KR100830081B1 - Method and apparatus for including article identification in an article handling device - Google Patents

Abstract

This concerns a method of using a camera imaging system (254) in a package vending machine (10) to identify packages (223) which have been stored in the vending machine. A plurality of at least one type of package, which is intended to be dispensed by the vending machine, is stored in a package storage area of the package vending machine. Each package includes at least one of a corresponding type of article therein, the package having a plurality of visual attributes, such that if the package is imaged from a plurality of different views, each image acquired from each of the plurality of different views may include a different one ctr more of the the plurality of visual attributes, where one or more of the visual attributes may be sufficient to identity the type of the package in the acquired image. When a user selection input of a desired type of package is received at the vending machine, at least a portion of a camera imaging system, of the vending machine, and a user selected package, arc brought into viewing proximity so that the camera imaging system can obtain a view of at least a portion of the package. The camera imaging system is operated so as to acquire an image of the package selected by the user before it is dispensed. One or more of the visual attributes that are captured in the image are analyzed, and, based on this analysis, the type of the package selected by the user is identified.

Description

TECHNICAL AND APPARATUS FOR INCLUDING ARTICLE IDENTIFICATION IN AN ARTICLE HANDLING DEVICE

FIELD OF THE INVENTION The present invention relates generally to the design and operation improvement of an article handling apparatus for use with an article identification device, and is particularly useful in the context of article handling devices such as those used in vending machines.

Most conventional article handling apparatus, and more particularly article handling apparatus, referred to in the context of the POS article dispenser in this specification, moves various parts of the processing apparatus and the article itself, such as a packaged product. Depends on the number of motors, switches and solenoids to handle. Most such devices require one motor, switch and / or solenoid assigned to each column, each row or each type of item or package to be processed or dispensed. Such devices generally have many disadvantages, such as low reliability due to mechanical damage, as is well known in the art.

U. S. Patent 5,240, 139 significantly improved the article processing apparatus. This includes suction force, ie reduced or so-called "negative pressure, formed by partial vacuum to ensure reliable contact with the article to be recovered by entering the open top of the article storage container positioned in the cold storage area of the vending machine. "The use of negative pressure pneumatic lifters (ie, article pick-up mechanisms or processing mechanisms) using air pressure is disclosed. Robotic and in particular suction lifting mechanisms are widely used in factory facilities that are generally less spatially constrained, but the use of such instruments in narrow areas such as vending machines is not widely accepted. Due to the better reliability and versatility of vending machines of the type using suction technology to grasp and move selected items, new technologies for the operation and control of such vending machines and for more generalized handling of other goods and It has become desirable to develop a method.

U.S. Patent 5,272,321 (title: AUTOMATIC VENDING MACHINE HAVING A BAR CODE READER AND BAR-CODED COLUMNS AND SWITCHES, Sanyo Electric Co.) discloses a vending machine for processing an article having a pre-printed bar code. During operation of the vending machine's administrative state (eg, during recharging), a portable barcode reader is used to scan a preprinted sheet of barcode located inside the front door of the vending machine. The sheet includes a CPU of a vending machine with identification of items stored in the vending machine, identification of the storage columns in which these items are stored, and user-selectable switch identification designed to operate the distribution of a given item from a given column. Contains a barcode to program. The technology described in this patent assists in the quick and accurate programming of the vending machine during vending machine management, but due to the incorrect loading of the product into the vending machine, for example by accidentally or intentionally loading the wrong product into the wrong storage column. The distribution of the wrong product can not be prevented.

Japanese Patent Publication No. 4123192A2 (Title: DEVICE FOR PREVENTING ERRONE OUS THROW-IN OF COMMODITY OF VENDING MACHINE, Sanyo Electric Co.) discloses the use of a barcode reader at the top entrance of each article storage column in a vending machine. . While recharging the vending machine with an item, if the bar code reader on top of each item storage column reads a product code that is not pre-programmed to be stored on that column, the vending machine controller further enters the item into the item storage column. Activate the gates so that they are not In this way, erroneous filling of the article storage pillars is prevented. However, for example, by displacing the bar code scanner at the inlet end of each storage column, or by placing a false bar code in front of the reader while the column is being refilled with a different, possibly wrong, lower quality product, It is relatively easy to "deceive" or deceive.

Japanese Patent Publication No. 4123194A2 (Title: ERRONEOUS SALE PREVENTING DEVICE FOR VENDING MACHINE, Sanyo Electric Co.) includes a bar code programming sheet and a portable barcode scanner for programming the vending machine's controller during setup and a product identification barcode during distribution. A position-fixed bar code scanner, located just above the vending machine's product exit chute, is included for reading. If the identification of the item dispensed from a given storage column does not match the bar code stored in the vending machine controller for the product to be dispensed from the storage column, the vending machine controller operates to delay distribution of the product from the storage column. By incorporating a barcode reader in the exit chute of the dispenser, the vending machine is intentionally recharged with the wrong and possibly lesser product, which makes it very difficult to "deceive" or deceive the vending machine. US Pat. No. 6,068,156 (Title: METHOD FOR CONTROLLING A DRUD DISPENSING SYSTEM, Adds, Inc.) discloses the use of a barcode scanner, which is also positioned in the exit chute of an article dispenser. In this case, the article dispenser dispenses the vial. However, in this U.S. Patent and the above-mentioned Japanese Patent Publication No. 4123194A2, when the product is unintentionally rolled or tripped past the barcode scanner at the exit chute, the fixed barcode scanner does not read and identify the barcode in the article. It is natural to be unable.

U. S. Patent No. 5,390, 711 to METHOD AND APPARATUS FOR MAKING SNOW CONES, Murphey, discloses a vending machine of the type for storing an article on an article storage column. In one embodiment, the pillar is vertically oriented and dispenses a paper cup comprising a unique sequence of preprinted barcodes to a consumer recovery area where the paper cup is filled with flavored crush ice. In an alternative embodiment, the article storage pillars comprise helical wires (ie, conventional "spiral" vending machines). In these two embodiments, a fixed bar code reader is located at the dispensing side end of each article storage post to identify the article to be dispensed. If the barcode of the item to be dispensed is incorrect or not read, the dispensing operation is automatically stopped, and any money inserted into the vending machine is returned, and the consumer sees that the vending machine is an outage or out of stock indication. If the operator of the vending machine attempts to “deceive” or deceive the vending machine by tampering with the barcode reader or its operation, an overvoltage is applied to the vending machine's control circuit, thereby effectively destroying the control circuit and the vending machine operating. Is stopped. Rather similarly to Japanese Patent Laid-Open No. 4123194A2, the position-fixed barcode reader reads an article barcode, particularly when the article is incorrectly positioned on a storage post, such as a package that is rotated offset by 90, 180, or 270 degrees. It can be difficult to do.

