CN113554804B - Stable weight acquisition device and unmanned vending system - Google Patents
Stable weight acquisition device and unmanned vending system Download PDFInfo
- Publication number
- CN113554804B CN113554804B CN202110428300.XA CN202110428300A CN113554804B CN 113554804 B CN113554804 B CN 113554804B CN 202110428300 A CN202110428300 A CN 202110428300A CN 113554804 B CN113554804 B CN 113554804B
- Authority
- CN
- China
- Prior art keywords
- weight
- value
- unit
- stable
- stability
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/40—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight
- G01G19/413—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means
- G01G19/414—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only
- G01G19/4144—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only for controlling weight of goods in commercial establishments, e.g. supermarket, P.O.S. systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/40—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight
- G01G19/413—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means
- G01G19/414—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only
- G01G19/415—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups with provisions for indicating, recording, or computing price or other quantities dependent on the weight using electromechanical or electronic computing means using electronic computing means only combined with recording means
-
- 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 present invention provides a stabilized weight acquisition apparatus having the features of: the automatic door opening and closing device comprises a basic weight value acquisition part, a door opening weight judgment part, a same-layer weight change judgment part, a weight value screening part and a stable value acquisition part, wherein the basic weight value acquisition part acquires the weight value weighed by each weighing unit before a sales counter is opened as a reference weight value, the weight value acquisition part acquires the weight value weighed by the weighing unit in real time, the door opening weight judgment part judges whether goods on a corresponding pallet are taken or not, so as to form a taking and placing judgment result, when the door opening weight judgment part judges that the goods on the pallet are taken or placed, the same-layer weight change judgment part judges whether the door opening weight judgment process has misjudgment according to whether the taking and placing judgment result of each pallet in the same layer is more than half of that of the goods on the same layer at the same moment, and once the same-layer weight change judgment part judges that the goods are taken or not, the door opening weight judgment part judges that the taking and placing judgment result of the corresponding pallet is re-judged as whether.
Description
Technical Field
The invention relates to the technical field of weighing of sales counter, in particular to a stable weight acquisition device and an unmanned vending system.
Background
Vending apparatuses typically employ an image recognition system or weighing device to derive how much of an item is being vended. The image recognition system generally recognizes the number of items on a pallet of vending apparatuses by means of images, and thus vending apparatuses employing the image recognition system are only suitable for vending standard-sized items, such as whole bottles of beverages, bags of foods, etc., but are not suitable for vending non-standard-sized items, such as fruits, etc. The weighing device calculates the mass of the articles on the pallet, so that the vending equipment adopting the weighing device is suitable for vending articles with standard specifications and vending articles without standard specifications.
The method for calculating the weight change caused by the goods before and after taking and placing by using the vending equipment of 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, after the customer opens the vending apparatus, the air temperature in the vending apparatus is lower than the room temperature, and the air flow, ice melting and other conditions may occur, and the influence of these external factors may interfere with the accuracy of weighing the commodity weight value, and the customer may accumulate errors in calculating the weight value for multiple commodity picking and placing. It is particularly notable that the vending apparatus may cause the respective pallet within the vending apparatus to shake when the customer opens the door within 1-3 seconds after the door is opened, thereby causing the vending apparatus to misjudge whether or not the article is picked up. The vending equipment adopting the weighing device in the prior art still has obvious errors in calculating the weight change quantity caused before and after the goods are taken and placed.
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 stable weight acquisition device and an unmanned vending system.
The invention provides a stable weight acquisition device, which is arranged in an information processing module of vending equipment with a plurality of goods placing layers, and has the characteristics that a plurality of pallets for placing goods to be sold and a plurality of weighing units corresponding to the pallets one by one are arranged on the goods placing layers, the plurality of weighing units are corresponding to the plurality of pallets one by one and are used for weighing weight values corresponding to the pallets in real time, and the stable weight acquisition device comprises: the method comprises the steps of acquiring a basic weight value, acquiring a door opening weight, judging whether goods on a corresponding pallet are picked up or put down according to whether the weight value and the difference between all the weight values and the reference weight value after the current weight value are larger than a threshold value for picking up and put down, and forming a picking up and put down judgment result.
In the stabilized weight acquisition apparatus provided by the present invention, it may further have the feature that: the weight change judging part of the same layer is provided with an acquiring unit and a judging unit, when the weight judging part judges that the commodity on the pallet is taken and put, the acquiring unit acquires the taking and putting judging result of each pallet in the same layer at the same moment from the weight judging part of the door, and the judging unit judges whether the door opening weight judging process has misjudgment according to the taking and putting judging result of each pallet in the same layer at the same moment.
