.

[0110] By driving the motor of the drive unit 323 to rotate the gear 323a clockwise or counterclockwise, the frame 322, on which the meshing rack gear 322a is provided, moves up and down (in the Z-axis direction in the illustration) relative to the support unit 321. Consequently, the unpacking gripper unit 310, provided on the lower side of the frame 322, is moved up and down (in the Z-axis direction in the illustration).

[0111] Next, the second vertical movement unit 360 will be described in more detail with reference to Figures 16 and 17.

[0112] The second vertical movement unit 360 has a support plate 361a to which two upper and lower slide support parts 361 are fixed, which are supported so as to be slidable laterally (in the X-axis direction in the figure) along a guide rail 304b1 provided on the movement frame 304, and a vertically extending frame 362 which is supported on the support plate 361a so as to be slidable in the vertical direction (in the Z-axis direction in the figure). A camera 330 is provided in the center of the frame 362 in the height direction. The second vertical movement unit 360 further has a drive unit 363 equipped with a motor that rotates a gear 363a. The drive unit 363 is coupled to the support plate 361a. A rack gear 362a is provided on the back side of the frame 362 along the vertical direction (in the Z-axis direction in the figure), which is the extension direction of the frame 362. The gear 363a of the drive unit 363 meshes with the rack gear 362a provided on the frame 362, and these gear 363a and rack gear 362a constitute a so-called rack and pinion mechanism.

[0113] The entire second vertical movement unit 360, configured as described above, is moved laterally (in the X-axis direction in the illustration) along the guide rail 304b1 provided on the movement frame 304 by the horizontal movement unit 340, which will be described in detail below. Furthermore, by driving the motor of the drive unit 363 to rotate the gear 363a clockwise or counterclockwise, the frame 362, on which the rack gear 362a that meshes with it is provided, is raised and lowered in the vertical direction (in the Z-axis direction in the illustration) relative to the support plate 361a. Accordingly, the cutting unit 350 provided on the lower side of the frame 362 and the camera 330 provided in the center of the frame 362 are moved in the vertical direction (in the Z-axis direction in the illustration).

[0114] As shown in Figure 16, the camera 330 is installed at the tip of a camera support 364 that extends from the frame 362 in the front-rear direction (Y-axis direction in the illustration). The camera 330 is mainly used to photograph the package P placed on the stage unit 380 located below the camera 330, and the cutter unit 350 that performs the unpacking operation. The camera 330 may have, for example, an image sensor that generates an image (an RGB image in one example) in which pixels are arranged two-dimensionally, and a depth sensor that generates distance data.

[0115] Next, the lateral movement unit 340 will be described in more detail with reference to Figures 16 and 17.

[0116] The lateral movement unit 340 includes a first pulley 341a provided near one end of the movement frame 304, a second pulley 341b provided near the other end, a drive belt 342 wound between the pulleys 341a and 341b, and a drive unit (not shown) equipped with a motor for rotationally driving the first pulley 341a. A portion of the drive belt 342 is fixed to one of the two slide support portions 361 of the second vertical movement unit 360.

[0117] In the lateral movement unit 340 configured in this way, the motor of the drive unit (not shown) is driven to rotate the first pulley 341a clockwise or counterclockwise, thereby rotating the drive belt 342 wound between the pulleys 341a and 341b clockwise or counterclockwise. As a result, the slide support part 321, which is fixed to a part of the drive belt 342, reciprocates and slides laterally (in the X-axis direction shown) along the guide rail 304b1 provided on the movement frame 304, and the entire second vertical movement unit 360, including the frame 322 fixed to the slide support part 321 and the drive unit (not shown), reciprocates and slides laterally (in the X-axis direction shown) along the guide rail 304b1 provided on the movement frame 304.

[0118] Next, the cutting unit 350 will be described in more detail with reference to Figures 18 to 20. Figure 18 is an enlarged perspective view of the cutting unit 350 in the unpacking unit 300 shown in Figure 13. Figure 19 is an enlarged view of another orientation of the cutting unit 350 in the unpacking unit 300 shown in Figure 13. Figure 20 is an enlarged perspective view of yet another orientation of the cutting unit 350 in the unpacking unit 300 shown in Figure 13.

[0119] As shown in Figures 18 to 20, the cutting unit 350 has the aforementioned rotary drive unit 351 attached to the lower side of the frame 362 and a main body 352 connected to the rotary drive unit 351. The main body 352 is provided with a horizontal cutter section 353 having a cutter blade 353a with its cutting edge oriented horizontally and a guide head 353b provided at the tip of the cutter blade 353a, and a vertical cutter section 355 having a cutter blade 355a with its cutting edge oriented vertically and a guide head 355b provided at the tip of the cutter blade 355a.

[0120] The horizontal cutter section 353 is fixed to the main body section 352 in the fixed position shown in the figure. The cutter blade 353a of the horizontal cutter section 353 has an edge that is pointed to by the indicator line showing the cutter blade 353a in each figure, and it is possible to cut the packaging material (corrugated cardboard or plastic film) of the package P in the direction in which the cutting edge moves forward. Therefore, by moving the entire cutting unit 350 in the horizontal direction, the horizontal cutter section 353 can cut the side wall surface of the packaging material of the package P in the horizontal direction.

[0121] The main body 352 has recesses 352b (see Figures 18 and 20) that connect to its bottom and a part of its side, and the vertical cutter section 355 is positioned in the recesses 352b of the main body 352. The vertical cutter section 355 is supported within the main body 352 so as to be rotatable within the recesses 352b, with the rotation axis 355c as the center. The cutter blade 355a of the vertical cutter section 355a is pivotally rotatable with respect to the rotation axis 355c at its base end. When the cutter blade 355a is in the position shown in Figure 19 (the second position described later), the pivot rotation axis of the cutter blade 355a extends in the left-right direction (Y-axis direction in the figure) as shown in Figure 19, and therefore the cutter blade 355a can swing around the pivot rotation axis at the base end so that the guide head 355b provided at the tip is tilted in both the left-right direction (X-axis direction in each figure). Alternatively, when the cutter blade 355a is in the first position described later, the pivot rotation axis of the cutter blade 355a extends in the vertical direction (Z-axis direction in the figure) as shown in Figure 19, and the guide head 355b provided on the tip side can swing to tilt in both the horizontal direction (X-axis direction in each figure). The maximum range in which the cutter blade 355a can swing is between the position where the cutter blade 355a abuts against one outer edge on either side of the recess 352b of the main body 352 and the position where it abuts against the other outer edge.

[0122] A guide groove 352a is formed in the main body 352, and a sliding part 355d is provided in the vertical cutter part 355 that can move along the guide groove 352a. The vertical cutter part 355 is rotatable clockwise or counterclockwise between a position where the sliding part 355d abuts against one end of the guide groove 352a and a position where the sliding part 355d abuts against the other end of the guide groove 352a. The cutter blade 355a of the vertical cutter part 355 has a cutting edge at the edge indicated by the indicator line showing the cutter blade 355a in each figure, and it is possible to cut the packaging material of the package P in the direction in which the cutting edge moves forward. The vertical cutter section 355 is configured to change its orientation between a first orientation in which the cutter blade 355a protrudes laterally from the side of the main body 322 so that the cutting edge of the cutter blade 355a faces downward, and a second orientation in which the cutter blade 355a protrudes downward from the bottom of the main body 322 so that the cutting edge of the cutter blade 355a faces laterally, as shown in the figure. When the vertical cutter section 355 is in the first orientation, the slide section 355d abuts against the right end of the guide groove 352a as shown in Figure 19, and when the vertical cutter section 355 is in the second orientation, the slide section 355d abuts against the left end of the guide groove 352a as shown in Figure 19. Figure 19 shows the vertical cutter section 355 in the second orientation, and therefore the slide section 355d abuts against the left end of the guide groove 352a as shown.

[0123] By moving the entire cutting unit 350 downwards with the vertical cutter section 355 in the first position, the side wall surface of the packaging material of the package P can be cut vertically downwards. Furthermore, by moving the entire cutting unit 350 horizontally with the vertical cutter section 355 in the second position, the top surface of the corrugated cardboard or plastic film of the package P can be cut horizontally.

[0124] The main body 352 is provided with a posture switching drive unit 354 that moves the vertical cutter unit 355 between a first posture and a second posture. The posture switching drive unit 354 uses compressed air supplied from an external compressed air source (not shown) as a driving source to rotate the vertical cutter unit 355 clockwise or counterclockwise around the rotation axis 355c. In particular, as shown in Figure 20, the posture switching drive unit 354 is provided with two air inlet / outlet 354a, and compressed air is supplied alternately to these air inlet / outlet 354a from the external compressed air source (not shown). When compressed air is supplied from the external compressed air source (not shown) to one air inlet / outlet 354a, the vertical cutter unit 355 rotates to the first posture, and when compressed air is supplied to the other air inlet / outlet 354a, it rotates to the second posture.

[0125] The rotary drive unit 351 and the main body 352 each have a generally cylindrical shape. The main body 352 is configured to reciprocate laterally (in the X-axis direction in the figure) between a position offset laterally (in the negative X-axis direction in the figure) toward the direction where the horizontal cutter 353 is located relative to the rotary drive unit 351, as is clearly shown in Figure 18, and a position that is generally concentric with the rotary drive unit 351. A biasing means, such as a spring, is provided inside the main body 352 to bias the main body 352 to the offset position relative to the rotary drive unit 351. When no external force is acting on the main body 352, the main body 352 is maintained in the offset position relative to the rotary drive unit 351 by its biasing means. On the other hand, when an external force is applied to the main body 352 in the direction opposite to the direction where the horizontal cutter 353 is located (generally in the positive X-direction in the figure), the main body 352 can move against the biasing force of the biasing means to a position that is concentric with the main body 352 in that direction. Then, when the external force becomes weaker than the biasing force of the biasing means, the main body 352 moves laterally (in the negative X direction shown in the figure) due to the biasing force of the biasing means and returns to the offset position again.

