CN113554802B - Weighing device and unmanned vending system - Google Patents
Weighing device and unmanned vending system Download PDFInfo
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- CN113554802B CN113554802B CN202110428272.1A CN202110428272A CN113554802B CN 113554802 B CN113554802 B CN 113554802B CN 202110428272 A CN202110428272 A CN 202110428272A CN 113554802 B CN113554802 B CN 113554802B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
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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
- G07F11/62—Coin-freed apparatus for dispensing, or the like, discrete articles in which the articles are stored in compartments in fixed receptacles
Abstract
The invention provides a weighing device, which is characterized by comprising a plurality of weighing units, a plurality of weighing units and a weighing unit, wherein the weighing units are used for weighing a pallet and goods contained in the pallet so as to weigh corresponding weight values in real time; the information processing module comprises a stable value acquisition part, a recording part, a picking and placing judging part, a stable value determining part and a weight change value calculating part, wherein the stable value acquisition part acquires the weight value weighed by the weighing unit in real time and judges the stable weight value obtained by the weighing unit when the weighing unit is in a stable state, the recording part sequentially records the stable weight values in the stable state, the picking and placing judging part is used for setting a first weight stable value and a second weight stable value according to the fact that whether the difference value between each continuous stable weight value is larger than a preset picking and placing judging threshold value or not, and the weight change value calculating part is used for calculating the difference value between the second weight stable value and the first weight stable value as the weight change value generated before and after commodity picking and placing.
Description
Technical Field
The invention relates to the technical field of vending cabinet weighing, in particular to a weighing device and an unmanned vending system.
Background
The sales counter typically uses an image recognition system or weighing device to derive how much of the item was sold at the time of vending. Image recognition systems typically identify the number of items on a sales counter pallet by image, so sales counter employing image recognition systems are only suitable for selling standard-sized items, such as whole bottles of beverages, bags of food, etc., and are not suitable for selling items without standard-sized items, such as fruit, etc. The weighing device calculates the mass of the articles on the pallet, so that the sales counter adopting the weighing device is suitable for selling articles with standard specifications and articles without standard specifications.
The method for calculating the weight change caused by taking and placing the articles by the sales counter adopting the weighing device in the prior art comprises the following steps: the difference between the weight value of the pallet before opening the door and the goods on the pallet and the weight value of the pallet after closing the door and the goods on the pallet is calculated.
However, changes such as air flow, air temperature changes, ice melting, etc. in the sales counter can significantly interfere with the weighing of the pallet before opening the door and the weight of the product on the pallet after closing the door. Meanwhile, the accurate weighing of the pallet and the weight value of the commodity on the pallet after the door is closed can be seriously influenced by error accumulation caused by taking and placing the commodity for a plurality of times after the customer opens the door. The calculation of the weight change quantity caused by the prior art by the sales counter adopting the weighing device before and after the goods are taken and placed still has obvious errors.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a weighing apparatus and an unmanned vending system.
The present invention provides a weighing apparatus for use with an unmanned sales counter having a plurality of pallets on which goods to be sold are held, the weighing apparatus being characterised by comprising: the weighing units are in one-to-one correspondence with the plurality of pallets and are used for weighing the pallets and the commodities contained in the pallets so as to weigh corresponding weight values in real time; the information processing module is respectively in communication connection with each weighing unit, wherein the information processing module comprises a stable value acquisition part, a recording part, a picking and placing judging part, a stable value determining part and a weight change value calculating part, the stable value acquisition part acquires the weight value weighed by the weighing unit in real time, judges the stable weight value obtained by the weighing unit when in a stable state according to the weight value acquired at each moment and a preset stable judging threshold value, the recording part sequentially records the stable weight value in the stable state, the picking and placing judging part judges whether the difference value between each continuous stable weight value is larger than the preset picking and placing judging threshold value, when the continuous weight stability value is judged to be positive by the picking and placing judging part, the stable value determining part takes the earlier stable value as a first weight stability value, takes the later stable weight value as a second weight stability value, and the weight change value calculating part calculates the difference value between the second weight stability value and the first weight stability value as a weight change value generated before and after goods are picked and placed.
