WO2019128344A1 - 自动售货机及货道高度检测方法 - Google Patents

自动售货机及货道高度检测方法 Download PDF

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Publication number
WO2019128344A1
WO2019128344A1 PCT/CN2018/107374 CN2018107374W WO2019128344A1 WO 2019128344 A1 WO2019128344 A1 WO 2019128344A1 CN 2018107374 W CN2018107374 W CN 2018107374W WO 2019128344 A1 WO2019128344 A1 WO 2019128344A1
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WO
WIPO (PCT)
Prior art keywords
cargo
bucket
height
sensor
signal
Prior art date
Application number
PCT/CN2018/107374
Other languages
English (en)
French (fr)
Inventor
张春光
刘洋
王波涛
陶鹏
李德逸
Original Assignee
山东新北洋信息技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 山东新北洋信息技术股份有限公司 filed Critical 山东新北洋信息技术股份有限公司
Priority to US16/957,864 priority Critical patent/US11488435B2/en
Publication of WO2019128344A1 publication Critical patent/WO2019128344A1/zh

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Classifications

    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G07F11/16—Delivery means
    • G07F11/165—Delivery means using xyz-picker or multi-dimensional article picking arrangements
    • G07F11/1653—Delivery means using xyz-picker or multi-dimensional article picking arrangements the picking arrangements being collecting buckets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q20/00—Payment architectures, schemes or protocols
    • G06Q20/08—Payment architectures
    • G06Q20/18—Payment architectures involving self-service terminals [SST], vending machines, kiosks or multimedia terminals
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines
    • G07F11/04—Coin-freed apparatus for dispensing, or the like, discrete articles from non-movable magazines in which magazines the articles are stored one vertically above the other
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/02—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus
    • G07F9/026—Devices for alarm or indication, e.g. when empty; Advertising arrangements in coin-freed apparatus for alarm, monitoring and auditing in vending machines or means for indication, e.g. when empty
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level

Definitions

  • the present disclosure relates to the field of self-service devices, for example, to a vending machine and a cargo lane height detecting method.
  • the vending machine of the related art may include a cabinet, a plurality of cargo lanes, a cargo bucket, a driving device, and a take-out port, wherein each cargo lane may include a laminate, and the goods in the cargo lane are carried by the laminate, and the cabinet is provided with Pick up the goods.
  • the driving device drives the cargo bucket to move in the cabinet so that the cargo bucket is opposite to any cargo lane.
  • the cargo bucket receives the cargo outputted from the cargo lane and transports the cargo to the pick-up port for the user to take. go.
  • there is often a problem of abnormal shipping which causes the purchaser to fail to take the goods purchased by the pick-up port, which affects the user experience.
  • Embodiments of the present disclosure provide a vending machine capable of determining the height of a cargo lane, thereby avoiding the problem of abnormal cargo receiving.
  • the embodiment of the present disclosure also provides a cargo lane height detecting method capable of determining the height of the cargo lane, thereby avoiding the problem of abnormal cargo receiving.
  • a vending machine includes a cabinet, a cabinet, a driving device and a plurality of cargo lanes for storing goods, wherein the cargo lane comprises a laminate and a partition plate disposed on the laminate, and the driving device is arranged to drive the cargo
  • the bucket moves in the cabinet so that the bucket is opposite to the front end of any one of the cargo lanes; the detecting member disposed at the front end of the cargo lane, the lower edge of the detecting member is lower than the lower edge of the laminate, and the upper edge of the detecting member is not lower than the layer a lower edge of the plate; a sensor disposed on the cargo bucket; and a controller respectively connected to the sensor and the driving device; the controller is configured to: control the driving device to drive the movement of the cargo bucket, so that the sensor detects the lower edge of the detecting component; The driving device drives the bucket to move in the left and right direction to detect the output signal of the sensor; when detecting the first signal output by the sensor, the control driving device drives the bucket to move upward by a preset
  • the bucket moves in the left and right direction and detects the output signal of the sensor until the sensor outputs the second signal; when the sensor outputs the second signal is detected At this time, the height of the bucket is recorded as the target height, and the height of the cargo lane is obtained according to the target height, where n is a positive integer.
  • a cargo lane height detecting method is applied to a vending machine, wherein the vending machine comprises a cabinet, the cabinet is provided with a cargo bucket, a driving device and a plurality of cargo lanes for storing goods, and each cargo lane comprises a layer board and is arranged at a partition plate on the floor plate, the driving device is arranged to drive the cargo bucket to move in the cabinet, so that the cargo bucket is opposite to the front end of any one of the cargo lanes, and the front end of each cargo lane is provided with a detecting component, and the lower edge of the detecting component is lower than the layer
  • the container is provided with a sensor; wherein, when the sensor is lower than the layer and located within the height of the detecting member, the driving device drives the cargo bucket When moving left and right, the sensor outputs a first signal; when the sensor is facing the front end surface of the laminate, when the driving device drives the cargo bucket to move left and right,
  • S0200 controlling the driving device to drive the bucket to move in the left and right direction to detect the output signal of the sensor
  • step S0300 when detecting the first signal output by the sensor, the control driving device drives the bucket to move upward by a preset distance, and repeats step S0200; when detecting the second signal of the sensor, the height of the bucket is recorded as the target height at this time. And obtain the height of the cargo lane according to the target height.
