CN204303078U - The vending machine goods auxiliary based on machine vision stores and fetches system - Google Patents
The vending machine goods auxiliary based on machine vision stores and fetches system Download PDFInfo
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- CN204303078U CN204303078U CN201420802802.XU CN201420802802U CN204303078U CN 204303078 U CN204303078 U CN 204303078U CN 201420802802 U CN201420802802 U CN 201420802802U CN 204303078 U CN204303078 U CN 204303078U
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Abstract
The utility model discloses a kind of vending machine goods auxiliary based on machine vision store and fetch system, belong to a kind of vending machine, comprise shelf body and Qu Wu mechanism, the internal activity of described shelf body is provided with at least one piece of dividing plate, and described dividing plate is equipped with telltale mark; Described Qu Wu mechanism comprises cross track, long rails and gets thing platform, described in get thing platform and be movably arranged on on cross track or long rails, for being moved back and forth on cross track or long rails by power set; Described getting on thing platform is also provided with location induction module.By dividing plate, shelf are divided into the goods groove of any width, by the current shelf width of location induction module identification specifically labelled mode identification, and generate picking scheme fast, and automatically can correct shelf groove and be out of shape the error caused, effectively reduce the precision of shelf design, in conjunction with Machine Vision Recognition Technology, automatic scan location is carried out, without the need to manual intervention in operation to each goods groove.
Description
Technical field
The utility model relates to a kind of vending machine, and in particular, the utility model relates generally to a kind of vending machine goods auxiliary based on machine vision and stores and fetch system.
Background technology
The goods groove size of traditional small-sized vending machine is fixing, and this kind of machine can only sell the product such as canned cola of unified specification, and application scenario is limited to very much, and intelligence degree is low, is not suitable for the demand of product diversification.The shelf design of tradition vending machine, each goods groove is made up of motor spring and dividing plate, and goods groove size is unified.Some large-scale vending machines take into account the diversity of product, shelf adopt adjustable patten's design, and the general mode picking adopting " mechanical arm ", but this kind of intelligence of selling goods and availability or limited so far, although such as shelf can adjust, but adjustable yardstick is predefined several, can not arrange arbitrarily, so still, many spaces can be wasted, after adjusting goods groove size, need human configuration software (namely defining the size of each goods groove) normally to work simultaneously, use loaded down with trivial details, efficiency is low, easily make mistakes, and the anchor point of " mechanical arm " can only be the limited several points adjusted in advance, extensibility is not strong, high to the required precision of Machine Design.Thus be necessary for aforementioned drawback, to the storage of vending machine and fetch structure and do further research and improve.
Utility model content
One of the purpose of this utility model is to solve above-mentioned deficiency, provides a kind of vending machine goods auxiliary based on machine vision store and fetch system, to expect to solve vending machine poor expandability in prior art, the technical problems such as degree of intelligence is lower.
For solving above-mentioned technical problem, the utility model by the following technical solutions:
A kind of vending machine goods auxiliary based on machine vision provided by the utility model stores and fetches system, and comprise shelf body and Qu Wu mechanism, the internal activity of described shelf body is provided with at least one piece of dividing plate, and described dividing plate is equipped with telltale mark; Described Qu Wu mechanism comprises cross track, long rails and gets thing platform, described in get thing platform and be movably arranged on on cross track or long rails, for being moved back and forth on cross track or long rails by power set; Described getting on thing platform is also provided with location induction module, and described location induction module is when getting thing Platform movement to the position flushed with shelf body, corresponding with position specifically labelled on dividing plate.
As preferably, further technical scheme is: the inside of described shelf body is provided with chute, and dividing plate is movably arranged on the inside of shelf body by chute, for by dividing plate by chute in the electrodeless movement in the inside of shelf body; Between described dividing plate and chute, detachable syndeton is also installed, for the locking between dividing plate and chute.
Further technical scheme is: described telltale mark is placed in the front top of dividing plate.
Further technical scheme is: described in get thing platform and be movably arranged on long rails, described long rails is movably arranged on cross track, getting thing platform and longitudinally moves back and forth, driving long rails traverse motion for being driven by actuating unit.
