WO2020020338A1 - 一种自动售货机 - Google Patents

一种自动售货机 Download PDF

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Publication number
WO2020020338A1
WO2020020338A1 PCT/CN2019/097882 CN2019097882W WO2020020338A1 WO 2020020338 A1 WO2020020338 A1 WO 2020020338A1 CN 2019097882 W CN2019097882 W CN 2019097882W WO 2020020338 A1 WO2020020338 A1 WO 2020020338A1
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WO
WIPO (PCT)
Prior art keywords
goods
lane
bucket
distance
cargo
Prior art date
Application number
PCT/CN2019/097882
Other languages
English (en)
French (fr)
Inventor
许加波
周冲
丛强滋
姜天信
王春涛
Original Assignee
威海新北洋数码科技有限公司
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.)
Filing date
Publication date
Application filed by 威海新北洋数码科技有限公司, 山东新北洋信息技术股份有限公司 filed Critical 威海新北洋数码科技有限公司
Priority to US17/261,667 priority Critical patent/US11995942B2/en
Publication of WO2020020338A1 publication Critical patent/WO2020020338A1/zh

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/02—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
    • G07F11/163—Delivery means characterised by blocking access to the output bins
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
    • G07F11/007—Coin-freed apparatus for dispensing, or the like, discrete articles wherein the storage and dispensing mechanism are configurable in relation to the physical or geometrical properties of the articles to be stored or dispensed
    • 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
    • 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
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F9/00—Details other than those peculiar to special kinds or types of apparatus
    • G07F9/006—Details of the software used for the vending machines

Definitions

  • the present application relates to the technical field of vending, for example, to a vending machine.
  • a vending machine is a commercial automation device used to sell goods automatically. Vending machines are widely used because they are not limited by time and place, can save manpower, and facilitate transactions.
  • the related art discloses a vending machine including a cabinet body and a control device.
  • the cabinet body surface is provided with a pick-up port, and the cabinet body is provided with a cargo channel, a hopper and a distance measuring sensor.
  • the cargo channel is used for accommodating. Goods for sale, where each lane includes a push plate for pushing the goods from the exit of the lane to the outside of the lane; the bucket is located between the lane and the pick-up port, and is used between the lane and the pickup Goods are transported between ports; the ranging sensor is set on the bucket, and when the bucket moves to a position corresponding to a cargo lane, the ranging sensor is located at the exit of the cargo lane and opposite to the push plate in the cargo lane.
  • the control device calculates the quantity of goods in the lane based on the distance between the push plate and the exit of the cargo lane measured by the ranging sensor and the length of the pre-stored unit goods. .
  • the vending machine in the related technology can automatically detect the quantity of goods in the goods lane, but the applicant found that the vending machine of the related technology has an inaccurate detection when detecting the quantity of goods in the goods lane, which may cause abnormal sales of goods , Or is not conducive to accurate replenishment of the vending machine.
  • the application provides a vending machine to avoid the situation that the quantity detection of goods in the goods lane existing in the vending machine of the related art is inaccurate.
  • a vending machine includes a control device, a bucket, a bucket driving mechanism for driving the movement of the bucket, and a goods lane for storing goods.
  • the goods lane includes a pusher. Plate and push plate driving mechanism.
  • the push plate driving mechanism is used to drive the push plate to move on the goods conveying path of the goods lane, so as to push the goods in the goods lane out of the goods lane along the shipping direction.
  • the vending machine also includes A measuring device provided on the bucket, the measuring device is configured to measure the distance from the target obstacle to the bucket and the distance from the push plate to the bucket on the goods transportation path, wherein the target obstacle is the closest to the bucket on the goods transportation path
  • the obstacle driving mechanism, the bucket driving mechanism, the push plate driving mechanism and the measuring device are all electrically connected to the control device; the control device is configured to control the measuring device to measure the distance between the pushing plate and the bucket in the shipping direction as the first distance, and control the measurement
  • the device measures the distance between the target obstacle and the bucket in the shipping direction as the second distance, calculates the difference between the first distance and the second distance, and calculates based on the difference The quantity of goods in the lane.
  • the measuring device includes a first ranging sensor and a second ranging sensor; the control device is configured to control the bucket to move to a first position corresponding to the cargo lane, and control the first ranging sensor to measure the first distance And controlling a second distance measuring sensor to measure the second distance, wherein the first distance measuring sensor cooperates with the first detection member of the push plate in the goods lane when the bucket is located at the first position corresponding to the goods lane, and the second The ranging sensor cooperates with the target obstacle in the goods lane, and the first detection piece of the push plate is located outside the goods conveying path.
