CN109326049A - Vending machine automatic recharging method - Google Patents
Vending machine automatic recharging method Download PDFInfo
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- CN109326049A CN109326049A CN201811013868.XA CN201811013868A CN109326049A CN 109326049 A CN109326049 A CN 109326049A CN 201811013868 A CN201811013868 A CN 201811013868A CN 109326049 A CN109326049 A CN 109326049A
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- vending machine
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 230000005611 electricity Effects 0.000 claims description 9
- 230000001960 triggered effect Effects 0.000 claims description 9
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052802 copper Inorganic materials 0.000 claims description 8
- 239000010949 copper Substances 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000004044 response Effects 0.000 abstract description 5
- 238000004891 communication Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F9/00—Details other than those peculiar to special kinds or types of apparatus
- G07F9/002—Vending machines being part of a centrally controlled network of vending machines
-
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention belongs to Vending Machine fields, more particularly to the automatic recharging method of vending machine, including Vending Machine, charging unit and host computer, after detecting that Vending Machine reaches charging unit set-point, the charging unit is sent infrared signal and is communicated with Vending Machine, and Vending Machine receives the signal and moves to charging unit position, until the travel switch triggering on charging unit, stop motion is charged；The automatic recharging method step is simple, it is easily achieved, infrared receiving/transmission plate real-time perfoming transmitting-receiving process is both provided with above charging pile and Vending Machine, and it sends every time, recipient has to response, find the position of charging pile accurately by pose adjustment, charge while its wheel is stuck in charging pile lock slots and is fixed, lockable leads to its accidental interruption that charges to avoid outside cause when charging, charging pile is carried out wireless communication with Vending Machine simultaneously, using the wireless module of 2.4G, charging reliability and safety is improved.
Description
Technical field
The invention belongs to Vending Machine fields, and in particular to the automatic recharging method of vending machine.
Background technique
Temporarily without automatic vending Vending Machine and its automatic recharging method, technically immediate is Vending Machine of sweeping the floor
With the automatic charging mechanism charging method of partial service Vending Machine.Above-mentioned automatic charging mechanism passes through the touching of electrode slice
It charges, if Vending Machine is detached from by accidental movement and automatic charging mechanism during the charging process, can move back automatically
Charging mechanism is back to continue to charge.In order to reach above-mentioned function, it is desirable that Vending Machine bobbin movement part is during the charging process
It is constantly in electriferous state, this will lead to, and volume is big, weight is big mobile vending machine consumes energy increases, and charge efficiency reduces.Moreover,
It has no and communicates between above-mentioned automatic charging mechanism and Vending Machine, when there is metal object surprisingly to contact automatic charging mechanism electrode
It may cause failure when piece.Therefore, it copes with existing charging method to improve, to adapt to the automatic charging of Vending Machine.
Summary of the invention
To solve the above the deficiencies in the prior art, the invention discloses a kind of vending machine automatic recharging methods.
In order to solve the above-mentioned technical problem, the invention adopts the following technical scheme: providing a kind of vending machine automatic charging side
Method, comprising the following steps:
S1: detect Vending Machine through navigation device navigation be moved to charging unit set-point after, the charging unit
Feedback reaches information to host computer；The infrared encoded signal that the spin of Vending Machine original place receives charging unit transmitting is matched
Communication；
S2: the corresponding pose adjustment of Vending Machine progress continues to lean on to charging unit after receiving the infrared encoded signal
Closely, the infrared sensor expelling plate above triggering charging unit, so that charging unit is closed infrared sensor expelling plate and beaten
Open charge switch, while feedback information is to Vending Machine；
S3: after receiving the triggering information, the automatic vending chance is opened copper plate electrode and is continued close to touch charging
The copper billet electrode of module, the travel switch in compression electrodes to charging module is triggered inwards；
S4: when travel switch is triggered, the lock slots that Vending Machine wheel is stuck in charging module setting are fixed and stop
Only move；Charging action is completed in Vending Machine base plate electric machine release simultaneously, so that Vending Machine enters charged state；
Further, navigation device described in step S1 is the laser radar for being set to Vending Machine front, described to swash
Optical radar is for detecting charging unit and navigating.
