CN108898737B - Automatic recharging navigation system of vending machine - Google Patents
Automatic recharging navigation system of vending machine Download PDFInfo
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- CN108898737B CN108898737B CN201811015818.5A CN201811015818A CN108898737B CN 108898737 B CN108898737 B CN 108898737B CN 201811015818 A CN201811015818 A CN 201811015818A CN 108898737 B CN108898737 B CN 108898737B
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- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012795 verification Methods 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F15/00—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity
- G07F15/003—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity for electricity
- G07F15/006—Coin-freed apparatus with meter-controlled dispensing of liquid, gas or electricity for electricity dispensed for the electrical charging of other devices than vehicles
-
- 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
- G07F9/006—Details of the software used for the vending machines
Abstract
The invention belongs to the field of vending machines, and particularly relates to an automatic recharging navigation system of a vending machine, which comprises an automatic vending machine, a charging device and an upper computer, wherein the navigation device is used for navigating the automatic vending machine, and the first wireless transceiver unit is used for communicating with the charging device and/or the upper computer; the charging module is used for locking the vending machine and charging the vending machine, and the second wireless transceiver unit is used for communicating with the first transceiver unit; the upper computer is used for receiving uploading data of the automatic vending machine and sending instructions; in the past, the vending machine can only charge in situ, and this system structure is simple, easily realizes for the vending machine can return automatically under the electric quantity not enough the condition and charge the stake and carry out the back and fill, and the vending machine makes its operation to charging device ideal position charge under navigation device's accurate navigation, but the real-time radio communication of carrying out between vending machine, charging stake and the host computer three improves reliability and the security of charging.
Description
Technical Field
The invention belongs to the field of vending machines, and particularly relates to an automatic recharging navigation system of a vending machine.
Background
The system for automatically returning the vending machine to the appointed place for charging is closest to an automatic charging mechanism of the sweeping robot and a part of service robots in technology. Above-mentioned automatic charging mechanism all adopts infrared sensor or laser radar to scan the back and returns the stake of charging and charge, and above-mentioned automatic charging mechanism and the stake of charging do not have real-time communication between, probably lead to the trouble when having the unexpected interference vending machine of object. The traditional automatic recharging mechanism only carries out stationary type selling and charging at a fixed point, can not carry out automatic operation and portable selling, and real-time data in the operation process can not be fed back, and the portable automatic vending machine is suitable for long-distance and large-range selling, and if the electric quantity is too low, the charging pile in-process is returned, if the real-time interactive data of the charging pile is not needed, the fault is easy to happen, therefore, the traditional automatic recharging mechanism is improved, and the realization of an automatic recharging system of the automatic vending machine is adapted.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention discloses an automatic recharging navigation system of a vending machine.
In order to solve the technical problems, the invention adopts the following technical scheme: the automatic recharging and navigation system comprises an automatic vending machine, a charging device and an upper computer, wherein the automatic vending machine is provided with a navigation device and a first wireless receiving and transmitting unit, the navigation device is used for navigating the automatic vending machine, and the first wireless receiving and transmitting unit is used for carrying out real-time communication with the charging device and/or the upper computer; the charging device is provided with a charging module and a second wireless receiving and transmitting unit, the charging module is used for locking the vending machine and charging the vending machine, and the second wireless receiving and transmitting unit is used for carrying out real-time communication with the first wireless receiving and transmitting unit and/or the upper computer; the upper computer is used for sending instructions and receiving uploading data;
when the electric quantity is detected to be lower than a set value, the vending machine feeds back information to the upper computer through the first wireless receiving and transmitting unit; after receiving the feedback information, the upper computer sends a request for starting recharging of the vending machine to the charging device, receives the recharging request response, and instructs the vending machine to navigate to the charging device for charging.
Further, the vending machine detects the charging device through a navigation device, wherein the navigation device is a laser radar arranged at the front part of the vending machine, and the laser radar is used for detecting the charging device and navigating; the automatic vending machine converts the coordinates and the directions of the charging device under the laser radar coordinate system through the data returned by the laser radar, and the coordinates and the directions of the automatic vending machine under the charging device coordinate system can be obtained through coordinate system conversion.
