CN112381996A - Vending machine lifting platform control method, vending machine and readable storage medium - Google Patents
Vending machine lifting platform control method, vending machine and readable storage medium Download PDFInfo
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- CN112381996A CN112381996A CN202011114686.9A CN202011114686A CN112381996A CN 112381996 A CN112381996 A CN 112381996A CN 202011114686 A CN202011114686 A CN 202011114686A CN 112381996 A CN112381996 A CN 112381996A
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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
- G07F9/10—Casings or parts thereof, e.g. with means for heating or cooling
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
Abstract
The application discloses vending machine lifting platform control method, vending machine and readable storage medium, wherein the vending machine lifting platform control method comprises the following steps: the current position of the vending machine lifting platform is obtained, and based on the photoelectric switch corresponding to the vending machine lifting platform and the preset photoelectric switch baffle group, the vending machine lifting platform is controlled, the vending machine lifting platform runs to the preset target reference position from the current position, and then based on the photoelectric switch and the preset photoelectric switch baffle group, the vending machine lifting platform is controlled, and the vending machine lifting platform runs to the preset target stop position from the preset target reference position. The technical problem of vending machine elevating platform location inaccuracy has been solved to this application.
Description
Technical Field
The application relates to the technical field of new retail, in particular to a vending machine lifting platform control method, a vending machine and a readable storage medium.
Background
With the continuous development of new retail modes, new retail technologies are more and more widely applied, at present, retail business is often performed through a vending machine, wherein the vending machine comprises a lifting platform vending machine, the lifting platform vending machine can automatically sell articles back and forth between a goods outlet and each goods shelf through an internally installed lifting platform of the vending machine, at present, in order to ensure that the lifting platform of the vending machine can be accurately stopped to the edge of each goods shelf, the lifting platform of the vending machine is usually positioned through a mechanical structure, but the positioning of the lifting platform of the vending machine is not accurate enough due to inevitable errors of the mechanical structure.
Disclosure of Invention
The application mainly aims to provide a vending machine lifting platform control method, a vending machine and a readable storage medium, and aims to solve the technical problem that in the prior art, the positioning of a vending machine lifting platform is inaccurate.
In order to achieve the above object, the present application provides a vending machine lifting table control method, which is applied to a vending machine lifting table control apparatus, and the vending machine lifting table control method includes:
the method comprises the steps of obtaining the current position of a vending machine lifting platform, and controlling the vending machine lifting platform to move from the current position to a preset target reference position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform;
and controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group.
The application still provides a vending machine elevating platform controlling means, vending machine elevating platform controlling means is virtual device, just vending machine elevating platform controlling means is applied to vending machine elevating platform controlgear, vending machine elevating platform controlling means includes:
the system comprises a first control module, a second control module and a third control module, wherein the first control module is used for acquiring the current position of a vending machine lifting platform and controlling the vending machine lifting platform to move to a preset target reference position from the current position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform;
and the second control module is used for controlling the vending machine lifting platform to move to a preset target parking position from the preset target reference position based on the photoelectric switch and the preset photoelectric switch baffle group.
This application still provides a vending machine, the vending machine includes vending machine elevating platform controlgear, vending machine elevating platform controlgear is entity equipment, vending machine elevating platform controlgear includes: a memory, a processor, and a program of the vending machine elevator control method stored on the memory and executable on the processor, the program of the vending machine elevator control method when executed by the processor being operable to implement the steps of the vending machine elevator control method as described above.
The application also provides a readable storage medium, wherein a program for realizing the vending machine lifting platform control method is stored on the readable storage medium, and the steps of the vending machine lifting platform control method are realized when the program for realizing the vending machine lifting platform control method is executed by a processor.