U.S. Patent No. 5,713,487 (Title: MEDICAMENT VERIFICATION IN AN AUTOMATIC DISPENSING SYSTEM, Coughlin) represents a class of patents designed to prevent the distribution of wrong products (bottles or videocassettes) due to improper loading of the storage area. These patents disclose the use of a bar code reader mounted to a computer controlled operator arm used to retrieve an article from a storage area. Each stored article or package thereof has a preprinted identification barcode. When the vending machine controller moves the operator arm to retrieve the stored product, the bar code reader is activated to scan the bar code on the item and if the bar code does not match the bar code of the item expected to be in the storage location (vending machine controller). , According to the pre-programming), the dispensing operation is stopped and the problem is reported to the user of the vending machine. However, if the barcode is correct, the article is dispensed. In addition, when the vending machine is not selling the item, the controller can operate the operator arm in the "checking" state, and at each location in the storage area a barcode for storing the item is scanned and the item stored in the controller's memory. We know that it is checked (compared) using code. Thus, improperly stored articles will be identified in advance and will not be distributed. One of the problems with these types of systems is that since the barcode reader is attached to the operator arm, the barcode reader and the electrical connection are stressed by the operator arm movement of several cycles. In addition, this kind of barcode reader positioning can reduce the reliability of the barcode reader and cause mechanical and electronic complexity in its structure due to the need to provide an electrical connection with the movable barcode reader. In addition, by positioning the barcode reader on the operator arm, a limitation is placed on the “visuality” provided to the reader when the operator arm is advanced toward the article to be retrieved, increasing the likelihood that the article barcode cannot be read properly. do.

For a more complete look, reference is made to US Pat. No. 6,029,851 (title: APPARATUS FOR STORING AND DISPENSING ARTICLES, Imaging Technologies Ltd.). This patent discloses a dispenser for a printer or toner cartridge that includes an inlet port for receiving a toner cartridge used for recycling into the dispenser. A camera mounted at a fixed position along the entrance towards the reproduction storage area of the device utilizes "shape / pattern recognition" to identify the returned toner cartridge. This article identification technique has the same problem as in the above-mentioned patents, that is, the article can pass over the article identification apparatus at a position whose shape / pattern cannot be identified / recognized.

Purpose of the Invention

Accordingly, one of the general objectives of the present invention is to provide novel techniques and methods for the design, operation and control of article handling instruments.

Another general object of the present invention is an article processing apparatus of the type using computer controlled electromechanical technology, in the illustrated embodiment an automatic for holding and moving selected articles from one place to another, for example from a storage area to a distribution area. It is to provide a technique and method for positioning suction gripping device.

It is also a further general object of the present invention to provide novel techniques and methods for such a mechanism that improve the speed and accuracy of the article handling operation while processing the article to be carefully dispensed to prevent any damage.

A more specific object of the present invention is the identification of an article in an article processing apparatus having a somewhat flexibility to help ensure identification and / or recognition of the article to be dispensed, although its structure and operation are relatively simple, accurate and reliable. It is to provide a method and apparatus for.

Summary of the Invention

The object of the invention is achieved in the illustrated embodiment of an article dispensing apparatus, which is embodied as a vending machine having a suction hose dispenser which is controllably positioned, for example, to retrieve the article from the storage area. In one embodiment, the article dispenser includes a storage area for storing the article along at least one longitudinal axis in the stack, and an article distribution device for moving the end-side article from the article stack in the storage area along a path to the recovery area; And an article identification device attached to the article recovery device. The article dispensing device moves the article past the article identification device in a predetermined pattern to provide identification of the article being moved.

1 is a front perspective view of a vending machine constructed and operated in accordance with the principles of the present invention;

2 and 3 are front perspective views of the vending machine of FIG. 1 with the front door open to show the main mechanical and electrical components therein, constructed in accordance with the principles of the present invention;

4 is a functional block diagram showing the major mechanical and electrical components of the vending machine of FIG.

1 illustrates an environment for the present invention described in the form of an article dispenser, such as a POS dispenser. Although the following description is based on the practice of the present invention in a vending machine environment, the term "vending machine" and the actual environment of the present invention refer to a POS facility as well as a more general purpose article processing, collection and / or distribution device. It is to include. Such installations may include conventional vending machines or tractor tow trailers if implemented as a portable device and may be as large as conventional vending machines or tractor tow trailers, and, if implemented as a non-portable device, a building. It may include and be implemented as an automatic distribution room or area located in a permanent structure (ground or underground, with or without a built-in wall or enclosure cabinet). In addition, the term "article" or "product" is intended to include not only goods but also services and / or information in a permanent or temporary form in at least some of the described embodiments of the invention.

1 is a perspective view of a vending machine 10 including one embodiment of an apparatus constructed and operated in accordance with the present invention. The vending machine 10 has a main cabinet 12 and a front door 14 mounted to the hinge 16 to allow access to the interior of the vending machine for management (item refilling, maintenance, etc.). Note that in other vending machine embodiments, the administrative door or port may be positioned where on or as part of the cabinet 12. In FIG. 1, as will be described in more detail below, the front door 14, which forms an enclosure with the main cabinet 12 in which the various parts of the vending machine 10 are embedded, is shown in a closed state.

Although the convex portion 18 adjacent the front door 14 flat portion 20 is included, these specific shapes are not essential to the present invention. The convex portion 18 comprises a transparent plastic display panel 18, which generally has a trade name and / or logo graphic displayed thereon, as well as the price and / or selection information of the article, as well as the vending machine 10. It may also include graphics that describe individual items sold by). Panel 18 is generally a backlight using fluorescent lights (not shown).

The consumer's recovery area 22 is formed in the panel 18 of the door 14 so that the goods stored therein can be discharged to the user of the vending machine 10.

The flat portion 20 of the door 14 is equipped with various user interface components. The consumer display 24 displays a conventional fluorescent or LED for displaying information of various items to the user of the vending machine 10, such as to show the user what he or she has chosen, how far ahead it is, and whether the product is out of stock or on sale. It may be a display panel. In order to accept the money to be paid, the bill acceptor slot 26 has a conventional bill acceptor mechanism for purchase of goods or for the return of change (with a user interface portion extending through the aligned opening of the flat part 20). (10) mounted inside the bill). The coin insertion slot 28 is mounted inside the device 10 so as to have a conventional coin exchanger (also, a user interface portion extending through the aligned opening of the flat part 20) for the purchase of goods or for the return of change. Accept the coins into the The coin return actuator 30 includes a conventional push button mechanism for operating the coin return unit of the coin exchange mechanism that returns the coin currently inserted by the user to the coin return port 32 during operation. The coin return unit of the coin exchange mechanism also provides the change to the coin return port 32 in order to pay the change for a bill or a large coin, or in response to an item purchase. The credit / debit card slot 34 is a common card reading mechanism (also a user interface portion extending through the aligned opening of the flat portion 20) that allows a user to pay for purchases using a credit / debit card. Accepts a plastic credit / debit card inserted into the instrument 10 so as to have a. The door locking mechanism 36 locks the front door 11 so that the front door cannot be opened without a key. Following the user's selection, the display panel 18 may include graphics representing various items that can be sold by the vending machine, prices related thereto, and unique selections, as mentioned above. Alternatively, flat portion 20 may include various graphical article displays and their prices. A conventional keypad push button mechanism 38 is provided to allow a user to select a desired item from the vending machine 10. Alternatively, the push button mechanism 40 may include an individual push button for each item selection and an associated price display, and the user-operated touch screen may also display the push button mechanism 40 and the display 24. It can be replaced. Although not shown in FIG. 1, the vending machine 10 is a conventional device that can be used for credit card purchase authentication and other applications related to controlling the device and reporting inventory or operating status of the vending machine 10 to a remote location. A telecommunication component is provided, which will be described in more detail later. Although the vending machine 10 is described as including a user interface component in the above description, in a minimal embodiment of the invention, most, if not all, of these user interface components may be omitted, and the distributor may be local. With or without a payment system, it can actually be controlled from a remote location.