[0126] Next, the forward / backward movement unit 370 will be described in more detail with reference to Figure 21 and the like. Figure 21 is a perspective view showing the forward / backward movement unit 370 in the unpacking unit 300 shown in Figure 13.

[0127] Guide rails 302a are provided on the two upper left and right frames extending in the front-rear direction of the base frame 302, and slide support parts 304a are provided on the lower sides of the left and right ends of the movable frame 304, respectively, which slide along the guide rails 302a. As a result, the movable frame 304 is supported via the slide support parts 304a on the guide rails 302a of the upper left and right frames of the base frame 302 so as to be able to reciprocate in the front-rear direction (Y-axis direction in the figure).

[0128] The forward / backward movement unit 370, which moves the entire mobile frame 304 in the forward / backward direction (Y-axis direction in the illustration) of the unpacking unit 300, has a first pulley 371a provided near one end of each of the upper left and right frames of the base frame 302, a second pulley 371b provided near the other end of the frame, and a drive belt 372 wound between these pulleys 371a and 371b. A portion of each drive belt 372 is fixed to the fixing portions 304b at both ends of the mobile frame 304. The two first pulleys 371a provided near one end of each of the upper left and right frames of the base frame 302 (the rear end in the illustrated example) are fixed to both ends of a guide shaft 373 that is rotatably supported by the base frame 302. The guide shaft 373 is provided with a gear gear 373a that receives rotational driving force from the drive unit 374. The base frame 302 is provided with a drive unit 374 which includes a gear gear 374a that meshes with the gear gear 373a of the guide shaft 373, and a motor unit 374b that rotates the gear gear 374a (see also Figure 17).

[0129] In the forward / backward movement unit 370 configured in this way, when the motor 374b of the drive unit 374 is driven to rotate the gear 374a, the guide shaft 373 rotates. As a result, the first pulleys 371a provided at both ends of the guide shaft 373 rotate, and the drive belt 372 wound between the pulleys 371a and 371b rotates. Consequently, the slide support portion 304a of the movement frame 304, which is fixed to a part of the drive belt 373, slides in the forward / backward direction (Y-axis direction in the figure) along the guide rail 302a provided on the upper frame of the base frame 302, and the entire movement frame 304 to which the slide support portion 304a is fixed slides in the forward / backward direction (Y-axis direction in the figure) along the guide rail 302a on the base frame 302. The sliding direction of the slide support portion 304a and the movement frame 304 fixed thereto is switched according to the rotation direction of the motor 374b. The moving frame 304 is equipped with the various components described above (unpacking gripper unit 310, first vertical movement unit 320, camera 330, horizontal movement unit 340, cutting unit 350, and second vertical movement unit 360), and as the moving frame 304 slides in the front-to-back direction (Y-axis direction in the illustration), these components also move together with the moving frame 304.

[0130] In the unpacking unit 300 of this embodiment, configured as described above, the unpacking gripper unit 310 is capable of translational movement in the vertical direction (Z-axis direction in the illustration) by the first vertical movement unit 320 and in the forward / backward direction (Y-axis direction in the illustration) by the forward / backward movement unit 370, as well as rotation around the vertical direction (Z-axis direction in the illustration) by the rotational drive unit 311, within the space above the base frame 302. The cutting unit 350 is capable of translational movement in the vertical direction (Z-axis direction in the illustration) by the second vertical movement unit 360, in the lateral direction (X-axis direction in the illustration) by the lateral movement unit 340 and in the forward / backward direction (Y-axis direction in the illustration) by the forward / backward movement unit 370, as well as rotation around the vertical direction (Z-axis direction in the illustration) by the rotational drive unit 351.

[0131] Next, the stage unit 380 will be described in more detail with reference to Figures 22 and 23. Figure 22 is a perspective view showing the stage unit 380 in the unpacking unit 300 shown in Figure 13. Figure 23 is a perspective view showing the lower side of the stage unit 380 in the unpacking unit 300 shown in Figure 13.

[0132] Referring to Figure 22, the stage unit 380 includes a stage 381 on which the package P is placed, and a pair of clamp units 382 that secure the package P by sandwiching it from both sides while it is placed on the stage 381. The package P is transferred onto the stage 381 from the front edge shown in Figure 22 by the package transfer unit 400, and the package P on the stage 381 is removed from the front edge shown in Figure 22 by the package transfer unit 400.

[0133] A pair of clamp units 382 hold the package P in place on the stage 381, preventing the package P from moving when the unpacking grip unit 310 or cutter unit 350 is used to operate on the package P placed on the stage 381. Each clamp unit 382 has a clamp 382a for gripping the package P and a clamp support portion 382b for supporting the clamp 382a. The pair of clamp units 382 are arranged so that their respective clamps 382a face each other, with the stage 381 roughly between them in the Y-axis direction shown in the figure. Each pair of clamp units 382 is supported on the stage 381 so that it can slide toward each other and toward each other in the Y-axis direction shown in the figure.

[0134] Referring to Figure 23, guide rails 302b are provided on the underside of the left and right frames in the middle section of the base frame 302, and slide support parts 381a are provided at the left and right ends of the stage 381 in the figure, which slide along the guide rails 302b. As a result, the stage unit 380 is supported so that it can reciprocate in the front-rear direction (Y-axis direction in the figure) along the guide rails 302b of the left and right frames in the middle section of the base frame 302 via the slide support parts 381a.

[0135] A first pulley 383a is rotatably mounted on the rear frame extending in the left-right direction (X-axis direction in the illustration) in the middle section of the base frame 302, and a second pulley 383b is rotatably mounted on the central frame extending in the left-right direction in the middle section of the base frame 302. A drive belt 384 is wound between these pulleys 383a and 383b. A portion of the drive belt 384 is fixed to the stage 381. A drive unit 385 equipped with a motor for rotationally driving the first pulley 383a is further mounted on the rear frame. These first and second pulleys 383a, 383b, drive belt 384, and drive unit 385 function as means for moving the stage unit 380 in the front-rear direction (Y-axis direction in the illustration) on the base frame 302.

[0136] According to the above means, by driving the motor of the drive unit 385 to rotate the first pulley 383a clockwise or counterclockwise, the drive belt 384 wound between the pulleys 383a and 383b rotates clockwise or counterclockwise. Accordingly, the stage unit 380, which is fixed to a part of the drive belt 384, slides back and forth in the front-to-back direction (Y-axis direction in the figure) along the guide rail 302b provided on the base frame 302. The stage unit 380 moves in the front-to-back direction (Y-axis direction in the figure) to align with the package transfer unit 400 when transferring the package P to and from the package transfer unit 400. In addition, when a part of the package P that has been gripped by the unpacking grip unit 310 is disposed of in the waste box TB, the stage unit 380 moves to a position where it is retracted from above the waste box TB.

[0137] Furthermore, on the underside of the stage 381, there is a third pulley 386a provided near one end in the front-rear direction (Y-axis direction in the illustration), a fourth pulley (not shown) provided near the other end, a drive belt 387 wound between these pulleys, and a drive unit (not shown) equipped with a motor for rotationally driving one of the pulleys. Of the two straight sections formed by the drive belt 387 wound between the two pulleys, a portion of one straight section is fixed to the clamp support portion 382b of one clamp unit 382, ​​and a portion of the other straight section is fixed to the clamp support portion 382b of the other clamp unit 382. These third and fourth pulleys, drive belt 387, and drive unit function as means for moving the pair of clamp units 382 toward each other and toward each other in the Y-axis direction in the illustration.

[0138] According to the above means, by driving the motor of the drive unit (not shown) to rotate one of the third and fourth pulleys clockwise or counterclockwise, the drive belt 387 wound between the pulleys rotates clockwise or counterclockwise. When the drive belt 387 is rotated clockwise when the stage 381 is viewed from below, the clamp units 382 fixed to the straight portions on both sides of the drive belt 387 slide away from each other, and the distance between the two opposing clamps 382a widens. Conversely, when the drive belt 387 is rotated counterclockwise when the stage 381 is viewed from below, the clamp units 382 fixed to the straight portions on both sides of the drive belt 387 slide towards each other, and the distance between the two opposing clamps 382a narrows. As a result, when the drive belt 387 is rotated counterclockwise while the package P is placed on the stage 381, the distance between the two opposing clamps 382a narrows, and the package P on the stage 381 is gripped by the pair of clamp units 382 and its position is fixed. When the drive belt 387 is rotated counterclockwise from that state, the distance between the two opposing clamps 382a widens, and the position of the package P is released from being fixed by the pair of clamp units 382.

[0139] <Configuration and Operation of Package Transfer Unit 400> Next, the package transfer unit 400 included in the product replenishment system 1 of this embodiment will be described. Figure 24 is a perspective view showing the overall configuration of the package transfer unit 400 included in the product replenishment system 1 shown in Figure 1. Figure 25 is an enlarged perspective view showing the gripper 420 in the package transfer unit 400 shown in Figure 24.

[0140] As shown in Figure 24, the package transfer unit 400 has a frame 410 that constitutes its body and a gripper 420 that is supported on the frame 410 so as to be movable in the vertical direction. The package transfer unit 400 is installed between the rotary rack 200 and the unpacking unit 300 such that the front side shown in the figure is positioned on the rotary rack 200 side and the rear side shown in the figure is positioned on the unpacking unit 300 side.