The application provides a vending machine lifting platform control method, a vending machine and a readable storage medium, compared with the technical means that the vending machine lifting platform is positioned through a mechanical structure in the prior art, the method firstly acquires the current position of the vending machine lifting platform, and controls the vending machine lifting platform to move to a preset target reference position from the current position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform, wherein it needs to be explained that the error of the mechanical structure is more and more unstable along with the time, the error is difficult to accurately compensate, the performance of the photoelectric switch can not generate larger change along with the time, namely, the performance of the photoelectric switch is very stable, and further the error of the preset target reference position determined based on the photoelectric switch and the preset photoelectric switch baffle group is small and very stable, and then the error of the preset target reference position is very small, and the purpose of determining the preset target reference position with extremely high accuracy is realized, and further based on the photoelectric switch and the preset photoelectric switch baffle group, the vending machine lifting platform is controlled to move from the preset target reference position to the preset target stop position, namely when the vending machine takes goods, the vending machine lifting platform is controlled to start moving from the preset target reference position with extremely high accuracy, so that the positioning accuracy of the vending machine lifting platform can be improved, and the whole moving process of the vending machine lifting platform from the preset target reference position to the preset target stop position is controlled by the photoelectric switch and the preset photoelectric switch baffle group, and because the performance of the photoelectric switch is very stable, the error of the vending machine lifting platform in the moving process is very small, the vending machine can be accurately stopped to the preset target reference position, and then overcome the vending machine elevating platform when fixing a position through mechanical structure, because mechanical structure has some inevitable errors usually, and along with the time lapse, mechanical structure's error will become more and more unstable, and then leads to the not accurate technical defect in vending machine elevating platform location, and then improved the positioning accuracy of vending machine elevating platform.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart illustrating a first embodiment of a vending machine lift control method according to the present application;
FIG. 2 is a schematic flow chart illustrating control of the vending machine elevator during lowering in the vending machine elevator control method according to the present application;
fig. 3 is a schematic flow chart illustrating control of the vending machine lifting table during lifting in the vending machine lifting table control method according to the present application;
FIG. 4 is a schematic flow chart illustrating a second embodiment of a vending machine platform control method according to the present application;
fig. 5 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
The objectives, features, and advantages of the present application will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In a first embodiment of the vending machine lifting platform control method according to the present application, referring to fig. 1, the vending machine lifting platform control method includes:
and step S10, acquiring the current position of the vending machine lifting platform, and controlling the vending machine lifting platform to move from the current position to a preset target reference position based on the photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform.
In this embodiment, it should be noted that the vending machine lifting platform control method is applied to a vending machine, the optoelectronic switch is installed on the vending machine lifting platform, the preset optoelectronic switch blocking piece set at least includes one optoelectronic switch blocking piece, the optoelectronic switch blocking piece includes a single blocking piece and a double blocking piece, wherein the single blocking piece is a blocking piece that can block the optoelectronic switch once, the single blocking piece is installed on a cabinet body corresponding to a shelf of the vending machine or directly installed on the shelf of the vending machine, and is used for positioning the vending machine lifting platform to a goods taking position corresponding to the shelf through blocking of the optoelectronic switch by the single blocking piece, the double blocking piece is a blocking piece that can block the optoelectronic switch twice, and the double blocking piece is installed at a goods outlet position of the vending machine, the double shielding blocking pieces are used for shielding the photoelectric switch, so that the vending machine lifting platform is positioned to the goods outlet position corresponding to the goods outlet.
Additionally, it should be noted that the preset target reference position is a position of a goods outlet in a lifting platform slide of the vending machine, where the lifting platform slide is an area space where the vending machine lifting platform is movable in the vending machine.
Acquiring the current position of a vending machine lifting platform, controlling the vending machine lifting platform to move from the current position to a preset target reference position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform, specifically acquiring the current position of the vending machine lifting platform, controlling the vending machine lifting platform to move from the current position to the goods outlet position along a lifting platform slide way of the vending machine, and acquiring first shielding interval duration of the photoelectric switch in the moving process of the vending machine lifting platform, wherein the first shielding interval duration is the time interval duration of two times of shielding of the photoelectric switch when the vending machine lifting platform returns to the preset target reference position, the two times of shielding of the photoelectric switch are adjacent in time length, and further when the first shielding interval duration is within a preset first shielding interval duration range, the vending machine lifting platform is immediately controlled to stop moving, the position where the vending machine lifting platform stops moving is used as the preset target reference position, namely, the movement process of the vending machine lifting platform from the current position to the preset target reference position is completed, wherein it needs to be explained that the distance between the two blocking pieces of the double-blocking piece is extremely short due to the fact that the distance between the two blocking pieces of the double-blocking piece is compared with the distance between the single-blocking piece, the time interval of the photoelectric switch passing through the two single-blocking pieces is far longer than the time interval of the photoelectric switch passing through the two blocking pieces of the double-blocking piece, and the position where the double-blocking piece is located can be accurately determined based on the collected first blocking interval duration, so that the.
And step S20, controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group.
In this embodiment, it should be noted that the preset target stop position is a pickup position where the vending machine lifting platform needs to stop for pickup.