In the weighing device provided by the invention, the weighing device can also have the following characteristics: the stable value acquisition part comprises an acquisition control unit, a weight value acquisition unit, a weight set forming unit, a stable judging unit and a stable weight value acquisition unit, wherein the weight value acquisition unit is used for acquiring the weight value weighed by the weighing unit in real time, the weight set forming unit is used for forming a weight set by the preset number of weight values when the weight value acquisition unit acquires the preset number of weight values, each time the weight value acquisition unit acquires a new weight value in real time, the acquisition control unit controls the weight set forming unit to replace the oldest weight value in the weight set by the new weight value so as to form a current weight set, the acquisition control unit controls the stable judging unit to calculate the difference value between the maximum value and the minimum value in the current weight set each time the current weight set is formed and judge whether the difference value is smaller than a preset stable judging threshold value or not, until a certain current weight set is judged to be yes by the stable judging unit, and the stable weight value acquisition unit calculates the average value of the current weight set as the stable weight value.
In the weighing device provided by the invention, the weighing device can also have the following characteristics: the stable value determining part is provided with a second stable value determining unit, a verification unit and a determination control unit, after the second stable value is assigned, the verification unit continuously calculates whether each difference value in the first difference value set in the preset verification time is larger than a threshold value for stability judgment or not in the preset verification time, if any difference value in the first difference value set is larger than the threshold value for stability judgment, the second stable value determining unit clears assignment of the second stable value, the determination control unit controls the second stable value determining unit to take the next stable value as a new second stable value, and the verification unit is controlled to verify the new second stable value until all the difference values in the first difference value set in the second stable value set are smaller than the threshold value for stability judgment.
In the weighing device provided by the invention, the weighing device can also have the following characteristics: the information processing module further includes a setting unit that sets the second weight stabilization value as a candidate first weight stabilization value after the weight change value is calculated, the stabilization value determining unit having a first stabilization value determining unit that sets the latest stabilized weight value as a new candidate first weight stabilization value until the pick-and-place judging unit judges that it is a new candidate first weight stabilization value, and a second stabilization value determining unit that sets the latest stabilized weight value as a new second weight stabilization value, the weight change value calculating unit calculating a difference between the new second weight stabilization value and the new first weight stabilization value as a new weight change value.
In the weighing device provided by the invention, the weighing device can also have the following characteristics: wherein the range of the threshold value for stability judgment is 0.1-3g, the range of the threshold value for taking and placing judgment is 15-25g, the range of the verification time is 1-3s, and the range of the preset number is 4-6.
The present invention provides a vending apparatus having such features as to include: a sales counter comprising a plurality of pallets and goods placed on the pallets; the weighing device is arranged in the sales counter and used for weighing the plurality of pallets respectively; and a control device for controlling the operation of the sales counter and the weighing device, wherein the weighing device is any one of the weighing devices, and when the goods on the pallet are taken out from the sales counter, the sales counter is further used for charging the taken out goods according to the weight change value obtained by the weighing device for the goods on the pallet.
The present invention provides an unmanned vending system having the features that it comprises: at least one vending apparatus for holding goods to be vended; at least one consumer terminal for a consumer to purchase goods on a pallet; the server is in communication connection with the consumption terminal and the vending equipment respectively, wherein the vending equipment comprises a vending cabinet, a pallet and commodities placed on the pallet; the weighing device is arranged in the sales counter and used for weighing the plurality of pallets respectively; and the control device is used for controlling the operation of the sales counter and the weighing device, wherein the weighing device is any one of the weighing devices, when the goods on the pallet are taken out from the sales counter, the sales counter weighs the weight change value obtained by the weighing device on the goods on the pallet to the server, so that the server can charge the goods on the taken-out pallet according to the weight change value and send the charging result to the consumption terminal.