Further, the laser radar detects a light reflecting area arranged on the charging device, compares the shortest continuous line segment with the received data, the light reflecting rate of which is higher than a threshold value, with the actual length of the charging device, calculates the position of the charging device relative to a laser radar coordinate system by fitting the slope of the specific line segment, and judges whether the laser radar detects the charging device.
Further, uploading the coordinate and direction data to an upper computer, and planning a Dubin curve going to a charging point by the upper computer; the vending machine goes to the charging device along the planned Dubins curve by PID control.
Further, when the navigation device does not detect the charging device, whether the detection exceeds the set time is judged, and if the detection exceeds 10s, failure information is reported to the upper computer.
Further, when the navigation device does not detect the charging device and the detection time does not exceed 10s, the detection is continued.
Further, the front section of the charging device is further provided with a target area, when the automatic vending machine is located outside the target area, the target direction is planned through the current coordinates of the automatic vending machine, PID operation is carried out, the automatic vending machine is used as a movement path, and the automatic vending machine can move to the target area along the movement path.
Further, when the vending machine is located in the target area, a movement path is planned through coordinate values of an odometer arranged in the vending machine, and the vending machine moves to the target area along the movement path.
Further, the coordinate value of the odometer is motor encoder displacement information and gyroscope measurement angle information which are arranged in the vending machine.
Further, when the vending machine reaches the target area, the vending machine sends the arrival information to the charging device through the first wireless receiving and transmitting unit.
The invention has the following beneficial effects: the automatic vending machine can only charge in situ, and the system has simple structure and easy realization, so that the automatic vending machine can automatically return to the charging pile for recharging under the condition of insufficient electric quantity, and the automatic vending machine can operate to the ideal position of the charging device for charging under the accurate navigation of the navigation device; the automatic vending machine, the charging pile and the upper computer can be in real time wireless communication, and the charging reliability and safety are improved by adopting a 2.4G wireless module.
Drawings
FIG. 1 is a block diagram of an automatic refill navigation system for a vending machine of the present invention;
FIG. 2 is a navigation schematic diagram of the vending machine automatic refill navigation system of the present invention;
fig. 3 is a schematic workflow diagram of the vending machine automatic refill navigation system of the present invention.
Detailed Description
In order to solve the technical problems, the invention adopts the following technical scheme: as shown in fig. 1, an automatic recharging navigation system of a vending machine is provided, which comprises an automatic vending machine, a charging device and an upper computer, wherein the automatic vending machine is provided with a navigation device and a first wireless receiving and transmitting unit, the navigation device is used for navigating the automatic vending machine, and the first wireless receiving and transmitting unit is used for carrying out real-time communication with the charging device and/or the upper computer; the charging device is provided with a charging module and a second wireless receiving and transmitting unit, the charging module is used for locking the vending machine and charging the vending machine, and the second wireless receiving and transmitting unit is used for carrying out real-time communication with the first wireless receiving and transmitting unit and/or the upper computer; the upper computer is used for sending instructions and receiving uploading data;
when the electric quantity is detected to be lower than a set value, the vending machine feeds back information to the upper computer through the first wireless receiving and transmitting unit; after receiving the feedback information, the upper computer sends a request for starting recharging of the vending machine to the charging device, receives the recharging request response, and instructs the vending machine to navigate to the charging device for charging.
More preferably, the vending machine detects the charging device through a navigation device, wherein the navigation device is a laser radar arranged at the front part of the vending machine, and the laser radar is used for detecting the charging device and navigating; the automatic vending machine converts the coordinates and the directions of the charging device under the laser radar coordinate system through the data returned by the laser radar, and the coordinates and the directions of the automatic vending machine under the charging device coordinate system can be obtained through coordinate system conversion.
More preferably, the laser radar detects a light reflecting area set on the charging device, the light reflecting rate of the received data of the laser radar is high, the area of the light reflecting area is calculated through cosine law, the area is compared with the actual area, the position of the charging device relative to a laser radar coordinate system is converted through fitting the slope of the specific line segment, and whether the laser radar detects the charging device is judged.
More preferably, the coordinate and direction data are uploaded to an upper computer, and a Dubin (track planning) curve for going to a charging point is planned by the upper computer; the vending machine goes to the charging device along the planned Dubins curve by PID control.