Based on the photoelectric switch and the preset photoelectric switch baffle group, controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position, specifically, controlling the vending machine lifting platform to slide along the lifting platform to move from the preset target reference position to the preset target stop position, collecting each second shielding interval duration blocked by the photoelectric switch, counting the time interval number of the second shielding interval duration within the preset second shielding interval duration range, immediately controlling the vending machine lifting platform to stop moving if the time interval number reaches the preset time interval number corresponding to the preset target stop position, and taking the position where the vending machine lifting platform stops moving at the moment as the preset target stop position, for example, assuming that the preset target reference position is at the layer 1 of the vending machine, and the 1 st floor is provided with the shipment mouth, predetermine the target parking position and be in the 3 rd floor of vending machine, and 2 nd floor and 3 rd floor all are equipped with goods shelves, and then shelter from interval duration when gathering 1 second, then prove the vending machine elevating platform moves to the 2 nd floor from the 1 st floor, shelters from interval duration when gathering 2 seconds, then proves the vending machine elevating platform moves to the 3 rd floor from the 1 st floor.
Further, if the preset target stop position is required to reach a second preset target stop position for further goods taking, wherein the second preset target stop position is a goods taking position at which the vending machine lifting platform needs to stop to take goods when taking goods for the second time, the vending machine lifting platform is controlled to run from the preset target stop position to the second preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group.
Wherein the photoelectric switch is arranged on the vending machine lifting platform, the preset photoelectric switch separation blade group at least comprises a photoelectric switch separation blade,
the step of controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group comprises the following steps:
step S21, after the vending machine lifting platform starts moving from the preset target reference position, acquiring second shielding time information of the photoelectric switches shielded by the blocking sheets of the photoelectric switches.
In this embodiment, it should be noted that the second shielding time information is shielding time information acquired by the photoelectric switch when the vending machine lifting platform moves to the preset target parking position from the preset target reference position.
And acquiring second shielding time information of the photoelectric switch shielded by each photoelectric switch blocking piece after the vending machine lifting platform starts to move from the preset target reference position, specifically, acquiring second shielding time points of the photoelectric switch shielded by each photoelectric switch blocking piece after the vending machine lifting platform starts to move from the preset target reference position, further calculating time interval duration between every two adjacent second shielding time points in each second shielding time point, obtaining each second shielding interval duration, further selecting each target shielding interval duration within the preset second shielding interval duration range from each second shielding interval duration, and taking each target shielding interval duration as the second shielding time information.
And step S22, judging whether the vending machine lifting platform reaches the preset target parking position or not based on the second shielding time information.
In this embodiment, based on the second shielding time information, it is determined whether the vending machine lifting platform reaches the preset target stop position, specifically, the time interval number of the shielding interval duration of each target in the second shielding time information is counted in real time, and it is determined whether the time interval number reaches the preset time interval number corresponding to the preset target stop position, if yes, it is determined that the vending machine lifting platform reaches the preset target stop position, and if not, it is determined that the vending machine lifting platform does not reach the preset target stop position.
Wherein the second occlusion time information at least comprises a second occlusion interval duration,
the step of judging whether the vending machine lifting platform reaches the preset target parking position or not based on the second shielding time information comprises the following steps of:
step S221, based on a preset second shielding interval duration range, selecting each target shielding interval duration from each second shielding interval duration.
In this embodiment, each target shielding interval duration is selected from each second shielding interval duration based on a preset second shielding interval duration range, and specifically, a second shielding interval duration within the preset second shielding interval duration range in each second shielding interval duration is taken as the target shielding interval duration.
Step S222, determining the movement distance information of the vending machine lifting platform based on the shielding interval duration of each target.
In this embodiment, based on each target shielding interval duration, determining movement distance information of the vending machine lifting platform, specifically, counting, in real time, a time interval number of the generated target shielding interval durations, and taking the time interval number as a number of unit movement distances of movement of the vending machine lifting platform, so as to obtain movement distance information, where the movement distance information is a number of unit movement distances of movement of the vending machine lifting platform, and one of the unit movement distances is a movement distance of the vending machine lifting platform from a position of one single shielding barrier to a position of another adjacent single shielding barrier.
And step S223, judging whether the vending machine lifting platform reaches the preset target parking position or not based on the movement distance information.
In this embodiment, based on the movement distance information, it is determined whether the vending machine lifting platform reaches the preset target stop position, specifically, it is determined whether the unit movement distance quantity of the movement of the vending machine lifting platform is the preset unit movement distance quantity corresponding to the preset target stop position, if so, it is determined that the vending machine lifting platform reaches the preset target stop position, and if not, it is determined that the vending machine lifting platform does not reach the preset target stop position.