  • FIG. 1 is a schematic diagram showing the external structure of a vending machine according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of an internal structure of a vending machine according to another embodiment of the present disclosure.
  • Figure 3 is a partial enlarged view of the cargo lane of Figure 2;
  • Figure 4 is a partial enlarged view of the cargo bucket of Figure 2;
  • FIG. 5 is a schematic structural view of a front end surface of a laminate in a vending machine according to another embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram of a first signal and a second signal detected by a sensor when a front end surface of a laminate is planar according to an embodiment of the present disclosure
  • FIG. 7 is a schematic diagram of a first signal and a second signal detected by a sensor when a detection hole is disposed on a front end surface of a laminate according to an embodiment of the present disclosure
  • FIG. 8 is a flow chart of a method for detecting a cargo lane height according to another embodiment of the present disclosure.
  • 010- vending machine 100-cabinet; 110-cabinet; 120-door; 121-take port; 200-storage device; 210-cargo; 211-layer; 211a-detection hole; 212-separator; 300-cargo; 310-bearing surface; 400-drive unit; 410-first power unit; 420-second power unit; 500-detection unit.
  • the inventors have found that in the use of the vending machine in the related art, when the weight of the cargo in the cargo lane is too large, the height of the front end of the laminate is depressed, that is, there is a deviation between the actual height of the front end of the laminate and the theoretical height. .
  • the degree to which the laminate is depressed is not certain. Theoretically, the greater the weight of the cargo, the greater the degree to which the laminate is depressed, and this will result in an indeterminate height position of the cargo lane, resulting in abnormal shipping problems of the vending machine.
  • FIG. 1 is a schematic diagram showing the external structure of a vending machine 010 according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram showing the internal structure of a vending machine 010 according to another embodiment of the present disclosure
  • FIG. 3 is a partial view of the cargo lane of FIG. Enlarged image. Please refer to FIG. 1 to FIG. 3 in combination.
  • the vending machine 010 includes a cabinet 100, a storage device 200, a hopper 300, a driving device 400, and a controller (not shown).
  • the cabinet 100 includes a cabinet 110 and a cabinet door 120.
  • the door 120 is provided with a pick-up port 121.
  • the door 120 portion may be made of a transparent material (for example, a transparent plastic) to facilitate display of the goods in the cabinet 110.
  • the storage device 200 is disposed within the cabinet 110.
  • the storage device 200 includes a plurality of cargo lanes 210 for storing goods. As shown in FIG. 2, the longitudinal direction of each cargo lane 210 extends in the front-rear direction (in the case of FIG. 2, the front-rear direction refers to the ef direction).
  • each cargo lane 210 (the end of the cargo lane 210 near the cabinet door 120 is the front end) is the cargo lane exit, and the cargo lane exit is facing the cabinet door 120.
  • the plurality of cargo lanes 210 have Y rows in the up and down direction (in the example of FIG. 2, the up and down direction refers to the cd direction) and in the left and right direction (in the example of FIG. 2, the left and right directions) It refers to the arrangement of the X columns along the ab direction.
  • the cargo bucket 300 is disposed in the cabinet 110 and located between the cabinet door 120 and the storage device 200.
  • the front end of the cargo bucket 300 (near one end of the cabinet door 120) is provided with an outlet, and the rear end (near one end of the storage device 200) is provided with an inlet.
  • the driving device 400 is disposed in the cabinet 110 and located between the cabinet door 120 and the storage device 200.
  • the drive unit 400 is in communication with the controller.
  • the drive device 400 includes a first power component 410 and a second power component 420.
  • the first power assembly 410 is drivingly coupled to the cargo bucket 300 to drive the cargo bucket 300 to move in the left and right direction.
  • the second power assembly 420 is drivingly coupled to the cargo bucket 300 to drive the cargo bucket 300 to move in the up and down direction.
  • the driving device 400 can drive the cargo bucket 300 to move in the up and down direction and/or the left and right direction such that the inlet of the cargo bucket 300 opposes the cargo lane exit of any one of the cargo lanes 210, or the outlet and the cargo outlet of the cargo bucket 300. 121 relative.
  • the cargo in the cargo lane 210 opposite the cargo bucket 300 can be fed into the cargo bucket 300;
  • the outlet of the cargo bucket 300 is with the take-out port In contrast to the 121, the user can take the goods in the bucket 300 through the pickup port 121.
  • the cargo lane 210 includes a laminate 211, and a plurality of partitions 212 spaced above the laminate 211 in the left-right direction.
  • the slab 211 and the adjacent partitions 212 form an accommodating space for accommodating the cargo, and the accommodating space may be referred to as a cargo lane 210.
  • a plurality of cargo lanes 210 located in the same row may share one laminate 211.
  • FIG. 4 is a partial enlarged view of the bucket 300 of FIG. 2.
  • a load bearing surface 310 for carrying cargo is disposed in the cargo bucket 300.
  • the bearing surface 310 is required to be in the same plane as the upper edge of the deck 211, thus ensuring the cargo.
  • the goods in the road 210 smoothly enter the cargo bucket 300.
  • the vending machine 010 further includes a detecting member 500.
  • the detecting member 500 is in the shape of a long strip extending in the vertical direction (refer to FIG. 2, the vertical direction means the direction along the cd), that is, the detecting member 500 has a certain thickness.
