CN109326050A - The automatic recharging method of vending machine - Google Patents
The automatic recharging method of vending machine Download PDFInfo
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- CN109326050A CN109326050A CN201811014775.9A CN201811014775A CN109326050A CN 109326050 A CN109326050 A CN 109326050A CN 201811014775 A CN201811014775 A CN 201811014775A CN 109326050 A CN109326050 A CN 109326050A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 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
- 238000001514 detection method Methods 0.000 claims description 8
- 230000001960 triggered effect Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 4
- 238000009987 spinning Methods 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
- 230000003287 optical effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 4
- 238000011065 in-situ storage Methods 0.000 abstract description 3
- 230000004044 response Effects 0.000 description 6
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- 230000006872 improvement 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
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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, 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
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- 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
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- 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
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The invention belongs to Vending Machine fields, provide a kind of automatic recharging method of vending machine, when detecting electricity lower than setting value, Vending Machine feedback information to host computer；After receiving the feedback information, host computer sends Vending Machine to charging unit and starts the request recharged, host computer instruction Vending Machine navigates to charging unit and charges, after detecting that Vending Machine reaches charging unit set-point, charging unit is through sending infrared signal, Vending Machine receives the signal and to the movement of charging unit position, and until the travel switch triggering on charging unit, stop motion is charged；Previous Vending Machine can only charge in situ, and the recharging method step is simple, and in the case where selling the insufficient situation of electromechanical amount, precision navigation runs to charging unit ideal position and charges；It is both provided with the position that infrared receiving/transmission plate real-time perfoming transmitting-receiving process finds charging pile accurately with pose adjustment above charging pile and Vending Machine, improves charging reliability and safety.
Description
Technical field
The invention belongs to Vending Machine fields, and in particular to the automatic recharging method of Vending Machine.
Background technique
The method temporarily to charge without vending machine auto-returned designated place, technically it is immediate be sweeping robot and
The recharging method of partial service robot.After above-mentioned automatic recharging method is all made of infrared sensor or laser radar is scanned
It returns to charging pile to charge, has no real time communication between above-mentioned automatic charging mechanism and charging pile, when there is metal object unexpected
It may cause failure when contacting automatic charging mechanism electrode slice.Traditional mechanism that recharges automatically is only sold in fixed point progress silent oscillation
Sell, can not automatic running and carry out after movable type is sold return charging pile charge, it is even more impossible to the realities during back-to-back running
When data, mobile Vending Machine is suitable for over long distances, on a large scale sell, during low battery return charging pile, by
Farther out in distance, if do not broken down easily during the navigation process with charging pile real-time, interactive data, therefore, reply is existing certainly
Dynamic recharging method carries out promotion improvement, to adapt to the realization of Vending Machine recharged automatically.
Summary of the invention
To solve the above the deficiencies in the prior art, the invention discloses a kind of automatic recharging methods of vending machine.
In order to solve the above-mentioned technical problem, the invention adopts the following technical scheme: providing a kind of vending machine side of recharging automatically
Method, comprising the following steps:
S1: when detecting electricity lower than setting value, automatic vending chance feedback information to host computer；Receive the feedback letter
After breath, host computer sends Vending Machine to charging unit and starts the request recharged；Receive the charge request of the charging unit
After response, host computer instruction Vending Machine is recharged；
S2: after recharging instruction described in reception, which carries out spinning, and the navigation device detection being arranged thereon is filled
The position of electric installation；Behind the position for detecting charging unit, the navigation device converses the position of charging unit, is uploaded to
Position machine；After receiving the location information, host computer cooks up the Dubins curve for going to charge point according to location information；From
Dynamic Dubins curve of the vending machine by PID control along the planning goes to charging unit；
S3: 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；
S4: 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；
S5: 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；
S6: 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, Vending Machine described in step S2 is run by navigation device to charging unit, the navigation dress
It is set to the laser radar for being set to Vending Machine front, the laser radar is for detecting charging unit and navigating；Institute
It states laser radar and passes through the reflecting rate power Data Detection charging unit for the retroreflective regions being arranged on reception charging unit.