FIG. 2 is a front perspective view of the vending machine of FIG. 1 with the front door open to view the main mechanical and electrical components therein. 3 is a rather ideal form of the main parts of the article processing mechanism part of the vending machine 10 and is useful for understanding its overall operation. Note that some parts of the vending machine 10 are cut out to better illustrate the internal components in these figures.

2, it will be appreciated that the right side in front of the cabinet 12 includes a vertically mounted support panel 202 that is used to mount most of the user interface components. More specifically, user interface components, such as optional verty keypad 40, coin insertion slot 30, bank note receiving slot 28, coin return slot 32, and consumer display 24, are all located on door 14; The hinge mounting bracket 204 is mounted on the panel 202 and aligned with the opening of the door 14 so as to be accessible to the user from the front side. The front door 14 is equipped with two fluorescent bulb light sources that emit light for the backlight panel 18. The fluorescent bulb light source is behind the protective cover 206 to provide the desired locking (half moon protection) due to the opening in the door 14 structure that allows insertion of the fluorescent bulb. Inside the front door 14 is mounted a ballast 208 for fluorescent bulbs and a product transport chute 210. The product transport chute 210 differs from the conventional one in that its height is very high, thus preventing unauthorized access into the device by inserting an arm or other gripping mechanism from the outside of the vending machine into the product recovery area 22. Note that it acts as a locking means to prevent. In a typical typical vending machine, a swing-type lock door is mainly used on the top of the chute 210, which swings to a vandal blocking position when the consumer presses the swing-type door when entering the product recovery area 22. Move. In the vending machine 10 of another embodiment, particularly when the chute 210 is not of the same height as shown in FIG. 2, and the product retrieval area 22 is positioned higher on the vending machine 10, Such a swing lock door can be used with the product transport chute 210. Behind the hinge mounting bracket 204, a general bill acceptor is mounted which allows bills inserted into the receiving slot 28 to be pulled into the vending machine 10, and a general coin changer is placed in the coin return slot 34. It is positioned behind the panel and supplies a coin guide inserted coin into the coin exchanger, and a general bill authenticator checks whether the bill is correctly inserted in the bill acceptor slot 28.

The control panel 212 includes a printed circuit board on which a circuit is formed and to which a circuit chip is attached. The control panel 212 includes a microprocessor electrically connected to various sensors, motors, user interface elements described above, and other devices inside the vending machine 10, such that the vending machine 10 is described in more detail later with respect to FIG. To control its operation. In the present specification, referring to the performance of certain functions by the control panel 212, it is understood that these functions are controlled by the microprocessor and related circuitry formed on the control panel 212. The panel 202 is equipped with a power source 214 to supply power to the electrical components of the vending machine 10.

Referring to FIG. 3, it is evident that the interior space of the cabinet 12 can be used as the article storage area 215. In the illustrated embodiment, a plurality of vertically aligned article storage containers 216 are arranged in the interior bottom 217 of the cabinet 12 to store articles 223 sold by the vending machine 10. In the refrigeration environment for the present invention, the container may be arranged to rest on a shelf positioned above the refrigeration system.

The upper open container 219 may be dimensioned to hold the plurality of article storage containers 216 therein, for example to simultaneously process the plurality of containers 216 into / out of the article storage area 215 ( That is, to aid in removal, installation and transport). Container 219 also aids in the quick and accurate positioning of the plurality of article storage containers into the storage area of the article processing apparatus. The carriage 218 (which may more commonly be referred to as an XY positioning mechanism or a flat positioning mechanism) is connected to the inner upper side of the cabinet 12 and by the control panel portion 212 of the vending machine 10. It is such that it can be controllably positioned in a position centered above (to be aligned with) an open upper end of the selected one of the article storage containers 216.

While vertical (Z-axis) alignment of the article storage container 216 is shown, non-vertical, ie inclined or even horizontal (X-axis or Y-axis) alignment is possible (using a "helical wire" dispensing device). Type known front-facing glass vending machines). In the case of a substantially horizontal alignment of the storage vessel, the planar positioning mechanism will be changed appropriately to position the carriage 218 for movement in the X / Z plane or the Y / Z plane. Indeed, curved surfaces such as cylinders are also contemplated as being within the scope of this invention. The combination of a substantially horizontally aligned product stack and a robot controlled article transport mechanism moving in a vertical plane adjacent to the dispensing end of the product stack is described in US Pat. No. 6,230,930 (published Feb. 15, 2003, entitled METHOD AND APPARATUS FOR VENDING PRODUCTS) and US Patent Publication No. US 2001/0000609 (2001.5.3). The use of curved surfaces for transporting goods is known, for example, in the field of videocassette vending, where the videocassette is loaded outwards on a central storage rotary conveyor and the robot gripper surrounds the rotary conveyor. In addition, although the article storage container 216 is shown to be in an ambient environment, the container 216 may be positioned in a refrigerated environment, such as a freezer positioned at the bottom of the storage area 217, and the article transport mechanism described above. Enter the vessel from the top opening the freezer as shown and described in US Pat. No. 5,240,139. Alternatively, where the refrigeration environment is of a type that includes a substantially horizontal alignment of the storage container, a vertical opening may be used to provide access to the dispensing end of the article storage container.

In the context of the present invention, the air hose 220 is continuous from its point prior to discharge from the hose storage area 222 across the vertically positioned roller 213 to its free end 221. The free end 221 includes a weight adder 225 associated with the bellows extending tip portion 227. Depending on the physical characteristics of the article to be dispensed, the article pick-up head 224 may include only a weight adder 225, which may be dispensed with a bellows tip 227 or a flexible tip without weight adder. It may be combined with a component specifically tailored to the type of package desired. Hose 220 has, in a preferred embodiment, one end connected to a negative pressure pneumatic source comprising blower motor 226, ie a suction force source, and a free end connected to article pick-up head 224. In the present invention, the expression continuous is intended to mean a hose that is connected and operated between its end points as an integral / single hose, in order to perform the required function. The air hose portion 235 provides suction from the blower motor 226 to one port of the air connection box 229, while the continuous hose 220 is connected to the second port of the air connection box 229. The air connection box 229 is provided on top of the hose storage area 222 and includes an airflow sensor and a vacuum breaker assembly. The airflow sensor is sent to the vending machine's controller and used to generate a signal indicative of airflow through the air hose 220. The vacuum breaker assembly is used to rapidly change the air pressure inside the hose 220 to ambient pressure to help "quickly release" the article carried by the article pickup head into the dispensing chute 210. The rapid release of the product does not have to occur at the top of the dispensing chute 210, and if it is desired to prevent the force or impact from falling on the article, the article pick-up head may be Note that it may advance to the bottom of 210. In one embodiment, the airflow sensor device may comprise a two-part switch, the first component comprising a reed switch mounted on top of the box 229, and the second component mounted inside the box 229. And a magnet mounted to the free end of the swing arm. When the arm swings inside the box 229 due to airflow changes, the switch is in a "toggle state" whereby the airflow changes. The use of this airflow signal will be explained in more detail later.