More preferably, when the navigation device does not detect the charging device, it is determined whether the detection exceeds a set time, and if the detection exceeds 10s, the failure information is reported to the host computer.
More preferably, when the navigation device does not detect the charging device while the detection time does not exceed 10s, the detection is continued.
As shown in fig. 2, another technical solution is provided by the present invention, in which the front section of the charging device is further provided with a target area, and when the vending machine is located outside the target area, the vending machine plans the target direction by the current coordinates of the vending machine and performs PID operation, and then uses the target direction as a movement path, and the vending machine moves to the target area along the movement path.
More preferably, when the vending machine is located within the target area, a movement path is planned by coordinate values of an odometer provided inside the vending machine, and the vending machine moves to the target area along the movement path.
More preferably, the coordinate values of the odometer are motor encoder displacement information and gyroscope measurement angle information arranged in the vending machine.
More preferably, when the vending machine reaches the target area, the vending machine transmits the arrival information to the charging device through the first wireless transceiving unit.
As shown in fig. 3, the specific workflow of the automatic recharging navigation system of the vending machine of the present invention is as follows:
the charging device specifically adopts a charging pile (the charging pile is not limited, the charging pile can be other equipment which can be matched with the automatic vending machine and has a charging function), the automatic vending machine is sold for a long time, the electric quantity of a battery of the automatic vending machine is lower than a set value, the normal operation of the automatic vending machine is influenced, a controller of the automatic vending machine receives an automatic recharging instruction of an upper computer or a power management module of the automatic vending machine judges that the voltage of the automatic vending machine is lower than the set value (5%), data is uploaded to the upper computer, the upper computer sends a recharging request to the charging pile, whether the charging pile responds to the charging request is judged, the charging pile is arranged at a store or a fixed place of a merchant, and if the charging pile does not respond and returns, failure information is reported to the upper computer; if the charging stake answers, the vending machine begins to return to the charging area. One scheme is that the vending machine uses a laser radar arranged at the front part of the vending machine to detect the position of a charging pile, and the specific mode is as follows: there is a 30 x 15 cm light reflecting area above the charge stake, the light reflecting area is strong, then the light reflecting rate of the laser radar receiving the data in this part is great, so it is considered that the charge stake is detected. The area of the reflective area can be calculated through the cosine theorem, and then the area of the reflective area is compared with the area of the actual area, so that the interference of other objects with high reflective rate can be prevented to a great extent, whether the automatic vending machine searches the position of the charging pile is judged, and if the searching time exceeds 10 seconds, searching failure information is reported to the upper computer; if the position of the charging pile is found, the upper computer converts the position of the charging pile through detection data of the laser radar, a Dubin curve which goes to a charging point is planned, then the vending machine goes to the charging point along the Dubin curve through PID control, and then whether the vending machine reaches the charging point is judged, and if the vending machine does not reach the charging pile, the vending machine continues to wait.
Since the vending distance may be far, for accurate navigation, another embodiment is that the vending machine performs self-rotation in situ, and the laser radar navigation set on the vending machine is used to run to the target point of the laser radar navigation set by the upper computer, where the target point is located at a position of 1.25 meters on the vertical line in the charging pile, or may be a target point at another position, and the target point may form an area with any shape. In the visible range of the laser radar, the coordinate and the direction of the charging pile under the laser radar coordinate system can be calculated through data returned by the laser radar, the coordinate and the direction of the automatic vending machine under the charging pile coordinate system can be calculated through coordinate system conversion, if the automatic vending machine is in front of a target point, namely not between the target