And step S23, if yes, controlling the vending machine lifting platform to stop moving.
In this embodiment, if yes, the vending machine lifting table is controlled to stop moving, so that the vending machine lifting table can pick up goods from the goods shelf corresponding to the preset target stop position.
The vending machine lifting platform control method is applied to vending machines, the vending machines are provided with micro switches, and the vending machine lifting platform control method further comprises the following steps:
step A10, obtaining the current state of the microswitch, and judging whether the current state is a touch state.
In this embodiment, it should be noted that the micro switch is a switch for performing anti-collision detection, and is used to prevent the vending machine lifting platform from squatting at the bottom or rushing to the top, where the micro switch includes a top micro switch and a bottom micro switch, where the top micro switch is installed at the top of the vending machine, and the bottom micro switch is installed at the bottom of the vending machine.
The method comprises the steps of obtaining the current state of the micro switch, judging whether the current state is a touch state or not, specifically, detecting the vertical direction stress of the micro switch, and determining the current state of the micro switch based on the vertical direction stress, for example, comparing the vertical direction stress with a preset stress threshold value, if the vertical direction stress is larger than the preset stress threshold value, the current state of the micro switch is the touch state, and if the vertical direction stress is not larger than the preset stress threshold value, the current state of the micro switch is a non-touch state, and further judging whether the current state is the touch state or not.
And step A20, if yes, controlling the vending machine lifting platform to stop moving.
In this embodiment, if yes, the vending machine lifting table is controlled to stop moving, specifically, if yes, the vending machine lifting table is controlled to stop moving, so as to prevent the vending machine lifting table from pushing up or squatting down.
The vending machine lifting platform control method further comprises the following steps:
and step B10, collecting the current of a lifting platform motor corresponding to the lifting platform of the vending machine.
In this embodiment, it should be noted that the elevating platform motor is for driving the motor that the vending machine elevating platform moved, and works as the vending machine elevating platform breaks down when moving, for example, the end of squatting, dashes the top or the card is dead etc. trouble, then elevating platform motor current will increase, until exceeding maximum motor current, lead to the elevating platform motor to burn out, the elevating platform motor current that the vending machine elevating platform corresponds can set up to the circulation and detect, that is, periodically gathers elevating platform motor current, for example, set up to every 10s, gather elevating platform motor current once.
And step B20, judging whether the current of the lifting platform motor is larger than a preset current threshold value, and if so, controlling the lifting platform of the vending machine to stop moving.
In this embodiment, judge whether elevating platform motor current is greater than and predetermines the electric current threshold, if, then control vending machine elevating platform stop motion, specifically, will elevating platform motor current compares with predetermineeing the electric current threshold, if elevating platform motor current is greater than and predetermines the electric current threshold, then judges the vending machine elevating platform breaks down, and controls immediately the vending machine elevating platform stop motion, if elevating platform motor current is not greater than and predetermines the electric current threshold, then judges the vending machine elevating platform normal operating.
The vending machine lifting platform control method further comprises the following steps:
step C10, collecting the rising time of the vending machine lifting platform in a rising state, judging whether the rising time is greater than a preset rising time threshold value, and if so, controlling the vending machine lifting platform to stop moving; and/or
In this embodiment, gather the rising duration that the vending machine elevating platform is in the state of rising, and judge whether the rising duration is greater than predetermineeing the rising duration threshold, if, then control the vending machine elevating platform stop motion, specifically, gather the rising duration that the vending machine elevating platform is in the state of rising, and will the rising duration is compared with predetermineeing the rising duration threshold, if the rising duration is greater than predetermineeing the rising duration threshold, then judge the vending machine elevating platform is in the high risk state, wherein, the high risk state is the state that the high probability breaks down, and then control the vending machine elevating platform stop motion, in order to prevent the vending machine elevating platform breaks down, if the rising duration is not greater than predetermineeing the rising duration threshold, then judges the vending machine elevating platform is in normal operating condition.
And step C20, acquiring the descending time of the vending machine lifting platform in a descending state, judging whether the descending time is greater than a preset descending time threshold value, and controlling the vending machine lifting platform to stop moving if the descending time is greater than the preset descending time threshold value.
In this embodiment, gather the length of time that the vending machine elevating platform is in the decline state, and judge whether the length of time that descends is greater than predetermineeing the length of time threshold of descending, if, then control the vending machine elevating platform stop motion, specifically, gather the length of time that the vending machine elevating platform is in the decline state, and will the length of time that descends compares with predetermineeing the length of time threshold of descending, if the length of time that descends is greater than predetermineeing the length of time threshold of descending, then judge the vending machine elevating platform is in the high risk state, wherein, the high risk state is the state that the high probability breaks down, and then control the vending machine elevating platform stops motion, in order to prevent the vending machine elevating platform breaks down, if the length of time that descends is not greater than predetermineeing the length of time threshold of descending, then judges the vending machine elevating.