In the unmanned vending system provided by the invention, the characteristics can be as follows: the server comprises an information storage part and a settlement part, wherein the information storage part is used for storing at least the weight information and the price information of the corresponding commodity on the pallet, and the settlement part is used for calculating the type and the quantity of the commodity on the pallet to be fetched and placed and the total price to be paid according to the weight change value, the weight information and the price information of the commodity.
Effects and effects of the invention
According to the weighing device and the unmanned vending system, the weighing unit of the weighing device continuously collects the weight values of the commodities on the pallet in real time and conducts stable value judgment through forming the weight set, so that a plurality of weight stable values are obtained, whether the commodities are taken and placed or not is judged according to the difference value between the weight stable values, the weight change value caused by taking and placing the commodities is calculated, negative influences of interference factors such as air disturbance and ice melting are reduced, and accuracy and stability of calculation of the weight change value by the weighing device are ensured.
Drawings
FIG. 1 is a schematic diagram of an unmanned vending system in an embodiment of the present invention;
FIG. 2 is a schematic view of a vending apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view showing the structure of a vending apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an information processing module in an embodiment of the invention;
fig. 5 is a view showing contents stored in the information storage section in the embodiment of the present invention;
FIG. 6 is a flow chart illustrating the operation of the unmanned vending system weighing process in accordance with an embodiment of the present invention; and
FIG. 7 is a flowchart of the vending operations performed by the unmanned vending system according to an embodiment of the present invention.
Detailed Description
In order to make the technical means, creation characteristics, achievement purposes and effects of the present invention easy to understand, the following embodiments are specifically described with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an unmanned vending system in the present embodiment.
As shown in fig. 1, the present embodiment provides an unmanned vending system 100 including a plurality of vending apparatuses 10 for holding goods to be vended, a plurality of consumer terminals 20 for consumers to purchase goods on a pallet 112, and a server 30.
Fig. 2 is a schematic diagram of a vending apparatus according to the present embodiment, and fig. 3 is a schematic diagram of a vending apparatus according to the present embodiment. As shown in fig. 2 and 3, the vending apparatus 10 includes a sales counter 11, a weighing device 12, a control device 13, and a communication device 14.
The sales counter 11 includes a cabinet 111, a plurality of pallets 112, and a locking portion 113.
The cabinet 111 is provided with an identification code, and a consumer can acquire the cabinet identification information of the sales cabinet by scanning the identification code through the consumer terminal 20.
The cabinet 111 has a cabinet door. A plurality of pallets 112 are located within the cabinet 111 and are secured to the cabinet 111. In this embodiment, the space within the cabinet 111 is divided into 3 layers, each layer having 4 pallets 112. The pallet 112 is used to hold goods to be sold. The single pallet 112 only holds the same commodity, and the term "same commodity" refers to a commodity having the same commodity name, commodity specification, and manufacturer. Different pallets 112 may hold the same commodity or different commodities.
The locking portion 113 includes an electronic lock (not shown) provided at an edge of the cabinet door and a latch (not shown) provided at the door frame. The electronic lock can lock and unlock the cabinet door according to the control signal of the control device 13 under the cooperation of the lock catch.
A weighing device 12 is provided in the sales counter 11 for weighing a plurality of pallets 112, respectively.
As shown in fig. 2, the weighing device 12 includes a plurality of weighing units 121 and an information processing module 122.
The plurality of weighing units 121 are in one-to-one correspondence with the plurality of pallets 112, and are used for weighing the pallets 112 and the commodities contained in the pallets 112 so as to weigh corresponding weight values in real time.
Fig. 4 is a schematic diagram of an information processing module in this embodiment. As shown in fig. 4, the information processing modules 122 are respectively communicatively connected to the respective weighing units 121. The information processing module 122 includes a stable value acquisition unit 201, a recording unit 202, a pick-and-place determination unit 203, a stable value determination unit 204, a weight change value calculation unit 205, a setting unit 206, and an information processing module-side communication unit 207.