  • the detecting member 500 is disposed at the front end of the cargo path 210, and the lower edge of the detecting member 500 is lower than the lower edge of the laminate 211 located at the same cargo path 210, and the upper edge of the detecting member 500 is not lower than the lower edge of the laminated plate 211.
  • the detecting member 500 is coupled to the front end of the partition 212 (the end of the partition 212 adjacent to the cabinet door 120), and the upper edge of the detecting member 500 is higher than the upper edge of the laminated plate 211.
  • FIG. 3 is a partial enlarged view of the cargo lane of FIG. 2, and FIG. 6 is a first signal and a second signal detected by the sensor when the front end surface of the laminate is flat.
  • the vending machine 010 may also include a sensor (not shown). The sensor is placed on the bucket 300 and moves with the bucket 300. The sensor is in communication with the controller. When the sensor is lower than the lower edge of the layer plate 211 and is within the thickness range of the detecting member 500 (the thickness of the detecting member 500 may refer to the distance between the upper edge and the lower edge of the detecting member 500), if the driving device 400 drives the goods The bucket 300 moves left and right.
  • the sensor sequentially reaches the position of each detecting member 500.
  • the sensor and the detecting member 500 cooperate with each other to output the first.
  • Level such as high level.
  • the signal output by the sensor is referred to as a first signal, and the first signal is a pulse signal.
  • the sensor facing the layer plate 211 may mean that the sensor is located within the thickness range of the layer plate 211, and the thickness of the layer plate may refer to the distance between the upper edge and the lower edge of the layer plate.
  • the front end surface of the layer plate 211 is a flat surface, and the value of the second signal is continuous and constant, such as a high level.
  • the controller can determine whether the sensor is facing the front end surface of a certain layer plate 211 by detecting whether the sensor output signal is the first signal or the second signal.
  • the controller can know the cargo path 210 facing the sensor by the height difference between the sensor and the bearing surface 310 of the cargo bucket 300 and the height of the cargo bucket 300. The height of the laminate 211.
  • the bearing surface 310 of the bucket 300 at the time of shipment can be flush with the upper edge of the front end of the deck 211 of the cargo lane 210. In this way, the problem of abnormal shipment due to the high uncertainty of the cargo lane 210 can be improved.
  • the process of obtaining the height of the cargo lane 210 is illustrated.
  • the controller controls the driving device 400 to drive the movement of the bucket 300 such that the sensor detects the lower edge of the detecting member 500.
  • the controller controls the driving device 400 to drive the bucket 300 to move in the left and right direction, and the controller detects the output signal of the sensor.
  • the controller detects that the sensor outputs the first signal
  • the controller controls the driving device 400 to drive the bucket 300 to move up by n times, each time moving the preset distance.
  • the controller controls the driving device 400 to drive the bucket 300 to move in the left and right direction, and detects the output signal of the sensor until the sensor outputs the second signal.
  • the controller detects that the sensor outputs the second signal
  • the height of the bucket 300 is recorded as the target height at this time, and the height of the cargo lane 210 is obtained according to the target height, where n is a positive integer.
  • the second signal can also be a pulsed signal.
  • FIG. 5 is a schematic structural view of the front end surface of the layer plate 211
  • FIG. 7 is a schematic diagram of the first signal and the second signal detected by the sensor when the detecting hole is disposed on the front end surface of the layer board.
  • a plurality of detecting holes 211a are spaced apart from each other in the front end surface of the layer plate 211 in the left-right direction. In the left-right direction, the distance between the adjacent detecting holes 211a is smaller than the distance between the adjacent detecting members 500.
  • the sensor when the sensor is facing the front end surface of the layer plate 211, if the driving device 400 drives the bucket 300 to move left and right, the sensor will sequentially reach the position of each detecting hole 211a, and when the sensor reaches the position of one detecting hole 211a, the sensor output
  • the second level such as a low level, outputs a first level, such as a high level, before the sensor leaves the detection hole 211a to the position of the next detection hole 211a.
  • the second signal of the signal output by the sensor is a pulse signal during the movement of the sensor in the left and right direction. As shown in FIG. 7, since the distance between the adjacent detecting holes 211a is smaller than the distance between the adjacent detecting members 500, the second signal is different from the first signal.
  • the first reference signal corresponding to the first signal and the second reference signal corresponding to the second signal may be pre-stored, and the signal output by the sensor may be compared with the first reference signal and the second reference signal, respectively. Whether the signal output by the sensor is the first signal or the second signal determines whether the sensor is facing the front end face of the layer plate 211.
  • the height of the sensor is set to be the same as the height of the load bearing surface 310 carrying the cargo within the bucket 300.
  • the sensor faces the front end face of the laminate 211.
  • the theoretical height of the cargo passage 210 is moved by the bucket 300.
  • the lower side of the sensor can be positioned adjacent to the lower edge of the detecting member 500, and thus, the efficiency of the lower edge of the detecting member 500 of the sensor positioning layer 211 can be improved.
  • the vending machine provided in this embodiment can make the cargo carrying surface and the upper edge of the front end of the laminating surface in the same plane, so as to improve the problem of abnormal shipping due to the uncertainty of the height of the cargo lane.
  • FIG. 8 is a flow chart of a method for detecting a cargo lane height according to an embodiment of the present invention.
  • the cargo lane height detecting method may include steps S0100-S0300.
  • control drive 400 drives the bucket 300 to move such that the sensor located on the bucket 300 detects the lower edge of the detector 500.