  • the measuring device includes a third distance measuring sensor; the control device is configured to control the bucket to move to a second position corresponding to the goods lane, control the third distance measuring sensor to measure the first distance, and control the bucket to move to At a third position corresponding to the cargo lane, the third ranging sensor is controlled to measure the second distance; wherein, when the bucket is located at the second position corresponding to the cargo lane, the third ranging sensor and the cargo lane push plate The first detection member of the pusher is matched, and the first detection member of the push plate is located outside the goods conveying path; and when the bucket is located at a third position corresponding to the cargo lane, the third distance measuring sensor cooperates with the target obstacle.
  • the push plate is provided with a second detection member, and the second detection member is located on the goods conveying path.
  • the target obstacle is the second detection member.
  • the second detecting member is located at a lower end of the push plate.
  • the cargo lane includes a support plate for carrying goods and partitions disposed on opposite sides of the support plate.
  • the partition and the support plate together form a cargo receiving space of the cargo lane, and the first detection member is located on the partition. Above or at the top of the push plate.
  • control device is further configured to, after controlling the bucket to move to the first position corresponding to the goods lane, and before controlling the second distance measuring sensor to measure the second distance, the push plate of the goods lane controls the user to Purchased items are pushed to the bucket.
  • control device is further configured to control the pushing of the cargo lane after controlling the movement of the bucket to the second position corresponding to the cargo lane and before controlling the movement of the bucket to the third position corresponding to the cargo lane.
  • the board pushes the items to be purchased by the user to the bucket.
  • the vending machine further includes a human-machine interaction device electrically connected to the control device, and the human-machine interaction device is configured to receive a user's purchase instruction for the goods.
  • control device is further configured to determine whether a difference between the first distance and the second distance is less than a first threshold, and based on a determination result that the difference between the first distance and the second distance is less than the first threshold, the control device determines The goods in the lane are sold out.
  • control device is further configured to determine whether the quantity of goods in the goods lane is less than a second threshold value, and based on the determination result that the quantity of goods in the goods lane is less than the second threshold value, the control device determines that the goods in the goods lane are about to be sold out.
  • the vending machine is applied to a vending system.
  • the vending system includes a server and a plurality of vending machines communicatively connected to the server.
  • the vending machine further includes a communication device electrically connected to the control device.
  • the communication device is provided. In order to send a message to the server that the product is sold out and / or the product is about to be sold out.
  • FIG. 1 is a schematic diagram of an external structure of a vending machine according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of an internal structure of a vending machine provided by an embodiment of the present application.
  • FIG. 3 is a block diagram of a vending machine provided in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a cargo lane of a vending machine provided in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a cargo lane of a vending machine and a positional relationship of goods contained therein according to an embodiment of the present application.
  • Icon 010-Vending machine; 100-cabinet; 110-cabinet; 120-cabinet; 121-pick-up port; 200-storage device; 210-cargo tunnel; 211-push plate; 211a-first test piece 211b-the second detection member; 212-support plate; 213-partition; 214-push plate drive mechanism; 300-delivery device; 310-bucket; 320-bucket drive mechanism; 321-horizontal drive mechanism; 322- Vertical drive mechanism; 400-measuring device; 410-ranging sensor; 410a-first ranging sensor; 410b-second ranging sensor; 500-storage device; 600-human-computer interaction device; 700-communication device; 800 -Control device.
  • FIG. 1 and 2 are schematic structural diagrams of the vending machine 010 provided in the embodiment of the present application
  • FIG. 3 is a block diagram of the composition of the vending machine 010 provided in the embodiment of the present application. The vending machine will be described.
  • the vending machine 010 of this embodiment includes a cabinet 100, a storage device 200, a delivery device 300, a measurement device 400, a storage device 500, a human-computer interaction device 600, a communication device 700, and a control device. 800.
  • the cabinet 100 includes a cabinet body 110 and a cabinet door 120.
  • the cabinet body 110 is movably connected to the cabinet door 120.
  • the cabinet body 110 includes an opening (not shown in the figure).
  • the cabinet door 120 may be opposite to the cabinet body 110. The opening moves to open or close the cabinet 110.
  • the cabinet door 120 is provided with a pick-up port 121 for a user to take out goods.
  • the storage device 200 is configured to accommodate goods for sale. As shown in FIG. 2, the storage device 200 is disposed inside the cabinet 110, and the storage device 200 is spaced apart from the cabinet door 120.
