Product moving device, method for controlling same, and computer program

A method of controlling a product transfer apparatus configured to move a product placed on a stock shelf to a product display shelf which is different from the stock shelf,

• the product transfer apparatus comprising:
• an arm unit having a holder unit configured to hold the product;
• a movement mechanism configured to move in an area between the stock shelf and the product display shelf;
• an acquisition unit configured to obtain a position of the arm unit;
• and
• a control unit configured to control the arm unit, the holder unit, the movement mechanism, and the acquisition unit,
• wherein the method is performed by the control unit and including:
• acquiring a position of the arm unit relative to a reference position of the product transfer apparatus by the acquisition unit when operation of the product transfer apparatus is started from an operation stop state;
• determining whether or not the arm unit is positioned within a predetermined area between the stock shelf and the product display shelf;
• and
• moving the arm unit into the predetermined area if the arm unit is not positioned within the predetermined area.

A non-transitory computer-readable storage medium storing a computer program thereon for controlling a product transfer apparatus configured to move a product placed on a stock shelf to a product display shelf which is different from the stock shelf, wherein the product transfer apparatus comprising:

• an arm unit having a holder unit configured to hold the product;
• a movement mechanism configured to move in an area between the stock shelf and the product display shelf;
• an acquisition unit configured to obtain a position of the arm unit;
• and a control unit configured to control the arm unit, the holder unit, the movement mechanism, and the acquisition unit;
• and
• wherein the computer program when executed by one or more processor configures the control unit to perform:
• acquiring a position of the arm unit relative to a reference position of the product transfer apparatus by the acquisition unit when operation of the product transfer apparatus is started from an operation stop state;
• determining whether or not the arm unit is positioned within a predetermined area between the stock shelf and the product display shelf;
• and
• moving the arm unit into the predetermined area if the arm unit is not positioned within the predetermined area.