  • the controller controls the first power component 410 to drive the cargo bucket 300 to move in the left-right direction, so that the sensor on the cargo bucket 300 is in the same position as the one detecting component 500 in the left-right direction; the controller controls the second power component 420 to drive The cargo bucket 300 is located below the detecting member 500 in the vertical direction.
  • the controller controls the second power assembly 420 to drive the bucket 300 up. During the upward movement, the sensor detects the lower edge of the detecting member 500.
  • the height of the bucket 300 at this time is recorded as the initial height.
  • control driving device 400 drives the bucket 300 to move in the left-right direction to detect the output signal of the sensor.
  • the controller controls the first power component 410 to drive the cargo bucket 300 to move in the left and right direction. During the movement of the bucket 300 in the left and right direction, the controller detects the output signal of the sensor.
  • the control driving device 400 drives the bucket 300 to move upward by a preset distance, and repeats the operation in S0200.
  • the height of the bucket 300 is recorded as the target height at this time, and the height of the cargo lane is calculated according to the target height.
  • the controller when the controller detects that the sensor outputs the first signal, it is determined that the sensor is lower than the thickness range of the layer plate 211 and is located within the thickness range of the detecting member 500. At this time, the controller controls the second power unit 420 to drive the bucket 300 to move upward by a preset distance, and repeats the operation in S0200.
  • the controller when the controller detects that the sensor outputs the second signal, it is determined that the sensor is opposite to the front end face of the layer plate 211.
  • the controller records the height of the bucket 300 at this time as the target height, and calculates the height of the cargo lane based on the target height.
  • Each of the cargo lanes 210 can be inspected using the above steps, and a corresponding target height is obtained for each cargo lane 210.
  • the cargo bucket 300 is directly driven to the target height corresponding to the cargo lane 210.
  • the controller can know the height of the lamination of the cargo lane by the height difference between the sensor and the bearing surface 310 of the bucket 300 and the height of the bucket.
  • the bearing surface 310 of the bucket 300 can be flush with the front end of the lamination 211 of the cargo lane 210 at the time of shipment, so as to improve the abnormality of the shipment due to the uncertainty of the height of the cargo lane. .
  • the driving bucket 300 is moved to the target height corresponding to the cargo lane 210, so that the bearing surface 310 of the bucket 300 and the deck 211 are obtained.
  • the front ends are in the same plane.
  • the cargo lane height detecting method may further include: acquiring a height compensation value, where the height compensation value is a difference between the target height and the initial height.
  • the controller 300 can be driven by the controller to drive the bucket 300 to obtain the initial height of the bucket respectively.
  • the target height of the bucket so that the height compensation value is obtained according to the target height and the initial height of the bucket, and the height compensation value is saved.
  • the cargo bucket 300 is moved in accordance with the height compensation value such that the load bearing surface 310 of the cargo bucket 300 is positioned to the upper edge of the deck 211 of the cargo lane 210 so that the cargo on the deck 211 can smoothly enter the cargo bucket.
  • the cargo in the cargo lane 210 can be smoothly entered into the cargo bucket according to the stored height compensation value and initial height corresponding to the cargo lane 210.
  • the controller controls the driving device 400 to drive the bucket 300 to move to the front end surface of a certain cargo lane 210
  • the driving device 400 drives the bucket 300 to move, so that the sensor located on the cargo bucket 300 detects the detecting member 500 on the cargo lane.
  • the height of the bucket 300 is recorded as the initial height at this time; the driving device 400 drives the bucket 300 to move the height compensation value upward, so that the sensor located on the bucket 300 is located at the thickness of the layer 211 of the cargo lane 210.
  • the drive unit 400 controls the load bearing surface 310 of the bucket 300 to be positioned to the upper edge of the deck 211 of the cargo lane 210 so that the cargo on the deck 211 can smoothly enter the bucket.
  • the controller 300 can also be driven by the controller to drive the bucket 300 to obtain the initial height and the target height of the bucket respectively, thereby making the goods
  • the load bearing surface 310 of the bucket 300 is positioned to the upper edge of the deck 211 of the cargo lane 210 such that the cargo on the deck 211 can smoothly enter the bucket.
  • the bearing surface of the bucket can be in the same plane as the front end of the laminate. It can improve the problem of abnormal shipment due to the uncertainty of the cargo lane height.