Additionally, as shown in fig. 2, a schematic flow diagram of control when the vending machine lifting platform descends is shown, wherein the lifting platform is the vending machine lifting platform, the U-shaped blocking pieces are the double-shielding blocking pieces, the purpose of detection of the photoelectric switch is to accurately position the vending machine lifting platform to the preset target reference position, the purpose of detection of the bottom microswitch is to prevent the vending machine lifting platform from squatting at the bottom, and the purpose of collecting and detecting the motor current of the lifting platform and detecting whether the descending is overtime is to prevent the vending machine from sending faults and being damaged.
Additionally, as shown in fig. 3, a schematic flow diagram of control when the vending machine lifting table ascends is shown, the lifting table is the vending machine lifting table, the designated layer is a shelf layer corresponding to the preset target stop position, the purpose of detection of the photoelectric switch is to accurately position the vending machine lifting table to the preset target stop position, the purpose of detection of the top microswitch is to prevent the vending machine lifting table from pushing, and both the purpose of collecting the current of the lifting table and detecting whether the ascending time-out is to prevent the vending machine from sending a fault and being damaged.
Compared with the technical means that the vending machine lifting platform is positioned through a mechanical structure in the prior art, the method for controlling the vending machine lifting platform to move from the current position to the preset target reference position is provided, and the method for controlling the vending machine lifting platform is characterized in that the current position of the vending machine lifting platform is obtained, the error of the mechanical structure is unstable and difficult to compensate accurately, the performance of the photoelectric switch cannot change greatly along with the time, namely, the performance of the photoelectric switch is stable, the error of the preset target reference position determined based on the photoelectric switch and the preset photoelectric switch blocking piece is small and stable, and the error of the preset target reference position is determined to be extremely small, the aim of determining the preset target reference position with extremely high accuracy is further achieved, the vending machine lifting platform is controlled to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group, namely, when the vending machine takes goods, the vending machine lifting platform is controlled to move from the preset target reference position with extremely high accuracy, so that the positioning accuracy of the vending machine lifting platform can be improved, the whole movement process of the vending machine lifting platform moving from the preset target reference position to the preset target stop position is controlled by the photoelectric switch and the preset photoelectric switch baffle group, and because the performance of the photoelectric switch is very stable, the error of the vending machine lifting platform in the movement process is extremely small, the vending machine lifting platform can be accurately stopped to the preset target reference position, so that the problem that when the vending machine lifting platform is positioned by a mechanical structure is overcome, because some unavoidable errors usually exist in the mechanical structure, and along with the lapse of time, the error of the mechanical structure will become more and more unstable, and then lead to the technical defect that the vending machine elevating platform location is not accurate enough, and then improved the positioning accuracy of vending machine elevating platform.
Further, referring to fig. 4, in another embodiment of the present application, based on the first embodiment of the present application, the optoelectronic switch is installed on the vending machine lifting platform, the preset optoelectronic switch flap set includes at least one optoelectronic switch flap,
the step of controlling the vending machine lifting platform to move from the current position to a preset target reference position based on the photoelectric switch corresponding to the vending machine lifting platform and a preset photoelectric switch baffle group comprises the following steps:
step S11, collecting first shielding time information of the photoelectric switch shielded by each photoelectric switch separation blade after the vending machine lifting platform starts to move from the current position;
in this embodiment, it should be noted that the first shielding time information is shielding time information acquired by the photoelectric switch in the process that the vending machine lifting platform moves from the current position to the preset target reference position.
The method includes the steps of collecting first shielding time information of the photoelectric switch shielded by each photoelectric switch blocking piece after the vending machine lifting platform starts to move from the current position, specifically, collecting first shielding time points of the photoelectric switch shielded by each photoelectric switch blocking piece after the vending machine lifting platform starts to move from the current position, further calculating time interval duration between every two adjacent first shielding time points in each first shielding time point, obtaining each first shielding interval duration, and taking each first shielding interval duration as the first shielding time information.