Further, charging unit is encoded red by the infrared sensor expelling plate transmitting being arranged thereon in step S1
The infrared sensor receiver board of outer transmitting signal, Vending Machine setting carries out posture by receiving infrared emission encoded signal
Adjustment, position of the Vending Machine relative to charging unit is determined by encoded radio.
Further, pose adjustment described in step S2 is specially that Vending Machine rotates in place, and infrared sensor receives
The reception pipe on the left side receives the encoded radio of transmitting tube on the right of infrared sensor expelling plate on plate, with regard to left and rotation counterclockwise
Turn, the reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board, just
It right translation and rotates clockwise, the reception pipe on the left side receives infrared sensor expelling plate left side hair on infrared sensor receiver board
The encoded radio of pipe is penetrated, the reception pipe on the right receives the encoded radio on the right, and Vending Machine is just kept straight on.
Further, Vending Machine described in step S2 does not receive infrared encoded signal, then judges that receiving time is
No is more than setting value, is continued waiting for if being less than.
Further, if receiving time is more than setting value, Vending Machine reports failure information to host computer.
Further, if the Vending Machine fills electricity within the set time, report charging successful information to upper
Machine.
Further, if the Vending Machine does not fill electricity within the set time, report failure information to host computer.
Further, pass through wireless transmission charge completion information to charging unit after the Vending Machine charging complete.
Further, after receiving the charge completion information, charging unit turns on the lock slots being arranged thereon, is released from
Dynamic vending machine wheel, rules it out charged state.
The invention has the following advantages: the automatic recharging method step is simple, it is easy to accomplish, it is sold for movable type
Machine larger volume and design, stability, reliability are stronger during the charging process, are both provided with above charging pile and Vending Machine
Infrared receiving/transmission plate real-time perfoming transmitting-receiving process, and each time after transmission, recipient has to response, is looked for by pose adjustment
The position of quasi- charging pile, Vending Machine charge while its wheel is stuck in charging pile lock slots and is fixed, and when charging can lock
It is fixed to lead to its accidental interruption that charges to avoid outside cause, while charging pile is carried out wireless communication with Vending Machine, is used
The wireless module of 2.4G improves charging reliability and safety.
Detailed description of the invention
Fig. 1 is the flow chart of vending machine automatic recharging method of the present invention；
Fig. 2 is the charging unit structural schematic diagram of vending machine automatic recharging method of the present invention；
Fig. 3 is the overall workflow figure of vending machine automatic recharging method of the present invention.
Specific embodiment
The invention adopts the following technical scheme: a kind of vending machine automatic recharging method is provided, as shown in Figure 1, including following
Step:
S1: detect Vending Machine through navigation device navigation be moved to charging unit set-point after, the charging unit
Feedback reaches information to host computer；The infrared encoded signal that the spin of Vending Machine original place receives charging unit transmitting is matched
Communication；
S2: the corresponding pose adjustment of Vending Machine progress continues to lean on to charging unit after receiving the infrared encoded signal
Closely, the infrared sensor expelling plate above triggering charging unit, so that charging unit is closed infrared sensor expelling plate and beaten
Open charge switch, while feedback information is to Vending Machine；
S3: after receiving the triggering information, the automatic vending chance is opened copper plate electrode and is continued close to touch charging
The copper billet electrode of module, the travel switch in compression electrodes to charging module is triggered inwards；
S4: when travel switch is triggered, the lock slots that Vending Machine wheel is stuck in charging module setting are fixed and stop
Only move；Charging action is completed in Vending Machine base plate electric machine release simultaneously, so that Vending Machine enters charged state；
It is highly preferred that navigation device described in step S1 is the laser radar for being set to Vending Machine front, it is described to swash
Optical radar is for detecting charging unit and navigating.
It is highly preferred that charging unit is encoded red by the infrared sensor expelling plate transmitting being arranged thereon in step S1
The infrared sensor receiver board of outer transmitting signal, Vending Machine setting carries out posture by receiving infrared emission encoded signal
Adjustment, position of the Vending Machine relative to charging unit is determined by encoded radio.