Further, it is gone to described in step S2 on charging unit path and is provided with target area, if automatic vending seat in the plane
Before target area, then passes through the changing coordinates object of planning direction of Vending Machine and carry out PID arithmetic as movement road
Diameter, automatic vending chance move to target area along the path.
Further, the Vending Machine is located at after target area, then Vending Machine is according to the coordinate of odometer
Data are run along straight line path to target area.
Further, the odometer calculates position using the value of the encoder for two motors being arranged on Vending Machine
It moves, measures Vending Machine angle information with gyroscope.
Further, it is encoded to pass through the infrared sensor expelling plate transmitting being arranged thereon for charging unit described in step S3
Infrared emission signal, the infrared sensor receiver board of Vending Machine setting carries out by receiving infrared emission encoded signal
Pose adjustment determines position of the Vending Machine relative to charging unit by encoded radio.
Further, the pose adjustment is specially that Vending Machine rotates in place, the left side on infrared sensor receiver board
Reception pipe receive the encoded radio of transmitting tube on the right of infrared sensor expelling plate, with regard to left and rotation counterclockwise, infrared biography
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on sensor receiver board, with regard to right translation and suitable
Hour hands rotate, and the reception pipe on the left side receives the coding of infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Value, the reception pipe on the right receive the encoded radio on the right, and Vending Machine is just kept straight on.
Further, Vending Machine described in step S4 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, 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: previous Vending Machine can only charge in situ, the recharging method step letter
List is easily achieved, and Vending Machine auto-returned charging pile in not enough power supply is recharged, automatic vending
Machine makes it run to charging unit ideal position to charge under the precision navigation of navigation device；Charging pile and automatic vending
Infrared receiving/transmission plate real-time perfoming transmitting-receiving process is both provided with above machine, and each time after transmission, recipient has to response,
Find the position of charging pile accurately by pose adjustment, Vending Machine charge while its wheel is stuck in charging pile lock slots and is consolidated
Fixed, lockable leads to its accidental interruption that charges, while Vending Machine, charging pile and host computer to avoid outside cause when charging
Between three can real-time perfoming wireless communication charging reliability and safety improved using the wireless module of 2.4G.
Detailed description of the invention
Fig. 1 is the flow chart of the automatic recharging method of vending machine of the present invention；
Fig. 2 is the schematic diagram of the automatic recharging method another kind embodiment of vending machine of the present invention；
Fig. 3 is the schematic diagram of the automatic recharging method charging structure of vending machine of the present invention.
Specific embodiment
The invention adopts the following technical scheme: as shown in Figure 1, provide a kind of automatic recharging method of vending machine, including it is following
Step:
S1: when detecting electricity lower than setting value, automatic vending chance feedback information to host computer；Receive the feedback letter
After breath, host computer sends Vending Machine to charging unit and starts the request recharged；Receive the charge request of the charging unit
After response, host computer instruction Vending Machine is recharged；
S2: after recharging instruction described in reception, which carries out spinning, and the navigation device detection being arranged thereon is filled
The position of electric installation；Behind the position for detecting charging unit, the navigation device converses the position of charging unit, is uploaded to
Position machine；After receiving the location information, host computer cooks up the Dubins curve for going to charge point according to location information；From
Dynamic Dubins curve of the vending machine by PID control along the planning goes to charging unit；
S3: 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；
S4: 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；
S5: 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；
S6: 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 Vending Machine described in step S2 is run by navigation device to charging unit, the navigation dress
It is set to the laser radar for being set to Vending Machine front, the laser radar is for detecting charging unit and navigating；Institute
It states laser radar and passes through the reflecting rate power Data Detection charging unit for the retroreflective regions being arranged on reception charging unit.
It is provided with target area as shown in Fig. 2, being gone on charging unit path described in step S2, if automatic vending seat in the plane
Before target area, then passes through the changing coordinates object of planning direction of Vending Machine and carry out PID arithmetic as movement road
Diameter, automatic vending chance move to target area along the path.