In the stabilized weight acquisition apparatus provided by the present invention, it may further have the feature that: wherein, when the same layer weight change judging part judges no, the door opening weight judging part keeps the judging result.
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 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; and an information processing module which is in communication connection with each weighing cell, wherein the information processing module comprises a stable weight acquisition device, a recording part, a picking and placing judging part, a stable value determining part and a weight change value calculating part, wherein the stable weight acquisition device is any one of the stable weight acquisition devices, the recording part sequentially records the stable weight values in a stable state, the picking and placing judging part judges whether the difference value between each continuous stable weight value is larger than a preset picking and placing judging threshold value, when the continuous weight stable value is judged to be yes by the picking and placing judging part, the stable value determining part takes the earlier stable value as a first weight stable value, takes the later stable weight value as a second weight stable value, and the weight change value calculating part calculates the difference value between the second weight stable value and the first weight stable value as the weight change value generated before and after the goods on the pallet are picked and placed.
In the vending apparatus provided by the present invention, it may further have the feature that: when the door opening weight judging part judges that the commodity is taken and put, the stable value obtaining part takes all weight values as weight values to be judged, judges to obtain the stable weight value obtained by the weighing unit when in a stable state according to the weight values to be judged at all times and a preset threshold value for stable judgment, the information processing module is further provided with a cabinet door switch sensing part for sensing the cabinet door switch state of the sales counter, once the cabinet door switch sensing part senses that the commodity is closed within the preset time after the sales counter is opened, and when the door opening weight judging part judges that the commodity is taken and put, the weight value obtaining part obtains the weight value before the door opening of the vending device from the weighing unit as the weight value after the door opening of the vending device is closed, and the weight change value calculating part calculates the difference value between the weight value before the door opening and the weight stable value after the door closing as the weight change value.
In the vending apparatus provided by the present invention, it may further have the feature that: the stabilizing value obtaining part comprises an obtaining control unit, a weight value obtaining unit, a weight set forming unit, a stabilizing judging unit and a stabilizing weight value obtaining unit, wherein the weight value obtaining unit is used for sequentially obtaining weight values to be judged according to time, the weight set forming unit is used for forming a weight set by a preset number of weight values starting from the time of opening a door of vending equipment, the obtaining control unit controls the stabilizing judging unit to calculate the difference value between the maximum value and the minimum value in the weight set each time the weight set is formed and judge whether the difference value is smaller than a preset stabilizing judging threshold value or not until a certain weight set is judged to be used as a stabilizing judging process by the stabilizing judging unit, when the stabilizing judging unit judges yes, the stabilizing weight value obtaining unit calculates the average value of the weight set as the stabilizing weight value, then the obtaining control unit controls the weight set forming unit to replace the oldest weight value in the weight set with the new weight value so as to form the new weight set, and the stabilizing judging unit controls the stabilizing judging unit to repeat the stabilizing judging process.
In the vending apparatus provided by the present invention, it may further have the feature that: 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 in the verification time are smaller than the threshold value for stability judgment.
In the vending apparatus provided by the present invention, it may further have the feature that: 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 determining unit determines 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 vending apparatus provided by the present invention, it may further have the feature that: 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, the range of the preset number is 4-6, and the range of the preset time is 1-3s.
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 respectively in communication connection with the consumption terminal and the vending equipment, the vending equipment is any vending equipment, the server comprises an information storage part and a settlement part, the information storage part is at least used for storing single-item weight information and price information of corresponding commodities on a pallet, the settlement part is used for calculating the types and the numbers of the commodities on the fetched pallet and the total price to be paid according to the weight change value, the single-item weight information and the price information, and when the commodities on the pallet are fetched from the vending equipment, the vending equipment weighs a weighing unit to send the weight change value obtained by weighing the commodities on the pallet to the server, so that the server can charge the commodities on the fetched pallet according to the weight change value and send a charging result to the consumption terminal.
Effects and effects of the invention
According to the stable weight acquiring device and the unmanned vending system, when the door opening weight judging part of the stable weight acquiring device judges that goods are taken and put in the preset time of opening the door, the same-layer weight change judging part of the stable weight acquiring device judges whether the door opening weight judging process has misjudgment according to whether the taking and putting judging result of each pallet in the same layer at the same time exceeds half of the taking and putting judging result, and the door opening weight judging part corrects the taking and putting judging result when in misjudgment, so that the stable weight acquiring device can judge whether the weight change generated by one pallet is caused by external reasons such as door opening shaking and air flowing through the change of the same layer, and misjudgment caused by the external reasons is avoided, and the accuracy of calculating the weight change value of the stable weight acquiring device in the preset time of opening the door is improved.