The stable value acquisition unit 201 acquires the weight value weighed by the weighing unit 121 in real time, and determines a stable weight value obtained by the weighing unit 121 in a stable state based on the weight values acquired at the respective times and a predetermined threshold value for stable determination.
As shown in fig. 4, the stable value acquisition section 201 includes an acquisition control unit 301, a weight value acquisition unit 302, a weight set forming unit 303, a stability judging unit 304, and a stable weight value acquisition unit 305, specifically:
the weight value acquisition unit 302 is configured to acquire the weight value weighed by the weighing unit 121 in real time.
The weight set forming unit 303 is configured to form a weight set from a predetermined number of weight values when the weight value acquiring unit 302 acquires the predetermined number of weight values.
The predetermined number of values ranges from 4 to 6. The predetermined number in this embodiment is 5.
Each time the weight value acquisition unit 302 acquires a new weight value in real time, the acquisition control unit 301 controls the weight set forming unit 303 to replace the oldest weight value in the weight sets with the new weight value to form the current weight set.
The acquisition control unit 301 controls the stability judging unit 304 to calculate the difference between the maximum value and the minimum value in the current weight set each time the current weight set is formed and judge whether the difference is smaller than a predetermined threshold for stability judgment until a certain current weight set is judged yes by the stability judging unit 304.
When the stability judging unit 304 judges yes, the stable weight value acquiring unit 305 calculates an average value of the current weight set as a stable weight value.
The value range of the threshold for stability judgment is 0.1-3g. The threshold for stability determination in this example was 0.1g. In the present embodiment, assuming that the difference between the maximum value and the minimum value in the current weight set is less than 0.1g, the stable weight value acquisition unit 305 calculates the average value of the current weight set as the stable weight value; when the difference between the maximum value and the minimum value in the current weight set is greater than 0.1g, the weight set forming unit 303 forms a new current weight set, and again determines whether the difference between the maximum value and the minimum value in the current weight set is less than 0.1g.
The recording unit 202 sequentially records the steady weight values in the steady state.
The pickup/discharge determination section 203 determines whether or not the difference between each successive stable weight value is larger than a predetermined pickup/discharge determination threshold.
When the successive weight stability values are determined to be positive by the pick-and-place determining unit 203, the stability value determining unit 204 sets the earlier stability value as the first weight stability value and the later stability weight value as the second weight stability value.
The value range of the threshold value for taking and putting judgment is 15-25g. The threshold for pick-and-place determination in this embodiment is 20g. In the present embodiment, assuming that the difference between the latest two weight stabilization values is greater than 20g, the stabilization value determination section 204 takes the earlier stabilization value as the first weight stabilization value and the later stabilization weight value as the second weight stabilization value; if the difference between the latest two weight stabilization values is smaller than 20g, the stabilization weight value acquisition unit 305 acquires a new stabilization weight value, and then determines again whether the difference between the latest two weight stabilization values is larger than 20g.
And taking the difference value between each weight value in the current weight set and the second weight stable value as a first difference value set.
The stable value determination section 204 has a first stable value determination unit 306, a second stable value determination unit 307, a verification unit 308, and a determination control unit 309.
After the second weight stabilization value is assigned, the verification unit 308 continues to calculate, for a predetermined verification time, whether or not each difference value in the first difference value set for the predetermined verification time is greater than the threshold for stabilization judgment. If any one of the first difference sets is larger than the threshold for stability judgment, the second stable value determination unit 307 clears the assignment to the second weight stable value. The determination control unit 309 controls the second stable value determination unit 307 to take the next weight stable value as a new second weight stable value, and controls the verification unit 308 to verify the new second weight stable value until all differences in the first difference set are smaller than the threshold for stability judgment in the verification time of the second weight stable value.
The value range of the verification time is 1-3s. The verification time in this embodiment is 2s.