It is highly preferred that the Vending Machine is located at after target area, then Vending Machine is according to the coordinate of odometer
Data are run along straight line path to target area.
It is highly preferred that the odometer calculates position using the value of the encoder for two motors being arranged on Vending Machine
It moves, measures Vending Machine angle information with gyroscope.
It is highly preferred that charging unit described in step S3 is encoded by the infrared sensor expelling plate transmitting being arranged thereon
Infrared emission signal, the infrared sensor receiver board of Vending Machine setting carries out by receiving infrared emission encoded signal
Pose adjustment determines position of the Vending Machine relative to charging unit by encoded radio.
It is highly preferred that the pose adjustment is specially that Vending Machine rotates in place, the left side on infrared sensor receiver board
Reception pipe receive the encoded radio of transmitting tube on the right of infrared sensor expelling plate, with regard to left and rotation counterclockwise, infrared biography
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube on sensor receiver board, with regard to right translation and suitable
Hour hands rotate, and the reception pipe on the left side receives the coding of infrared sensor expelling plate left side transmitting tube on infrared sensor receiver board
Value, 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 described in step S4 does not receive infrared encoded signal, then judge that receiving time is
No is more than setting value, is continued waiting for if being less than.
It is highly preferred that passing through wireless transmission charge completion information to charging unit after the Vending Machine charging complete.
It is highly preferred that charging unit turns on the lock slots being arranged thereon after receiving the charge completion information, it is released from
Dynamic vending machine wheel, rules it out charged state.
The overall workflow of the automatic recharging method of the present invention 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.When charging pile detects that Vending Machine is moved to
Up to after charge point, passes through the infrared sensor expelling plate being arranged thereon positioned at the charging pile of charge point and emit encoded infrared hair
Signal is penetrated, the infrared emission signal that the spin of Vending Machine original place goes detection charging pile to emit is simultaneously matching；Specific detection side
Formula are as follows: after Vending Machine reaches charge point, the position of Vending Machine is arbitrary at this time, the rotation of Vending Machine original place
Turn, in rotary course, the infrared sensor expelling plate of charging pile setting emits the signal after specific coding, then automatic selling
The adjustment for selling machine and carrying out according to the encoded signal that the infrared sensor receiver board of setting receives posture, by encoded radio come really
Determine the reception pipe that Vending Machine is the left side on the left side, the right or centre of charging pile, infrared sensor receiver board to receive
The encoded radio of transmitting tube on the right of to infrared sensor expelling plate is rotated with regard to left with counterclockwise, on infrared sensor receiver board
The reception pipe on the right receives the encoded radio of infrared sensor expelling plate left side transmitting tube, with regard to right translation and rotates clockwise, red
The reception pipe on the left side receives the encoded radio of infrared sensor expelling plate left side transmitting tube on outer sensor receiver board, and the right connects
Closed tube receives the encoded radio on the right, and Vending Machine is just kept straight on, until reaching charging pile；Judge that Vending Machine is charging
Behind the position of stake, Vending Machine begins to move to charging pile, can trigger when Vending Machine touches charging pile
Infrared sensor above charging pile, at this moment charging pile may turn off infrared sensor and open charge switch, while pass through the
Two wireless transmit/receive units, which are sent, reaches information to Vending Machine, and after reaching information described in reception, Vending Machine continues to filling
Electric switch is mobile, and charging pile copper plate electrode can touch copper billet electrode, and making electrode, face pressure contracts inwards, until the stroke above charging pile
Switch is triggered, while its wheel is stuck in lock slots and is fixed, and makes its stop motion, and the release of Vending Machine base plate electric machine is completed
Charging action, then Vending Machine enters charge mode, reaches charged state；Vending Machine reports charging successful information supreme
Position machine.Automatic vending chance is by wireless transmission charge completion information to charging pile after charging complete, after receiving the information, charging
Just release Vending Machine wheel rules it out charged state and charge closing switch, waiting are charged next time, automatic selling for stake
The machine chassis of selling re-powers, and leaves charging pile and is sold again.Lockable Vending Machine wheel when due to charging avoids outer
Boundary's reason causes its charging to be interrupted, and charging pile and Vending Machine real-time perfoming wirelessly communicate, using 2.4G NRF24L01 without
Wire module, improves charging reliability and safety, and it is real-time to be both provided with wireless transmit/receive units above charging pile and Vending Machine
Transmitting-receiving process is carried out, and each time after transmission, recipient has to response, and the data of transmission include data head, data, school
It tests, thus significantly can prevent data from interfering.