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 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 schematic view of a stabilized weight acquisition apparatus in an embodiment of the present invention.
Fig. 6 is a diagram showing contents stored in the information storage section in the embodiment of the present invention.
FIG. 7 is a flow chart illustrating the operation of the unmanned vending system weighing process in accordance with an embodiment of the present invention.
FIG. 8 is a flowchart illustrating operation of the unmanned vending system after a predetermined time in accordance with an embodiment of the present invention.
FIG. 9 is a flowchart of the vending operations performed by the unmanned vending system according to the present invention.
Detailed Description
In order to make the technical means, creation features, achievement of the 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 an embodiment of the present invention.
As shown in fig. 1, the unmanned vending system 100 provided in the present embodiment includes a plurality of vending apparatuses 10, a plurality of consumer terminals 20, and a server 30.
Fig. 2 is a schematic view of a vending apparatus according to an embodiment of the present invention, and fig. 3 is a schematic view of a vending apparatus according to an embodiment of the present invention.
As shown in fig. 2 and 3, the vending apparatus 10 includes a vending cabinet 11 having a plurality of layers, a plurality of weighing units 12, an information processing module 13, a communication unit 14, and a control device 15 for controlling the above.
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 11 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.
A plurality of pallets 112 are disposed on the plurality of deck respectively.
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.
The plurality of weighing units 12 are disposed in the sales counter 11 and are in one-to-one correspondence with the plurality of pallets 112, and are used for weighing the pallets 112 and the goods 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 an embodiment of the invention.
As shown in fig. 4, the information processing modules 13 are respectively connected in communication with the respective weighing cells 12. The information processing module 13 includes a stable weight acquiring device 131, a recording unit 132, a pick-and-place determining unit 133, a stable value determining unit 134, a weight change value calculating unit 135, a setting unit 136, a door switch sensing unit 137, and a control unit 138 for controlling the above units.
Fig. 5 is a schematic view of a stabilized weight acquisition apparatus in an embodiment of the present invention.
As shown in fig. 5, the stable weight acquiring device 131 includes a basic weight value acquiring unit 141, a weight value acquiring unit 142, a door opening weight judging unit 143, a same layer weight change judging unit 144, a weight value screening unit 145, and a stable value acquiring unit 146.
The basic weight value acquisition unit 141 acquires the weight value weighed by the weighing unit 12 as a reference weight value before the sales counter 11 is opened.
The weight value acquisition unit 142 acquires the weight value weighed by the weighing cell 12 in real time.
The door-open weight judging unit 143 sequentially calculates a difference between each weight value and the reference weight value within a predetermined time after the sales counter 11 is opened, and judges whether or not the commodity is picked and placed based on whether or not there is a weight value and whether or not the difference between all weight values after the current weight value and the reference weight value is greater than a pickup and placement judging threshold.
The predetermined time is in the range of 1-3s. The predetermined time is 2s in this embodiment.
When the door opening weight determining unit 143 determines that a commodity on a pallet is picked up and placed, the same-tier weight determining unit 144 determines whether there is a false determination in the door opening weight determining process based on whether or not more than half of the pick-up and placement determination results of the respective pallets in the same tier at the same time are yes, and once the same-tier weight determining unit 144 determines that there is a positive, the door opening weight determining unit 143 re-determines the pick-up and placement determination results of the respective pallets as no.
When the door-open weight judging section 143 determines that the commodity is taken and put, the stable value acquiring section 146 takes all the weight values as weight values to be judged, and judges the stable weight value obtained by the weighing unit 12 in the stable state based on the weight values to be judged at each time and a predetermined threshold value for stable judgment.
The cabinet door switch sensing part 137 is used for sensing the cabinet door switch state of the sales counter 11. Once the door opening/closing sensing portion 137 senses that the door is closed within a predetermined time after the sales counter 11 is opened, and the door opening weight judging portion 143 judges that the commodity is taken and put, the weight value obtaining portion 146 obtains, from the weighing unit, a weight value before the door opening of the vending apparatus 10 as a weight value before the door opening and a weight value after the door closing of the vending apparatus 10 as a weight value after the door closing, and the weight change value calculating portion 135 calculates a difference between the weight value before the door opening and the weight stability value after the door closing as a weight change value generated before and after the commodity is taken and put.