Abstract

一种自动售货机(010)及货道（210）高度检测方法。自动售货机(010)可通过检测传感器输出信号的类型判断传感器是否与货道(210)的层板(211)的前端面正对。当传感器与货道(210)的层板(211)的前端面正对时，通过传感器与货斗(300)的承载面(310)之间的高度差以及货斗(300)的高度，可获知货道(210)的层板(211)的高度，从而根据货道（210）的层板（211）的高度，可使出货时货斗（300）的承载面（310）与货道（210）的层板（211）前端面的上边沿处于同一平面。

Description

自动售货机及货道高度检测方法
本公开要求在2017年12月29日提交中国专利局、申请号为201711484312.4的中国专利申请的优先权，该中国专利申请的全部内容通过引用结合在本公开中。
技术领域
本公开涉及自助设备技术领域，例如涉及一种自动售货机及货道高度检测方法。
背景技术
近年来，随着杂货、果蔬、饮料等货物在自动售货机上售卖，自动售货机的应用越来越广泛。
自动售货机的出现方便了人们的生活，人们可以通过自动售货机随时随地，方便快捷地购买货物。相关技术中的自动售货机可以包括机柜、多个货道、货斗、驱动装置和取货口，其中，每个货道可以包括层板，货道中的货物由层板承载，机柜上设置有取货口。驱动装置驱动货斗在机柜内运动，以使货斗与任意一个货道相对，当货斗与货道相对时，货斗接收货道输出的货物，将货物运送至取货口，供用户取走。但是自动售货机在使用过程中，却经常出现出货异常的问题，导致购买者无法顺利从取货口取到自己购买的货物，影响用户的使用体验。
发明内容
本公开实施例提供了一种自动售货机，能够确定货道的高度，因此能够避免货斗接货异常的问题。
本公开实施例还提供一种货道高度检测方法，能够确定货道的高度，因此 能够避免货斗接货异常的问题。
一种自动售货机，包括机柜，机柜内设置有货斗、驱动装置以及多个用于存储货物的货道，货道包括层板和设置在层板上的隔板，驱动装置设置为驱动货斗在机柜内运动，以使货斗与任意一个货道的前端相对；设置在货道前端的检测件，检测件的下边沿低于层板的下边沿，检测件的上边沿不低于层板的下边沿；设置在货斗上的传感器；以及分别与传感器和驱动装置通讯连接的控制器；控制器设置为：控制驱动装置驱动货斗运动，使传感器检测到检测件的下边沿；控制驱动装置驱动货斗沿左右方向运动，检测传感器的输出信号；当检测到传感器输出第一信号时，控制驱动装置驱动货斗向上运动预设距离n次，每向上运动一次后，控制驱动装置驱动货斗沿左右方向运动，并检测传感器的输出信号，直至传感器输出第二信号；当检测到传感器输出第二信号时，将此时货斗的高度记录为目标高度，并根据目标高度获得货道的高度，其中，n为正整数。
一种货道高度检测方法，应用于自动售货机，自动售货机包括机柜，机柜内设置有货斗、驱动装置以及多个用于存储货物的货道，每个货道包括层板和设置在层板上的隔板，驱动装置设置为驱动货斗在机柜内运动，以使货斗与任意一个货道的前端相对，每个货道前端设置有检测件，检测件的下边沿低于层板的下边沿，检测件的上边沿不低于层板的下边沿；货斗上设置有传感器；其中，当传感器在低于层板并位于检测件的高度范围内时，驱动装置驱动货斗左右运动时，传感器输出第一信号；当传感器正对层板的前端面时，驱动装置驱动货斗左右运动时，传感器输出第二信号；货道高度检测方法包括：
S0100：控制驱动装置驱动货斗运动，使传感器检测到检测件的下边沿；
S0200：控制驱动装置驱动货斗沿左右方向运动，检测传感器的输出信号；
S0300：当检测到传感器输出第一信号时，控制驱动装置驱动货斗向上运动预设距离，并重复步骤S0200；当检测到传感器输出第二信号时，将此时货斗的高度记录为目标高度，并根据目标高度获得货道的高度。
附图说明
图1为本公开一实施例提供的自动售货机的外部结构示意图；
图2为本公开另一实施例提供的自动售货机的内部结构示意图；
图3为图2中货道处的局部放大图；
图4为图2中货斗处的局部放大图；
图5为本公开另一实施例提供的自动售货机中层板前端面的一种结构示意图；
图6为本公开实施例提供的在层板的前端面为平面时传感器检测到的第一信号和第二信号的示意图；
图7为本公开实施例提供的在层板的前端面上设置有检测孔时传感器检测到的第一信号和第二信号的示意图；
图8为本公开另一实施例提供的货道高度检测方法的流程框图。
图中；010-自动售货机；100-机柜；110-柜体；120-柜门；121-取货口；200-储物装置；210-货道；211-层板；211a-检测孔；212-隔板；300-货斗；310-承载面；400-驱动装置；410-第一动力组件；420-第二动力组件；500-检测件。
具体实施方式
为使本公开实施例的目的、技术方案更加清楚，下面将结合附图，对本公开实施例中的技术方案进行描述。在不冲突的情况下，以下实施例和实施例中的特征可以相互组合。
相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不再对该项进行定义和解释。
在本公开实施例的描述中，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
发明人发现，在相关技术中的自动售货机使用过程中，当货道中的货物重量过大时，会使得层板前端的高度被压低，即层板前端的实际高度与理论高度之间存在偏差。且层板被压低的程度并不确定，理论上货物重量越大，层板被 压低的程度越大，而这将导致货道的高度位置不确定，从而导致自动售货机的出货异常问题。