Claims (10)
1. the automatic recharging method of vending machine, which comprises the following steps:
S1: when detecting electricity lower than setting value, automatic vending chance feedback information to host computer；Receive the feedback information
Afterwards, host computer starts the request recharged to charging unit transmission Vending Machine；The charge request for receiving the charging unit is answered
After answering, host computer instruction Vending Machine is recharged；
S2: after recharging instruction described in reception, which carries out spinning, the navigation device detection charging dress being arranged thereon
The position set；Behind the position for detecting charging unit, the navigation device converses the position of charging unit, is uploaded to upper
Machine；After receiving the location information, host computer cooks up the Dubins curve for going to charge point according to location information；Automatically
Dubins curve of the vending machine by PID control along the planning goes to charging unit；
S3: 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；
S4: 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；
S5: 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；
S6: 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. the automatic recharging method of vending machine as described in claim 1, which is characterized in that Vending Machine described in step S2 is logical
It crosses navigation device to run to charging unit, the navigation device is the laser radar for being set to Vending Machine front, described to swash
Optical radar is for detecting charging unit and navigating；The laser radar is by receiving the retroreflective regions being arranged on charging unit
Reflecting rate power Data Detection charging unit.
3. the automatic recharging method of vending machine as described in claim 1, which is characterized in that go to charging unit described in step S2
It is provided with target area on path, if Vending Machine is located at before target area, passes through the changing coordinates of Vending Machine
Object of planning direction simultaneously carries out PID arithmetic as motion path, and automatic vending chance moves to target area along the path.
4. the automatic recharging method of vending machine as claimed in claim 3, which is characterized in that the Vending Machine is located at target area
After domain, then Vending Machine is run along straight line path to target area according to the coordinate data of odometer.
5. the automatic recharging method of vending machine as claimed in claim 4, which is characterized in that the odometer utilizes Vending Machine
The value of the encoder of two motors of upper setting is displaced to calculate, and measures Vending Machine angle information with gyroscope.
6. the automatic recharging method of vending machine as described in claim 1, which is characterized in that charging unit described in step S3 passes through
The infrared sensor expelling plate being arranged thereon emits encoded infrared emission signal, the infrared sensor of Vending Machine setting
Receiver board carries out pose adjustment by receiving infrared emission encoded signal, determined by encoded radio Vending Machine relative to
The position of charging unit.
7. the automatic recharging method of vending machine as described in claim 1 or 6, which is characterized in that the pose adjustment is specially certainly
Dynamic vending machine rotates in place, and the reception pipe on the left side receives transmitting on the right of infrared sensor expelling plate on infrared sensor receiver board
The encoded radio of pipe, with regard to left and rotation counterclockwise, the reception pipe on the right receives infrared sensing on infrared sensor receiver board
The encoded radio of device expelling plate left side transmitting tube, with regard to right translation and rotates clockwise, the reception on the left side on infrared sensor receiver board
Pipe receives the encoded radio of infrared sensor expelling plate left side transmitting tube, and the reception pipe on the right receives the encoded radio on the right, from
Dynamic vending machine is just kept straight on.
8. the automatic recharging method of vending machine as described in claim 1, which is characterized in that Vending Machine described in step S4 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.
9. the automatic recharging method of vending machine 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. the automatic recharging method of vending machine as claimed in claim 9, 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.
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| CN201811014775.9A CN109326050A (en) | 2018-08-31 | 2018-08-31 | The automatic recharging method of vending machine |
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