When the door-open weight judging section 143 judges that the commodity is not taken, the weight value screening section 145 eliminates the weight value whose difference is greater than the threshold value for taking and placing from the weight values weighed within a predetermined time after the sales counter 11 is opened and takes the remaining weight value as the weight value to be judged.
The stable value obtaining unit 146 obtains a stable weight value obtained by the weighing unit 12 in a stable state by judging the weight value to be determined at each time and a predetermined threshold value for stable determination.
The stable value acquisition section 146 includes an acquisition control unit 201, a weight value acquisition unit 202, a weight set forming unit 203, a stable determination unit 204, and a stable weight value acquisition unit 205.
The weight value obtaining unit 202 is configured to sequentially obtain weight values to be determined according to time.
The weight set forming unit 203 is configured to form a predetermined number of weight values from when the vending apparatus 10 is opened into a weight set.
The predetermined number of values ranges from 4 to 6. The predetermined number in this embodiment is 5.
The acquisition control unit 201 controls the stability judging unit 204 to calculate the difference between the maximum value and the minimum value in the weight set at each time of forming the weight set and to judge whether the difference is smaller than a predetermined threshold for stability judgment until a certain weight set is judged by the stability judging unit 204 as a one-time stability judging process.
When the stability judging unit 204 judges yes, the stability weight value acquiring unit 205 calculates an average value of the weight sets as a stability weight value. Then the acquisition control unit 201 controls the weight set forming unit 203 to replace the weight value of the next time with the oldest weight value in the weight sets to form a new weight set, and the acquisition control unit 201 controls the stability judging unit 204 to repeat the stability judging process.
The recording unit 132 sequentially records the steady weight values in the steady state.
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 weight set is smaller than 0.1g, the stable weight value acquisition unit 305 calculates the average value of the weight set as the stable weight value; when the difference between the maximum value and the minimum value in the weight set is greater than 0.1g, the weight set forming unit 303 forms a new weight set, and again determines whether the difference between the maximum value and the minimum value in the weight set is less than 0.1g.
The pick-and-place determining unit 133 determines whether or not the difference between each successive stable weight value is greater than a predetermined pick-and-place determining threshold.
When the successive weight stability values are judged to be yes by the pick-and-place judging unit 133, the stability value determining unit 134 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 fixed 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.
The difference between each weight value in the weight set and the second weight stable value is taken as a first difference set.
The stable value determination section 134 has a first stable value determination unit 301, a second stable value determination unit 302, a verification unit 303, and a determination control unit 304.
After the second weight stabilization value is assigned, the verification unit 303 continuously calculates for a predetermined verification time whether or not each difference value in the first difference value set for the predetermined verification time is larger than the threshold for stabilization judgment.
If any one of the first difference sets is greater than the threshold for stability determination, the second stable value determination unit 302 clears the assignment of the second weight stable value.
The determination control unit 304 controls the second stable value determination unit 302 to take the next weight stable value as a new second weight stable value, and controls the verification unit 303 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 section 135 calculates a difference between the second weight stabilization value and the first weight stabilization value as a weight change value.
When the weight change value is calculated, the setting unit 136 sets the second weight stabilization value as the candidate first weight stabilization value.
When the stability determination unit 204 determines that the first stable value determination unit 301 determines that the first stable value is yes, the first stable value determination unit 301 uses the latest stable weight value as a new candidate first weight stable value.
Until the pick-and-place determination unit determines yes, the first stable value determination unit 301 sets the latest candidate first weight stable value as a new first weight stable value, and the second stable value determination unit 302 sets the latest stable weight value as a new second weight stable value.
The weight change value calculation section 135 calculates a difference between the new second weight stabilization value and the new first weight stabilization value as a new weight change value.
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 11, and is used for the server 30 to 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. 6 is a diagram showing contents stored in the information storage section in the embodiment of the present invention.
As shown in fig. 6, 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 server-side communication section 33.
FIG. 7 is a flowchart illustrating operation of the unmanned vending system during a predetermined period of time according to an embodiment of the present invention.
As shown in fig. 7, after the sales counter 11 is opened, the operation flow of the vending apparatus 10 for a predetermined time includes the steps of:
in step S-se:Sup>A-1, the basic weight value acquiring unit 141 acquires the weight value weighed by the weighing unit 12 as se:Sup>A reference weight value before the sales counter 11 is opened, and then proceeds to step S-se:Sup>A-2.