The weight change value calculation unit 205 calculates a difference between the second weight stabilization value and the first weight stabilization value as a weight change value generated before and after the commodity is picked up and placed.
In the present embodiment, after the weight change value calculation unit 205 calculates the weight change value, the information processing module side communication unit 207 transmits the weight change value to the server 30.
Further, each time the weight change value is calculated, the setting unit 206 sets the second weight stability value as a candidate first weight stability value, and when the stability determination unit 304 determines that it is, the first stability value determination unit 306 sets the latest stable weight value as a new candidate first weight stability value. Until the pick-and-place determination unit determines yes, the first stable value determination unit 306 sets the latest candidate first weight stable value as a new first weight stable value, and the second stable value determination unit 307 sets the latest stable weight value as a new second weight stable value. The weight change value calculation unit 205 calculates a difference between the new second weight stabilization value and the new first weight stabilization value as a new weight change value.
And a control device 13 for controlling the operation of the sales counter 11 and the weighing device 12.
The consumer terminal 20 is a mobile terminal, for example, a smart phone, and includes a scan identification unit 21, an input display unit 22, a consumer-side communication unit 23, and a consumer-side control unit 24 for controlling the above units.
The scan identification unit 21 is used for a consumer to scan the identification code and obtain the container identification information of the corresponding sales container 11 from the identification code. In this embodiment, the container identification information is an identification number of the sales counter, and is used to make the server 30 identify the sales counter 11 currently operated by the consumer. Upon recognizing the container identification information, the consumer-side communication part 23 transmits it to the server 30.
The input display unit 22 displays the type, number and total price of the commodity purchased by the consumer. The consumer can input an instruction to unlock the sales counter 11 via the input display 22.
The server 30 is connected to the consumer terminal 20 and the vending apparatus 10 in communication, respectively. The server 30 includes an information storage unit 31, a settlement unit 32, a service-side communication unit 33, and a service-side control unit 34 for controlling the above units.
Fig. 5 is a diagram showing contents stored in the information storage section in the embodiment of the present invention.
As shown in fig. 5, the information storage unit 31 stores unit identification information, commodity identification information, and commodity price information in one-to-one correspondence with the plurality of pallets 112.
Specifically, the commodity identification information includes identification information of both standard commodity and non-standard commodity, and the "standard commodity" refers to a commodity that is commercially available and has uniform weight package, and the "non-standard commodity" refers to a scattered commodity that is commercially available. Specifically, the standard commodity and the non-standard commodity are respectively numbered, the standard commodity is numbered GGi (i=1, 2,.); the commodity unit price information is the price of each gram of commodity, and the unit is yuan/gram.
Specifically, the unit identification information is the number HPi (i=1, 2,..n) of the pallet 112, n being the number of weighing units 121, in this embodiment, n=12. The article identification information corresponding to the different unit identification information may be the same or different. If the commodity identification information corresponding to the different unit identification information is the same, it indicates that the different pallets 112 hold the same commodity; if the commodity identification information corresponding to the different unit identification information is different, it indicates that the different pallets 112 respectively hold different commodities.
The settlement unit 32 identifies the type of the picked-and-placed commodity and the shelf where the commodity is located based on the unit identification information and the corresponding commodity identification information, calculates the number of the picked-and-placed commodity based on the weight change value, and finally calculates the total price to be paid in combination with commodity price information.
When the commodity on the pallet 112 is taken out from the sales counter 11, the sales counter 11 transmits the weight change value obtained by the weighing device 12 for weighing the commodity on the pallet 112 to the server 30, so that the server 30 can charge the commodity on the taken-out pallet 112 according to the weight change value and transmit the charging result to the consumer terminal 20 through the service side communication section 33.
Fig. 6 is a flow chart showing the operation of the weighing process in this embodiment.