图1为本公开一实施例提供的自动售货机010的外部结构示意图；图2为本公开另一实施例提供的自动售货机010的内部结构示意图；图3为图2中货道处的局部放大图。请结合参照图1至图3。在本实施例中，自动售货机010包括机柜100、储物装置200、货斗300、驱动装置400和控制器(图未示出)。
机柜100包括柜体110和柜门120。柜门120上开设有取货口121，在本实施例中，柜门120部分可由透明材料(例如透明塑料)制成，以便于展示柜体110内的货物。储物装置200设置在柜体110内。储物装置200包括多个存储货物的货道210，如图2所示，每个货道210的长度方向沿前后方向(以图2为例，所述前后方向是指沿ef方向)延伸。每个货道210的前端(货道210靠近柜门120的一端为前端)为货道出口，货道出口正对柜门120。在本实施例中，多个货道210呈沿上下方向(以图2为例，所述上下方向是指沿cd方向)的Y行以及沿左右方向(以图2为例，所述左右方向是指沿ab方向)的X列排布。
结合图1至图4所示，货斗300设置在柜体110内，并位于柜门120与储物装置200之间。货斗300的前端(靠近柜门120的一端)设置有出口，后端(靠近储物装置200的一端)设置有入口。驱动装置400设置在柜体110内，并位于柜门120与储物装置200之间。驱动装置400与控制器通讯连接。驱动装置400包括第一动力组件410和第二动力组件420。第一动力组件410与货斗300传动连接，以驱动货斗300沿左右方向移动。第二动力组件420与货斗300传动连接，以驱动货斗300沿上下方向移动。如此，驱动装置400能够驱动货斗300沿上下方向和/或左右方向移动，以使货斗300的入口与任意一个货道210的货道出口相对，或使货斗300的出口与取货口121相对。当货斗300的入口与任意一个货道210的货道出口相对时，与该货斗300相对的货道210中的货物能够被送入货斗300；当货斗300的出口与取货口121相对，用户能够通过取货口121取走货斗300内的货物。
请参照图3，货道210包括层板211，以及沿左右方向间隔设置在层板211 上方的多个隔板212。层板211、相邻的隔板212之间形成容纳货物的容纳空间，该容纳空间可称为一个货道210。在本实施例中，位于同一行的多个货道210可共用一个层板211。
图4为图2中货斗300处的局部放大图。请参照图4，货斗300内设置有承载货物的承载面310。当货斗300的入口与一个货道210的货道出口相对，并接收来自该相对的货道210中的货物时，需要承载面310与层板211的上边沿位于同一平面，这样能够确保货道210中的货物顺利进入货斗300中。当货道210中的货物重量过大时，会使得层板211前端的高度被压低，且层板211被压低的程度还受货物重量的影响，从而导致货道210的实际高度与理论高度不一致。由于货道210的层板211的实际高度与理论高度不一致，且货道210的层板211的实际高度受货道210中货物的重量影响具有不确定性，如果货斗300的承载面300按照货道210的理论高度进行设定，就会导致在货斗300取货时，货斗300中承载货物的承载面310与层板211前端上边沿不在同一平面，进而对货道210中的货物进入货斗300造成阻碍，导致出货异常。请参照图3，为了改善这一问题，在本实施例中，自动售货机010还包括检测件500。检测件500为在竖直方向(参考图2，所述竖直方向是指沿cd方向)延伸的长条形的板状，即检测件500具有一定的厚度。检测件500设置在货道210的前端，检测件500的下边沿低于位于同一货道210的层板211的下边沿，检测件500的上边沿不低于层板211的下边沿。示例性地，在本实施例中，检测件500连接在隔板212的前端(隔板212靠近柜门120的一端)，检测件500的上边沿高于层板211的上边沿。
可选地，结合图3和图6所示，图3为图2中货道处的局部放大图，图6为在层板的前端面为平面时传感器检测到的第一信号和第二信号的示意图。自动售货机010还可以包括传感器(图未示出)。传感器设置在货斗300上，随货斗300一同运动。传感器与控制器通讯连接。当传感器低于层板211的下边沿并位于检测件500的厚度范围(检测件500的厚度可以是指检测件500的上边沿和下边沿之间的距离)内时，如果驱动装置400驱动货斗300左右运动，在 货斗300沿左右方向移动过程中，传感器会依次到达每个检测件500的位置，当传感器到达一个检测件500的位置时，传感器和检测件500相互配合，输出第一电平，比如高电平。传感器离开该检测件500的位置，当传感器离开该检测件500到达下一个检测件500的位置之前，输出第二电平，比如低电平，依次类推，在传感器沿左右方向移动的过程中，传感器输出的信号被称为第一信号，第一信号为脉冲信号。当传感器正对某一层板211的前端面(层板211靠近柜门120的侧面)时，如果驱动装置400驱动货斗300左右运动，则传感器始终位于该层板211的厚度范围内。在传感器随货斗300运动，并始终在该层板211的厚度范围内时，传感器输出的信号被称为第二信号。其中，传感器正对层板211可以是指传感器位于层板211的厚度范围内，层板的厚度可以是指层板的上边沿和下边沿之间的距离。在本实施例中层板211的前端面为平面，此时第二信号的值连续且恒定，比如高电平。如此，控制器即可通过检测传感器输出信号的是第一信号还是第二信号来判断传感器是否与某一层板211的前端面正对。当传感器与某一层板211的前端面正对时，控制器通过传感器与货斗300的承载面310之间的高度差以及货斗300的高度，即可获知与传感器正对的货道210的层板211的高度。根据货道210的层板211的高度即可使出货时货斗300的承载面310与货道210的层板211前端的上边沿处于同一平面。这样，即可改善由于货道210高度不确定导致的出货异常的问题。