Step S12, judging whether the vending machine lifting platform reaches the preset target reference position or not based on the first shielding time information;
in this embodiment, based on the first blocking time information, it is determined whether the vending machine lifting platform reaches the preset target reference position, specifically, it is determined whether the first blocking interval duration is within a preset first blocking interval duration range in real time, if yes, judging that the vending machine lifting platform reaches the preset target reference position at the current time point, if not, it is determined that the vending machine platform does not reach the preset target reference position at the current point in time, wherein, it is required to be mentioned that the corresponding double shielding blocking sheets within the duration range of the first shielding interval are preset, and the preset first occlusion interval duration range is much smaller than the preset second occlusion interval duration range, the first shielding interval duration is within a preset first shielding interval duration range, and then the vending machine lifting platform is proved to pass through the double shielding separation blades.
Wherein the first occlusion time information at least comprises a first occlusion interval duration,
the step of judging whether the vending machine lifting platform reaches the preset target reference position or not based on the first shielding time information comprises the following steps:
step S121, judging whether the first shielding interval duration is within a preset first shielding interval duration range, and if so, controlling the vending machine lifting platform to move reversely at a slow speed;
judging whether the first shielding interval duration is within a preset first shielding interval duration range, if so, controlling the vending machine lifting platform to move reversely at a low speed, specifically, judging that the first shielding interval duration is within the preset first shielding interval duration range, if so, judging that the vending machine lifting platform reaches the preset target reference position at the current time point, wherein, because the vending machine lifting platform is in a moving state, and then after the vending machine lifting platform stops decelerating, the vending machine lifting platform slightly deviates from the preset target reference position, and further controlling the vending machine lifting platform to move reversely at a preset low speed, and if not, judging that the vending machine lifting platform does not reach the preset target reference position at the current time point.
And S122, detecting whether the photoelectric switch is shielded, and if so, judging that the vending machine lifting platform reaches the preset target reference position.
In this embodiment, whether the photoelectric switch is blocked is detected, if so, it is determined that the vending machine lifting platform reaches the preset target reference position, specifically, whether the photoelectric switch is blocked is detected in real time, if so, it is proved that the vending machine lifting platform reaches the lower blocking piece position of the double-blocking piece, where the lower blocking piece position is the preset target reference position, it is further determined that the vending machine lifting platform reaches the preset target reference position, and if not, it is determined that the vending machine lifting platform does not reach the preset target reference position, where it needs to be noted that since a movement speed of the vending machine lifting platform during reverse slow movement is extremely low, an error caused by deceleration of the vending machine lifting platform is extremely low.
And step S13, if yes, controlling the vending machine lifting platform to stop moving.
In this embodiment, if yes, the vending machine lifting table is controlled to stop moving, specifically, if yes, it is proved that the vending machine lifting table has reached the position of the goods outlet, and then the vending machine lifting table is controlled to stop moving, so as to carry out goods outlet.
The embodiment provides a method for controlling a vending machine lifting platform to be accurately positioned to a preset target reference position, that is, after the vending machine lifting platform starts to move from the preset target reference position, second shielding time information of a photoelectric switch shielded by each photoelectric switch baffle is collected, whether the vending machine lifting platform reaches the preset target stop position is judged based on the second shielding time information, and if yes, the vending machine lifting platform is controlled to stop moving, wherein the performance of the photoelectric switch does not change greatly along with the passage of time, that is, the performance of the photoelectric switch is very stable, an error of a preset target reference position determined based on the photoelectric switch and a preset photoelectric switch baffle group is small and very stable, the error of the preset target reference position is very small, and the purpose of determining the preset target reference position with extremely high accuracy is achieved, and then when the vending machine got goods, control the vending machine elevating platform and begin the motion by the very high preset target reference position of degree of accuracy, and then can improve the positioning accuracy of vending machine elevating platform, and then when overcoming the vending machine elevating platform and fixing a position through mechanical structure, because mechanical structure usually has some inevitable errors, and along with the time lapse, mechanical structure's error will become more and more unstable, and then leads to the technical defect that the positioning of vending machine elevating platform is accurate inadequately to establish the basis.
Referring to fig. 5, fig. 5 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 5, the vending machine platform control apparatus may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used for realizing connection communication between the processor 1001 and the memory 1005. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a memory device separate from the processor 1001 described above.
Optionally, the vending machine elevator control device may further include a rectangular user interface, a network interface, a camera, RF (Radio Frequency) circuitry, a sensor, audio circuitry, a WiFi module, and so forth. The rectangular user interface may comprise a Display screen (Display), an input sub-module such as a Keyboard (Keyboard), and the optional rectangular user interface may also comprise a standard wired interface, a wireless interface. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface).