As shown in fig. 6, after the sales counter 11 is opened, the operation flow of the weighing process includes the following steps:
step S-A-1, the weight value obtaining unit 302 obtains the weight value weighed by the weighing unit 121 in real time, and then the process proceeds to step S-A-2;
step S-se:Sup>A-2, the weight set forming unit 303 replaces the oldest weight value in the weight sets with the new weight value to form the current weight set, and then proceeds to step S-se:Sup>A-3;
step S-A-3, the stability judging unit 304 calculates the difference between the maximum value and the minimum value in the current weight set and judges whether the difference is smaller than se:Sup>A preset stability judging threshold value, if yes, the step S-A-4 is entered, and if not, the step S-A-1 is entered;
step S-se:Sup>A-4, the steady weight value acquisition unit 305 calculates the average value of the current weight set as the steady weight value, and then proceeds to step S-se:Sup>A-5;
step S-se:Sup>A-5, the recording section 202 records the stable weight value, and then proceeds to step S-se:Sup>A-6;
step S-A-6, the pick-and-place judging unit 203 judges whether the difference between the latest two stable weight values is larger than se:Sup>A predetermined pick-and-place judging threshold, if so, the step S-A-7 is entered, and if not, the step S-A-1 is entered;
step S-se:Sup>A-7, the stable value determination unit 204 sets an earlier stable value as se:Sup>A first weight stable value, sets se:Sup>A later stable weight value as se:Sup>A second weight stable value, and then proceeds to step S-se:Sup>A-8;
step S-se:Sup>A-8, the weight value acquiring unit 302 acquires the weight value weighed by the weighing unit 121 in real time within se:Sup>A predetermined verification time, and then proceeds to step S-se:Sup>A-9;
step S-A-9, the verification unit 308 continuously calculates whether each difference value in the first difference value set in the preset verification time is smaller than se:Sup>A threshold value for stable judgment in the preset verification time, if yes, the step S-A-10 is performed, and if not, the step S-A-1 is performed;
step S-se:Sup>A-10, the weight change value calculation unit 205 calculates the difference between the second weight stability value and the first weight stability value as the weight change value generated before and after the commodity is picked up and placed, and then proceeds to step S-se:Sup>A-11;
in step S-se:Sup>A-11, the setting unit 206 sets the second weight stabilization value as the candidate first weight stabilization value.
Before executing step S-se:Sup>A-1, the weight value acquisition unit 302 acquires the weight values weighed by the weighing unit 121 in real time, the weight set formation unit 303 forms se:Sup>A predetermined number of weight values into se:Sup>A weight set when the weight value acquisition unit 302 acquires the predetermined number of weight values, and then starts step S-se:Sup>A-1.
After step S-se:Sup>A-11, when the stability determination unit 304 determines yes, the first stability value determination unit 306 takes the latest stable weight value as se:Sup>A new candidate first weight stability value. Until the pick-and-place determination unit determines yes, the first stable value determination unit 306 sets the latest candidate first weight stable value as a new first weight stable value, and the second stable value determination unit 307 sets the latest stable weight value as a new second weight stable value. The weight change value calculation unit 205 calculates a difference between the new second weight stabilization value and the new first weight stabilization value as a new weight change value. The setting portion 206 then again sets the second weight-stable value as the candidate first weight-stable value and repeats the above-described weighing process until the sales counter 11 is closed.
Fig. 7 is a flow chart of the automatic vending operation performed by the unmanned vending system in the present embodiment.
As shown in fig. 7, when a consumer needs to purchase some merchandise from the vending system 100, the operation flow of the vending system 100 for vending includes:
step S-B-1, a consumer scans the identification code on the sales counter 11 through the consumption terminal 20, inputs an instruction for unlocking the sales counter 11, and then sends the instruction to the sales counter 11 through the server 30 to enter step S-B-2;
step S-B-2, the control device 13 controls the locking part 113 to unlock the cabinet door of the cabinet body 111, so that a consumer opens the cabinet door and takes and places the commodity in the sales counter 11, and then the step S-B-3 is performed;
step S-B-3, the weighing device 12 calculates the weight change value caused by the commodity taking and placing in real time through the steps S-A-1 to S-A-11 when the consumer takes and places the commodity until the consumer closes the cabinet door, and then enters step S-B-4;
step S-B-4, the control device 13 controls the settlement section 32 to calculate the type, number and total price of the purchased commodity according to the weight change value, the unit identification information, the commodity identification information and the commodity price information, and then proceeds to step S-B-5;
in step S-B-5, the control device 13 controls the input display unit 22 to display the type and quantity of the purchased commodity and the total price to be paid, and allows the consumer to pay according to the total price.