[0141] The package transfer unit 400 is equipped with a control unit (not shown) which includes at least a control unit that controls each drive unit and camera in each part of the package transfer unit 400, a storage unit that temporarily stores information generated in relation to the control thereof, and a communication unit that communicates wirelessly or via wired connection with an external device such as a management device 600.

[0142] The frame 410 comprises a base plate 411 installed on the floor of the store, a pair of guide frames 412 extending upward from both sides of the base plate 411, a pair of support frames 413 similarly extending upward from both sides of the base plate 411, and a top plate 414 fixed to the upper ends of the guide frames 412 and support frames 413. The pair of guide frames 412 form two of the four corner posts of the frame 410 and also serve to support the gripper 420 so that it can move vertically. Two guide rails 412a are provided on the inner surfaces of each of the pair of guide frames 412 that face each other, serving as guides for the gripper 420 to slide vertically. The pair of support frames 413 form the remaining two of the four corner posts of the frame 410.

[0143] Frame 410 is provided with a rope 415 for moving the gripper 420 vertically along a pair of guide frames 412. One end of the rope 415 is fixed to a fixing portion 414a of the top plate 414 above one of the guide frames 412. The rope 415 extends downward along one of the guide frames 412, suspended from the fixing portion 414a of the top plate 414, then extends laterally across the underside of the gripper 420 while supporting the gripper 420, then extends upward along the other guide frame 412, is wound over a pulley 414b rotatably mounted on the top plate 414 above the other guide frame 412, and extends downward along the other side of the other guide frame 412. Below the other guide frame 412 is a drive unit 416 equipped with a motor that rotates a winding rotation unit (not shown) to which the other end of the rope 415 is fixed.

[0144] In this configuration, when the motor of the drive unit 416 is rotated in one direction to rotate the winding rotation unit (not shown) and the rope 415 is wound onto the winding rotation unit, the gripper 420 moves upward along the pair of guide frames 412. Conversely, when the motor of the drive unit 416 is rotated in the other direction to rotate the winding rotation unit (not shown) and the rope 415 that was wound onto the winding rotation unit is unwound, the gripper 420 moves downward along the pair of guide frames 412 due to its own weight.

[0145] Next, referring to Figure 25, the gripper 420 has a package transfer unit 400 installed between the rotary rack 200 and the unpacking unit 300, which has a pair of conveyor belts 421 that transfer trays 216 carrying packages P between them, and a pair of drive belts 422 located at the end of the gripper 420 facing the rotary rack 200 and between the pair of conveyor belts 421. These belts 421 and 422 are wound between two pulleys at both ends. Four shafts 424 extend laterally through the pair of conveyor belts 421, and the shaft closest to the viewer in the figure is a drive shaft 424a that is rotationally driven by a drive source (not shown) equipped with a motor. When the drive shaft 424a is rotated, the pair of drive belts 422 are rotated as a result, and the pair of conveyor belts 421 are rotated accordingly. The drive shaft 424a can rotate in both clockwise and counterclockwise directions, and accordingly, the belts 421 and 422 can also rotate in one direction and the opposite direction. The four shafts 424 also serve as support beams to support the load when the tray 216 carrying the package P is placed on the belts 421 and 422.

[0146] Side wall plates 425 are provided at both ends of the four shafts 424. The tray 216 on which the package P is placed is transported by a conveyor belt 421 through the area between these side wall plates 425. The side wall plates 425 serve to guide the transported tray 216. A housing 426 is provided on the outside of each of these side wall plates 425. A drive source (not shown) equipped with a motor for driving the drive shaft 424a is housed inside one of the housings 426.

[0147] Furthermore, each of the housings 426 located on the left and right sides of the gripper 420 is provided with a sliding section 427. Each sliding section 427 is provided with two pairs (a total of four) of guide rollers 427a that sandwich the two guide rails 412a of the opposing guide frame 412. Each sliding section 427 is supported via these guide rollers 427a so as to be able to slide vertically on the two guide rails 412a of the guide frame 412.

[0148] Guide rails 425a are provided on each side wall plate 425, and support portions 427b are provided on each sliding portion 427 to slidably support the guide rails 425a. As a result, the gripper 420, including the side wall plates 425 and the housing 426, is supported by the support portions 427b of the sliding portion 427 so that it can slide in the general front-rear direction of the plane of the paper in Figure 25. The other housing 426 houses means (not shown) for sliding the gripper 420, including the side wall plates 425 and the housing 426, in the general front-rear direction of the plane of the paper in Figure 25 relative to the sliding portion 427 (for example, a ball spline mechanism and its drive source). As a result, when the gripper 420 of the package transfer unit 400 transfers the tray 216 to the rotary rack 200, the gripper 420 is moved generally towards the front of the paper in Figure 25 to narrow the gap between the gripper 420 and the rotary rack 200, making it easier to transfer the tray 216. Also, when the gripper 420 of the package transfer unit 400 transfers the tray 216 to the unpacking unit 300, the gripper 420 is moved generally towards the back of the paper in Figure 25 to narrow the gap between the gripper 420 and the unpacking unit 300, making it easier to transfer the tray 216.

[0149] The package transfer unit 400 is equipped with a camera 430. In the illustrated example, the camera 430 is fixed to the side wall plate 450 of the gripper 420 and is positioned to photograph the area roughly in front of the viewer in Figure 25. The camera 430 is used to photograph the package P placed on the rack 210 when the gripper 420 pulls the rack 210 out of the rotary rack 200, etc. The camera 430 may have, for example, an image sensor that generates an image (an RGB image in one example) in which pixels are arranged two-dimensionally, and a depth sensor that generates distance data.

[0150] <Configuration of Product Image Acquisition Unit 500> Next, the product image acquisition unit 500 will be described in more detail with reference to Figure 26. Figure 26 is a schematic perspective view showing the product image acquisition unit 500 installed on the product replenishment robot 100 as shown in Figure 1.

[0151] The product image acquisition unit 500 captures images of products placed on the product image acquisition unit 500 by the product replenishment robot 100. Based on the captured images of the products, the control device 150 of the product replenishment robot 100 identifies the type of product placed on the product image acquisition unit 500.

[0152] The product image acquisition unit 500 includes a rotary table unit 510 mounted on the product replenishment robot 100 and an image acquisition unit 520 also mounted on the product replenishment robot 100. The rotary table unit 510 includes a rotary table 512 that is rotatable around a central axis and a drive unit 514 equipped with a motor that rotates the rotary table 512. The image acquisition unit 520 acquires images of products placed on the rotary table 512.

[0153] The rotary table 512 is configured to rotate around a central axis and can rotate around the central axis together with the goods placed on it. The drive unit 514 includes a mechanism and a drive source for rotating the rotary table 512, the drive source being, for example, an electric motor. The rotary table 512 may be configured to be rotated by being directly connected to the rotation shaft of the electric motor that is the drive source, or it may be configured to be rotated by receiving the rotational driving force of the electric motor via a drive transmission means such as gears.

[0154] The image acquisition unit 520 captures images of the product while it is being rotated with the rotating table 512, which is rotated by the drive unit 514, after it has been grasped by the gripping unit 10 of the product replenishment robot 100 and placed on the rotating table 512. As a result, the image acquisition unit 260 captures images of the side or outer surface of the product (images including product labels, barcodes, etc., around the product) and acquires the image data. The image acquisition unit 260 transmits the acquired image data to the control device 150 of the product replenishment robot 100 via the communication unit 195 of the control device 150. The image data processing unit 155 of the control device 150, which has received the image data of the product, uses the image data of the side or outer surface of the product (images including product labels, barcodes, etc., around the product) to identify the type of product. In this way, the product image acquisition unit 500 and the control device 150 function as a product identification system for identifying the type of product grasped by the product replenishment robot 100. Furthermore, by mounting the product image acquisition unit 500 on the product replenishment robot 100, the product replenishment robot 100 can position the product at the image acquisition location by the image acquisition unit 520 simply by moving the arm 20 after grasping the product.

[0155] After the product in package P is placed on the rotary table 512 as a sample by the product replenishment robot 100, the gripping unit 10 of the product replenishment robot 100 temporarily releases its grip on the product, the rotary table 512 is rotated by the drive unit 514, and an image of the surrounding area of ​​the side of the product rotating with the rotary table 512 is captured by the image acquisition unit 260. The image data of the product captured by the image acquisition unit 260 is transmitted to the control device 150 as described above, and the control device 150 performs a process to identify the type of product based on the image data. In this process, the type of product is identified based on the image of the surrounding area of ​​the side of the product, so the accuracy of product identification is improved.

[0156] In this embodiment, the product image acquisition unit 500 is shown as being installed on the product replenishment robot 100, but the product image acquisition unit 500 may be installed in other locations. Other locations where the product image acquisition unit 500 may be installed include, for example, on one of the shelves SL11 of the display shelf SL10, or on the unpacking unit 300.

[0157] <Configuration of the Management Device 600> Next, the management device 600 will be described in more detail with reference to Figure 27. Figure 27 is a block diagram showing the configuration of the management device 600 included in the product replenishment system 1 shown in Figure 1.

[0158] As shown in Figure 27, the management device 600 includes a processor 610, a storage unit 620, an input unit 630, a display unit 640, and a communication unit 650. In Figure 27, the management device 600 is depicted as a single element, but the management device 600 does not necessarily have to be a single physical element, and may be composed of multiple physically separate elements.