Step S-A-2, the weight value obtaining part 142 obtains the weight value weighed by the weighing unit 12 in real time, and then the process proceeds to step S-A-3;
in step S-se:Sup>A-3, the door-open weight determining unit 143 sequentially calculates the difference between each weight value and the reference weight value within the predetermined time after the sales counter 11 is opened, and determines whether the commodity is picked and placed according to whether the weight value exists and whether the difference between all the weight values after the current weight value and the reference weight value is greater than the pick-and-place determining threshold, if yes, the step S-se:Sup>A-4 is entered, and if not, the step S-se:Sup>A-5 is entered.
In step S-se:Sup>A-4, the same-layer weight change judging unit 144 judges whether or not there is se:Sup>A misjudgment in the door opening weight judging process based on whether or not more than half of the pick-and-place judging results of the respective pallets in the same layer at the same time are yes, and if yes, proceeds to step S-se:Sup>A-6, and if not, proceeds to step S-se:Sup>A-5.
In step S-se:Sup>A-5, the weight value screening unit 145 eliminates the weight value having the difference larger than the pick-and-place judgment threshold value from the weight values weighed in the predetermined time after the sales counter 11 is opened, takes the remaining weight value as the weight value to be judged, and then proceeds to step S-B-1.
In step S-A-6, the stable value obtaining section 146 takes all the weight values as weight values to be judged, and then proceeds to step S-B-1.
Specifically, once the door opening/closing sensing unit 137 senses that the door is closed within a predetermined time after the sales counter 11 is opened, and the door opening weight determining unit 143 determines that the commodity is taken and put, the weight value acquiring unit 142 acquires the weight value before the door opening of the vending apparatus 10 from the weighing unit as the weight value before the door opening and the weight value after the door closing of the vending apparatus 10 as the weight value after the door closing, and the weight change value calculating unit 135 calculates the difference between the weight value before the door opening and the weight stability value after the door closing as the weight change value generated before and after the commodity is taken and put.
FIG. 8 is a flowchart illustrating operation of the unmanned vending system after a predetermined time in accordance with an embodiment of the present invention.
As shown in fig. 8, the operation flow of the vending system 100 after a predetermined time includes the steps of:
step S-B-1, the weight value obtaining unit 202 sequentially obtains weight values to be judged according to time, and then step S-B-2 is performed;
in step S-B-2, the weight set forming unit 203 forms a weight set from a predetermined number of weight values to be judged starting from when the vending apparatus is opened, and then forms a new weight set in such a manner that the weight value at the next moment replaces the oldest one, and then proceeds to step S-B-3.
In step S-B-3, the stability determination unit 204 calculates the difference between the maximum value and the minimum value in the weight set and determines whether the difference is smaller than a predetermined stability determination threshold, if yes, it goes to step S-B-4, and if no, it goes to step S-B-2.
In step S-B-4, the steady weight value acquisition unit 205 calculates the average value of the weight set as the steady weight value, and then proceeds to step S-B-5.
In step S-B-5, the recording section 136 records the stable weight value, and then proceeds to step S-B-6.
In step S-B-6, the pick-and-place determining unit 137 determines whether or not the difference between the latest two stable weight values is greater than a predetermined pick-and-place determining threshold, and if yes, proceeds to step S-B-7, and if no, proceeds to step S-B-4.
In step S-B-7, the stable value determination unit 138 sets an earlier stable value as the first weight stable value and a later stable weight value as the second weight stable value, and then proceeds to step S-B-8.
In step S-B-8, the weight value acquisition unit 202 acquires the weight value weighed by the weighing unit 121 within a predetermined verification time after the second weight stable value is formed, and then proceeds to step S-B-9.
In step S-B-9, the verification unit 303 continuously calculates, for a predetermined verification time, whether each difference value in the first difference set for the predetermined verification time is smaller than the threshold for stability determination, if yes, it goes to step S-B-10, and if no, it goes to step S-B-8.
In step S-B-10, the weight change value calculation unit 135 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-B-11.
In step S-B-11, the setting unit 136 sets the second weight stabilization value as the candidate first weight stabilization value.
After step S-B-11, when the stability determination unit 204 determines yes, the first stability value determination unit 301 takes 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 301 sets the latest candidate first weight stable value as a new first weight stable value, and the second stable value determination unit 302 sets the latest stable weight value as a new second weight stable value. The weight change value calculation section 135 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 unit 136 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. 9 is a flow chart of the automatic vending operation performed by the unmanned vending system in the present embodiment.
As shown in fig. 9, when a consumer needs to purchase some merchandise from the vending system 100, the operation flow of the vending system 100 for vending includes:
in step S-C-1, the 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-C-2.