point and the charging pile, a Bezier curve is planned through the current coordinate of the automatic vending machine, then an actual point on the Bezier curve is calculated through X or Y of the current coordinate of the automatic vending machine, then a first derivative is calculated on the Bezier curve, a tangent line of the point is calculated, the tangent line direction is the target direction of the automatic vending machine, the distance from the current point of the automatic vending machine to the tangent line is approximately regarded as the shortest distance from the current point of the automatic vending machine to the Bezier curve, PID operation is then carried out on the direction deviation and the distance deviation, the sum of outputs of the PID operation twice is taken as the angular speed of the automatic vending machine, and the automatic vending machine moves along the Bezier curve, and when the automatic vending machine arrives at the target point of the automatic vending machine is perpendicular to the charging pile; if the vending machine is initially behind the target point, i.e. between the target point and the charging pile, the vending machine travels along a straight path to the target point based on the coordinate data of the odometer provided inside the vending machine. The odometer calculates displacement by using the values of two motor encoders arranged on the automatic vending machine, and the angle information of the robot is measured by using a gyroscope, so that the coordinates of the automatic vending machine under an odometer coordinate system can be calculated. When the charging pile detects that the automatic vending machine moves to reach a set point of the charging device, the charging device communicates with the automatic vending machine through sending infrared signals, and the automatic vending machine receives the signals and moves to the position of the charging device; the specific detection mode is as follows:
when the vending machine reaches a charging point, the position of the vending machine is random, the charging device transmits coded infrared emission signals through an infrared sensor transmitting plate arranged on the charging device, an infrared sensor receiving plate arranged on the vending machine carries out gesture adjustment through receiving the infrared emission coded signals, the position of the vending machine relative to the charging device is determined through the coded values, the gesture adjustment is specifically that the vending machine rotates in situ, a left receiving plate on the infrared sensor receiving plate receives the coded values of a right transmitting tube of the infrared sensor transmitting plate, the left receiving plate translates left and rotates anticlockwise, a right receiving plate on the infrared sensor receiving plate receives the coded values of a left transmitting tube of the infrared sensor transmitting plate, the right receiving plate receives the coded values of a right transmitting tube, and the vending machine moves straight; judging from vending machine just starts to charge the stake motion after the position of stake that fills, can trigger when the vending machine touches the stake of filling and fill the infrared sensor above the stake, will close infrared sensor and open the switch that charges this moment to fill the stake, simultaneously send arrival information to vending machine through the wireless transceiver unit of second, receive after the arrival information, vending machine continues to remove to the switch that charges, and the copper sheet electrode of switch that charges can touch the copper block electrode, makes the electrode compress inwards, until the travel switch above the stake that fills is triggered, when travel switch is triggered, the locking groove that the vending machine wheel card set up at the module that charges is fixed and stop the motion. Releasing the chassis motor of the vending machine to finish the charging action, and enabling the vending machine to enter a charging mode to reach a charging state; if the vending machine is charged in the set time, reporting the charging success information to the upper computer; otherwise, reporting the failure. After the charging is finished, the vending machine chassis is electrified again, and the vending machine chassis is separated from the charging pile to be sold again. The automatic vending machine wheel can be locked during charging, the charging interruption caused by external reasons is avoided, the charging pile and the automatic vending machine are in real-time wireless communication, the charging reliability and the charging safety are improved by adopting the 2.4G NRF24L01 wireless module, the charging pile and the automatic vending machine are provided with the wireless transceiver unit for carrying out the receiving and transmitting treatment in real time, after each transmission, the receiving party needs to respond, and the transmitted data comprises a data head, data and verification, so that the data interference can be prevented to a great extent.