  • the storage device 200 includes a plurality of cargo lanes 210 for accommodating goods, and a plurality of cargo lanes 210. M layers are arranged in the up-down direction (that is, the direction shown by the arrow cd), and N rows are arranged in the left-right direction (that is, the direction shown by the arrow ab). Direction).
  • M layers are arranged in the up-down direction (that is, the direction shown by the arrow cd)
  • N rows are arranged in the left-right direction (that is, the direction shown by the arrow ab). Direction).
  • An exit is provided at one end of the cargo lane 210 near the cabinet door 120.
  • the outlet of the cargo lane 210 is directly opposite the cabinet door 120.
  • the goods contained in the cargo lane 210 can be output from the exit of the cargo lane 210 to the outside of the cargo lane 210. It can be understood that, in other embodiments of the present application, the vending machine may include only one cargo lane for storing one kind of goods.
  • FIG. 4 is a schematic structural diagram of a cargo lane 210 of a vending machine 010 according to an embodiment of the present application.
  • the cargo path 210 includes a push plate 211, a support plate 212, and a plurality of partition plates 213 disposed above the support plate 212 at intervals in the left-right direction.
  • a support space for receiving goods is formed between the support plate 212 and two adjacent partitions 213.
  • the push plate 211 is disposed in the goods lane 210 and is partially located in the goods receiving space.
  • the cargo lane 210 further includes a push plate driving mechanism 214, which is drivingly connected to the push plate 211.
  • the push plate 211 Under the drive of the push plate driving mechanism 214, the push plate 211 can move along the length of the cargo lane 210, thereby pushing the cargo lane.
  • the goods in 210 are moved along the goods conveyance path in the goods lane 210 to push the goods for sale from the exit of the goods lane 210 to the outside of the goods lane 210.
  • the delivery device 300 is configured to carry goods between the storage device 200 and the pickup port 121.
  • the delivery device 300 is located between the cabinet door 120 and the storage device 200.
  • the delivery device 300 includes a bucket 310 and a bucket driving mechanism 320.
  • An end of the bucket 310 near the cabinet door 120 is provided with an exit, and an end of the bucket 310 near the cargo lane 210 is provided with an inlet.
  • the bucket drive mechanism 320 includes a horizontal drive mechanism 321 and a vertical drive mechanism 322.
  • the horizontal drive mechanism 321 includes a horizontal bracket (not shown) and a first power assembly (not shown).
  • the vertical drive mechanism 322 includes A vertical bracket (not shown) and a second power assembly (not shown).
  • the bucket 310 is drivingly connected to the vertical bracket.
  • the second power component is disposed between the bucket 310 and the vertical bracket to drive the bucket 310 to move in the vertical direction on the vertical bracket.
  • the vertical bracket is drivingly connected to the horizontal bracket.
  • the first power assembly is disposed between the vertical support and the horizontal support to drive the vertical support to carry the bucket 310 on the horizontal support to move in the left-right direction.
  • the bucket driving mechanism 320 can drive the bucket 310 to move in the up-down direction, or drive the bucket 310 to move in the left-right direction, or drive the bucket 310 to move in the up-down and left-to-right direction simultaneously, so that the entrance of the bucket 310 can
  • the exit of one cargo lane 210 is opposite, or the exit of the hopper 310 is opposite the pickup opening 121.
  • the goods in the cargo lane 210 can be pushed out from the exit of the cargo lane 210 and enter the interior of the bucket 310 through the entrance of the bucket 310;
  • the exit of 310 is opposite to the picking port 121, the user can remove the goods in the hopper 310 through the picking port 121.
  • the measuring device 400 is configured to measure the distance from the push plate 211 of the goods lane 210 and the target obstacle on the goods conveyance path to the bucket 310.
  • the target obstacle is the obstacle closest to the bucket 310 on the goods transportation path. It can be understood that when there are goods in the goods lane 210, the target obstacle is the first goods, and the first goods are the goods in the goods lane 210 closest to the exit of the goods lane 210. In the case where there are goods in the cargo path 210, the distance from the target obstacle to the bucket 310 refers to the distance from the front surface of the first product (that is, the surface facing the bucket 310) to the bucket 310. When there are no goods in the goods lane 210, the target obstacle is the push plate 211.
  • the measurement device 400 includes at least one distance measuring sensor 410, which is disposed on the bucket 310 and can move with the bucket 310.
  • the push plate 211 of each cargo lane 210 includes a first detection element 211 a and a second detection element 211 b, wherein the first detection element 211 a and the second detection element 211 a
  • the pieces 211b have the same position along the length direction (ie, the front-rear direction) of the cargo path 210, and the first detection piece 211a is disposed at a first preset position of the push plate 211, and the second detection piece 211b is disposed at a second position of the push plate 211. Preset position.