Further technical scheme is: described location induction module is video camera, and described video camera Access Control module, described control module also accesses input/output module.
Compared with prior art, one of the beneficial effects of the utility model are: the goods groove by dividing plate, shelf being divided into any width, by the current shelf width of location induction module identification specifically labelled mode identification, and generate picking scheme fast, and automatically can correct shelf groove and be out of shape the error caused, effectively reduce the precision of shelf design, in conjunction with Machine Vision Recognition Technology, automatic scan location is carried out to each goods groove, without the need to manual intervention in operation, avoid the mechanical disorder because human configuration mistake causes, and then improve cloth goods efficiency.A kind of vending machine goods auxiliary based on machine vision provided by the utility model stores and fetches system architecture simply simultaneously, and be suitable for installing and using on all kinds of vending machine, range of application is wide.
Accompanying drawing explanation
Fig. 1 is the shelf body structure schematic diagram for illustration of the utility model embodiment;
Fig. 2 is for illustration of getting thing mechanism structure schematic diagram in the utility model embodiment;
Fig. 3 is the working-flow schematic diagram for illustration of another embodiment of the utility model;
In figure, 11 for dividing plate, 12 for telltale mark, 13 for chute, 21 for cross track, 22 for long rails, 23 for get thing platform, 24 for location induction module.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further elaborated.
Shown in figure 1, an embodiment of the present utility model is that a kind of vending machine goods auxiliary based on machine vision stores and fetch system, comprise shelf body and Qu Wu mechanism, wherein the inside of shelf body needs movable installation at least one piece of dividing plate 11, and this dividing plate 11 is provided with telltale mark 12; Shown in composition graphs 2, need in aforementioned Qu Wu mechanism comprise cross track 21, long rails 22 and get thing platform 23, this is got thing platform 23 and is movably arranged on and cross track 21, and get that thing platform 23 is also movable to be arranged on long rails 22, for being moved back and forth on cross track 21 or long rails 22 by power set; What is more important, get on thing platform 23 and be also provided with location induction module 24, this location induction module 24 is when getting thing platform 23 and moving to the position flushed with shelf body, corresponding with the position of telltale mark 12 on dividing plate 11.By the Qu Wu mechanism of aforementioned structure, can make to get thing platform 23 and locate induction module 24 and can move freely in X-axis and Y-axis, complete goods and fetch the location scanning with shelf current width.
Based on the structure and fuction of above-mentioned Qu Wu mechanism, preferred technical scheme is movably arranged on long rails 22 by getting thing platform 23, again long rails 22 is movably arranged on cross track 21, longitudinally moving back and forth for getting thing platform 23 by actuating unit drive, driving long rails 22 traverse motion.
In the present embodiment, by dividing plate, shelf are divided into the goods groove of any width, by the current shelf width of location induction module identification specifically labelled mode identification, and fast generate picking scheme, and automatically can correct shelf groove and be out of shape the error caused, effectively reduce the precision of shelf design, in conjunction with Machine Vision Recognition Technology, automatic scan location is carried out to each goods groove, without the need to manual intervention in operation, avoid the mechanical disorder because human configuration mistake causes, and then improve cloth goods efficiency.
As mentioned here above, video camera in above-described embodiment practical application, can be adopted as location induction module 24, and by video camera Access Control module, and this control module also accesses input/output module.
Shown in figure 3, the secondary photo of video capture one, image pre-processing module carries out the process such as histogram equalization (increase picture contrast) and gaussian filtering (minimizing random noise) to this photo, then image is transformed into artwork master by self-adaption binaryzation module, template good for predefined and two-value artwork master are carried out template matches (such as average variance coupling) by images match module, just think to mate if similarity is greater than certain threshold value (this value is determined according to multiple sample statistics study according to prior self-learning module) thus obtains the region of a Similarity matching, template matching algorithm is advantageous in computational speed, but False Rate is high, Local Features Analysis can be carried out in the respective regions of picture after the pre-treatment to improve precision Local Features Analysis module (it is more consuming time that general features detects parser, especially whole figure, in zonule, detection can accelerate computational speed), here Corner Detection is adopted, the feature detected is mated with the feature of template again, be greater than certain threshold value equally and just think coupling.According to the angle point mated, we can obtain specifically labelled center coordinate in the picture, and this is the coordinate that a logical coordinates (coordinate in picture field) can obtain physical coordinates i.e. mechanical mechanism after carrying out Coordinate Conversion.The coordinate of each mark can obtain according to this flow process, and the physical location of each like this goods groove can be determined.