It is highly preferred that pose adjustment is specially that Vending Machine rotates in place in step S2, on infrared sensor receiver board
The reception pipe on the left side receives the encoded radio of transmitting tube on the right of infrared sensor expelling plate, red with regard to left and rotation counterclockwise
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on outer sensor receiver board, with regard to right translation
With rotate clockwise, the reception pipe on the left side receives infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Encoded radio, the reception pipe on the right receive the encoded radio on the right, and Vending Machine is just kept straight on.
It is highly preferred that Vending Machine does not receive infrared encoded signal in step S2, then judge whether receiving time surpasses
Setting value is crossed, is continued waiting for if being less than.
It is highly preferred that Vending Machine reports failure information to host computer if receiving time is more than setting value.
It is highly preferred that if the Vending Machine fills electricity within the set time, report charging successful information to upper
Machine；If the Vending Machine does not fill electricity within the set time, report failure information to host computer.
It is highly preferred that passing through wireless transmission charge completion information to charging unit after Vending Machine charging complete.
Wherein, after receiving the charge completion information, charging unit turns on the lock slots being arranged thereon, discharges automatic selling
Wheel is sold, charged state is ruled it out.
As shown in figure 3, overall workflow of the present invention for the automatic recharging method of vending machine is as follows:
Charging unit specifically uses charging pile (to be also not necessarily limited to charging pile, can be other can match with Vending Machine
The equipment with charge function), by selling for a long time, the electricity of automatic vending machine battery can be lower than to be set Vending Machine
Definite value, influences the normal work of Vending Machine, and the controller of Vending Machine receives the automatic of host computer and recharges instruction or institute
The power management module for stating Vending Machine judges that its voltage lower than setting value (5%), uploads data to host computer, by host computer
It assigns and recharges request to charging pile, judge whether charging pile replys the charge request, charging pile is to be set to merchant store or solid
Determine place, if charging pile does not carry out response reply, reports failure information to host computer；If charging pile carries out response, from
Dynamic vending machine starts to return to charged area.A kind of scheme is that Vending Machine is filled using the laser radar that its front is arranged to detect
Electric stake position, concrete mode are as follows: have one 30*15 centimetres of retroreflective regions on charging pile, this retroreflective regions it is reflective
It is very strong, it is just very big that the reflecting rate in the data of this part then is received in laser radar, is taken as detecting in this way filling
Electric stake.The area of this retroreflective regions can be calculated by the cosine law, then by the face of this region area and actual area
Product is made comparisons, and so can significantly be prevented the interference of the very high object of other reflecting rates, be judged that Vending Machine is
The no position for searching out charging pile reports if hunting time is more than 10s and finds failure information to host computer；It is filled if searching out
The position of electric stake, then host computer converses the position of charging pile by the detection data of laser radar, cooks up one and goes to and fills
The Dubins curve of electricity point, the subsequent Vending Machine, which is gone to by its PID control along the Dubins curve, fills an electricity,
Judge whether Vending Machine reaches charge point afterwards, is continued waiting for if not reaching charging pile.
May farther out, for precision navigation due to selling distance, another embodiment is that Vending Machine carries out in situ
Spinning is navigated to host computer to the laser radar that Vending Machine is set by the laser radar navigation operation being arranged thereon
Target point, the target point are to be also possible to the target point of other positions, target positioned at 1.25 meters on charging pile perpendicular bisector of position
Point can form the region of an arbitrary shape.In the visual range of laser radar, the data of laser radar return can be passed through
Coordinate and direction of the charging pile below laser radar coordinate system are calculated, is converted by coordinate system, automatic selling can be calculated
It sells coordinate and direction of the machine below charging pile coordinate system and is not at mesh if Vending Machine is before target point at this time
Between punctuate and charging pile, then just planning a Bezier by the changing coordinates of Vending Machine, then by automatic
The X or Y of vending machine changing coordinates calculate the actual point on Bezier, then seek first derivative to Bezier,
The tangent line of this point is calculated, tangential direction is exactly the target direction of Vending Machine, and Vending Machine current point arrives tangent line
Distance with regard to approximation be considered Vending Machine current point to Bezier the shortest distance, then to the deviation of directivity and apart from inclined
Difference respectively does a PID arithmetic, and the angular speed by the sum of output of PID arithmetic twice as Vending Machine exports, then automatically
Vending machine will be moved along this Bezier, and Vending Machine is perpendicular to charging when reaching target point in this way
Stake；If Vending Machine is most initially to be between target point and charging pile, behind target point then automatic vending
Machine just according to the coordinate data of its internal odometer being arranged, runs along straight line path and reaches target point.Odometer is exactly to utilize
The value for two motor encoders being arranged on Vending Machine calculates displacement, with gyroscope robot measurement angle information, this
Sample can calculate coordinate of the Vending Machine below odometer coordinate system.