  • the first preset position of the push plate 211 is located outside the goods conveyance path
  • the second preset position of the push plate 211 is located inside the goods accommodation space of the goods lane 210 and located on the goods conveyance path, that is, the first detection piece 211a is located on the goods Outside the conveying path, the second detecting member 211b is located on the goods conveying path.
  • the goods conveyance path can be understood as the space swept by the goods when conveyed along the length direction of the goods lane 210 and the extension of the space in the length direction of the goods lane 210.
  • the first detection piece 211a is located outside the goods conveying path, that is to say, the first detection piece 211a is not located in the space scanned by the goods when it is conveyed along the length direction of the goods lane 210 and the extent of the space extending in the length direction of the goods lane 210 Within;
  • the second detection piece 211b is located on the goods conveying path, that is to say that the second detection piece 211b is located in the space swept by the goods when it is conveyed along the length direction of the goods lane 210 and the space extends in the length direction of the goods lane 210 Within range.
  • the ranging sensor 410 is located at the exit of the cargo lane 210.
  • the first detection piece 211a Since the first preset position is located outside the goods transportation path, the first detection piece 211a The setting position of is satisfied: no matter whether there is goods in the cargo lane 210, the cargo can be driven to the set position by driving the hopper 310 to the set position so that the first detection member 211a and the distance measuring sensor 410 along the length of the cargo lane 210 will not be cargoed.
  • the goods in the lane 210 are blocked, that is, no matter whether there are goods in the lane 210, the distance measuring sensor 410 can cooperate with the first detection piece 211a, so that the distance from the first detection piece 211a to the bucket 310 can be measured, that is, Measure the distance from the push plate 211 to the bucket 310.
  • the setting position of the second detection piece 211b satisfies: when there is no goods in the goods lane 210.
  • the distance between the second detecting member 211b and the distance measuring sensor 410 along the length of the goods lane 210 will not be blocked by the goods in the goods lane 210.
  • the pieces 211b cooperate so that the distance between the second detecting piece 211b and the bucket 310 can be measured, that is, the distance between the push plate 211 and the bucket 310 can be measured.
  • the distance measuring sensor 410 can be matched with the first goods in the goods lane 210 by driving the bucket 310 to a set position, so that the distance from the first goods to the bucket 310 can be measured. Therefore, it can also be understood that when the goods are arranged along the length direction of the goods lane 210, the projection on the push plate 211 along the length direction of the goods lane 210 can cover the second preset position. As shown in FIG.
  • the first preset position is located at the upper left of the push plate 211 and above the partition plate 213 of the cargo lane 210
  • the second preset position is located at the lower end of the push plate 211 and along the left-right direction. It is located in the middle of the cargo lane 210.
  • a first preset position may also be set at the upper end of the push plate 211, and the height of the push plate 211 is set to be greater than the highest goods sold by the vending machine 010. The height is such that the space between the first detection element 211a and the bucket 310 is not blocked by the goods in the goods lane 210.
  • the distance measurement sensor 410 included in the measurement device 400 only needs to be able to measure the distance between the push plate 211 and the target obstacle to the bucket 310, and the number of distance measurement sensors 410 included in the measurement device 400 is not limited in this application.
  • the distance measuring device 400 may include a first distance measuring sensor and a second distance measuring sensor. The first distance measuring sensor and the second distance measuring sensor are along the length direction of the bucket 310 (that is, front and rear).
  • the position of the first ranging sensor can be corresponding to the first preset position of the push plate 211 in the cargo lane 210, So that the first distance measuring sensor can measure the distance from the first detecting member 211a to the bucket 310, and the position of the second distance measuring sensor corresponds to the second preset position of the push plate 211 in the cargo lane 210, so that the second The distance measuring sensor can measure the distance between the second detection piece 211b and the hopper 310 when there is no goods in the goods lane 210, and can measure the first goods in the goods lane 210 when there are goods in the goods lane 210 The distance to the bucket 310.
  • the measurement device 400 includes a third ranging sensor.
  • the position of the third ranging sensor can be related to the cargo lane.
  • the first preset position of the inner push plate 211 of 210 corresponds, that is, the third ranging sensor is matched with the first detection piece 211 a of the inner push plate 211 of the cargo lane 210 to measure the distance from the first detection piece 211 a to the bucket 310. .