In step S-C-2, the control device 13 controls the locking part 113 to unlock the cabinet door of the cabinet body 111, so that the consumer opens the cabinet door and takes and places the commodity in the sales counter 11, and then the process goes to step S-C-3.
In the step S-C-3, the weighing unit 12 calculates the weight change value caused by the goods taking and placing when the consumer takes and placing the goods through the steps S-A-1 to S-A-5 and the steps S-B-1 to S-B-13 in real time until the consumer closes the cabinet door, and then the step S-C-4 is entered.
In step S-C-4, the control device 13 controls the settlement unit 32 to calculate the type and number of purchased commodity and the total price to be paid based on the weight change value, the unit identification information, the commodity identification information, and the commodity price information, and then proceeds to step S-C-5.
In step S-C-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 stabilized weight acquiring device and the unmanned vending system, when the door opening weight judging part of the stabilized weight acquiring device judges that goods are taken and put in the preset time of opening the door, the same-layer weight change judging part of the stabilized weight acquiring device judges whether the door opening weight judging process has misjudgment according to whether the taking and putting judging result of each pallet in the same layer at the same time exceeds half of the taking and putting judging result, and the door opening weight judging part corrects the taking and putting judging result when in misjudgment, so that the stabilized weight acquiring device can judge whether the weight change generated by a certain pallet is caused by external reasons such as door opening shaking and air flowing or not through the change of the same layer, further misjudgment caused by the external reasons is avoided, and the accuracy of calculating the weight change value of the stabilized weight acquiring device in the preset time of opening the door is improved.
Further, the weight value of the commodity on the pallet is continuously collected in real time in the preset time of opening the door by the stable weight acquisition device and is compared with the weight value before opening the door, so that whether the commodity is taken and placed in the preset time is judged, and when the judgment result is yes and the vending equipment is closed in the preset time of opening the door, the difference value between the weight value before opening the door of the commodity and the weight value after closing the door is taken as the weight change value caused by taking and placing the commodity by the stable weight acquisition device, the interference caused by weighing the weight value when the air is fast flowing in the preset time of opening the door of the vending equipment is reduced, and the accuracy and the stability of calculation of the weight change value by the stable weight acquisition device in the preset time of opening the door are ensured.
Further, since the stable weight acquiring device judges whether the difference between the weight value of the commodity acquired in the preset time of opening the door and the weight value before opening the door is continuously smaller than the picking and placing judging threshold value from a certain moment, whether the picking and placing of the commodity occurs in the preset time is judged, and when the judging result is negative, the stable weight acquiring device deletes the weight value larger than the picking and placing judging threshold value, and the accuracy of the calculation of the weight change value by the stable weight acquiring device is improved.
Further, since the vending equipment of the unmanned vending system continuously collects the weight values of the goods on the pallet in real time and judges the stable values by forming the weight set, a plurality of weight stable values are obtained, whether the goods are taken and put or not is judged according to the difference value between the weight stable values, the weight change value caused by taking and putting the goods is calculated, and the accuracy and the stability of the calculation of the weight change value by the vending equipment are ensured.
Further, the vending equipment of the unmanned vending system 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 vending equipment for calculating the weight change value are improved.
Further, after the vending equipment of the unmanned vending system judges that the commodity is taken and put, the weight stable value after the commodity is taken and put is verified through the verification unit, the weight stable value meeting the verification condition is used as a final second weight stable value to be substituted into the calculation of the weight change value, and in such a way, the weight stable value of the pallet which is truly in a stable state is used as the second weight stable value, so that the influence of some weight stable values on the calculation of the weight change value in a short time is avoided, and the accuracy of the vending equipment on the calculation of the weight change value is ensured.