The physical location (relative to mechanical mechanism coordinate) of all goods grooves can be detected according to above-mentioned positioning flow, thus the size of each goods groove and the picking position of each goods groove can be determined after single pass, as long as the relative position of goods grasping mechanism, camera and shelf constant (this can ensure) this coordinate can use forever.
In the embodiment that the utility model is more preferably for technical solution problem, for convenience of the space being adjusted cargo storage in shelf body by dividing plate 11, preferably set up chute 13 in the inside of shelf body, dividing plate 11 is movably arranged on the inside of shelf body by chute 13, for passing through chute 13 in the electrodeless movement in the inside of shelf body by dividing plate 11; The detachable syndeton of bolt and so on is also installed, for the locking between dividing plate 11 and chute 13 between described dividing plate 11 and chute 13.
Further, being identified fast by above-mentioned location induction module 24 for ease of telltale mark 12, be preferably arranged at the front top of dividing plate 11, and telltale mark 12 by directly arranging specific decorative pattern to realize on dividing plate.
Spoken of in this manual " embodiment ", " another embodiment ", " embodiment " etc., refer to the specific features, structure or the feature that describe in conjunction with this embodiment and be included at least one embodiment of the application's generality description.Multiple place occurs that statement of the same race is not necessarily refer to same embodiment in the description.Furthermore, when describing specific features, structure or a feature in conjunction with any embodiment, what advocate is also drop in scope of the present utility model to realize this feature, structure or feature in conjunction with other embodiments.
Although be described the utility model with reference to multiple explanatory embodiment of the present utility model here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of, accompanying drawing open in the application and claim, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the modification of carrying out building block and/or layout is with except improvement, to those skilled in the art, other purposes also will be obvious.
Claims (5)
1. one kind stores based on the vending machine goods that machine vision is auxiliary and fetches system, comprise shelf body and Qu Wu mechanism, it is characterized in that: the internal activity of described shelf body is provided with at least one piece of dividing plate (11), described dividing plate (11) is equipped with telltale mark (12); Described Qu Wu mechanism comprises cross track (21), long rails (22) and gets thing platform (23), described thing platform (23) of getting is movably arranged on cross track (21) or long rails (22), for above being moved back and forth at cross track (21) or long rails (22) by power set; Described getting on thing platform (23) is also provided with location induction module (24), and described location induction module (24) is when getting thing platform (23) and moving to the position flushed with shelf body, corresponding with the position of the upper telltale mark (12) of dividing plate (11).
2. the vending machine goods auxiliary based on machine vision according to claim 1 stores and fetches system, it is characterized in that: the inside of described shelf body is provided with chute (13), dividing plate (11) is movably arranged on the inside of shelf body by chute (13), for being moved in the inside of shelf body by chute (13) by dividing plate (11); Between described dividing plate (11) and chute (13), detachable syndeton is also installed, for the locking between dividing plate (11) and chute (13).
3. the vending machine goods auxiliary based on machine vision according to claim 1 and 2 stores and fetches system, it is characterized in that: described telltale mark (12) is placed in the front top of dividing plate (11).
4. the vending machine goods auxiliary based on machine vision according to claim 1 stores and fetches system, it is characterized in that: described in get thing platform (23) and be movably arranged on long rails (22), described long rails (22) is movably arranged on cross track (21), longitudinally moving back and forth for getting thing platform (23) by actuating unit drive, driving long rails (22) traverse motion.
5. the vending machine goods auxiliary based on machine vision according to claim 1 stores and fetches system, it is characterized in that: described location induction module (24) is video camera, described video camera Access Control module, described control module also accesses input/output module.
