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ES2585977A1 - Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento - Google Patents

Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento Download PDF

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Publication number
ES2585977A1
ES2585977A1 ES201630307A ES201630307A ES2585977A1 ES 2585977 A1 ES2585977 A1 ES 2585977A1 ES 201630307 A ES201630307 A ES 201630307A ES 201630307 A ES201630307 A ES 201630307A ES 2585977 A1 ES2585977 A1 ES 2585977A1
Authority
ES
Spain
Prior art keywords
store
location
items
robot
operating procedure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
ES201630307A
Other languages
English (en)
Other versions
ES2585977B1 (es
Inventor
Miguel Ángel RIDAO CARLINI
Carlos Bordons Alba
Eduardo FERNÁNDEZ CAMACHO
Gonzalo HERNÁNDEZ RODRÍGUEZ
Francisco Javier RUBIO GONZÁLEZ
José Luis CORDERO AMARILLO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tier1 Technology Sa
Original Assignee
Tier1 Tech S L
Tier1 Technology Sl
Universidad de Sevilla
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tier1 Tech S L, Tier1 Technology Sl, Universidad de Sevilla filed Critical Tier1 Tech S L
Priority to ES201630307A priority Critical patent/ES2585977B1/es
Priority to US15/217,479 priority patent/US20170270579A1/en
Publication of ES2585977A1 publication Critical patent/ES2585977A1/es
Application granted granted Critical
Publication of ES2585977B1 publication Critical patent/ES2585977B1/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • G06Q30/0613—Electronic shopping [e-shopping] using intermediate agents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B25J13/089—Determining the position of the robot with reference to its environment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
    • G06K7/10861—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices sensing of data fields affixed to objects or articles, e.g. coded labels
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • G06Q30/0639—Locating goods or services, e.g. based on physical position of the goods or services within a shopping facility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Finance (AREA)
  • Accounting & Taxation (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Economics (AREA)
  • Theoretical Computer Science (AREA)
  • Strategic Management (AREA)
  • Development Economics (AREA)
  • Marketing (AREA)
  • General Business, Economics & Management (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Operations Research (AREA)
  • Human Resources & Organizations (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Quality & Reliability (AREA)
  • Tourism & Hospitality (AREA)
  • Toxicology (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Multimedia (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento. Equipo robotizado para la localización de artículos en coordenadas XYZ en una tienda que consta de un robot móvil (1) y puede comprender opcionalmente un ordenador externo (2) conectado por vía inalámbrica con el robot (1), que a su vez está formado por un sistema de visión artificial (3), un sistema de barrido y detección de obstáculos (4), un sistema de lectura de etiquetas activas con señales ópticas y/o electromagnéticas (5), un sistema de desplazamiento (11) formado por al menos dos ruedas motrices, una batería (6) y un controlador (7) que comprende una placa principal con un sistema operativo de código abierto, estando conectado dicho controlador con los diferentes sistemas que conforman el robot y estando configurado para recibir datos de dichos sistemas y procesarlos con objeto de crear un mapa de la tienda y determinar la ubicación de cada artículo en la tienda.

Description

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Claims (1)

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ES201630307A 2016-03-15 2016-03-15 Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento Active ES2585977B1 (es)

Priority Applications (2)

Application Number Priority Date Filing Date Title
ES201630307A ES2585977B1 (es) 2016-03-15 2016-03-15 Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento
US15/217,479 US20170270579A1 (en) 2016-03-15 2016-07-22 Robotic equipment for the location of items in a shop and operating process thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ES201630307A ES2585977B1 (es) 2016-03-15 2016-03-15 Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento

Publications (2)

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ES2585977A1 true ES2585977A1 (es) 2016-10-10
ES2585977B1 ES2585977B1 (es) 2017-05-10

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ES201630307A Active ES2585977B1 (es) 2016-03-15 2016-03-15 Equipo robotizado para la localización de artículos en una tienda y su procedimiento de funcionamiento

Country Status (2)

Country Link
US (1) US20170270579A1 (es)
ES (1) ES2585977B1 (es)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108121359A (zh) * 2016-11-29 2018-06-05 沈阳新松机器人自动化股份有限公司 一种购物机器人
CN108121333A (zh) * 2016-11-26 2018-06-05 沈阳新松机器人自动化股份有限公司 导购机器人
CN114851215A (zh) * 2022-04-14 2022-08-05 哈尔滨工业大学人工智能研究院有限公司 一种服务器上架及下架用移动式机器人系统
CN116442286A (zh) * 2023-06-15 2023-07-18 国网瑞嘉(天津)智能机器人有限公司 机器人作业对象定位系统、方法、装置、机器人及介质