[0159] The input unit 630 is a device for receiving input from the operator of the management device 600. The input unit 630 may consist of a keyboard, mouse, and touch panel. The display unit 640 is a display device that displays a display screen generated by the processor 610, and may be, for example, a liquid crystal display or an organic EL display device. The communication unit 650 mainly communicates with the control device 150, rotary rack 200, unpacking unit 300, and package transfer unit 400 of the product replenishment robot 100 by wired or wireless communication, and performs input and output of information and control signals with these components.

[0160] The storage unit 620 includes temporary or non-temporary storage media such as ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive). The storage unit 620 stores computer programs executed by the processor 610. The computer programs stored in the storage unit 620 include instructions for performing information processing by the processor 610, as will be described later with reference to Figure 28, etc. The storage unit 620 also temporarily stores information received from the control device 150 and various data (including intermediate generated data) generated by processing operations by the processor 610. The processor 610 mainly performs processing to control the operation of the product replenishment robot 100, rotary rack 200, unpacking unit 300, and package transfer unit 400, as will be described later.

[0161] In this embodiment, the storage unit 620 also stores the types of products in the packages P placed on each rack 210 of the rotary rack 200, and the placement position of each rack 210 on each level of the rotary rack 200 (for example, the current placement position relative to the rotation reference position of the rotary rack 200), and updates this information as appropriate.

[0162] The type of product in each package P placed on each rack 210 is identified by a system operator who, for example, examines an image of the package P on the rack 210 taken by the camera 430 of the package transfer unit 400. Based on the product name etc. written on the surface of the package P, the operator identifies the package P and inputs it via the input unit 630. This information is then stored in the storage unit 620 in association with the identification information of that rack 210 (information about which row of the rotary rack 200 it is on, and which tray it is in from the reference tray). As a result, the storage unit 620 stores which rack 210 on the rotary rack 200 has which type of product package P. The information regarding the type of product in the package P on the rack 210 is updated in the same manner after the package P is changed.

[0163] Furthermore, the current position of each rack 210 on each level of the rotary rack 200 is determined by the processor 610 based on how many times the reference rack 210 on each level of the rotary rack 200 has been moved by the drive unit 240 from the rotational reference position, and is stored in the storage unit 620, and is updated each time a movement is performed. For example, the rack 210 placed third from the reference rack 210 is placed at the rotational reference position when three movement operations are performed from the state in which the reference rack 210 is placed at the rotational reference position. Then, the processor 610 counts how many times the rack 210 has been moved from that state, and the current position of the rack 210 placed third from the reference rack 210 on the rotational position of the rotary rack 200 is determined.

[0164] <Operation Example> Next, an operation example of the product replenishment system 1 of this embodiment will be described. Figure 28 is a flowchart illustrating an operation example of the product replenishment system 1 of this embodiment.

[0165] The product replenishment system 1 of this embodiment performs the following operating modes, as shown in the flowchart of Figure 28: display annotation mode (S21), rack replenishment mode (S22), rack scan mode (S23), package unpacking mode (S24), display product replenishment mode (S25), and rest mode (S26). These operating modes may be performed in the order shown in the flowchart of Figure 28, in any order, or at least one of these operating modes may be performed. Furthermore, at least two of these operating modes may be performed in parallel.

[0166] (1) Display Annotation Mode In the display annotation mode (S21), the first camera 50 of the product replenishment robot 100 captures images of the entirety of each shelf SL11 of the display shelf SL10 as the product replenishment robot 100 moves laterally along the rail R, and these images are displayed on the display unit 640 of the management device 600. The operator who sees these images decides which product to display on which lane of which shelf SL11 of the display shelf SL10, and inputs this information into the input unit 630 of the management device 600 and registers it in the storage unit 620. As a result, the management device 600 identifies the types of products to be displayed on each lane of each shelf SL11 of the display shelf SL10.

[0167] To explain the display annotation mode (S21) in more detail, when the operator instructs the management device 600 to execute the display annotation mode via the input unit 630, the processor 610 of the management device 600 communicates with the control device 150 of the product replenishment robot 100 via the communication unit 650, and causes the control device 150 to start executing the display annotation mode. The control device 150 operates the product replenishment robot 100 so that the first camera 50 scans and photographs each shelf board SL11 of the display shelf SL10 in sequence. At this time, the images of each shelf board SL11 captured by the first camera 50 of the product replenishment robot 100 are transmitted from the communication unit 195 of the control device 150 to the management device 600 and displayed on the display unit 640 of the management device 600. Upon viewing the image, the operator decides which product to display on which lane of which shelf SL11 on the display shelf SL10, and inputs this information into the input unit 630 of the management device 600. The input information is registered in the storage unit 620, thereby allowing the management device 600 to identify the types of products to be displayed on each lane of each shelf SL11 on the display shelf SL10.

[0168] After completing the registration of the types of products to be displayed on each lane of each shelf board SL11 of the display shelf SL10, the operator instructs the management device 600 to end the display annotation mode via the input unit 630. While the above example illustrates the registration of the types of products to be displayed on each lane of each shelf board SL11 of the display shelf SL10, the display annotation mode may also involve individually registering the types of products to be displayed on only some lanes of some shelves SL11. Furthermore, by executing the display annotation mode again after it has been executed, it is possible to change the types of products to be displayed on each lane of the display shelf SL10.

[0169] (2) Rack replenishment mode The rack replenishment mode (S22) is a mode in which a package P is placed on each rack 210 of the rotary rack 200. Packages P delivered to the store by a delivery company are placed on each rack 210 of the rotary rack 200 by the delivery company or store staff. The rack replenishment mode is performed when loading packages P into each rack 210 of the rotary rack 200 when the system 1 is first operated, or when new packages P should be added to the rack 210 to replace packages P that have become empty due to the contents of the packages P in the racks 210 of the rotary rack 200 being moved to the display shelves SL10 while the system 1 is running.

[0170] To describe the rack replenishment mode (S22) in more detail, when the operator instructs the management device 600 to execute the display annotation mode via the input unit 630, the processor 610 of the management device 600 communicates with the rotary rack 200 via the communication unit 650, and the control unit (not shown) of the rotary rack 200 drives the drive unit 240 (air cylinder 242, shaft 244, and ratchet mechanism 246) of the circumferential guide rail 220 of each stage, thereby rotating the chain 224 of the circumferential guide rail 220 of each stage. The drive units 240 of the circumferential guide rail 220 of each stage may be driven individually and sequentially, or multiple of them may be driven simultaneously. As a result, the chains 224 provided on each stage of the circular guide rail 220 are intermittently driven to rotate at predetermined time intervals, and consequently, the multiple racks 210 attached to the chains 224 on each stage of the circular guide rail 220 intermittently move in a circular motion along each stage of the circular guide rail 220.

[0171] A delivery person or store employee places a package P on a rack 210 that has intermittently moved to the loading section 200B (see Figure 8) of the rotary rack 200, while the rack 210 remains in the loading section 200B. Each rack 210 moves in a circular motion along the circular guide rail 220 and sequentially moves to the position of the loading section 200B, so the delivery person or store employee places the package P on the rack 210 as it moves to the loading section 200B in sequence. In this loading operation in rack replenishment mode, it is arbitrary which rack 210 to place which type of product's package P on. Therefore, the delivery person or store employee may place any package P on any rack 210 on any level of the loading section 200B that has moved, without being aware of the type of product.

[0172] In rack replenishment mode, all racks 210 on each level of the rotary rack 200 may be rotated simultaneously and a package P may be placed on any of these racks 210, or the racks 210 on each level may be moved sequentially from the bottom to the top, and packages P may be placed sequentially from the bottom rack 210 to the top rack 210. This ensures that, for example, when system 1 is first started, packages P are placed on all racks 210 of the rotary rack 200. Alternatively, only the racks 210 on a specific level of the rotary rack 200 may be moved sequentially and packages P may be placed only on the racks 210 on that specific level. This makes it possible to replenish packages P only on a specific rack 210 on a specific level.

[0173] When the operator signals the end of the display annotation mode at the input unit 630 of the control device 600, the rack replenishment mode ends.

[0174] (3) Rack scan mode The rack scan mode (S23) is a mode in which, in the rack replenishment mode (S22), the type of product in each rack 210 of the rotary rack 200 is associated with the rack 210 on which it is placed.

[0175] To explain the rack scan mode (S23) in more detail, when the operator instructs the control device 600 to execute the rack scan mode via the input unit 630, the control device 600 communicates with the package transfer unit 400, and the control unit (not shown) of the package transfer unit 400 moves the gripper 420 of the package transfer unit 400 to a height position that is roughly opposite to the rack 210 to be scanned, which has been rotated to the transfer unit 200C of the rotary rack 200 that transfers packages P. The camera 430 mounted on the gripper 420 then photographs the package P on the rack 210 that is opposite the gripper 420. The image captured by the camera 430 is transmitted to the control device 600 and displayed on the display unit 640 of the control device 600.

[0176] The operator looks at the image of the package P displayed on the display unit 640, visually checks the product name and other information printed on the surface of the corrugated cardboard package P, and the labels of the products inside the package P that are visible through the plastic film of the package P, identifies the type of product inside the package P, and inputs the identified type of product into the input unit 630 of the management device 600.

[0177] The processor 610 of the management device 600 may identify the types of products in package P based on any image recognition technology. Furthermore, the processor 610 of the management device 600 may identify the types of products in package P using a trained model generated by machine learning on images of package P and data relating to the corresponding types of products.