In the context of the present invention, as shown generally in FIG. 3, a novel hose positioning apparatus is provided for aligning the carriage 218 with a selected one of the containers 216. This alignment is a front / rear linear slide 228 mounted in the “L” type front / rear beam 230 such that the carriage 218 can be controllably positioned along the beam using the slide 228 (notch shown). To the front / rear (Y). The bottom edge of the beam 230 includes a rack portion 232, and the carriage 218 includes an electric motor 233 and a gear (not shown). When forward and reverse motor control signals are sent from the control panel 212 to the motor 233, the carriage 218 is driven forward / rear. Alignment of the carriage 218 in the left and right (X) direction, the left and right linear slide 234 to slidably connect the upper side of the front and rear beams 230 below each of the left and right beams 236a and 236b spaced apart. Using, it is done in a similar way. These beams 236a and 236b are reliably attached to the inner upper end of the cabinet 12. The rack 238, which is also reliably attached parallel to the beam 236 inside the upper part of the cabinet 12, is connected to the gear 240 driven by the reversible motor 243 mounted near the inner corner of the beam 230. To interlock. By sending forward and reverse motor control signals from the control panel 212 to the motor 243, the gear 240 is rotated, thereby moving the beam 230 and thus the carriage 218 in the left and right (X) directions. Will be moved. In alternative embodiments, the positioning instrument portion with beams 236a and 236b may be implemented as a support bracket with opposing flange edges, with linear slides 234 fixed to the beam 230 and flange edges, respectively. 239a, 239b may have a bracket having a set of orthogonally positioned rollers that engage respective orthogonal sides.

Note that the carriage assembly 218 moves only in a single plane, but is responsible for precisely positioning the pickup head 224 in the directions of X, Y, and Z, respectively. More specifically, as shown in FIGS. 5 and 6, the carriage 218 is perpendicular from the substantially horizontal direction (ie, X, Y direction) along the upper interior of the vending machine 10 (ie, Roller arrangement 502 comprising three rollers 504 orthogonally positioned at the point where hose 220 enters carriage 218 to turn the direction of movement of hose 220 up to (Z direction). Equipped. Movement of the carriage 218 will not only move the free end 221 of the hose 220 to be axially aligned with a selected one of the containers 216, but also automatically move the hose 220 from the hose storage area 222. It will be withdrawn. Thereafter, a hose drive mechanism, which may include a set of “pinch rollers” 506 that is operated in a conventional manner, is driven by the reversible motor 508, through the gear set 510, in the illustrated embodiment. The gear set is mounted to the carriage 218, but in other embodiments, the motor 508 / roller 506 (to drive the pickup head 224 into / out of the selected container 216 to retrieve the stored article). Or other drive mechanisms, such as articulated arms, may be mounted to operate anywhere else in the length of the hose 220).

This structure, in which the hose 220 moves in the same X, Y plane as the carriage 218 moving plane, helps to miniaturize the hose positioning and drive mechanism for the present invention. In addition, the movement of the carriage is responsible for providing most of the force required to withdraw the hose 220 from the storage area 222, so that the free end of the hose moves into / out of the container 216 for article recovery. Only a Z drive motor is needed to drive the hose. The pinch roller 506 should comprise a soft rubber material to provide good frictional contact to the hose 220, and that if the hose 220 is corrugated the roller 506 may have a corresponding / matching crease. Be careful. In the illustrated embodiment, two drive rollers are not required, so that only one of the pinch rollers is driven by the motor 508 and a spring (not shown) is used to push the other roller towards the driven roller so that there is no gap between them. It is determined that the hose 220 is driven in the.

As shown in FIG. 2, the container holder 260 has a pair of rectangular brackets secured with spaces on opposite inner sidewalls of the cabinet 12, both of which in predetermined positions relative to the interior of the vending cabinet. It is used to hold a container positioned between the side walls. This is necessary in view of the pre-programming of the control panel 212 that controls the robotic structure for retrieving selected articles from selected ones of the containers 216.

In addition, a flexible guide mechanism 550 is provided to ensure that the pickup head 224 is lowered into the storage area by the drive mechanism of the carriage 218 and into the desired one of the containers 216. 7 is shown. For example, depending on the material used to construct the hose 220, if the hose 220 has not been repositioned for a long time, a 90 [deg.] Rotation in the carriage 218 in the direction of the hose will result in a significant " Entanglement "may be formed. If the hose 220 is then lowered into the selected vessel 216, the entanglement may cause a swing of the pickup head 224 as the entanglement of the hose moves past the drive roller 506. To prevent this undesirable pick-up or swing of the pick-up head 224, a guide mechanism 550 is provided that includes a guide plate 552 attached to the ends of the two slide support rods 554. As shown more clearly in FIG. 7, the support rod 554 slides through a hole in a plastic (PVC, ie polyvinyl chloride) block 556 secured to the wall of the carriage 218. Guide plate 552 is configured to have a hole in its center that is slightly larger than the diameter of the pickup head 224 body portion and smaller than the diameter of the pickup head shoulder portion. Thus, when the pick-up head 224 is lowered into the desired vessel during operation, the support rod 554 is at a speed equal to the speed at which the support plate 552 is lowered away from the carriage 218 by the gravity due to gravity. Allow to go down. At a height above the top of the container 216, i.e., determined by the length of the support rod 554, the support plate 552 is no longer moved away from the carriage 218 and its central hole is merely a pickup head ( Guide the remaining descent into the selected vessel 216 of 224. After the package is fixed to the pickup head by the suction force generated inside the hose 220, when the pickup head 224 is withdrawn from the container, the pickup head 224 eventually comes into contact with the guide plate 552, and thereafter, the remaining upwards. When the hose 220 is recovered for movement, the guide plate 552 is also recovered.