Effects and effects of the examples
According to the weighing device and the unmanned vending system, the weighing unit of the weighing device continuously collects the weight values of the commodities on the pallet in real time and conducts stable value judgment through forming a weight set, so that a plurality of weight stable values are obtained, whether the commodities are taken and placed or not is judged according to the difference value between the weight stable values, the weight change value caused by taking and placing the commodities is calculated, negative influences of interference factors such as air disturbance and ice melting are reduced, and accuracy and stability of calculation of the weight change value by a sales counter are ensured.
Further, the weighing unit of the weighing device takes the weight value of the preset number of latest commodities as the current weight set, and judges whether the difference between the maximum value and the minimum value in the current weight set is smaller than the threshold value for stability judgment, so that the weight stability value is determined, and the accuracy and the stability of the calculation of the weight change value by the sales counter are improved.
Further, after the weighing unit of the weighing device judges that the commodity is taken and placed, the weight stability value after the commodity is taken and placed is verified through the verification unit, and the weight stability value meeting the verification condition is used as a final second weight stability value to be substituted into the calculation of the weight change value.
Further, the weighing device can restart calculation of the weight change value caused by the goods to be fetched and placed next time after finishing calculation of the weight change value caused by the goods to be fetched and placed once, so that the weight change value caused by the goods to be fetched and placed once after the door is opened can be recorded.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
In the above embodiment, the vending apparatus in the unmanned vending system is provided with a plurality of vending machines and the consumption terminals are provided with a plurality of consumption terminals. In other embodiments of the present invention, the number of vending apparatuses and consumption terminals may be adjusted according to actual situations, for example, only one vending apparatus, one consumption terminal, etc. may be provided in the unmanned vending system.
Claims (6)
1. A weighing apparatus for use with an unsold container containing a plurality of pallets, the apparatus comprising
The commodity that remains to sell on the pallet, its characterized in that includes:
the weighing units are in one-to-one correspondence with the plurality of pallets and are used for weighing the pallets and the commodities contained in the pallets so as to weigh corresponding weight values in real time;
the information processing modules are respectively communicated with the weighing units,
wherein the information processing module comprises a stable value acquisition part, a recording part, a picking and placing judging part, a stable value determining part and a weight change value calculating part,
the stable value acquisition part acquires the weight value weighed by the weighing unit in real time, judges the stable weight value obtained by the weighing unit in a stable state according to the weight value acquired at each moment and a preset threshold value for stable judgment,
the recording section sequentially records the steady weight values in a steady state,
the pick-and-place determining section determines whether or not a difference between each successive stable weight value is greater than a predetermined pick-and-place determining threshold value,
when the stable weight values are continuously present and judged to be yes by the pick-and-place judging part, the stable value determining part takes the earlier stable weight value as a first stable weight value and takes the later stable weight value as a second stable weight value,
the weight change value calculating unit calculates a difference between the second weight stability value and the first weight stability value as a weight change value generated before and after the commodity is picked up and placed,
the stable value acquisition section includes an acquisition control unit, a weight value acquisition unit, a weight set forming unit, a stable judgment unit, and a stable weight value acquisition unit,
the weight value acquisition unit is used for acquiring the weight value weighed by the weighing unit in real time,
the weight set forming unit is used for forming a weight set by a preset number of weight values when the weight value acquiring unit acquires the preset number of weight values, the preset number is 4-6,
each time the weight value acquisition unit acquires a new weight value in real time, the acquisition control unit controls the weight set forming unit to replace the oldest weight value in the weight sets with the new weight value to form a current weight set,