[0178] Furthermore, the management device 600 communicates with the rotary rack 200 and obtains identification information from the rotary rack 200 to identify the rack 210 that is positioned opposite the gripper 420 of the package transfer unit 400 and photographed by the camera 430, as described above. The identification information to identify the rack 210 is, for example, information on which rack 210 is installed relative to the reference rack 210 in the section to which it belongs. This information can be obtained from the rotary rack 200 by acquiring how many times the intermittent circular movement operation by the drive unit 240 has been performed since the reference rack 210, to which the detection unit 250 has detected the detection unit 210a. For example, in a configuration where the drive unit 240 needs to perform three intermittent circular movements from the time the reference rack 210 is detected by the detection unit 250 until it moves to the transfer unit 200C of the rotary rack 200, the rack 210 placed in the transfer unit 200C will be recognized as the second tray placed after the reference rack 210 when five circular movements have been performed since the reference rack 210 was detected by the detection unit 250.

[0179] The processor 610 of the management device 600 identifies which rack 210 of the rotary rack 200 contains which type of product package P, and stores in the storage unit 620 the association between the type of product in the package P entered by the operator and the identification information of the rack 210 obtained from the rotary rack 200. As a result, a database is built in the storage unit 620 that stores which type of product package P is placed in which rack 210 of the rotary rack 200.

[0180] Alternatively, instead of the above method in which the detection unit 250 detects the reference rack 210 and identifies each rack 210 based on the reference rack 210, a method may be used to identify each rack 210 solely by the count of intermittent rotational movement operations performed by the drive unit 240. In this case, for example, when the rotational movement operation by the drive unit 240 is reset, the count of rotational movement operations for a rack 210 placed in the transfer unit 200C of the rotary rack 200 is set to zero, and that rack 210 is identified as "#0". Next, after the rotational movement operation by the drive unit 240 is performed once, the count of rotational movement operations for a rack 210 that has been placed in the transfer unit 200C is set to 1, and that rack 210 is identified as "#1". In this way, the count is incremented by 1 for each rack 210 that is placed in the transfer unit 200C each time a rotational movement operation is performed. For example, in a configuration where 20 racks 210 are arranged in one row, the racks 210 are assigned identification numbers from #0 to #19. In this case, after the drive unit 240 performs a rotational movement operation 20 times from the reset state, the first rack 210 with identification number #0 returns to the transfer unit 200C. The processor 610 of the management device 600 can also identify the racks 210 that have been moved around to the transfer unit 200C of the rotary rack 200 and are positioned opposite the gripper 420 of the package transfer unit 400, and are being photographed by the camera 430, based on the information acquired by the control unit of the rotary rack 200 in this way.

[0181] (4) Package unpacking mode The package unpacking mode (S24) is a mode in which a package P placed on a rack 210 located in the transfer section 200C of the rotary rack 200 is pulled out along with its tray 216 by the package transfer unit 400, transferred from the package transfer unit 400 to the unpacking unit 300, the unpacking unit 300 unpacks the top of the package P so that the product display robot 100 can take out the product inside, and then the package transfer unit 400 returns the package P along with its tray 216 to the original rack 210. As described above, the packages P to be unpacked include corrugated cardboard packages P and plastic film packages P. The unpacking unit 300 of this embodiment is capable of unpacking packages P of either of these materials.

[0182] To describe the package unpacking mode (S24) in more detail, when the operator instructs the control device 600 to execute the package unpacking mode via the input unit 630, the processor 610 of the control device 600 starts communicating with the package transfer unit 400 and the unpacking unit 300. First, it instructs the control unit (not shown) of the package transfer unit 400 to move the gripper 420 to a height position roughly opposite the rack 210 to be pulled out, which has been rotated to the transfer unit 200C of the rotary rack 200. The camera 430 mounted on the gripper 420 then photographs the rack 210, which is positioned opposite the gripper 420. The image captured by the camera 430 is transmitted to the control device 600. The transmitted image may be displayed on the display unit 640 of the control device 600. The rack 210 to be pulled out may be specified by the operator using the input unit 630 of the management device 600 according to the type of goods placed on it, or the processor 610 of the management device 600 may arbitrarily select a rack 210 containing an unopened package P from among the racks 210 that have been rotated to the transfer unit 200C.

[0183] The processor 610 of the management device 600, based on the video of the rack 210 to be pulled out transmitted from the camera 420 of the package transfer unit 400, uses arbitrary image recognition technology or a trained model created by machine learning to operate the gripper 420 in the control unit of the package transfer unit 400. The gripper 420 is moved forward until its tip contacts the tray 216 of the rack 210, and the conveyor belts 421 and 422 of the gripper 420 are rotated to pull out the tray 216 with the package P on it from the rack 210 and transfer it onto the gripper 420.

[0184] The processor 610 of the management device 600 then communicates with the unpacking unit 300 and instructs the control unit (not shown) of the unpacking unit 300 to use the camera 330 (see Figure 16) of the unpacking unit 300 to capture an image of the stage unit 380 of the unpacking unit 300 from above, and acquires this image from the unpacking unit 300 via communication. The acquired image may be displayed on the display unit 640 of the management device 600. The image of the stage unit 380 viewed from above also includes the tray 216 on which the package P is placed and the gripper 420 that holds it, which is moved onto the gripper 420 of the package transfer unit 400 and is located on the side of the unpacking unit 300 facing the package transfer unit 400 (the front side of the unpacking unit 300 as shown in Figure 13).

[0185] The processor 610 of the management device 600 determines, based on the video transmitted from the camera 330 of the unpacking unit 300, whether the position of the stage unit 380 in the front-to-back direction (Y-axis direction in Figure 13) of the unpacking unit 300 matches the position of the tray 216 on the gripper 420 in the same direction. If their positions are misaligned, the control unit of the unpacking unit 300 moves the stage unit 380 in the front-to-back direction (Y-axis direction in Figure 13) to align the two in the aforementioned direction. This is because if the operation to transfer the tray 216 on the gripper 420 onto the stage unit 380 is performed while their positions are misaligned, the tray 216 may come into contact with the clamp unit 382 (see Figure 22) of the stage unit 380 and may not be able to be transferred onto the stage unit 380.

[0186] Next, the processor 610 of the management device 600, based on the video transmitted from the camera 330 of the unpacking unit 300, uses any image recognition technology or a trained model created by machine learning to move the gripper 420 backward to a position where its rear end contacts the front end of the stage unit 380 of the unpacking unit 300 (the front edge shown in Figure 13), and rotates the conveyor belt 421 of the gripper 420 to transfer the tray 216 on which the package P is placed onto the stage unit 380.

[0187] After the tray 216 carrying the package P is transferred onto the stage unit 380, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to close the clamp unit 382 of the stage unit 380, thereby clamping and securing the tray 216 and the package P on it with the clamp unit 382.

[0188] Next, the processor 610 of the management device 600 recognizes the position, size, and shape of the package P on the stage unit 380 using any image recognition technology or a trained model based on the video transmitted from the camera 330 of the unpacking unit 300. The control unit of the unpacking unit 300 then operates the lateral movement unit 340, the cutter unit 350, the second vertical movement unit 360, and the front-to-back movement unit 370 in combination to unpack the package P placed on the stage unit 380, by cutting the plastic film or cardboard packaging material of the package P.

[0189] First, we will explain the case of cutting a package P having plastic film packaging material with reference to Figure 29. Figure 29 is a schematic diagram showing the process of cutting a package P having plastic film packaging material.

[0190] Package P, which has plastic film packaging material, is typically constructed by placing multiple beverage products inside a cylindrical plastic film with open ends, and then heat-shrinking the plastic film to make it tightly adhere to the beverage products inside. As a result, there are openings op on both sides of package P that are not covered by the plastic film (see Figure 29(a)). Package P is placed on the stage unit 380 with its openings facing in the X-axis direction in Figure 13.

[0191] First, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units. Initially, the cutter unit 350 is positioned above the center of one side of the package P. The vertical cutter section 355 of the cutter unit 350 is positioned in a first orientation in which the cutter blade 355a protrudes laterally from the side of the main body 322 so that the tip of the cutter blade 355a faces downwards. The cutter unit 350 is then moved downwards to cut the upper portion of one side of the package P (see Figure 29(b)).

[0192] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units, positioning the cutter unit 350 to the side of the upper surface near the center of one side of the package P. The cutter unit 350 is rotated 180° by the rotary drive unit 351, and the vertical cutter section 355 of the cutter unit 350 is set to a second position in which the cutter blade 355a protrudes downward from the bottom of the main body 322 so that the tip of the cutter blade 355a faces sideways. The cutter unit 350 is then moved horizontally from one side of the package P to the other side, thereby cutting the upper surface portion of the package P (see Figure 29(c)). The plastic film on the upper surface of the package P is cut in such a way that the cut line after the upper surface portion is cut extends along the X-axis direction in Figure 13.

[0193] Finally, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units. First, it positions the cutter unit 350 above the center of one side of the package P. Then, it sets the vertical cutter section 355 of the cutter unit 350 to a first position in which the cutter blade 355a protrudes laterally from the side of the main body 322 so that the tip of the cutter blade 355a faces downwards. By moving the cutter unit 350 downwards, it cuts the upper part of the other side of the package P (see Figure 29(d)).

[0194] As a result, the package P, which has plastic film packaging material, is cut from the upper part of one side, through the top surface, to the upper part of the other side (see the dotted line in Figure 29(e)).

[0195] In addition, when the vertical cutter section 355 cuts the package P in each of the above cutting processes, the guide head 355b at the tip of the cutter blade 355a may come into contact with the product inside the package P. However, in such cases, the cutter blade 355a tilts around the pivot rotation axis on the base end as the center of rotation so that it moves away from the product it has come into contact with, thereby reducing the possibility of the vertical cutter section 355 itself being damaged or the vertical cutter section 355 damaging the product (beverage container).