As shown more clearly in FIG. 7, the support rod 554 includes rods provided with threaded holes at each end, through which machine screws can be inserted. The top of the rod 554 and the head 555 of the screw form a shoulder that prevents the rod 554 from completely falling into the block 556 through the hole, and at the bottom of the rod 554 the screw is guide plate 552. To the rod. Also, as shown in FIG. 14B, the guide plate 552 is provided with a protective packing around the hole to prevent damage and reduce wear of the hose 220 when the hose 22 moves through the guide plate 552. 557). Note that the height of this protective packing 557 is preferably greater than the spacing between adjacent turns of the helical support structure of the hose 220. In addition, the hose 220 is composed of a strong flexible helical portion that acts as a spine forming the shape of the hose, and is preferably formed in synchronism with the flexible, hermetic plastic material placed on an adjacent turn of the helical portion. Note that

As mentioned earlier, the hose 220 is made of a continuous material from one end connected to the suction force source to the pick-up head 224 at the other end, so that X, Y, Z, as appropriate during the article dispensing operation, During the movement of the pickup head 224 in the direction, a means for providing hose storage and / or withdrawal is needed.

Thus, as shown in FIG. 3, positioning the inner wall 246 parallel and adjacent to the outer wall 248 of the cabinet 12 is to form a hose storage region 222 therebetween. Hose storage region 222 has a cross-sectional area that is slightly larger than the cross-sectional area of a hose loop formed therein. Walls 246 and 248 are shown in partial cutout to show the gravity feed automatic recovery loop tensioner / recovery mechanism 250 formed in hose 220. The loop tensioner 250 is constrained to move within the hose storage area 222 and to ensure that the weight is always centered within the hose storage area 222 to provide a constant "loop forming" tension to the hose 220. For this purpose, the cloud weight 252 having the groove 253 along the circumference thereof becomes somewhat automatic recovery type. Also, centering the cloud weight 252 with a groove formed inside the hose storage area 222 causes the hose 220 to be centered, thereby causing the X, Y, Z directions of the pickup head 224 to be centered. The walls of the hose storage area 222 are prevented from rubbing the hose 220 during positioning. To prevent strapping of the hose 220, the dimensions of the rolling weight 252 are made slightly larger than the diameter of the hose 220, and the width dimension of the hose storage area 222 is larger than the width dimension of the rolling weight 252. Only slightly larger. The specific weight value used for rolling weight 252 is a matter of design choice and depends on various variables such as the weight of the article to be moved, the strength of the motor used to drive the hose in the Z direction, and the like. In other embodiments, it may be desirable to connect weights 252 to the bottom of cabinet 12 using springs to apply additional tension to loop tensioner 250.                 

In addition, this gravity-based recovery / hose storage technique satisfies the storage requirements required for the Z direction movement of the pickup head 224 and the X, Y (left, right, front and rear) direction movement of the carriage 218. Of course, this gravity-based recovery / hose storage technique will work equally well in embodiments where the robotic hose positioning mechanism uses rotary devices (R, θ), articulated arms, telescopic or sheared systems, or other techniques. . In addition, the illustrated gravity-based recovery / hose storage technique is not essential in some embodiments of the invention, and in practice a full motor drive or partial motor drive recovery technique may be used. In other embodiments, it may also be desirable to position the hose storage area at another location parallel to, for example, the upper or rear portion of cabinet 12. If at the top of cabinet 12, the passive gravity based recovery is not appropriate, and instead an active system such as having a motor driven recovery will be required.

In accordance with the principles of the present invention, as shown more clearly in FIGS. 2 and 3, when the article 223 is moved by the pickup head 224 along the path from the storage container 216 to the chute 210, the cabinet (12) Positioned past an article identification (ID) device 254 mounted therein. In order to identify and confirm whether the item to be dispensed is actually a selected item, there is no need for a particular type of item ID device in the present invention, and, depending on system constraints, such a device may, for example, be a barcode scanner or other optical image / pattern Recognition systems, or even non-optical systems, such as high frequency identification (RFID), or magnetic-based systems mounted within cabinet 12. The construction and operation of such an article identification device is known in the art, and thus no further explanation thereof is necessary.

According to one aspect of the present invention, the article ID device 254 is mounted in a relatively fixed position in the cabinet 12, the mounting being made so that a somewhat controlled movement in the direction of the article ID device 254 is facilitated, thereby carrying It helps to ensure good "visibility" of the article being made and the reliability of the conveyed article being identified is high. One way to provide such controlled movement for the article ID device 254 may be to mount on a piezoelectric substrate, and the control panel 212 may change the substrate to change the "visibility" of the article ID device 254. To provide a voltage. Note that by using a properly positioned article ID device 254, only a single article ID device 254 is required. This is particularly useful in the case of a robotic dispenser, which allows the robotic device to controllably position and, if necessary, reposition the article near the article ID device 254 to ensure a reliable ID of the article. Because it helps.

In addition, although the article ID device 254 is mounted to the inner wall of the cabinet 12 in FIG. 3, FIG. 6 shows a more preferred location for mounting the product ID device 254, ie, the inner edge of the hinge bracket 204. And just above the top of the container 216.

Alternative embodiments of the robotic mechanism described above are considered to be within the scope of the present invention. For example, the product ID device 254 may be in a non-planar direction, such as a rotatable device (R, θ), other types of robotic positioning devices such as spectator arms, telescopic or scissors systems, and curved surfaces. It may also be useful for dispensing devices that use moving.                 

In addition, although only one storage area 215, hose 220 and carriage 218 are shown in the illustrated embodiment, the present invention is all vertical or all horizontal, each operating for example in a different storage area. It may also be used in a dispensing device / article processor of the type having several storage areas and / or robotic item handling mechanisms, such as two robotic instruments, one vertical and one horizontal, one mixed. In addition, if multiple article handling mechanisms are provided, each may be specifically designed for a particular operation. For example, one may use a meat / low suction force vacuum source device with a relatively large diameter pickup head, and the other may have a relatively small diameter pickup head and use a low air / high suction force vacuum source. have.

In this regard, FIG. 5 shows several storage area structures 500, where a single item handler of the aforementioned type acts on three adjacent storage areas. In one embodiment, each region may be for storing a stack of articles aligned in the same direction as the other regions. One storage area 502 may have an ambient environment while the other storage area may be cooled. For example, one region 504 is refrigerated and one region 506 is frozen. This structure is generally a small, reliable and effective vending machine structure, for example salt snacks from the surrounding storage area (eg potato chip bags), chilled beverages from the cold storage area (eg soda water), and Frozen confectionery (eg ice cream) from the frozen storage area may have application for dispensing. In addition, this type of structure may be particularly advantageous in that refrigeration compartments may be used to maintain the quality of the stored article until it is close to where it requires dispensing, as determined by an intelligent controller. At a suitable time scheduled prior to dispensing, a certain amount of article may be moved from the freezing zone to the refrigeration zone. This technique is particularly advantageous when the third storage area is actually a temporary storage area used for individually heating / cooking articles such as frozen pizzas using an oven or microwave. In this case, the quality / storage life of the frozen pizza is maintained without moving the frozen pizza to the cold zone until the refrigerated zone is exhausted to the point where it needs to be refilled, wherein the frozen pizzas are sequentially removed from the frozen zone. Moved to the refrigeration zone. This technique significantly reduces the time required for the pizza to heat up while the customer is waiting, while at the same time allowing storage in a frozen manner, increasing shelf life and reducing labor costs associated with vending machine loading. In this structure, the refrigeration zone may have a heat shield on top thereof, such as an air curtain or sliding thermal panel. This separation is obvious not only from the standpoint of thermal efficiency and protection of the mechanical and electronic components of the device from extreme and rapid temperature changes, but also for the purpose of assisting / promoting reliable article identification by positioning the article identification device outside the refrigeration environment. Particularly advantageous.