Those skilled in the art will appreciate that the vending machine dock control device configuration shown in FIG. 5 does not constitute a limitation of the vending machine dock control device, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 5, a memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, and a vending machine elevator control program. The operating system is a program that manages and controls the hardware and software resources of the vending machine elevator control equipment, supporting the operation of the vending machine elevator control program and other software and/or programs. The network communication module is used to enable communication between the various components within the memory 1005, as well as with other hardware and software in the vending machine elevator control system.
In the vending machine elevator control apparatus shown in fig. 5, the processor 1001 is configured to execute a vending machine elevator control program stored in the memory 1005, and implement the steps of the vending machine elevator control method described in any one of the above.
The specific implementation of the vending machine lifting platform control device of the application is basically the same as that of each embodiment of the vending machine lifting platform control method, and is not described herein again.
The embodiment of the present application still provides a vending machine elevating platform controlling means, vending machine elevating platform controlling means is applied to vending machine elevating platform controlgear, vending machine elevating platform controlling means includes:
the system comprises a first control module, a second control module and a third control module, wherein the first control module is used for acquiring the current position of a vending machine lifting platform and controlling the vending machine lifting platform to move to a preset target reference position from the current position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform;
and the second control module is used for controlling the vending machine lifting platform to move to a preset target parking position from the preset target reference position based on the photoelectric switch and the preset photoelectric switch baffle group.
Optionally, the first control module comprises:
the first acquisition unit is used for acquiring first shielding time information of the photoelectric switch shielded by each photoelectric switch blocking piece after the vending machine lifting platform starts to move from the current position;
the first judging unit is used for judging whether the vending machine lifting platform reaches the preset target reference position or not based on the first shielding time information;
and the first control unit is used for controlling the vending machine lifting platform to stop moving if the vending machine lifting platform does not move.
Optionally, the first judging unit includes:
the first judging subunit is used for judging whether the first shielding interval duration is within a preset first shielding interval duration range, and if so, controlling the vending machine lifting platform to move reversely at a low speed;
and the detection subunit is used for detecting whether the photoelectric switch is shielded or not, and if so, judging that the vending machine lifting platform reaches the preset target reference position.
Optionally, the second control module comprises:
the second acquisition unit is used for acquiring second shielding time information of the photoelectric switches shielded by the blocking pieces of the photoelectric switches after the vending machine lifting platform starts to move from the preset target reference position;
the second judging unit is used for judging whether the vending machine lifting platform reaches the preset target parking position or not based on the second shielding time information;
and the second control unit is used for controlling the vending machine lifting platform to stop moving if the vending machine lifting platform does not move.
Optionally, the second judging unit includes:
the selecting subunit is used for selecting each target shielding interval duration from each second shielding interval duration based on a preset second shielding interval duration range;
the determining subunit is used for determining the movement distance information of the vending machine lifting platform based on the shielding interval duration of each target;
and the second judging subunit is used for judging whether the vending machine lifting platform reaches the preset target parking position or not based on the movement distance information.
Optionally, the vending machine elevator control device further comprises:
the first judgment module is used for acquiring the current state of the microswitch and judging whether the current state is a touch state or not;
and the third control module is used for controlling the vending machine lifting platform to stop moving if the vending machine lifting platform does not move.
Optionally, the vending machine elevator control device further comprises:
the acquisition module is used for acquiring the current of a lifting platform motor corresponding to the lifting platform of the vending machine;
and the fourth control module is used for judging whether the current of the lifting platform motor is greater than a preset current threshold value or not, and controlling the vending machine lifting platform to stop moving if the current of the lifting platform motor is greater than the preset current threshold value.
Optionally, the vending machine elevator control device further comprises:
the fifth control module is used for acquiring the rising time of the vending machine lifting platform in a rising state, judging whether the rising time is greater than a preset rising time threshold value or not, and controlling the vending machine lifting platform to stop moving if the rising time is greater than the preset rising time threshold value; and/or
And the sixth control module is used for acquiring the descending time of the vending machine lifting platform in a descending state, judging whether the descending time is greater than a preset descending time threshold value, and controlling the vending machine lifting platform to stop moving if the descending time is greater than the preset descending time threshold value.
The specific implementation of the vending machine lifting platform control device of the application is basically the same as that of each embodiment of the vending machine lifting platform control method, and the detailed description is omitted here.
The embodiment of the present application provides a readable storage medium, and the readable storage medium stores one or more programs, and the one or more programs are also executable by one or more processors for implementing the steps of the vending machine lifting platform control method described in any one of the above.