After charging pile detects that Vending Machine moves to reach charging unit set-point, the charging unit is red through sending
External signal is communicated with Vending Machine, judges whether Vending Machine receives the signal, when to receive this red for Vending Machine
Outer coding signal, then Vending Machine is mobile to charging unit position by pose adjustment, if not receiving the infrared coding
Signal then judges that the time whether more than 10 seconds, continues waiting for if being less than, is more than to report error message extremely in 10 seconds when the time
Host computer；The specific detection mode of infrared signal are as follows: after Vending Machine reaches charge point, the position of Vending Machine is at this time
Arbitrarily, the charging unit passes through the encoded infrared emission signal of infrared sensor expelling plate transmitting being arranged thereon, from
The infrared sensor receiver board of dynamic vending machine setting carries out pose adjustment by receiving infrared emission encoded signal, passes through coding
Value determines position of the Vending Machine relative to charging unit, and the pose adjustment is specially that Vending Machine rotates in place,
The reception pipe on the left side receives the encoded radio of transmitting tube on the right of infrared sensor expelling plate on infrared sensor receiver board, just left flat
It moves and rotates counterclockwise, the reception pipe on the right receives infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Encoded radio, with regard to right translation and rotate clockwise, the reception pipe on the left side receives infrared sensor on infrared sensor receiver board
The encoded radio of expelling plate left side transmitting tube, the reception pipe on the right receive the encoded radio on the right, and Vending Machine is just kept straight on；Judgement
Behind the position of charging pile, Vending Machine begins to move to charging pile Vending Machine out, when Vending Machine touches
The infrared sensor above charging pile can be triggered when charging pile, at this moment charging pile may turn off infrared sensor and open and fills
Electric switch, while being sent by the second wireless transmit/receive units and to reach information to Vending Machine, after reaching information described in reception, from
Dynamic vending machine continues to charge switch movement, and charge switch copper plate electrode can touch copper billet electrode, and making electrode, face pressure contracts inwards, directly
Travel switch above to charging pile is triggered, and when travel switch is triggered, Vending Machine wheel is stuck in charging module and sets
The lock slots set are fixed and stop motion.Vending Machine base plate electric machine release complete charging action, then Vending Machine into
Enter charge mode, reaches charged state；Vending Machine reports charging successful information to host computer.Automatic vending after charging complete
Chance is by wireless transmission charge completion information to charging pile, and after receiving the information, charging pile just discharges Vending Machine wheel
It rules it out charged state and charge closing switch, waiting is charged next time, Vending Machine chassis re-powers, and leaves and fills
Electric stake is sold again.Lockable Vending Machine wheel when due to charging avoids outside cause that its charging is caused to be interrupted, fills
Electric stake and Vending Machine real-time perfoming wirelessly communicate, using the NRF24L01 wireless module of 2.4G, improve charging reliability and
Wireless transmit/receive units real-time perfoming transmitting-receiving process is both provided with above safety, charging pile and Vending Machine, and each time
After transmission, recipient has to response, and the data of transmission include data head, data, verification, thus can be significantly
Prevent data from interfering.