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| CN201420802802.XU CN204303078U (en) | 2014-12-18 | 2014-12-18 | The vending machine goods auxiliary based on machine vision stores and fetches system |
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| CN201420802802.XU CN204303078U (en) | 2014-12-18 | 2014-12-18 | The vending machine goods auxiliary based on machine vision stores and fetches system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781016A (en) * | 2016-11-18 | 2017-05-31 | 上海华屹数码科技有限公司 | Magnetic reads the automatic vending machine of positioning |
| CN107945392A (en) * | 2017-11-23 | 2018-04-20 | 深圳市满心科技有限公司 | Automatic vending machine and the method and storage medium for gathering evidence |
| CN108460552A (en) * | 2018-01-26 | 2018-08-28 | 中国地质大学（武汉） | A kind of steel warehouse control system based on machine vision and PLC |
| CN110136333A (en) * | 2018-02-08 | 2019-08-16 | 黄自升 | A kind of combined type automatic vending system |
| CN110992589A (en) * | 2019-12-23 | 2020-04-10 | 福建骏鹏易丰商用设备有限公司 | Vending machine and working method thereof |
| CN111402496A (en) * | 2020-03-27 | 2020-07-10 | 湖南兴元科技股份有限公司 | Addressing mobile system and addressing method thereof |
| CN111724541A (en) * | 2019-03-21 | 2020-09-29 | 千寻位置网络有限公司 | Intelligent express cabinet with dynamically allocated storage grids and package storage and taking method |
| CN111932775A (en) * | 2020-04-22 | 2020-11-13 | 金华苏夏信息技术有限公司 | Vending machine defect checking system based on image capture |
-
2014
- 2014-12-18 CN CN201420802802.XU patent/CN204303078U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781016A (en) * | 2016-11-18 | 2017-05-31 | 上海华屹数码科技有限公司 | Magnetic reads the automatic vending machine of positioning |
| CN107945392A (en) * | 2017-11-23 | 2018-04-20 | 深圳市满心科技有限公司 | Automatic vending machine and the method and storage medium for gathering evidence |
| CN107945392B (en) * | 2017-11-23 | 2021-06-15 | 深圳丰链科技有限公司 | Vending machine, evidence collecting method and storage medium |
| CN108460552A (en) * | 2018-01-26 | 2018-08-28 | 中国地质大学（武汉） | A kind of steel warehouse control system based on machine vision and PLC |
| CN108460552B (en) * | 2018-01-26 | 2021-07-06 | 中国地质大学（武汉） | Steel storage control system based on machine vision and PLC |
| CN110136333A (en) * | 2018-02-08 | 2019-08-16 | 黄自升 | A kind of combined type automatic vending system |
| CN111724541A (en) * | 2019-03-21 | 2020-09-29 | 千寻位置网络有限公司 | Intelligent express cabinet with dynamically allocated storage grids and package storage and taking method |
| CN111724541B (en) * | 2019-03-21 | 2021-12-17 | 千寻位置网络有限公司 | Intelligent express cabinet with dynamically allocated storage grids and package storage and taking method |
| CN110992589A (en) * | 2019-12-23 | 2020-04-10 | 福建骏鹏易丰商用设备有限公司 | Vending machine and working method thereof |
| CN111402496A (en) * | 2020-03-27 | 2020-07-10 | 湖南兴元科技股份有限公司 | Addressing mobile system and addressing method thereof |
| CN111932775A (en) * | 2020-04-22 | 2020-11-13 | 金华苏夏信息技术有限公司 | Vending machine defect checking system based on image capture |
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Effective date of registration: 20160922 Address after: 519080, block 701-702, building A, Pioneer Building, Tsinghua Science Park, 101 University Road, Tang Wan Town, Zhuhai, Guangdong Patentee after: Zhuhai Kebao robot Co Ltd Address before: 528400, Zhongshan, Guangdong, Tanzhou Town, 76 Tong Road, No. 1, building A card on the first floor Patentee before: Cai Yi |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Vending machine goods storage and taking system based on machine vision assistance Effective date of registration: 20180129 Granted publication date: 20150429 Pledgee: Bank of China Limited by Share Ltd Zhuhai branch Pledgor: Zhuhai Kebao robot Co Ltd Registration number: 2018980000019 |
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