the acquisition control unit controls the stability judging unit to calculate a difference between a maximum value and a minimum value in the current weight set at each formation of the current weight set and to judge whether the difference is smaller than a predetermined threshold for stability judgment until a certain of the current weight sets is judged as yes by the stability judging unit,
when the stability judging unit judges yes, the stability weight value acquiring unit calculates an average value of the current weight set as the stability weight value,
differences between each of the weight values in the current weight set and the second weight stability value respectively are taken as a first difference set,
the stable value determining section has a second stable value determining unit, a verifying unit, and a determination control unit,
after the second weight stabilization value is assigned, the verification unit continuously calculates whether or not each difference value in the first difference value set for a predetermined verification time is greater than the threshold value for stabilization judgment within 1-3s,
if any one of the first difference sets is greater than the threshold for stability determination, the second stability value determination unit clears the assignment of the second weight stability value,
the determination control unit controls the second stable value determination unit to take the next stable weight value as a new second weight stable value, and controls the verification unit to verify the new second weight stable value until all differences in the first difference set are smaller than the threshold for stability judgment within the verification time of the second weight stable value.
2. A weighing apparatus according to claim 1, wherein:
wherein the information processing module further comprises a setting part,
when the weight change value is calculated, the setting section sets the second weight stabilization value as a candidate first weight stabilization value,
the stable value determining section has a first stable value determining unit and a second stable value determining unit,
the first stable value determining unit takes the latest stable weight value as a new candidate first weight stable value when the stability judging unit judges yes,
until the pick-and-place determination unit determines that the first weight stability value is new, the first stability value determination unit sets the latest candidate first weight stability value as the new first weight stability value, the second stability value determination unit sets the latest stable weight value as the new second weight stability value,
the weight change value calculation unit calculates a difference between the new second weight stability value and the new first weight stability value as the new weight change value.
3. A weighing apparatus according to claim 1, wherein:
wherein the threshold value for stability judgment is in the range of 0.1-3g, and the threshold value for taking and placing judgment is in the range of 15-25g.
4. A vending apparatus, comprising:
a sales counter comprising a plurality of pallets and goods placed on the pallets;
the weighing device is arranged in the sales counter and used for weighing the plurality of pallets respectively; and
a control device for controlling the operation of the sales counter and the weighing device,
wherein the weighing device is a weighing device according to any one of claims 1-3,
when the goods on the pallet are taken out from the sales counter, the sales counter is further used for charging the taken out goods according to the weight change value obtained by the weighing device for the goods on the pallet.
5. An unmanned vending system, comprising:
at least one vending apparatus for holding goods to be vended;
at least one consumer terminal for a consumer to purchase goods on the pallet;
a server in communication with the consumer terminal and the vending apparatus, respectively,
wherein, the vending apparatus includes:
a sales counter comprising a pallet and goods placed on the pallet;
the weighing device is arranged in the sales counter and used for weighing the plurality of pallets respectively; and
a control device for controlling the operation of the sales counter and the weighing device,
the weighing apparatus according to any one of claims 1 to 3,
when the goods on the pallet are taken out from the sales counter, the sales counter sends the weight change value obtained by weighing the goods on the pallet by the weighing device to the server, so that the server can charge the goods on the pallet which are taken out according to the weight change value and send the charging result to the consumption terminal.
6. The unmanned vending system of claim 5, wherein:
wherein the server comprises an information storage part and a settlement part,
the information storage unit stores at least individual weight information and price information of the corresponding commodity on the pallet,
the settlement unit calculates the type and number of the commodity on the pallet to be picked and placed and the total price to be paid based on the weight change value, the individual weight information, and the price information.
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| CN116412892B (en) * | 2023-03-17 | 2024-04-16 | 江苏云涌电子科技股份有限公司 | Zero drift compensation system and method for intelligent weighing goods shelf |
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