  • the position of the third ranging sensor can be corresponding to the second preset position of the push plate 211 in the cargo lane 210, that is, the third measurement
  • the distance sensor cooperates with the target obstacle to measure the distance from the target obstacle to the hopper 310, that is, the distance from the second detection member 211b to the hopper 310 when there is no goods in the hopper 210, and there is The distance between the first item in the cargo lane 210 and the hopper 310 is measured during the cargo period.
  • the third ranging sensor of the measuring device 400 may be movably disposed on the bucket 310. After the bucket 310 is moved to a position corresponding to one cargo lane 210, the bucket may not be moved. In the case of 310, the distance of the first detection member 211a to the bucket 310 and the distance of the target obstacle to the bucket 310 are measured by driving the third ranging sensor to different positions.
  • the storage device 500 is configured to store a control program of the vending machine 010 and data and variables generated during the program running.
  • the storage device 500 is configured to store a unit length of the goods in each of the cargo lanes 210, where the length of the goods is the distance between two surfaces facing each other along the length direction of the cargo lane 210 when the goods are placed in the cargo lane 210
  • the storage device 500 is further configured to store a first threshold and a second threshold. The first threshold is used to determine whether the goods in the cargo lane 210 are sold out, and the second threshold is used to determine whether the goods in the cargo lane 210 are about to be sold out.
  • the human-machine interaction device 600 is configured to complete information interaction between the user and the vending machine 010. For example, the human-computer interaction device 600 receives a product purchase instruction input by a user, and for example, the human-machine interaction device 600 outputs to the user prompt information that the goods in the goods lane 210 are sold out or about to be sold out.
  • the communication device 700 is configured to complete data transmission between the vending machine 010 and a server, or complete data transmission between the vending machine 010 and a user's handheld terminal.
  • the communication device 700 is configured to receive a product purchase instruction sent by a user through a handheld terminal, and for another example, the communication device 700 is configured to send a prompt message that the product of the goods lane 210 is sold out or is about to be sold out to the server.
  • the control device 800 is electrically connected to the storage device 200, the delivery device 300, the measurement device 400, the storage device 500, the human-computer interaction device 600, and the communication device 700, and the control device 800 is configured to control the operation of each device electrically connected thereto.
  • the control device 800 is configured to obtain a user's goods purchase instruction, determine the goods lane 210 containing the goods to be purchased by the user according to the user's goods purchase instruction, and control the bucket driving mechanism 320 of the delivery device 300 to drive the bucket 310 to At the cargo lane 210, and the push plate 211 controlling the cargo lane 210 pushes the goods to be purchased by the user from the exit of the cargo lane 210 into the hopper 310, and controls the hopper driving mechanism 320 to drive the hopper 310 to
  • the cargo port 121 is provided so that the user can remove the goods in the hopper 310; the control device 800 is further configured to detect the quantity of the goods in the cargo lane 210.
  • control device 800 is configured to control the measurement device 400 to measure the distance between the push plate 211 and the hopper 310 in the shipping direction (that is, the length direction of the cargo lane 210) as the first distance to control the measurement device.
  • 400 measures the distance between the target obstacle and the bucket 310 in the shipping direction as the second distance, calculates the difference between the first distance and the second distance, and calculates the quantity of goods in the cargo lane 210 based on the difference.
  • the measurement device 400 is configured to measure the distance between the push plate 211 of the cargo lane 210 or the first product to the hopper 310, where the first product is the closest to the exit of the cargo lane 210 in the cargo lane 210. Goods, the distance from the first product to the hopper 310 refers to the distance from the front surface of the first product to the hopper 310.
  • the measurement device 400 includes at least one distance measuring sensor 410, which is disposed on the bucket 310 and can move with the bucket 310.
  • the first distance is detected by controlling the movement of the bucket 310 to move the distance measuring sensor 410 to a position opposite to the first detecting member 211a of the push plate 211, and the distance measuring sensor 410 is moved to A second distance is detected by the relative position of the second detecting element 211b.
  • the control device 800 may calculate the quantity of goods in the goods lane 210 according to the difference between the first distance and the second distance and the unit length of the pre-stored goods.
  • the control device 800 is configured to control the movement of the bucket 310 to a first position corresponding to the cargo lane 210 and control the measurement by the first ranging sensor.
  • the first distance and controlling the second ranging sensor measure the second distance.
  • the position of the first ranging sensor corresponds to the first preset position of the push plate 211 in the cargo lane 210 when the bucket 310 is located at the first position corresponding to the cargo lane 210
  • the first preset position of the plate 211 is located outside the goods conveyance path of the goods lane 210
  • the first detection member 211a is located at the first preset position of the push plate 211. Therefore, no matter whether there is any goods in the goods lane 210, the first detection piece 211a and the first ranging sensor will not be blocked by the goods in the goods lane 210, that is, no matter whether there are goods in the goods lane 210, the first The ranging sensors can cooperate with the first detecting member 211a of the cargo lane 210.