6 shows a structure in which a single article processing mechanism has two functions aligned horizontally with the article storage area. In the back space, region 602 is the ambient environment and region 604 is the refrigerated environment. The article processing apparatus 606 includes the support beam 230 and the carriage 218 so that the instrument 606 "active" in the surrounding area 602 and can move through the swinging door 608 to the refrigerated area as needed. ) Can be configured in the manner described above. Regions 602 and 604 may each include their own article ID device 254 or may share a common ID device.

In addition, separate hoses and hose positioning mechanisms may be useful in order to expedite retrieval and delivery of stored items to consumers. 7 shows a rapid article dispenser of the type having two horizontally positioned storage regions. Separate hoses and hose positioning mechanisms are used, but they may share a single source of suction force (eg, blower motor 226), airflow sensors, and vacuum breakers. Refrigerated and non-refrigerated shown by the device 700 of FIG. 7, through which the support beam 230 and the carriage 218 can be positioned between two storage regions having different ambient environments via the door mechanism 702. In other embodiments where a single hose acts as more than one article storage area, such as a storage area, a single hose, hose positioning mechanism and hose storage area may be used. In accordance with the present invention, each robotic article processing mechanism may have its own article ID device 254 or may share a single article ID device 254.

8 shows a dual consumer interface area (each with a product selection device such as a keypad or touch screen, a payment system and a product return door), for example one on the left and the other on the right and a common graphical display. Shown is a vending machine with a single article processing mechanism having dual consumer interface areas such as those in between. This vending machine can serve two buyers at substantially the same time, as consumer selection and payment typically take considerable time compared to the actual time required for the dispenser to deliver the selected product.

Another such structure is shown in FIG. 9, where the cabinet has an upper region 602 and a lower region 604, the upper region is an uncooled region (which may be where it is heated) and the lower region is refrigerated. Region (for example, it may be divided into two additional regions, one region 606 that is frozen and one region 608 that is only cooled). This structure is particularly advantageous due to the property of hot air rising and cold air descending. Alternatively, one storage area can be arranged for vertical storage of the product and the other or even several other areas can be arranged for horizontal storage. In this case, separate hoses, hose positioning instruments and hose storage areas may be needed for differently arranged storage areas.

In the above structure, it is noted that the article processing apparatus may have other structures such as the above-mentioned flexible tube, scissors or R, θ-type structure. The article may also be a consumer goods, such as office supplies, printer cartridges, and the like.

In the illustrated embodiment, the blower motor 226 provides a relatively large volume of airflow, but provides a relatively small negative pressure air pressure. As a matter of design choice, the blower motor 226 may have a vacuum pump that provides a significantly greater degree of negative pressure air pressure, but may have a vacuum pump that provides a moderately reduced amount of airflow due to size and cost limitations. It may be. In the latter case, the diameter of the air hose 220 is reduced than the diameter shown in FIGS. 2 and 3, which may be particularly important for some applications of the present invention. The illustrated embodiment is particularly useful for lifting flexible packages, as instantaneous or fairly persistent leaks in connecting the package to the article will generally not cause the package to drop, while at the same time varying weight and size. The ability to pick up articles of various shapes having a high degree of versatility. If the blower motor 226 is equipped with a vacuum pump, it may be used alone or in combination with a storage tank connected to a suction hose via a valve and air hose to provide a larger volume of airflow. Alternatively, a compressor may be used in combination with the ventilator to generate a vacuum.

Alternative embodiments of the robotic hose positioning mechanism are contemplated as being within the scope of the present invention. For example, instead of using a combination of left and right slides 234 and support beams 236a and 236b, a roller / guide rail combination may be used. The support beams 236a and 236b may have support plates with two outwardly, ie opposite L-shaped rails, along their edges. The function of the slide 234 can be performed by securing a pair of brackets at opposite ends of the beam 230, each of which is a pair of spaced inwards that engage the opposing rails on the support plate and follow the rails. It includes a roller. Further, the spaced inward rollers may each have a set of rollers positioned to be 90 degrees relative to each other to engage or follow two orthogonal surfaces of the L-shaped rail. Due to this structure, the carriage 218 can be connected to the beam 230 so that less adjustment is required for proper operation. Also, as mentioned above, when the reservoir is substantially horizontally arranged, the robotic hose positioning mechanism is moved so that it moves in a vertical plane that is substantially flat (i.e., X / Z or Y / Z plane) or a substantially vertical curved surface. The carriage 218 may be positioned. Also, as mentioned above, in some aspects of the present invention, the robotic hose positioning mechanism is of constant length (or telescopic) for "R" movement of a gripper / pickup head that pivots to make "θ" movement. It may be desirable to include a rotary device R, θ of the type having an I beam. Alternatively, in another environment of the present invention, the robotic hose positioning mechanism may include an articulated arm or scissors system, or other technique.

4 is a functional block diagram illustrating the general operation of various aspects of the present invention, as implemented with an article dispenser of the type including, for example, a vending machine 10. On the control panel 212 is a control system 400 having a microprocessor 402 and associated memory circuits 404. The control system 400 may also include electronic components of other parts of the vending machine 10 as appropriate. The memory circuit 404 includes a RAM cache for temporarily storing operation data and other data during system operation, as required, and known software for achieving control of the vending machine 10 described herein. ROM for storing the operating program. The control system 400 is a user payment and selection system 406 (coin and banknote mechanisms 28 and 30 of FIG. 1) for operating the goods handling device and user interface of the vending machine 10 to dispense the items required by the user. And the selection button 40). More specifically, when the user makes an appropriate payment for the selection using the payment and selection system 406, the control system 400 includes the container 216 holding the pickup head 224 for the item selected by the user. The X / Y (left, right, front and rear) drive motors 233, 243 are operated to position them in alignment. The control system 400 is mounted inside the carriage 218 and engages with the hose drive motor 508 (Z motor) carried by the carriage, such that the hose 220 drives in the direction toward the upper article in the aligned container. do. A suitable time prior to when the head 224 contacts the article to be taken out (in the embodiment of the present invention where the cabinet 12 does not contain refrigerated air, a suitable time is such that the head 224 enters the container 216). May be just before, but if the air is refrigerated, it is expected to be just before contact with the desired article to minimize the removal of the refrigerated air), the control system 400 is adapted to provide a suction force lifted from the pickup head 224 Operate blower motor 226. When the position sensor 412 finds that the pick-up head 224 has contacted the desired article to hold the article, the control system 400 retrieves the hose 220 from the aligned vessel 216 to return the selected article to the vessel. To lift it out of 216, the hose drive motor 410 is reversed in that direction. The carriage 218 is then driven to a position aligned with the article carrying chute 210.