Claims (10)
1. vending machine automatic recharging method, which comprises the following steps:
S1: Vending Machine is detected after navigation device navigation is moved to charging unit set-point, the charging unit is fed back
Information is reached to host computer；It is logical that the infrared encoded signal that the spin of Vending Machine original place receives charging unit transmitting carries out matching
Letter；
S2: the corresponding pose adjustment of Vending Machine progress is close to charging unit continuation after receiving the infrared encoded signal,
Infrared sensor expelling plate above triggering charging unit fills so that charging unit is closed infrared sensor expelling plate and opened
Electric switch, while feedback information is to Vending Machine；
S3: after receiving the triggering information, the automatic vending chance is opened copper plate electrode and is continued close to touch charging module
Copper billet electrode, the travel switch in compression electrodes to charging module is triggered inwards；
S4: when travel switch is triggered, the lock slots that Vending Machine wheel is stuck in charging module setting are fixed and stop transporting
It is dynamic；Charging action is completed in Vending Machine base plate electric machine release simultaneously, so that Vending Machine enters charged state.
2. vending machine automatic recharging method as described in claim 1, which is characterized in that navigation device described in step S1 is to set
It is placed in the laser radar of Vending Machine front, the laser radar is for detecting charging unit and navigating.
3. vending machine automatic recharging method as described in claim 1, which is characterized in that charging unit is by thereon in step S1
The infrared sensor expelling plate of setting emits encoded infrared emission signal, and the infrared sensor of Vending Machine setting receives
Plate carries out pose adjustment by receiving infrared emission encoded signal, determines Vending Machine relative to charging by encoded radio
The position of device.
4. vending machine automatic recharging method as described in claim 1, which is characterized in that pose adjustment described in step S2 is specific
It is rotated in place for Vending Machine, the reception pipe on the left side receives on the right of infrared sensor expelling plate on infrared sensor receiver board
The encoded radio of transmitting tube, with regard to left and rotation counterclockwise, the reception pipe on the right is received infrared on infrared sensor receiver board
The encoded radio of sensor emission plate left side transmitting tube, with regard to right translation and rotates clockwise, the left side on infrared sensor receiver board
Reception pipe receives the encoded radio of infrared sensor expelling plate left side transmitting tube, and the reception pipe on the right receives the coding on the right
Value, Vending Machine are just kept straight on.
5. vending machine automatic recharging method as described in claim 1, which is characterized in that Vending Machine described in step S2 is not
Infrared encoded signal is received, then judges whether receiving time is more than setting value, is continued waiting for if being less than.
6. vending machine automatic recharging method as claimed in claim 5, which is characterized in that if receiving time is more than setting value,
Vending Machine reports failure information to host computer.
7. vending machine automatic recharging method as described in claim 1, which is characterized in that if the Vending Machine is in setting
It is interior to fill electricity with, then report charging successful information to host computer.
8. vending machine automatic recharging method as claimed in claim 7, which is characterized in that if the Vending Machine is not being set
It fills electricity in time with, then reports failure information to host computer.
9. vending machine automatic recharging method as described in claim 1, which is characterized in that after the Vending Machine charging complete
Pass through wireless transmission charge completion information to charging unit.
10. vending machine automatic recharging method as described in claim 1, which is characterized in that after receiving the charge completion information,
Charging unit turns on the lock slots being arranged thereon, discharges Vending Machine wheel, rules it out charged state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013868.XA CN109326049A (en) | 2018-08-31 | 2018-08-31 | Vending machine automatic recharging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811013868.XA CN109326049A (en) | 2018-08-31 | 2018-08-31 | Vending machine automatic recharging method |
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| CN109326049A true CN109326049A (en) | 2019-02-12 |
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ID=65264222
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| CN201811013868.XA Pending CN109326049A (en) | 2018-08-31 | 2018-08-31 | Vending machine automatic recharging method |
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2018
- 2018-08-31 CN CN201811013868.XA patent/CN109326049A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204631616U (en) * | 2015-05-13 | 2015-09-09 | 美的集团股份有限公司 | Robot |
| CN106355345A (en) * | 2016-09-08 | 2017-01-25 | 京东方科技集团股份有限公司 | Intelligent dispatching system and method of automatic vending robots |
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| CN107825425A (en) * | 2017-11-03 | 2018-03-23 | 深圳市杉川机器人有限公司 | Robot control method, device, robot and cradle |
| CN207663509U (en) * | 2017-12-14 | 2018-07-27 | 深圳卓和云投资控股有限公司 | A kind of automatic cruising vending machine and selling system |
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Application publication date: 20190212 |