  • the first distance measured by the first distance measuring sensor is the distance from the first detection piece 211a to the bucket 310, that is, the first The distance is the distance from the push plate 211 to the bucket 310. Since in the case where the bucket 310 is located at the first position corresponding to the cargo lane 210, the position of the second ranging sensor corresponds to the second preset position of the push plate 211 in the cargo lane 210, and the second preset position is located at the cargo On the goods conveying path of the lane 210, the second detecting member 211b is located at the second preset position of the push plate 211.
  • the space between the second detection member 211b and the second ranging sensor is not blocked by the goods in the cargo lane 210, and the second detection between the second ranging sensor and the cargo lane 210
  • the piece 211b cooperates, that is, the second detection piece 211b is an obstacle closest to the bucket 310 on the goods conveying path, that is, a target obstacle. Therefore, in a case where the bucket 310 is located at the first position corresponding to the cargo lane 210, the second distance measured by the second distance measuring sensor is the distance from the second detection piece 211b to the bucket 310, that is, the second The distance is the distance from the push plate 211 to the bucket 310.
  • the space between the second detection member 211b and the second distance measuring sensor will be blocked by the goods in the goods lane 210, and the second distance measuring sensor cooperates with the first goods in the goods lane 210. That is, the first item is an obstacle closest to the bucket 310 on the goods conveying path, that is, a target obstacle. Therefore, in a case where the bucket 310 is located at the first position corresponding to the cargo lane 210, the second distance measured by the second distance measuring sensor is the distance from the first product to the bucket 310.
  • FIG. 5 is a schematic diagram of the positional relationship between the cargo lane 210 of the vending machine 010 and the goods contained in it, according to an embodiment of the present application.
  • the first ranging sensor 410 a and the second ranging sensor 410 b are located at the entrance of the hopper 310. Since the first distance D1 is the distance from the push plate 211 of the haul lane 210 to the hopper 310, When there are no goods in 210, the second distance D2 is the distance between the push plate 211 of the goods lane 210 and the hopper 310; when there are goods in the goods lane 210, the second distance D2 is the first goods in the goods lane 210. The distance to the bucket 310.
  • the control device 800 can calculate the quantity of the goods in the goods lane 210 according to the calculated total length of the goods in the goods lane 210 and the unit length of the goods in the goods lane 210 stored in the storage device 500 in advance.
  • the control device 800 is configured to control the movement of the bucket 310 to a second position corresponding to the cargo lane 210, and control the third ranging sensor (Not shown) measure the first distance, and control the bucket 310 to move to a third position corresponding to the cargo lane 210, and control the third distance measuring sensor to measure the second distance.
  • the third ranging sensor corresponds to the first preset position of the push plate 211 in the cargo lane 210, that is, the third ranging sensor Cooperate with the first detection piece 211a, wherein the first preset position of the push plate 211 is located outside the goods conveying path; when the bucket 310 is located at the third position corresponding to the goods lane 210, the third ranging sensor and the goods lane
  • the second preset position of the push plate 211 in 210 corresponds to the third range-finding sensor in cooperation with the target obstacle.
  • the second preset position of the push plate 211 is located on the goods transportation path.
  • the control device 800 first controls the bucket driving mechanism 320 to drive the bucket 310 to a second position corresponding to the cargo lane 210, and controls the third distance measuring sensor to measure the first distance. Since in the case where the bucket 310 is located at the second position corresponding to the cargo lane 210, the position of the third ranging sensor corresponds to the first preset position of the push plate 211 in the cargo lane 210, It is assumed that the position is located outside the goods conveyance path of the goods lane 210, and the first detection member 211a is located at a first preset position of the push plate 211.
  • the first distance measured by the third distance measuring sensor is the distance from the first detection piece 211a to the bucket 310, that is, the first The distance is the distance from the push plate 211 to the bucket 310.
  • the control device 800 controls the bucket driving mechanism 320 to drive the bucket 310 to a third position corresponding to the cargo lane 210, and controls the third distance measuring sensor to measure the second distance.
  • the position of the third ranging sensor corresponds to the second preset position of the push plate 211 in the cargo lane 210
  • the second preset position is on the goods conveying path
  • the second detection member 211b is located on the push The second preset position of the plate 211.