[0196] Next, the process of cutting a package P having corrugated cardboard packaging material will be explained with reference to Figure 30. Figure 30 is a schematic diagram showing the process of cutting a package P having corrugated cardboard packaging material. Figures 30(a) to (d) are views of the package P from above, and Figure 30(e) is a view of the package P from the side. The package P having corrugated cardboard packaging material is cut so as to encircle all four sides.

[0197] First, the processor 610 of the management device 600 operates the control unit of the unpacking unit 300 to position the cutter unit 350 so that the horizontal cutter section 353 is initially located near the side edge of the first side surface of the package P (see Figure 30(a)). When the first side surface of the package P and the horizontal cutter section 353 are superimposed in the extending direction of the first side surface, the orientation and position of the horizontal cutter section 353 in the cutter unit 350 are adjusted so that the guide head 355b at the tip of the horizontal cutter section 353 is located slightly inside the corrugated cardboard wall of the first side surface of the package P. Then, the processor 610 of the management device 600 operates the units of the unpacking unit 300 to move the cutter unit 350 horizontally in the extending direction of the first side surface of the package P. As a result, the guide head 355b at the tip of the horizontal cutter section 353 enters the inside of the corrugated cardboard wall on the first side of the package P, and the horizontal cutter section 353 moves in the extending direction of the first side with the cutter blade 353a straddling the thickness direction of the corrugated cardboard wall, thereby cutting the corrugated cardboard wall on the first side of the package P.

[0198] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units, and positions the cutter unit 350 such that the horizontal cutter section 353 is located near the side edge of the second side adjacent to the first side of the package P (see Figure 30(b)). At this time, the cutter unit 350 rotates approximately 90°, and the cutter blade 353a of the horizontal cutter section 353 is directed in the direction of extension of the second side of the package P. When the second side of the package P and the horizontal cutter section 353 are superimposed in the direction of extension of the second side, the orientation and position of the horizontal cutter section 353 in the cutter unit 350 are adjusted so that the guide head 355b at the tip of the horizontal cutter section 353 is located slightly inside the corrugated cardboard wall of the second side of the package P. Then, the processor 610 of the management device 600 operates each of the above units of the unpacking unit 300 and moves the cutter unit 350 horizontally in the stretching direction of the second side of the package P, thereby cutting the corrugated cardboard wall of the second side of the package P in the same manner as described above.

[0199] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate the third side adjacent to the second side of package P, and the fourth side adjacent to the third side, in the same manner as above, so that the corrugated cardboard walls of the third and fourth sides of package P are cut (Figures 30(c) and 30(d)).

[0200] As a result, the corrugated cardboard package P is cut around all four sides, from the first side to the fourth side, and the upper part is separated from the lower part (Figure 30(e)).

[0201] In addition, during each of the above cutting processes, when the horizontal cutter section 353 cuts the side wall portion of the package P horizontally, the guide head 353b at the tip of the cutter blade 353a may come into contact with the side of the product inside the package P. However, in such cases, the horizontal cutter section 353 is pushed laterally by the product it comes into contact with, and the main body section 352 equipped with the horizontal cutter section 353 moves laterally relative to the rotation drive section 351, causing the horizontal cutter section 353 to move away from the product it comes into contact with. This reduces the possibility of the horizontal cutter section 353 itself being damaged or the horizontal cutter section 353 damaging the product (beverage container).

[0202] Next, the processor 610 of the management device 600 recognizes the position, size, and shape of the package P on the stage unit 380 based on the image transmitted from the camera 330 of the unpacking unit 300, using any image recognition technology or a trained model obtained by machine learning. The processor then instructs the control unit of the unpacking unit 300 to operate the unpacking grip unit 310, the first vertical movement unit 320, the horizontal movement unit 340, and the front-to-back movement unit 370 in combination, continuing the unpacking process of the package P placed on the stage unit 380, by opening the top portion of the package P, which has been cut as described above, from the plastic film or corrugated cardboard packaging material.

[0203] First, we will explain the process of unpacking a package P containing plastic film packaging material with reference to Figures 31A and 31B. Figures 31A and 31B schematically show the process of unpacking a package P containing plastic film packaging material.

[0204] First, the processor 610 of the management device 600 causes the control unit of the unpacking unit 300 to operate each of the above units, moving the unpacking grip unit 310 above the package P placed on the stage unit 380. The rotation drive unit 351 then changes the orientation of the unpacking grip unit 310 so that the extension direction of the grip rollers 314 of the unpacking grip unit 310 coincides with the direction of the cut line of the plastic film on the upper surface of the package P. Furthermore, the position between the two grip rollers 314 of the unpacking grip unit 310 is positioned slightly shifted laterally from the cut line of the plastic film on the upper surface of the package P (dotted line in the figure) (Figure 31A(a)).

[0205] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the unpacking grip unit 310 and the first vertical movement unit 320), moving the unpacking grip unit 310 downward until the grip roller 314 of the unpacking grip unit 310 is pressed against the plastic film on the upper surface of the package P. Then, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to rotate the two grip rollers 314 of the unpacking grip unit 310 in a direction in which their contact surfaces move upward, so that one portion of the plastic film on the upper surface of the package P, lateral to the cut line, is wrapped between the two grip rollers 314, and the unpacking grip unit 310 grasps that portion of the plastic film (Figure 31A(b)).

[0206] Next, the processor 610 of the management device 600 operates each of the above units of the unpacking unit 300 (in particular the first vertical movement unit 320) to move the unpacking grip unit 310 upward while it is gripping the relevant portion of the plastic film (Figure 31A(c)). As a result, one portion of the plastic film lateral to the cut line is pulled upward and stretched somewhat.

[0207] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the forward / backward movement unit 370) to move the unpacking grip unit 310, which is gripping the relevant portion of the plastic film, horizontally outward (Figure 31A(d)). This opens one side of the top surface of the package P. Since the plastic film is pulled upward during the above process, the risk of the inner surface of the top surface of the plastic film getting caught on the product inside the package P is reduced when the unpacking grip unit 310 is moved laterally from that state.

[0208] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular the first vertical movement unit 320) to move the unpacking grip unit 310, which is gripping the relevant portion of the plastic film, further upward (Figure 31B(e)). As a result, one portion of the plastic film lateral to the cut line is pulled and stretched further upward.

[0209] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the first vertical movement unit 320 and the front-to-back movement unit 370) to move the unpacking grip unit 310, which is gripping the portion of the plastic film, downward while moving it further horizontally. Then, it rotates the two grip rollers 314 of the unpacking grip unit 310 in the opposite direction to the above, ejecting the plastic film from between the two grip rollers 314 and releasing the grip of the plastic film by the unpacking grip unit 310 (Figure 31B(f)). As a result, one portion of the plastic film lateral to the cut line is kept open to the side of the package P, and half of the top surface of the package P is left open. Since the portion of the plastic film has been stretched in the above process, even if the grip of the unpacking grip unit 310 is released while it is open to the side of the package P, it will remain in that position and orientation, thus maintaining the open state of the package P.

[0210] Next, the same process as shown in Figures 30(a) to (f) above is carried out on the other portion of the plastic film that is lateral to the cut line, so that the top surface of the package P opens on both sides, and the top of the product inside is exposed to the outside (Figure 31B(g)).

[0211] Here, we will explain the change in the posture of the two grip rollers 314 brought about by the connecting mechanism 316 of the unpacking grip unit 310 when the grip rollers 314 of the unpacking grip unit 310 are pressed against the plastic film on the upper surface of the package P. Figure 31C is a schematic diagram showing the change in the posture of the grip rollers 314 brought about by the connecting mechanism 316 of the unpacking grip unit 310.

[0212] Figure 31C(a) shows an example of a state in which two grip rollers 314 are pressed against the plastic film on the top surface of the package P. In this example, PET bottle beverages with caps are contained in the package P, and the caps of multiple PET bottle beverages are arranged on the top surface of the package P at intervals from each other. Therefore, when the two grip rollers 314 are pressed against the plastic film on the top surface of the package P, the grip roller 314 on the right side of the figure is in contact with the top surface of the cap, while the grip roller 314 on the left side of the figure is located in the gap between the caps.

[0213] As described above, the connecting mechanism 316 (see Figure 14) of the unpacking grip unit 310 is equipped with a link mechanism 317 configured such that when one grip roller 314 is lifted upward, the other grip roller 314 moves downward, and conversely, when the other grip roller 314 is lifted upward, one grip roller 314 moves downward. As a result, the grip roller 314 on the left side of the figure moves downward so as to fit into the gap between the cap portions, while the grip roller 314 on the right side of the figure moves relatively upward so as to remain in contact with the upper surface of the cap portion. In this way, the two grip rollers 314 can move up and down according to the position of the cap portion of the PET bottle beverage on the upper surface of the package P, and can change their orientation to make it easier to grip the plastic film on the upper surface of the package P.

[0214] Figure 31C(b) shows another example of the state in which the two grip rollers 314 are pressed against the plastic film on the top surface of the package P. In this example, the PET bottle beverages contained in the package P are arranged in two rows, and when attempting to grip the plastic film by pressing the grip rollers 314 against the top surface of the package P, there is a risk that both the left and right portions of the cut line of the plastic film shown will get caught between the two grip rollers 314. For such a package P, as shown in Figure 31C(b), it is also possible to grip the plastic film by changing the orientation of the two grip rollers 314 using the connecting mechanism 316, pressing the grip rollers 314 near the corners of the top surface of the package P, bringing one grip roller 314 (left side shown) into contact with the cap portion of the PET bottle beverage, and pressing the other grip roller 314 (right side shown) against the plastic film on the corner slope.