Further, the calculation of the weight change value caused by the goods taking and placing next time can be restarted after the calculation of the weight change value caused by the goods taking and placing once is completed by the vending equipment of the unmanned vending system, so that the weight change value caused by the goods taking and placing 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 (7)
1. A vending apparatus, comprising:
a sales counter comprising a plurality of pallets and goods placed on the pallets;
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; and
the information processing modules are respectively communicated with the weighing units,
wherein the information processing module comprises a stable weight acquisition device, a recording part, a picking and placing judging part, a stable value determining part and a weight change value calculating part,
the stabilized weight acquisition apparatus includes:
a basic weight value acquisition part, a door opening weight judging part, a same layer weight change judging part, a weight value screening part and a stable value acquisition part,
wherein the basic weight value acquisition part acquires the weight value weighed by each weighing unit as a reference weight value before the sales counter is opened,
the weight value acquisition part acquires the weight value weighed by the weighing unit in real time,
the door opening weight judging part sequentially calculates the difference value between each weight value and the reference weight value in the preset time after the sales counter is opened, judges whether the commodity on the corresponding pallet is taken or not according to whether the weight value exists and the difference value between all weight values after the weight value and the reference weight value is larger than a taking and putting judging threshold value, thereby forming a taking and putting judging result,
When the door opening weight judging part judges that the commodity on the pallet is taken and put, the same-layer weight change judging part judges whether the door opening weight judging process has misjudgment according to whether the taking and putting judging result of each pallet in the same layer at the same time exceeds half of yes,
when the same-floor weight change judgment unit judges that the pallet is present, the weight value screening unit removes the weight value having the difference value larger than the pick-and-place judgment threshold value from the weight values of the pallet which are weighed within the predetermined time after the sales counter is opened, and takes the remaining weight values as weight values to be judged,
once the same-layer weight change judging part judges no, the stable value obtaining part judges the stable weight value obtained by the weighing unit in a stable state according to the weight value to be judged at each moment and a preset threshold value for stable judgment by taking all the weight values as the weight values to be judged,
the same-layer weight change judging part is provided with an acquisition unit and a judging unit,
when the door opening weight judging section judges that the commodity on the pallet is taken and put,
The acquiring unit acquires the pick-and-place determination result of each pallet in the same layer at the same time from the door opening weight determining section,
the judging unit judges whether the door opening weight judging process has misjudgment according to the picking and placing judging result of each pallet in the same layer at the same time,
the recording section sequentially records the stable weight values in a stable state,
the pick-and-place determination unit determines whether or not a difference between each successive stable weight value is greater than a predetermined pick-and-place determination threshold value,
when the continuous weight stability value is judged to be yes by the pick-and-place judging part, the stability value determining part takes the earlier stability value as a first weight stability value and takes the later stability weight value as a second weight stability value,
the weight change value calculation unit 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 on the pallet is picked up and placed.
2. A vending apparatus as claimed in claim 1, wherein:
wherein the information processing module is also provided with a cabinet door switch sensing part for sensing the cabinet door switch state of the sales counter,
Once the cabinet door switch sensing part senses that the cabinet is closed in the preset time after the sales counter is opened, and the door opening weight judging part judges that the commodity is taken and put, the weight value obtaining part obtains the weight value before the vending equipment is opened from the weighing unit as a weight value before the vending equipment is opened and the weight value after the vending equipment is closed as a weight value after the vending equipment is closed, and the weight change value calculating part calculates the difference between the weight value before the vending equipment is opened and the weight stability value after the vending equipment is closed as a weight change value.
3. The vending apparatus of claim 1, wherein:
wherein 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,
the weight value acquisition unit is used for sequentially acquiring the weight value to be judged according to the moment,
the weight set forming unit is used for forming a predetermined number of weight sets from the weight values which are started when the vending apparatus is opened,
the acquisition control unit controls the stability judging unit to calculate a difference between a maximum value and a minimum value in the weight sets at each formation of the weight sets and to judge whether the difference is smaller than a predetermined threshold for stability judgment until a certain one of the weight sets is judged by the stability judging unit as a stability judging process,
When the stable determination unit determines yes, the stable weight value acquisition unit calculates an average value of the weight sets as the stable weight value, and then the acquisition control unit controls the weight set forming unit to replace the oldest weight value in the weight sets with a new weight value to form a new weight set, and the acquisition control unit controls the stable determination unit to repeat the stable determination process.
4. The vending apparatus of claim 3, wherein:
wherein the difference between each weight value in the weight set and the second weight stable value is used 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 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 value for stabilization judgment,
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 weight stable 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.
5. A vending apparatus as claimed in claim 3, 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.
6. A vending apparatus as claimed in claim 4, wherein:
the threshold value for stability judgment is in the range of 0.1-3g, the threshold value for taking and placing judgment is in the range of 15-25g, the verification time is in the range of 1-3s, the preset number of the threshold values is in the range of 4-6, and the preset time is in the range of 1-3s.