If sensor 412 detects that carriage 218 is aligned with chute 210 (in this case, sensor 412 is a reed switch mounted to the front wall of the cabinet and a magnet mounted to the leading edge of carriage 218). Control system 400 stops blower motor 226, and the resulting loss of vacuum causes the selected article to fall into consumer recovery area 22. As mentioned above, if the article is fragile and must not fall or be impacted, the hose 220 can be driven down to the bottom of the chute 210 before the article is released.                 

Note that the position sensor 412 may include an airflow sensor of the junction box 229, and in other embodiments may include a mechanically actuated plunger-type position sensor associated with the pickup head 224. The position sensor 412 may also include a rear switch mounted to the front wall of the cabinet and a magnet mounted to the leading edge of the carriage 218.

According to another aspect of the invention, the control system tracks the movement of the hose 220 and the carriage 218 (e.g. by detecting pulses from a shaft encoder or other distance measuring device in each drive motor), so that the carriage The signal generated by the airflow sensor when 218 reaches the virtual home position may be used as a check to ensure that the control system 400 correctly counted the motor drive pulses and, if necessary, the virtual home position. The positioning system can be retested on the basis of.

Positioning sensor 412 may include an airflow sensor in connection box 229, and in other embodiments may include a mechanically actuated plunger-type position sensor associated with pickup head 224. In addition, the position sensor 412 may include a reed switch mounted to the front wall of the cabinet and a magnet mounted to the tip of the carriage 218.

Accurate control of the power supply to the blower motor 226 reduces the amount of refrigerated air that is moved by the blower motor 226, which is particularly advantageous when the interior or part of the cabinet is cooled. In a preferred embodiment, the microprocessor 402 provides updated information about the height of the item stack in each container 216 when the pick-up head 224 approaches the desired item and, in fact, the control system 400. As it is retained, it will power the blower motor 226 when the pickup head is in close proximity (and not earlier) of the desired item. The height is believed to be at a predetermined level when the operator fills the vending machine 10 with the article. The control system 400 may verify the estimated height by moving the pickup head 224 toward the article at the top of the vessel 216 at a reduced rate on the first retrieval attempt after replenishing the storage area, and then estimating thereafter. Compare the height with the actual height. The height of a particular article may be preprogrammed into memory 404 in advance, or the control system 400 may know the height by comparing the height of each container prior to sale. Knowing the height of the upper article, the control system 400 can also always know the height of the next "top" article in the container. In addition, the control system 400 can access the pickup head 224 at a faster rate to the article in the storage area and slow down only if it is immediately adjacent to the next "top" article in the container. In addition, the technique of slowing down as the pickup head 224 approaches the next article contributes to ensuring that the stored article is not damaged by the pickup head 224.

In a variant, a simpler method of controlling the operation of the blower motor 226 and the access of the pick-up head 224 without knowing the height of a particular article is the blower motor 226 just before acquiring the stack height before sale. Note that it is to turn on or slow down the pickup head 224.

If the machine operator activates the "reset" switch (not shown), the control system 400 detects the height described above, since it can be considered that the operator will change the product loading level and consequently the height of the product in each container. Automatically initialize the use of technology.

For the embodiments described herein, supplying power to a blower motor or other suction force forming device is considered to mean the same thing as causing a fast package holding force, ie, a suction force, to appear in the pickup head 224.

A communication system 414 is coupled to the control system 400 to enable operational control of the vending machine from a remote location, and to provide product inventory and vending machine operation information to a remote location. In this regard, communication system 414 may include a connection to means for manufacturing a wired and / or wireless transceiver interface that enables a communication link with a remote computer to be established. In addition, communication system 414 may communicate with a plurality of similarly connected vending machines in the same general area, and may communicate using a wired interface or wireless communication. It may also communicate with various vending machines and / or local servers / controllers at local locations along a local area network (LAN), local area network (LAWN), or wide area network (WAN). The remote computer may include a database that receives and / or accumulates operational data from one or more vending machines, which data may be routed to root drivers, vending machine operators, vending machine owners, product suppliers, etc. using appropriate cryptographic schemes (e.g., For example, via a wired or wireless connection). The remote location can also provide feedback to the vending machine, such as authentication information, which can control the operation, for example, to continue operation.

Many of the advantages of the present invention described herein, combined with methods and apparatus for generating, monitoring and / or maintaining suction force at the gripping end of a suction hose, are described in various doors (e.g., described in US Pat. No. 5,240,139). It may be particularly useful in an article dispensing device of the type having a refrigeration compartment, such as a chest freezer, as described for an ice cream dispenser.

While the invention has been shown and described in detail with reference to its preferred embodiments, it will be apparent to those skilled in the art that various changes may be made in form and detail without departing from the spirit and scope of the invention as defined by the appended claims. Ramen will understand. Indeed, many of these changes have already been mentioned in the description herein. Those skilled in the art will recognize and be able to ascertain that many equivalents to the specific embodiments of the invention described herein may be obtained using only conventional experience.

For example, the described preferred embodiment discloses a suction force provided to the air hose 220, but a gripper, such as a forceps (or an electromagnetic device or even a self-contained suction force generator) that is actually mechanically actuated by its free end. A solid element provided in may be used. All such equivalents are intended to fall within the scope of the appended claims.

After the product has dropped into the recovery area, the camera inspects the product for helical or container arrangements. An alert can be sent to the controller prohibiting distribution from one or more item storage areas.

Bar code or other image / visual recognition system to identify stored items and / or proper operation and bonsai of the items.

A robotic mechanism for moving items stored in the item identification system. The robotic mechanism can be selectively controlled to improve the reliability of article identification, i.e., the movement of the article through the ID system can be slowed down, and in the case of a flexible bag article, the article can change the whip of the bag to scan barcodes. Or "shake" to improve optical recognition of the image.

Scanning for the article ID can be done at any time for the purpose of confirmation and operation, ie it can occur between cycles as well as during or as part of a sales cycle.

Proper operation and distribution of the article may follow predetermined rules and interaction with the control system for further control and reporting and reinforcement of the vending machine for better operation. Items that are identified as unauthorized may be returned to or dispensed into the container and further distribution of the goods from the storage area may be stopped.

Use an optical identification system for the spiral / gravity feeder prior to dispensing the item package form or the like, for example after the item has dropped (or rolled in the case of a yaw container, etc.) or already lowered in the consumer recovery area.

Determining the article ID can be done during the dispensing operation, after dispensing has started, and the cycle is irreversible.

Calculate item IDs for inventory management, "pay as you live" (PAYV) equipment finance or incentive calculations based on appropriate operations and / or rules                 

Additional circuits and additional circuits that enable remote access and operation control of the vending machine for inventory management.