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FR3021144B1 (fr) * 2014-03-26 2016-07-15 Bull Sas Procede de gestion des equipements d'un centre de donnees
US10614538B2 (en) * 2016-08-16 2020-04-07 Walmart Apollo, Llc Object detection using autonomous robot devices
US10664673B2 (en) * 2018-03-29 2020-05-26 Midlab, Inc. Training system for use with janitorial and cleaning products
CN111766877B (zh) * 2018-06-27 2021-08-31 北京航空航天大学 一种机器人
EP4235341B1 (en) 2018-07-17 2025-03-12 Crown Equipment Corporation Systems and methods for vehicle position calibration using rack leg identification
US11258987B2 (en) 2018-09-21 2022-02-22 Microsoft Technology Licensing, Llc Anti-collision and motion control systems and methods
CN114999308B (zh) * 2018-11-19 2024-10-18 深圳市海柔创新科技有限公司 地图生成方法、装置、计算机可读存储介质和计算机设备
WO2020163331A1 (en) 2019-02-06 2020-08-13 Crown Equipment Corporation Systems and methods for end of aisle protection and vehicle position calibration using rack leg identification
US12326733B2 (en) 2019-02-06 2025-06-10 Crown Equipment Corporation Systems and methods for out of aisle localization and vehicle position calibration using rack leg identification
US11815598B2 (en) 2019-06-10 2023-11-14 Microsoft Technology Licensing, Llc Anti-collision and motion monitoring, control, and alerting systems and methods
CN111582805B (zh) * 2020-06-01 2024-02-02 上海适享文化传播有限公司 零售场景下rfid机器人实现扫货盘点及商品定位的方法
CN111907564B (zh) * 2020-07-02 2025-07-22 广州驿享智联信息技术有限公司 仓库读码手推车及控制方法
WO2022041273A1 (zh) * 2020-08-31 2022-03-03 苏州铭冠软件科技有限公司 一种自动分拣系统
CN113093729A (zh) * 2021-03-10 2021-07-09 上海工程技术大学 一种基于视觉与激光雷达的智能购物小车及控制方法
CN113628245B (zh) * 2021-07-12 2023-10-31 中国科学院自动化研究所 多目标跟踪方法、装置、电子设备和存储介质
CN113524217A (zh) * 2021-07-20 2021-10-22 中北大学 一种多模块检测机器人
CN115723130A (zh) * 2022-11-18 2023-03-03 山东新一代信息产业技术研究院有限公司 一种基于视觉定位码的机械臂定位系统及方法

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US20040217166A1 (en) * 2003-04-29 2004-11-04 International Business Machines Corporation Method and system for assisting a shopper in navigating through a store
US20090012667A1 (en) * 2007-07-04 2009-01-08 Kosei Matsumoto Mobile device, moving system, moving method, and moving program
US20090299525A1 (en) * 2008-05-28 2009-12-03 Murata Machinery, Ltd. Autonomous moving body and method for controlling movement thereof
US20150197009A1 (en) * 2014-01-10 2015-07-16 Simon Melikian Method for picking up an article using a robot arm and associated system

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US20020084323A1 (en) * 2000-12-29 2002-07-04 Benyak Donald A. Product locator system
US20040217166A1 (en) * 2003-04-29 2004-11-04 International Business Machines Corporation Method and system for assisting a shopper in navigating through a store
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108121333A (zh) * 2016-11-26 2018-06-05 沈阳新松机器人自动化股份有限公司 导购机器人
CN108121359A (zh) * 2016-11-29 2018-06-05 沈阳新松机器人自动化股份有限公司 一种购物机器人
CN114851215A (zh) * 2022-04-14 2022-08-05 哈尔滨工业大学人工智能研究院有限公司 一种服务器上架及下架用移动式机器人系统
CN116442286A (zh) * 2023-06-15 2023-07-18 国网瑞嘉(天津)智能机器人有限公司 机器人作业对象定位系统、方法、装置、机器人及介质
CN116442286B (zh) * 2023-06-15 2023-10-20 国网瑞嘉(天津)智能机器人有限公司 机器人作业对象定位系统、方法、装置、机器人及介质

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ES2585977B1 (es) 2017-05-10
US20170270579A1 (en) 2017-09-21

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