  • the space between the second detection member 211b and the third ranging sensor will not be blocked by the goods in the cargo lane 210, and the second detection between the third ranging sensor and the cargo lane 210
  • the piece 211b cooperates, that is, the second detection piece 211b is an obstacle closest to the bucket 310 on the goods conveying path, that is, a target obstacle. Therefore, in a case where the bucket 310 is located at the second position corresponding to the cargo lane 210, the second distance measured by the third distance measuring sensor is the distance from the second detection piece 211b to the bucket 310, that is, the second The distance is the distance from the push plate 211 to the bucket 310.
  • the space between the second detection member 211b and the third distance measuring sensor will be blocked by the goods in the goods lane 210, and the third distance measuring sensor cooperates with the first goods in the goods lane 210. That is, the first item is an obstacle closest to the bucket 310 on the goods conveying path, that is, a target obstacle. Therefore, in a case where the bucket 310 is located at the third position corresponding to the cargo lane 210, the second distance measured by the third distance measuring sensor is the distance from the first product to the bucket 310.
  • control device 800 is further configured to control the push plate 211 of the cargo lane 210 according to the user's purchase instruction before the control device 400 measures the first distance and / or the second distance.
  • the item to be purchased by the user is pushed to the hopper 310.
  • the control device 800 is configured to control the second after controlling the movement of the bucket 310 to the first position corresponding to the cargo lane 210 Before the distance measuring sensor measures the second distance, the push plate 211 of the cargo lane 210 controls the goods to be purchased by the user to the bucket 310.
  • the control device 800 obtains the goods purchase instruction input by the user through the vending machine 010 human-computer interaction device 600, or receives the goods purchase instruction sent by the user through the handheld terminal through the communication device 700, and according to the user's goods purchase instruction , Determine the cargo lane 210 (hereinafter referred to as the target cargo lane 210) containing the goods to be purchased by the user.
  • the control device 800 first controls the bucket driving mechanism 320 of the delivery device 300 to drive the bucket 310 to a first position corresponding to the target cargo lane 210, and then controls the push plate driving mechanism 214 of the target cargo lane 210 to drive the push plate 211 from the rear Move forward so that the push plate 211 pushes the goods to be purchased by the user to the bucket 310, and finally controls the measurement device 400 to measure the first distance and the second distance.
  • the control device 800 is further configured to control the movement of the bucket 310 to the cargo after the control of the bucket 310 to the second position corresponding to the cargo lane 210. Before the third position corresponding to the lane 210, the push plate 211 controlling the goods lane 210 pushes the goods to be purchased by the user to the bucket 310. In one embodiment, after the control device 800 determines the target goods lane 210 containing the goods to be purchased by the user according to the user's purchase instruction, first the bucket driving mechanism 320 of the delivery device 300 is controlled to drive the bucket 310 to the target.
  • the push plate driving mechanism 214 of the target cargo lane 210 is controlled to drive the push plate 211 from back to front, so that the push plate 211 pushes the goods to be purchased by the user to the bucket 310, and then
  • the control measurement device 400 measures the first distance, and then controls the bucket driving mechanism 320 to drive the bucket 310 to a third position corresponding to the target cargo lane 210 to measure the second distance.
  • the vending machines in these two embodiments can obtain the user's purchase order, determine the target lane according to the user's purchase order, and then control the bucket to move to a position corresponding to the target lane.
  • the push plate pushes the goods to be purchased by the user to the bucket, and controls the measuring device to measure the first distance and the second distance, and finally calculates the difference between the first distance and the second distance, and calculates the goods in the target lane based on the difference.
  • Quantity The vending machines in these two embodiments can detect the quantity of goods in the goods lane after each shipment of the goods lane, so as to obtain the quantity of goods remaining in the goods lane in time after the goods lane is shipped, which improves the detection of goods quantity. Timeliness.
  • control device 800 is further configured to determine whether the difference between the first distance and the second distance is smaller than the first threshold, and based on the determination result that the difference between the first distance and the second distance is smaller than the first threshold It is determined that the goods in the goods lane 210 are sold out.
  • the control device 800 may control the human-computer interaction device 600 or the communication device 700 of the vending machine 010 to issue a first prompt message for the goods sold out in the goods lane 210 to remind the staff to replenish.
  • the control device 800 records the status of the goods sold out in the cargo lane 210 to stop the sale of the goods in the cargo lane 210, so as to avoid appearing because the goods in the cargo lane 210 continue to be tried to ship from the goods lane 210 when the goods are sold out
  • the sales of goods are abnormal.
  • the first threshold value is greater than or equal to zero and the first threshold value is less than the unit length of the smallest-length item sold by the vending machine 010.