在一可选示例中，对获得货道210高度的过程进行说明。控制器控制驱动装置400驱动货斗300运动，使传感器检测到检测件500的下边沿。控制器控制驱动装置400驱动货斗300沿左右方向运动，控制器检测传感器的输出信号。当控制器检测到传感器输出第一信号时，控制器控制驱动装置400驱动货斗300依次向上运动n次，每次移动预设距离。在货斗300每次向上移动预设距离时，控制器控制驱动装置400驱动货斗300沿左右方向运动，检测传感器的输出信号，直至传感器输出第二信号。当控制器检测到传感器输出第二信号时，将此时货斗300的高度记录为目标高度，并根据目标高度获得货道210的高度，其中，n为正整数。
在其他实施例中，第二信号也可以为脉冲信号。请参照图5和图7，图5为层板211前端面的一种结构示意图，图7为在层板的前端面上设置有检测孔时传感器检测到的第一信号和第二信号的示意图。沿左右方向，层板211的前端面间隔开设有多个检测孔211a。沿左右方向，相邻的检测孔211a之间的距离小于相邻的检测件500之间的距离。这样，当传感器正对层板211的前端面时，如果驱动装置400驱动货斗300左右运动，传感器会依次到达每个检测孔211a的位置，当传感器到达一个检测孔211a的位置时，传感器输出第二电平，比如低电平；当传感器离开该检测孔211a到达下一个检测孔211a的位置之前，输出第一电平，比如高电平。以此类推，在传感器沿左右方向移动的过程中，传感器输出的信号的第二信号是脉冲信号。如图7所示，由于相邻的检测孔211a之间的距离小于相邻的检测件500之间的距离，因此，第二信号与第一信号不同。这样，可以预先存储与第一信号对应的第一基准信号，以及与第二信号对应的第二基准信号，通过将传感器输出的信号分别与第一基准信号和第二基准信号对比，即可判断传感器输出的信号是第一信号还是第二信号，进而判断传感器是否与层板211的前端面正对。
在一可选实施例中，将传感器的高度设置为与货斗300内承载货物的承载面310的高度相同。这样，当货斗300的承载面310与层板211的上边沿处于同一平面时，传感器正对层板211的前端面。这样，如果以层板211的上边沿的高度作为货道210的高度，以货斗300的承载面的高度作为作为货斗300的高度，则通过将货斗300移动到货道210的理论高度的下方即可使传感器邻近检测件500的下边沿，如此，能够提高传感器定位层板211的检测件500的下边沿的效率。
本实施例提供的自动售货机，能够使货斗承载面与层板前端的上边沿处于同一平面，以改善由于货道高度不确定导致的出货异常的问题。
本实施例还提供一种货道高度检测方法，该方法基于上述的自动售货机010实现。图8为本实施例提供的货道高度检测方法的流程框图。请参照图8，货道 高度检测方法可以包括步骤S0100-S0300。
在S0100中，控制驱动装置400驱动货斗300运动，使位于货斗300上的传感器检测到检测件500的下边沿。
可选地，控制器控制第一动力组件410驱动货斗300沿左右方向运动，使货斗300上的传感器在左右方向上与一个检测件500位于同一位置；控制器控制第二动力组件420驱动货斗300在竖直方向上位于该检测件500的下方。控制器控制第二动力组件420驱动货斗300向上运动。在向上运动的过程中，传感器检测到检测件500的下边沿。
可选地，当货斗300上的传感器检测到检测件500的下边沿时，将此时货斗300的高度记录为初始高度。
在S0200中，控制驱动装置400驱动货斗300沿左右方向运动，检测传感器的输出信号。
可选地，当传感器检测到检测件500的下边沿时，控制器控制第一动力组件410驱动货斗300沿左右方向运动。在货斗300沿左右方向运动的过程中，控制器检测传感器的输出信号。
在S0300中，当检测到传感器输出第一信号时，控制驱动装置400驱动货斗300向上运动预设距离，并重复在S0200中的操作。当检测到传感器输出第二信号时，将此时货斗300的高度记录为目标高度，并根据目标高度计算货道的高度。
可选地，当控制器检测到传感器输出第一信号时，确定传感器低于层板211的厚度范围并位于检测件500的厚度范围内。此时，控制器控制第二动力组件420驱动货斗300向上运动预设距离，并重复在S0200中的操作。
可选地，当控制器检测到传感器输出第二信号时，确定传感器与层板211的前端面相对。控制器将此时货斗300的高度记录为目标高度，并根据目标高度计算获得货道的高度。
可以采用上述步骤，对每个货道210进行检测，且针对每个货道210得到对应的目标高度。当需要控制货斗300在某一货道210取货时，直接驱动货斗 300运动至该货道210对应的目标高度。此时，控制器通过传感器与货斗300的承载面310之间的高度差以及货斗的高度，即可获知货道的层板的高度。根据货道的层板的高度即可使出货时货斗300的承载面310与货道210的层板211前端处于同一平面，以可改善由于货道高度不确定导致的出货异常的问题。
当传感器的高度与货斗300内承载货物的承载面310的高度相同时，驱动货斗300运动至与该行货道210对应的目标高度，即可使货斗300的承载面310与层板211前端处于同一平面。
可选地，货道高度检测方法还可以包括：获取高度补偿值，高度补偿值为目标高度与初始高度的差值。