Claims (45)

An article storage and retrieval apparatus, A storage area for storing goods, An article gripping and extracting device comprising a free end and selectively gripping and extracting an article from said storage area in response to a control signal; A positioning mechanism coupled to the article gripping and extraction device and moving the free end of the article gripping and extraction device to a point in the storage and retrieval device coupled to the recovery area of the storage and retrieval device in response to a control signal; A user interface for allowing a user of the storage and retrieval device to initiate an article retrieval operation; Generating a control signal that generates controlled movement of the positioning mechanism and the gripping and extracting device, such that a selected item is extracted from the item storage area and moved toward a point associated with a recovery area of the storage and retrieval device Device, An article identification device contained within the housing and providing an identification of the selected article while the selected article is still held by the gripping and extraction device Item storage and recovery device comprising a. The article storage and retrieval apparatus of claim 1 wherein the article identification device provides an article identification using an optical device and is instructed to image or scan the article while the selected article is moved. The article storage and retrieval apparatus of claim 1 or 2, wherein the article identification device comprises a barcode scanner. The imaging system of claim 1, wherein the article identification device is connected to an image analysis device that recognizes a predetermined image and provides an imaging system, such as an analog or digital, still or video, camera, to provide article identification during retrieval operation. An article storage and retrieval device comprising. The article of claim 1, wherein the positioning mechanism causes the article to be controllably positioned relative to the article identification device while the article is in close proximity to the article identification device to ensure reliable identification of the article. Goods storage and retrieval device. The article of claim 1, wherein the positioning mechanism causes the article to perform discontinuous movement in the region of the article identification device when the article moves from the article storage area toward a point associated with the recovery area. Storage and retrieval device. The article storage and retrieval apparatus of claim 1 wherein the article identification is utilized by the control device to cause the device to malfunction in whole or in part. 8. The apparatus of claim 7, wherein the partial malfunction of the device prevents the movement of the article from one or more longitudinal storage axes of the storage area to a point associated with the recovery area. 8. The control device according to claim 1 or 7, wherein the control device is configured to cause an operator or owner of the device to adhere to the predetermined rule by the inoperation in response to a result of the comparison of the item identification to a predetermined rule. And storing and retrieving the article. The operator or owner of the apparatus according to claim 1 or 8, wherein the control device reports the sales and inventory data to the central certification authority, and, if no sales or inventory data is reported, by the malfunction. And means for adhering to reporting the sales and inventory data. An article storage and retrieval apparatus, At least one article retrieval mechanism for gripping and moving the article located at a location toward the customer retrieval area; At least one article identification (ID) system comprising at least one article identification (ID) device, An article storage and retrieval device having a plurality of article storage areas in which articles are stored in an aligned manner; One or more control systems coupled to the article retrieval mechanism for controlling the free end of the retrieval mechanism for retrieving the selected article and for controlling the article identification system to identify the selected article Including; By operating the article identification device and the article retrieval mechanism, the article stored in the storage area without human intervention is provided by the article identification device by providing identification of the selected article while the selected article is still held by the article retrieval mechanism. An article storage and retrieval device that can be identified automatically. A storage area for storing the article along at least one longitudinal axis in the stack; An article dispensing device comprising a free end for gripping and moving a target article from said stack of articles of said storage region along a path to a recovery region; An article identification device mounted in the article storage and retrieval device Including; And the article dispensing apparatus moves the held target article to change the relative position between the target article and the article identification apparatus in a manner that facilitates identification of the article by the article identification apparatus. Device. 13. The article storage and retrieval apparatus of claim 11 or 12, wherein the article identification device provides article identification using an optical device. 13. The article storage and retrieval apparatus of claim 11 or 12, wherein the article identification device comprises a barcode scanner. 13. The apparatus of claim 12, further comprising a control device, the control device including means for blocking or inhibiting further dispensing of the article, An article storage and retrieval apparatus, wherein the article identification provided by the article identification device is used by the control device to activate means for blocking or inhibiting further distribution of the article. A method of operating an article storage and retrieval device, Storing the plurality of items to be recovered in a storage area; Selectively gripping and extracting an article from the storage area using an article extraction device; By allowing a user of the article storage and retrieval device to initiate an article retrieval operation and cause a controlled movement of the article extraction device, a selected article can be extracted from the article storage area and retrieved from the retrieval area of the storage and retrieval device. To be moved toward a point in the associated storage and retrieval device; Providing identification scanning of the selected article while the selected article is still held by the article extraction device How to operate the article storage and retrieval device comprising a. 17. The article of claim 16 wherein the controlled movement of the article extraction device changes the relative position between the selected article and the article identification device in a manner that facilitates the identification scanning of the selected article by the article identification device. Method of operation of an article storage and retrieval device. The article of claim 17, wherein the controlled movement of the article extraction device facilitates identification of the article by the article identification device when the article moves from the article storage area toward a point associated with the recovery area. And wherein the selected article causes the movement of the predetermined pattern relative to the position of the article identification device. 18. The method of claim 17, wherein the controlled movement of the article extraction device is from the article extraction device controlled to move repeatedly with respect to the position of the article identification device. 18. The method of claim 17, wherein the controlled movement of the article extraction device comprises a departure from a movement towards a point associated with the recovery area. 18. The method of claim 17, wherein the controlled movement of the article extraction device comprises keeping the selected article static during identification scanning. 19. The method of claim 18, wherein the movement of the predetermined pattern comprises shaking the selected article to facilitate identification scanning. 17. The method of claim 16, wherein said identification scanning is provided by a camera. 24. The method of claim 23, wherein the image generated by the camera is analyzed using pattern recognition techniques to perform identification of the selected article. The method of claim 1, wherein the movement of the article holding and extraction device changes the relative position between the selected article and the article identification device in a manner that facilitates identification of the selected article by the article identification device. Apparatus for storage and retrieval of phosphorus. 13. An article storage and retrieval device according to claim 11 or 12, wherein the article identification device comprises an image recognition system using a still image camera. The device of claim 11 or 12, wherein the article identification device comprises an image recognition system using a video camera. 13. The article storage and retrieval apparatus of claim 11 or 12, wherein the article identification device comprises a high frequency identification device. 13. The article storage and retrieval apparatus of claim 11 or 12, wherein the article identification device comprises a magnetic reader. The method of claim 11, A positioning mechanism coupled to the article retrieval mechanism for positioning the free end of the article retrieval mechanism in alignment with the selected article of the storage area in response to a control signal; A drive mechanism coupled to the article retrieval mechanism for moving the free end of the article retrieval mechanism toward or away from the article of the storage area; The article storage and retrieval apparatus further comprising. The method of claim 12, A positioning mechanism coupled to the article dispensing apparatus, the positioning mechanism positioning the free end of the article dispensing apparatus in alignment with the selected article of the storage area in response to a control signal; A drive mechanism coupled to the article dispensing apparatus and moving a free end of the article dispensing apparatus toward or away from an article of the storage area; The article storage and retrieval apparatus further comprising. The method of claim 11, Further comprising a control device comprising means for blocking or inhibiting further recovery of the article, The article identification provided by the article identification device is used by the control device to activate means for blocking or inhibiting further recovery of the article. delete delete delete delete delete delete delete delete delete delete delete delete delete

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