[0215] Next, we will explain the process of unpacking a package P that has corrugated cardboard packaging, with reference to Figure 32. Figure 32 is a schematic diagram showing the process of unpacking a package P that has corrugated cardboard packaging.

[0216] First, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units to move the unpacking grip unit 310 above the package P placed on the stage unit 380, and positions the unpacking grip unit 310 so that the two suction cups 313a of the suction section 313 of the unpacking grip unit 310 are located in the area approximately in the center of the upper surface of the package P (Figure 32(a)).

[0217] Next, the processor 610 of the control device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the unpacking grip unit 310 and the first vertical movement unit 320) to move the unpacking grip unit 310 downward until the suction cup 313a of the unpacking grip unit 310 is pressed against the upper surface of the corrugated cardboard package P. Then, the processor 610 of the control device 600 instructs the control unit of the unpacking unit 300 to operate a vacuum pump (not shown) connected to the connection port 313b of the suction unit 313 to vacuum-suction the air inside the suction cup 313a, thereby gripping the upper surface of the package P, that is, the upper part of the corrugated cardboard package P that was cut in the above step, with the suction cup 313a (Figure 32(b)).

[0218] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the first vertical movement unit 320 and the front-to-back movement unit 370) to move the unpacking grip unit 310, which is gripping the upper part of the cardboard package P, upward so that it is separated from the lower part of the package P, and then move it horizontally in the direction to the right in the Y-axis direction as shown in Figure 13 to a position above the waste box TB (Figure 32(c)).

[0219] Next, the processor 610 of the management device 600 instructs the control unit of the unpacking unit 300 to operate each of the above units (in particular, the unpacking grip unit 310 and the stage unit 380), moving the stage unit 380 in the Y-axis direction shown in Figure 13 from a position above the waste box TB to a position where it is retracted. Then, the vacuum pump (not shown) connected to the connection port 313b of the suction unit 313 is stopped, releasing the grip of the upper part of the cardboard package P by the suction cup 313a, and the upper part of the package P falls into the waste box TB below it (Figure 32(d)). After that, the stage unit 380 is moved back to its original position before the retraction operation.

[0220] As a result, the upper part of the cardboard package P placed on the stage unit 380 is removed, and the upper part of the product inside the package P is exposed to the outside. The cardboard collected in the waste box TB can be collected by store staff or others at any time.

[0221] Next, the processor 610 of the control device 600 instructs the control unit of the unpacking unit 300 to open the clamp unit 382 of the stage unit 380, releasing the clamp unit 382 from the tray 216 on the stage unit 380 and the package P on it, and rotates the conveyor belt 421 of the gripper 420 in the opposite direction to the above process, pulling the tray 216 with the unpacked package P on it out of the stage unit 380 and placing it back on the gripper 420.

[0222] Next, the processor 610 of the management device 600 instructs the control unit of the package transfer unit 400 to move the gripper 420 to a height position approximately opposite the original rack 210 from which the tray 216 carrying the package P was pulled out, which is located in the transfer section 200C of the rotary rack 200, and to have the camera 430 mounted on the gripper 420 photograph the rack 210, which is located opposite the gripper 420. The image captured by the camera 430 is transmitted to the management device 600. The original rack 210 from which the tray 216 carrying the package P was pulled out, which is located in the transfer section 200C of the rotary rack 200, may remain in that position while the package P is being unpacked in the above process, or it may be moved back to the transfer section 200C of the rotary rack 200 at the timing when the tray 216 carrying the unpacked package P is placed back on after the rotary rack 200 has been rotated.

[0223] Finally, the processor 610 of the management device 600, based on the video of the rack 210 transmitted from the camera 420 of the package transfer unit 400, uses any image recognition technology or a trained model created by machine learning to instruct the control unit of the package transfer unit 400 to operate the gripper 420, move the gripper 420 forward, and rotate the conveyor belt 421 of the gripper 420 in the opposite direction to the above process, thereby returning the tray 216 on which the unpacked package P was placed back onto the original rack 210 on which the package P was placed.

[0224] Through the series of steps described above, the package P placed on the rack 210 of the rotary rack 200 is transferred to the unpacking unit 300 by the package transfer unit 400, where the package P is unpacked, and then returned to the original 210 from the unpacking unit 300 by the package transfer unit 400. In package unpacking mode (S24), the above steps are performed on the packages P placed on the other racks 210 of the rotary rack 200, thereby sequentially unpacking the packages P on the rotary rack 200.

[0225] (5) Display Item Replenishment Mode The display item replenishment mode (S25) is a mode in which the product replenishment robot 100, which moves along the rail R between the rotary rack 200 and the display shelf SL10, grasps the products in the unpacked packages P placed on the rack 210 of the rotary rack 200, removes them from the packages P, and moves them onto the display lane of the products on the display shelf SL10, thereby replenishing the display shelf SL10 with products. In the display item replenishment mode, the product replenishment robot 100 operates as described with reference to the flowchart shown in Figure 7, moving products from the packages P on the rack 210 of the rotary rack 200 to the display shelf SL10, thereby replenishing the display shelf SL10 with products.

[0226] The control device 150 operates the product replenishment robot 100 to take a photograph of the display shelf (step S11 in Figure 7) and determines whether replenishment is possible on that display shelf (step S12 in Figure 7). As a result, once it is determined which product needs to be replenished on which shelf SL11 of the display shelf SL10, the control device 150 transmits replenishment information to the management device 600, including the type of product to be replenished and the location of the shelf SL11 on the display shelf SL10 where that product should be replenished.

[0227] When the management device 600 receives the replenishment information, the processor 610 of the management device 600 causes the control unit of the rotary rack 200 to rotate the rack tiers of the rotary rack 200, including the rack 210 on which the opened package P containing the type of product indicated in the replenishment information is placed, to move the rack 210 to a replenishment position that is roughly opposite to the position of the shelf board SL11 of the display shelf SL10 indicated in the replenishment information. If there is another rack tier above the rack tier, the processor 610 rotates the upper rack tier so that an empty slot of the upper rack tier is placed on top of the rack 210. The storage unit 620 of the management device 600 stores information acquired in rack scan mode (step S23 in Figure 28) regarding which type of product package P is placed on which rack tier and which rack 210. The processor 610 can refer to this information to identify the rack 210 on the rotary rack 200 that contains the type of product package P to be replenished. Furthermore, the processor 610 can recognize the position of the rack 210 on the rotary rack 200 by obtaining from the memory unit of the rotary rack 200 the number of times intermittent circular movement operations have been counted on the rack stage including the rack 210. In addition, the processor 610 of the management device 600 can identify a position that is roughly opposite to the shelf SL11 on which the products are to be replenished, based on the position information of the shelf SL11 of the display shelf SL10 indicated in the replenishment information above. Based on the information thus obtained or identified, the processor 610 instructs the control unit of the rotary rack 200 to move the rack 210 on which the packages P of the type of products to be replenished are placed, and the empty slot on the upper shelf, to a replenishment position that is roughly opposite to the shelf SL11 on which the products are to be replenished.

[0228] Subsequently, the control device 150 instructs the product replenishment robot 100 to perform the following actions: photographing the rack (step S13 in Figure 7), identifying the product to be grasped (step S14 in Figure 7), and performing a product replenishment operation (step S15 in Figure 7). The robot then retrieves the product of the type to be replenished from the opened package P on the rack 210 on which the packages P of the product to be replenished are placed, and moves the product to the product lane of the shelf board SL11 where the product replenishment is performed. This replenishes the shelf board SL11 of the display shelf SL10. The reason for placing an empty slot on the upper level above the rack 210 on which the packages P of the product to be replenished are placed is to facilitate the grasping unit 10's access to the package P from above and grasp the product inside during the product replenishment operation (step S15 in Figure 7) by the product replenishment robot 100.

[0229] Here, the above explanation took the example of moving the rack 210 to a replenishment position roughly opposite the shelf board SL11 where the products are to be replenished, and then performing the product replenishment operation by the product replenishment robot 100. The purpose of this is to shorten the distance traveled by the product replenishment robot 100 and reduce the operating time for the product replenishment operation by making the distance between the package P containing the products to be replenished and the shelf board SL11 where the products are to be replenished as short as possible. It is preferable to position the rack 210 so that the distance between the package P containing the products to be replenished and the shelf board SL11 where the products are to be replenished is short, but it is not necessarily required to move the rack 210 to a replenishment position roughly opposite the shelf board SL11 where the products are to be replenished, and the position of the rack 210 may be determined by comprehensively considering the four distance elements.

[0230] Here, the four distance elements include the current position of the rack 210 on which the package P containing the product to be replenished is placed, the current position of the empty slot on the upper rack, the position of the shelf SL11 on which the product is to be replenished, and the current position of the product replenishment robot 100. The processor 610 of the management device 600 may, for example, calculate the estimated time until the product replenishment robot 100 completes the product replenishment by moving the rack 210 on which the packages P containing the products to be replenished are placed, and the empty slots in the upper rack section, from their current positions to a replenishment position roughly opposite the shelf board SL11 where the products will be replenished, and then move the rack 210 and the empty slots by the shortest distance to a position where they overlap (a replenishment position somewhat away from the position roughly opposite the shelf board SL11), and then perform the product replenishment by moving the product replenishment robot 100 back and forth between the replenishment position where the rack 210 is placed and the position of the shelf board SL11, and then compare these estimated times and adopt the operation with the shorter estimated time to complete the product replenishment.