当首次需要将货斗300的承载面310定位至某一货道210的层板211的上边沿时，可以通过控制器控制驱动装置400驱动货斗300运动，以分别得到货斗的初始高度和货斗的目标高度，从而根据货斗的目标高度和初始高度获取高度补偿值，并将保存该高度补偿值。根据该高度补偿值移动货斗300，使得货斗300的承载面310定位至该货道210的层板211的上边沿，使得该层板211上的货物可以顺利进入货斗。
当再次需要从该货道210上出货时，也可以根据存储的与该货道210对应的高度补偿值和初始高度实现该货道210中的货物顺利进入货斗。当控制器控制驱动装置400驱动货斗300移动至某一货道210的前端面时，驱动装置400驱动货斗300运动，使位于货斗300上的传感器检测到该货道上的检测件500的下边沿，将此时货斗300的高度记录为初始高度；驱动装置400驱动货斗300向上移动高度补偿值的距离，使位于货斗300上的传感器位于该货道210的层板211的厚度范围内。根据传感器在货斗300上的位置，驱动装置400控制货斗300的承载面310定位至该货道210的层板211的上边沿，从而使得该层板211上的货物可以顺利进入货斗中。本领域技术人员应当理解，当再次需要从该货道210上出货时，也可以通过控制器控制驱动装置400驱动货斗300运动，以分别获得货斗的初始高度和目标高度，从而使得货斗300的承载面310定位至该货道210的层板211的上边沿，使得该层板211上的货物可以顺利进入货 斗。
综上所述，利用本实施例提供的货道高度检测方法，能够使货斗的承载面与层板前端处于同一平面。可以改善由于货道高度不确定导致的出货异常的问题。

Claims (10)

  1. 一种自动售货机，包括：
    机柜，所述机柜内设置有货斗、驱动装置以及多个存储货物的货道，每个货道包括层板和设置在所述层板上的隔板，所述驱动装置设置为驱动所述货斗在所述机柜内运动，以使所述货斗与任意一个所述货道的前端相对；
    设置在每个货道前端的检测件，所述检测件的下边沿低于所述层板的下边沿，所述检测件的上边沿不低于所述层板的下边沿；
    设置在所述货斗上的传感器；以及
    分别与所述传感器和所述驱动装置通讯连接的控制器；
    所述控制器设置为：控制所述驱动装置驱动所述货斗运动，使所述传感器检测到所述检测件的下边沿；控制所述驱动装置驱动所述货斗沿左右方向运动，检测所述传感器的输出信号；当检测到所述传感器输出第一信号时，控制所述驱动装置驱动所述货斗向上运动预设距离n次，每向上运动一次后，控制所述驱动装置驱动所述货斗沿左右方向运动，并检测所述传感器的输出信号，直至所述传感器输出第二信号；当检测到所述传感器输出第二信号时，将此时所述货斗的高度记录为目标高度，并根据所述目标高度获得所述货道的高度，其中，n为正整数。
  2. 根据权利要求1所述的自动售货机，其中，
    所述检测件设置在所述隔板靠近所述货斗的一端。
  3. 根据权利要求1所述的自动售货机，其中，
    多个所述货道呈沿上下方向的多行以及沿左右方向的多列排布，同一行的多个所述货道共用一个所述层板。
  4. 根据权利要求1所述的自动售货机，其中，
    所述传感器的高度与所述货斗内承载货物的承载面的高度相同。
  5. 根据权利要求1-4中任意一项所述的自动售货机，其中，
    所述第一信号为脉冲信号，所述第二信号的值连续且恒定。
  6. 根据权利要求1-4中任意一项所述的自动售货机，其中，
    沿左右方向，所述层板前端面间隔开设有多个检测孔；沿左右方向，相邻 的所述检测孔之间的距离小于相邻的所述检测件之间的距离；
    所述第一信号和所述第二信号均为脉冲信号。
  7. 一种货道高度检测方法，应用于自动售货机，其中，所述自动售货机包括机柜，所述机柜内设置有货斗、驱动装置以及多个存储货物的货道，每个货道包括层板和设置在所述层板上的隔板，所述驱动装置设置为驱动所述货斗在所述机柜内运动，以使所述货斗与任意一个所述货道的前端相对，每个货道前端设置有检测件，所述检测件的下边沿低于所述层板的下边沿，所述检测件的上边沿不低于所述层板的下边沿；所述货斗上设置有传感器；其中，当所述传感器在低于所述层板并位于所述检测件的高度范围内时，所述驱动装置驱动所述货斗左右运动时，所述传感器输出第一信号；当所述传感器正对所述层板的前端面时，所述驱动装置驱动所述货斗左右运动时，所述传感器输出第二信号；所述货道高度检测方法包括：
    S0100：控制所述驱动装置驱动所述货斗运动，使所述传感器检测到所述检测件的下边沿；
    S0200：控制所述驱动装置驱动所述货斗沿左右方向运动，检测所述传感器的输出信号；
    S0300：当检测到所述传感器输出第一信号时，控制所述驱动装置驱动所述货斗向上运动预设距离，并重复步骤S0200；当检测到所述传感器输出第二信号时，将此时所述货斗的高度记录为目标高度，并根据所述目标高度获得所述货道的高度。
  8. 根据权利要求7所述的方法，其中，
    在S0100中，当所述传感器检测到所述检测件的下边沿时，将此时所述货斗的高度记录为初始高度；
    所述方法还包括：获取高度补偿值，所述高度补偿值为所述目标高度与所述初始高度的差值。
  9. 根据权利要求7或8所述的方法，其中，
    所述第一信号为脉冲信号，所述第二信号的值连续且恒定。
  10. 根据权利要求7或8所述的方法，其中，
    所述第一信号和所述第二信号均为脉冲信号。
PCT/CN2018/107374 2017-12-29 2018-09-25 自动售货机及货道高度检测方法 WO2019128344A1 (zh)

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