Claims (7)
1. The vending machine automatic recharging navigation system is characterized by comprising an automatic vending machine, a charging device and an upper computer, wherein the automatic vending machine is provided with a navigation device and a first wireless receiving and transmitting unit, the navigation device is used for navigating the automatic vending machine, and the first wireless receiving and transmitting unit is used for carrying out real-time communication with the charging device and/or the upper computer; the charging device is provided with a charging module and a second wireless receiving and transmitting unit, the charging module is used for locking the vending machine and charging the vending machine, and the second wireless receiving and transmitting unit is used for carrying out real-time communication with the first wireless receiving and transmitting unit and/or the upper computer; the upper computer is used for sending instructions and receiving uploading data;
when the electric quantity is detected to be lower than a set value, the vending machine feeds back information to the upper computer through the first wireless receiving and transmitting unit; after receiving the feedback information, the upper computer sends a request for starting recharging of the vending machine to the charging device, receives the recharging request response, and instructs the vending machine to navigate to the charging device for charging;
the automatic vending machine detects the charging device through a navigation device, and the navigation device is a laser radar arranged at the front part of the automatic vending machine; the automatic vending machine converts the coordinates and the directions of the charging device under the laser radar coordinate system through the data returned by the laser radar, and the coordinates and the directions of the automatic vending machine under the charging device coordinate system can be obtained through the coordinate system conversion; uploading the coordinate and direction data to an upper computer, and planning a Dubins curve which goes to a charging device by the upper computer; the vending machine goes to the charging device along the planned Dubin curve through PID control;
the charging device comprises a charging device, a charging device and a direction deviation and is characterized in that a target area is further arranged at the front section of the charging device, when the automatic vending machine is located outside the target area, a Bezier curve is planned through the current coordinate of the automatic vending machine, then an actual point on the Bezier curve is calculated through X or Y of the current coordinate of the automatic vending machine, the number of first-order layers of the Bezier curve is calculated, a tangent line of the point is calculated, the tangential direction is the target direction of the automatic vending machine, the distance from the current point of the automatic vending machine to the tangent line is approximately regarded as the shortest distance from the current point of the automatic vending machine to the Bezier curve, PID operation is carried out on the direction deviation and the distance deviation once respectively, the sum of the outputs of the PID operation is taken as the angular speed of the automatic vending machine, and the automatic vending machine runs to the target area along the Bezier curve; when the automatic vending machine is positioned in the target area, a movement path is planned through coordinate values of an odometer arranged in the automatic vending machine, and the automatic vending machine moves to the target area along the movement path.
2. The vending machine automatic recharging navigation system of claim 1, wherein the charging device is provided with a light reflecting area, the laser radar detects the light reflecting area arranged on the charging device, converts the position of the charging device relative to a laser radar coordinate system, and judges whether the laser radar detects the charging device.
3. The vending machine automatic refill navigation system of claim 1, wherein the charging device is a charging post and the target area is located on a vertical line in the charging post.
4. The vending machine automatic recharging navigation system of claim 1, wherein when the laser radar does not detect the charging device, it is determined whether the detection exceeds a set time, and if the detection exceeds 10s, a failure message is reported to the host computer.
5. The vending machine automatic refill navigation system of claim 4, wherein the detection is continued when the laser radar does not detect the charging device while the detection time does not exceed 10 seconds.
6. The vending machine automatic refill navigation system of claim 1, wherein the odometer coordinate values are motor encoder displacement information and gyroscope measurement angle information provided in the vending machine.
7. The vending machine automatic refill navigation system of claim 1, wherein when a vending machine reaches the target area, the vending machine transmits a reach message to a charging device via a first wireless transceiver unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811015818.5A CN108898737B (en) | 2018-08-31 | 2018-08-31 | Automatic recharging navigation system of vending machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811015818.5A CN108898737B (en) | 2018-08-31 | 2018-08-31 | Automatic recharging navigation system of vending machine |
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| CN108898737A CN108898737A (en) | 2018-11-27 |
| CN108898737B true CN108898737B (en) | 2023-12-29 |
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| CN111857128B (en) * | 2020-06-12 | 2022-05-10 | 珠海一微半导体股份有限公司 | Recharge docking system and laser docking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08161004A (en) * | 1994-12-09 | 1996-06-21 | Toshiba Corp | Pid controller |
| CN104298233A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Mobile robot self-charging system |
| CN107274082A (en) * | 2017-06-07 | 2017-10-20 | 张志强 | The operation system and workflow of automatic vending machine are may move in a kind of fixed-site |
| CN107680261A (en) * | 2017-09-25 | 2018-02-09 | 福州米鱼信息科技有限公司 | A kind of automatic vending system |
| 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 |
-
2018
- 2018-08-31 CN CN201811015818.5A patent/CN108898737B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08161004A (en) * | 1994-12-09 | 1996-06-21 | Toshiba Corp | Pid controller |
| CN104298233A (en) * | 2013-11-13 | 2015-01-21 | 沈阳新松机器人自动化股份有限公司 | Mobile robot self-charging system |
| CN107274082A (en) * | 2017-06-07 | 2017-10-20 | 张志强 | The operation system and workflow of automatic vending machine are may move in a kind of fixed-site |
| CN107680261A (en) * | 2017-09-25 | 2018-02-09 | 福州米鱼信息科技有限公司 | A kind of automatic vending system |
| 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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| CN108898737A (en) | 2018-11-27 |
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