[0231] In addition, rack 210 may also contain pallets (mixed pallets) containing multiple types of products as packages P. In this case, in the rack scan mode described above (step S23 in Figure 28), the multiple types of products contained in the mixed pallet on rack 210 are recognized and stored in the storage unit 620. On the other hand, when the product replenishment robot 100 and its control device 150 pick up a product from the mixed pallet, they cannot identify what type of product it is. Therefore, the product replenishment robot 100 places the picked-up product on the rotating table 512 of the identification device 500 (see Figure 26). If it is a product to be replenished, the product replenishment robot 100 grasps the product again and moves it to the shelf SL11 of the display shelf SL10 to be replenished. Otherwise, the product replenishment robot 100 grasps the product again and returns it to the original mixed pallet. This operation is repeated until the product of the type to be replenished is recognized.

[0232] (6) Rest Mode Rest mode (S26) is a mode in which, when store employees or workers enter the installation area of ​​the product replenishment system 1 for maintenance of the product replenishment system 1 in the store, the product replenishment robot 100 is moved to a predetermined position on the rail R (for example, near one end of the rail R), the arm 20 is folded and the robot is placed in a predetermined resting position, and the operation of the product replenishment robot 100 and each unit 200, 300, 400, 500 of the product replenishment system 1 is stopped. When maintenance is completed, the product replenishment robot 100 and each unit 200, 300, 400, 500 of the product replenishment system 1 are started again, and the operation of each of the above modes is resumed.

[0233] During rest mode, store staff or workers can, for example, perform maintenance on the product replenishment robot 100 and each unit 200, 300, 400, and 500, remove empty packages P remaining on each rack 210 of the rotary rack 200, or remove waste contained in the waste box TB of the unpacking unit. Furthermore, the operator of the control device 600 can also perform maintenance work on the control device 600.

[0234] As described above, according to the product replenishment system of this embodiment, when a product package P delivered to the store is placed on the rack 210 of the rotary rack 200 in its original state, the package P is transported to the unpacking unit 300, where the top of the package P is unpacked by the package transfer unit 400, and then returned to the rack 210 of the rotary rack 200. Then, the product replenishment robot 100 takes the product from the unpacked package P placed on the rack 210 of the rotary rack 200 and moves it onto the display lane of the shelf board SL11 of the display shelf SL10 where the product will be replenished, thereby replenishing the product on the display lane of the shelf board SL11. Therefore, it is possible to reduce the burden on store employees and others who would otherwise have to unpack the packages P stored in the store, take out the products, and replenish them on the inventory shelves.

[0235] The present disclosure has been described above through embodiments of the invention, but the above embodiments do not limit the invention as defined in the claims. Furthermore, combinations of the features described in the embodiments of this disclosure may also fall within the technical scope of the present invention. Moreover, it will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments.

Claims

1. A rotary rack having a plurality of racks on which packages containing goods can be placed, wherein the plurality of racks are configured to rotate around the rotary rack; and a product replenishment robot that performs the operation of grasping the goods contained in the packages placed on the racks of the rotary rack and moving them to a display shelf.

2. The product replenishment system according to claim 1, further comprising: an unpacking unit having a stage on which the packages are placed, and unpacking the packages placed on the stage; and a package transfer unit installed between the rotary rack and the unpacking unit, which transfers unopened packages placed on the racks of the rotary rack onto the stage of the unpacking unit, and transfers unpacked packages unpacked by the unpacking unit from the stage onto the racks.

3. The product replenishment system according to claim 1, wherein the rotary rack comprises at least one circumferential guide rail extending along the longitudinal direction of the rotary rack, and the plurality of racks are configured to circumfer the circumferential guide rail.

4. The product replenishment system according to claim 3, wherein each of the circular guide rails on each level is provided with a drive unit that drives the plurality of racks so that they rotate around the circular guide rail.

5. The product replenishment system according to claim 2, wherein the unpacking unit comprises a cutting unit for cutting the packaging material of an unopened package placed on the stage, and an unpacking gripper unit for gripping the cutting packaging material of the package in order to open the package.

6. The product replenishment system according to claim 5, wherein the cutting unit comprises a horizontal cutter section having a horizontal cutter blade whose cutting edge is oriented horizontally, and a vertical cutter section having a vertical cutter blade whose cutting edge is oriented vertically.

7. The product replenishment system according to claim 6, wherein the cutting unit has a main body portion provided with the horizontal cutter portion and the vertical cutter portion, and the vertical cutter portion is configured to change its posture between a first posture in which the vertical cutter blade protrudes laterally from the side of the main body portion such that the tip of the vertical cutter blade faces downward, and a second posture in which the vertical cutter blade protrudes downward from the bottom of the main body portion such that the tip of the vertical cutter blade faces laterally.

8. The product replenishment system according to claim 5, wherein the unpacking gripper unit comprises: at least one suction cup that grips the packaging material of the package by sucking air from inside the package after contacting the packaging material of the package; and two grip rollers that extend parallel to each other in the longitudinal direction, are arranged so that their respective peripheral surfaces are in contact with each other and are configured to rotate in opposite directions to each other, and are configured to grip the packaging material of the package at the contact portion between their respective peripheral surfaces.

9. The product replenishment system according to claim 8, wherein the package includes a package in which the product contained inside is surrounded by a packaging material made of plastic film, and a package in which the product contained inside is surrounded by a packaging material made of corrugated cardboard, the two grip rollers grip the plastic film on the outer surface of the package surrounded by the packaging material made of plastic film cut by the cutting unit, and the suction cup grips the corrugated cardboard on the outer surface of the package surrounded by the packaging material made of corrugated cardboard cut by the cutting unit.

10. The product replenishment system according to claim 2, wherein the package transfer unit is equipped with a gripper for bidirectionally transferring the package between the rack of the rotary rack and the stage of the unpacking unit.

11. The product replenishment system according to claim 10, wherein the gripper is configured to be movable horizontally in a first direction toward the rack of the rotary rack and a second direction toward the stage of the unpacking unit, and is also movable vertically.

12. The system further comprises a control device that controls the operation of the product replenishment robot, the rotary rack, the unpacking unit, and the package transfer unit, the control device having a control unit and a storage unit, the storage unit storing the position of each rack on the rotary rack and the type of product contained in the package placed on each rack in association with each other, the control unit controlling the rotary rack to make the plurality of racks rotate, the package transfer unit to pull out the unopened packages placed on the racks and transfer them onto the stage of the unpacking unit, the unpacking unit to unpack the packages placed on the stage, the package transfer unit to pull out the opened packages from the stage of the unpacking unit and transfer them onto the racks, and the rotary rack to make the plurality of racks rotate and move the racks on which the opened packages are placed to the replenishment position. The product replenishment system according to claim 2, wherein the product replenishment robot is configured to grasp the products in the unpacked packages placed on the rack positioned at the replenishment location and move them to the display shelf.

13. A control device for controlling the operation of the product replenishment robot, the rotary rack, the unpacking unit and the package transfer unit in a product replenishment system comprising: a rotary rack having a plurality of racks on which packages containing products are placed, wherein the plurality of racks are configured to rotate around the rotary rack; a product replenishment robot that performs the operation of grasping the products contained in the packages placed on the racks of the rotary rack and moving them to a display shelf; an unpacking unit having a stage on which the packages are placed, and unpacking the packages placed on the stage; and a package transfer unit installed between the rotary rack and the unpacking unit, which transfers the unpacked packages placed on the racks of the rotary rack onto the stage of the unpacking unit, and transfers the unpacked packages that have been unpacked by the unpacking unit from the stage onto the rack; the control device comprises a control unit and a storage unit. The storage unit stores the position of each rack in the rotary rack and the type of product contained in the package placed on each rack, in association with each other. The control unit is configured to perform the following actions: cause the rotary rack to rotate the plurality of racks; cause the package transfer unit to pull out the unopened packages placed on the racks and transfer them onto the stage of the unpacking unit; cause the unpacking unit to unpack the packages placed on the stage; cause the package transfer unit to pull out the opened packages from the stage of the unpacking unit and transfer them onto the racks; cause the rotary rack to rotate the plurality of racks and move the racks on which the opened packages are placed to a replenishment position; and cause the product replenishment robot to grasp the products in the opened packages placed on the racks at the replenishment position and move them to the display shelves.

14. A rotary rack comprising a plurality of racks on which packages containing goods are placed, wherein the plurality of racks are configured to circumfer on the rotary rack, the rotary rack comprises at least one circumferential guide rail extending along the longitudinal direction of the rotary rack, and the plurality of racks are configured to circumfer around the circumferential guide rail.

15. The rotary rack according to claim 14, wherein each of the circular guide rails of each stage is provided with a drive unit that drives the plurality of racks so that they rotate around the circular guide rail.

16. An unpacking unit comprising a stage on which an unopened package containing goods is placed, and for unpacking the package placed on the stage, the unpacking unit comprising a cutting unit for cutting the packaging material of the unopened package placed on the stage, and an unpacking gripper unit for gripping the cutting packaging material of the package in order to open the package.

17. A package transfer unit installed between a rotary rack having a plurality of racks on which packages containing goods can be placed, and an unpacking unit having a stage on which packages containing goods can be placed, and unpacking the unopened packages placed on the stage, wherein the package transfer unit is configured to transfer the unopened packages placed on the racks of the rotary rack onto the stage of the unpacking unit, and to transfer the unpacked packages that have been unpacked by the unpacking unit from the stage onto the racks.

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