The specific implementation manner of the readable storage medium of the present application is substantially the same as that of each embodiment of the vending machine lifting platform control method, and is not described herein again.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A vending machine lift control method, comprising:
the method comprises the steps of obtaining the current position of a vending machine lifting platform, and controlling the vending machine lifting platform to move from the current position to a preset target reference position based on a photoelectric switch and a preset photoelectric switch baffle group corresponding to the vending machine lifting platform;
and controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group.
2. The vending machine dock control method of claim 1, wherein the opto-electronic switch is mounted on the vending machine dock, the set of predetermined opto-electronic switch flaps includes at least one opto-electronic switch flap,
the step of controlling the vending machine lifting platform to move from the current position to a preset target reference position based on the photoelectric switch corresponding to the vending machine lifting platform and a preset photoelectric switch baffle group comprises the following steps:
when the vending machine lifting platform starts to move from the current position, acquiring first shielding time information of the photoelectric switches shielded by the blocking pieces of the photoelectric switches;
judging whether the vending machine lifting platform reaches the preset target reference position or not based on the first shielding time information;
and if so, controlling the vending machine lifting platform to stop moving.
3. The vending machine landing control method of claim 2, wherein the first occlusion time information includes at least a first occlusion interval duration,
the step of judging whether the vending machine lifting platform reaches the preset target reference position or not based on the first shielding time information comprises the following steps:
judging whether the first shielding interval duration is within a preset first shielding interval duration range, and if so, controlling the vending machine lifting platform to move at a slow speed in a reverse direction;
and detecting whether the photoelectric switch is shielded, and if so, judging that the vending machine lifting platform reaches the preset target reference position.
4. The vending machine dock control method of claim 1, wherein the opto-electronic switch is mounted on the vending machine dock, the set of predetermined opto-electronic switch flaps includes at least one opto-electronic switch flap,
the step of controlling the vending machine lifting platform to move from the preset target reference position to the preset target stop position based on the photoelectric switch and the preset photoelectric switch baffle group comprises the following steps:
when the vending machine lifting platform starts to move from the preset target reference position, acquiring second shielding time information of the photoelectric switches shielded by the blocking pieces of the photoelectric switches;
judging whether the vending machine lifting platform reaches the preset target parking position or not based on the second shielding time information;
and if so, controlling the vending machine lifting platform to stop moving.
5. The vending machine landing control method of claim 4, wherein the second occlusion time information includes at least a second occlusion interval duration,
the step of judging whether the vending machine lifting platform reaches the preset target parking position or not based on the second shielding time information comprises the following steps of:
selecting each target shielding interval duration from each second shielding interval duration based on a preset second shielding interval duration range;
determining the movement distance information of the vending machine lifting platform based on the shielding interval duration of each target;
and judging whether the vending machine lifting platform reaches the preset target parking position or not based on the movement distance information.
6. The vending machine dock control method of claim 1, wherein the vending machine dock control method is applied to a vending machine, the vending machine being equipped with a micro switch, the vending machine dock control method further comprising:
acquiring the current state of the microswitch, and judging whether the current state is a touch state or not;
and if so, controlling the vending machine lifting platform to stop moving.
7. The vending machine dock control method of claim 1, wherein the vending machine dock control further comprises:
collecting a lifting platform motor current corresponding to the vending machine lifting platform;
and judging whether the current of the lifting platform motor is larger than a preset current threshold value, if so, controlling the lifting platform of the vending machine to stop moving.
8. The vending machine dock control method of claim 1, wherein the vending machine dock control further comprises:
collecting the rising time of the vending machine lifting platform in a rising state, judging whether the rising time is greater than a preset rising time threshold value, and if so, controlling the vending machine lifting platform to stop moving; and/or
And collecting the descending time of the vending machine lifting platform in a descending state, judging whether the descending time is greater than a preset descending time threshold value, and controlling the vending machine lifting platform to stop moving if the descending time is greater than the preset descending time threshold value.
9. A vending machine, characterized in that the vending machine comprises a vending machine dock control device, the vending machine dock control device comprising: a memory, a processor, and a program stored on the memory for implementing the vending machine elevator control method,
the memory is used for storing a program for realizing the control method of the vending machine lifting platform;
the processor is configured to execute a program implementing the vending machine elevator control method to implement the steps of the vending machine elevator control method according to any of claims 1 to 8.
10. A readable storage medium having stored thereon a program for implementing a vending machine elevator control method, the program being executed by a processor to implement the steps of the vending machine elevator control method according to any one of claims 1 to 8.
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