7. 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,
the vending apparatus is a vending apparatus as claimed in any one of claims 1 to 6,
the server includes an information storage unit and a settlement unit,
the information storage unit stores at least individual weight information and price information of the corresponding commodity on the pallet,
the settlement part is used for calculating the type and the quantity of the goods on the pallet which are fetched and placed and the total price which needs to be paid according to the weight change value, the single-product weight information and the price information,
When the commodity on the pallet is taken out from the vending apparatus, the vending apparatus transmits the weight change value obtained by weighing the commodity on the pallet by the weighing unit to the server, so that the server can charge the commodity on the pallet which is taken out according to the weight change value and transmit the charging result to the consumption terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110428300.XA CN113554804B (en) | 2021-04-21 | 2021-04-21 | Stable weight acquisition device and unmanned vending system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110428300.XA CN113554804B (en) | 2021-04-21 | 2021-04-21 | Stable weight acquisition device and unmanned vending system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113554804A CN113554804A (en) | 2021-10-26 |
| CN113554804B true CN113554804B (en) | 2023-06-02 |
Family
ID=78130136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110428300.XA Active CN113554804B (en) | 2021-04-21 | 2021-04-21 | Stable weight acquisition device and unmanned vending system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113554804B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105897916B (en) * | 2016-05-26 | 2019-05-07 | 北京精益理想科技有限公司 | A kind of method and system obtaining Item Weight state |
| CN105953875B (en) * | 2016-06-22 | 2018-10-16 | 锐马（福建）电气制造有限公司 | A kind of living animal weighing method and its device |
| CN107886655A (en) * | 2017-09-28 | 2018-04-06 | 陈维龙 | The generation method that should be paid one's bill, the matching process that should be paid one's bill and pay one's bill |
| CN108648334A (en) * | 2018-04-11 | 2018-10-12 | 合肥美的智能科技有限公司 | Self-service cabinet and its abnormal method for controlling reporting, self-service system |
| CN110379070B (en) * | 2018-11-27 | 2023-05-02 | 北京京东乾石科技有限公司 | Commodity detection method and commodity detection device |
| CN111524273B (en) * | 2019-02-02 | 2022-08-09 | 北京京东乾石科技有限公司 | Shipment detection method and device, unmanned vending equipment and storage medium |
| CN110111486A (en) * | 2019-03-27 | 2019-08-09 | 武汉盛硕电子有限公司 | A kind of self-service method, server, self-service system |
| CN110160619B (en) * | 2019-05-23 | 2021-06-15 | 拉扎斯网络科技（上海）有限公司 | Weighing system state detection method and device, readable storage medium and electronic equipment |
| CN111223233A (en) * | 2019-12-23 | 2020-06-02 | 西安科技大学 | Gravity sensor data smoothing algorithm based on dynamic window |
-
2021
- 2021-04-21 CN CN202110428300.XA patent/CN113554804B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113554804A (en) | 2021-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108875664B (en) | Method and device for identifying purchased goods and vending machine | |
| WO2019196500A1 (en) | Self-service retail system and control method therefor, vending apparatus and cloud server | |
| CN108922026B (en) | Replenishment management method and device for vending machine and user terminal | |
| CN109409291B (en) | Commodity identification method and system of intelligent container and shopping order generation method | |
| CN113554802B (en) | Weighing device and unmanned vending system | |
| US10776749B2 (en) | Secure locker system for the deposition and retrieval of shipments | |
| WO2020010828A1 (en) | Method for returning product in open vending machine, and device for same | |
| WO2019161734A1 (en) | Self-service vending device and vending method thereof, and self-service vending system | |
| CN110717769B (en) | Goods returning method, device and equipment for intelligent cabinet articles and storage medium | |
| CN109243096A (en) | A kind of method of Intelligent cargo cabinet and determining commodity of taking | |
| CN113554799A (en) | Unmanned goods selling system for standard goods | |
| CN111512349A (en) | Unmanned shop system | |
| US9952088B2 (en) | Optimized locker system | |
| CN109405879A (en) | A kind of Intelligent unattended vending system and commodity recognition method | |
| CN104335257A (en) | Storage facility for articles having a load state device and a user detection device | |
| CN110164036A (en) | Automatic vending machine and its control method | |
| CN110164032A (en) | Automatic vending machine and its data processing method and automatically vending system | |
| CN111539468B (en) | Goods checking method of automatic vending equipment | |
| CN113554804B (en) | Stable weight acquisition device and unmanned vending system | |
| CN113554803B (en) | Vending equipment and unmanned vending system | |
| CN209416390U (en) | A kind of Intelligent unattended goods selling equipment | |
| CN113066225A (en) | Shopping method based on shared refrigerator and shared refrigerator | |
| CN111758112A (en) | Shop | |
| CN113421376B (en) | Unmanned vending system | |
| CN110164031A (en) | Automatic vending machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |