# US 10,504,199 B2 · Picking assistant system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,504,199 B2 - Document ID: US10504199B2 - Status: Granted - Kind: B2 - Application number: 15/740,984 - Filed: 2016-09-12 - Published: 2018-11-29 - Granted: 2019-12-10 - Earliest claimed: 2016-09-12 - Assignees: Aioi Systems Co., Ltd. - Applicants: Aioi Systems Co., Ltd. - Inventors: Kiyoshi Tada; Takamichi Yoshikawa; Takeshi Sato; Tetsuya Iida - Web page: https://patentgrep.com/patent/US10504199B2 ## CPC - G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management - B65G 1/137: with arrangements or automatic control means for selecting which articles are to be removed - G06T 7/254: involving subtraction of images - G06T 7/292: Multi-camera tracking - H04N 9/3141: {Constructional details thereof (details not peculiar to the presence of an electronic spatial light modulator G03B21/14)} - H04N 9/3194: {including sensor feedback} - H04N 23/60: Control of cameras or camera modules - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G06Q 10/08741: {by picking of items from inventory for fulfillment} - G06T 2207/30204: Marker - 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 - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A picking assistant system includes an article shelf in which articles are stocked, a projector displaying an instruction to a worker in a display region defined on the article shelf, and a processor. The processor detects a motion of a movable member which constitutes the article shelf and is configured to move when the article is taken out from the article shelf, and detects an operational error of the worker based on the detected motion of the movable member. ## Claims ### Claim 1 A picking assistant system, comprising: an article shelf in which articles are stocked; a projector configured to display an instruction to a worker in a display region defined on the article shelf; and a processor, wherein the article shelf includes a flexible screen hung at an opening of the article shelf, wherein the display region is defined on the screen, wherein the processor detects a motion of the screen, and detects an operational error of the worker based on the detected motion of the screen. ### Claim 2 (depends on 1) The picking assistant system according to claim 1, further comprising an imaging device which captures a captured image in which the screen is reflected, wherein the processor detects the motion of the screen based on the captured image. ### Claim 3 (depends on 2) The picking assistant system according to claim 2, wherein a first marker is attached to the screen, and wherein the processor detects a motion of the first marker in the captured image and detects the operation error of the worker based on the motion of the first marker. ### Claim 4 (depends on 3) The picking assistant system according to claim 3, wherein the article shelf comprises an article box accommodating the article, wherein a second marker is attached to the article box, and wherein the processor detects motions of the first and second markers in the captured image, and detects the operational error of the worker based on the motions of the first and second markers. ### Claim 5 (depends on 2) The picking assistant system according to claim 2, wherein the article shelf comprises an article box accommodating the article, and wherein the processor detects a motion of the article box in the captured image and detects the operational error of the worker based on the motion of the article box in addition to the detected motion of the screen. ### Claim 6 (depends on 2) The picking assistant system according to claim 2, wherein the imaging device includes a plurality of cameras. ### Claim 7 (depends on 1) The picking assistant system according to claim 1, wherein the processor generates a picking instruction data which indicates an article to be picked by the worker and a number thereof, and determines that an operational error has occurred when the detected motion of the screen does not match the picking instruction data. ### Claim 8 (depends on 1) The picking assistant system according to claim 1, further comprising a support mechanism coupled to the article shelf to hang and support the projector, wherein the support mechanism comprises a vibration isolation device which provides vibration isolation between the projector and the article shelf. ### Claim 9 (depends on 1) The picking assistant system according to claim 1, wherein the projector comprises: an optical unit accommodating an optical system which projects an image and supported movably with respect to a housing of the projector; an actuator; and a vibration sensor, wherein the actuator displaces the optical unit to cancel vibrations detected by the vibration sensor.