  • control device 800 is further configured to determine whether the quantity of goods in the goods lane 210 is less than a second threshold value, and determine the goods in the goods lane 210 based on a determination result that the quantity of goods in the goods lane 210 is less than a second threshold value. Sold out soon.
  • the control device 800 controls the human-computer interaction device 600 or the communication device 700 of the vending machine 010 to issue a second prompt message that the goods in the target goods lane 210 are about to be sold out to remind the staff to prepare for replenishment.
  • the communication device 700 may be configured to send the goods to the server for short sale And / or alert that the item is about to be sold out.
  • the vending machine in the embodiment of the present application can control the measurement device to measure the first distance and the second distance, and calculate the difference between the first distance and the second distance, and calculate the quantity of goods in the cargo lane according to the difference. .
  • the total length of the goods in the lane can be accurately obtained by calculating the difference between the first distance and the second distance, and the quantity of goods in the lane can be accurately calculated according to the length. Therefore, the vending machine in the embodiment of the present application improves the vending machine.
  • the accuracy of the detection of the quantity of goods can effectively avoid the situation that the quantity of goods in the vending machine of the related technology is inaccurate.

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Abstract

本申请涉及自动售货技术领域，公开了一种自动售货机。该自动售货机包括控制装置、测量装置、货斗、用于驱动所述货斗移动的货斗驱动机构和用于储存货品的货道，控制装置控制测量装置测量第一距离和第二距离，计算第一距离和第二距离的差值，并根据该差值计算货道内货品的数量。

Description

一种自动售货机
本申请要求在2018年07月27日提交中国专利局、申请号为201810843702.4的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动售货技术领域，例如涉及一种自动售货机。
背景技术
自动售货机是一种商业自动化设备，用于自动出售货品。自动售货机由于具有不受时间地点限制、能节省人力、方便交易等特点，应用越来越广泛。
相关技术公开了一种自动售货机，该自动售货机包括柜体和控制装置，柜体表面设置有取货口，柜体内部设置有货道、货斗和测距传感器，货道用于容纳待售货品，其中，每个货道包括用于将货品由该货道的出口推出到货道外部的推板；货斗位于货道和取货口之间，用于在货道和取货口之间运送货品；测距传感器设置在货斗上，在货斗移动到与一个货道对应的位置处时，测距传感器位于该货道的出口处并与该货道内的推板相对，以测量推板与该货道的出口之间的距离，控制装置根据测距传感器测量的推板与货道的出口之间的距离，以及预存的单位货品的长度，计算得到货道内货品的数量。
相关技术中的自动售货机能够自动检测货道中货品的数量，但是，申请人发现，相关技术的自动售货机在检测货道中货品的数量时存在检测不准确的情况，这就可能导致货品售卖异常，或者不利于给自动售货机进行准确的补货等工作。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本申请提供一种自动售货机，以避免相关技术的自动售货机所存在的货道中货品的数量检测不准确的情况。
本申请的实施例是这样实现的：一种自动售货机，自动售货机包括控制装置、货斗、用于驱动货斗移动的货斗驱动机构和用于储存货品的货道，货道包 括推板以及推板驱动机构，推板驱动机构用于驱动推板在货道的货品输送路径上移动，以将货道内的货品沿出货方向从货道的出口推出货道，自动售货机还包括设置于货斗上的测量装置，测量装置被配置为测量货品输送路径上目标障碍物到货斗的距离以及推板到货斗的距离，其中，目标障碍物为货品输送路径上最靠近货斗的障碍物；货斗驱动机构、推板驱动机构以及测量装置均与控制装置电连接；控制装置设置为控制测量装置测量推板与货斗在出货方向上的间距作为第一距离，控制测量装置测量目标障碍物与货斗在出货方向上的间距作为第二距离，计算第一距离和第二距离的差值，并根据该差值计算货道内货品的数量。
在一实施例中，测量装置包括第一测距传感器和第二测距传感器；控制装置设置为控制货斗移动到与货道对应的第一位置处，控制第一测距传感器测量第一距离以及控制第二测距传感器测量第二距离，其中，在货斗位于与货道对应的第一位置处的情况下，第一测距传感器与货道内推板的第一检测件配合，第二测距传感器与货道内的目标障碍物配合，推板的第一检测件位于货品输送路径外。
在一实施例中，测量装置包括第三测距传感器；控制装置设置为控制货斗移动到与货道对应的第二位置处，控制第三测距传感器测量第一距离，控制货斗移动到与货道对应的第三位置处，控制第三测距传感器测量第二距离；其中，在货斗位于与货道对应的第二位置处的情况下，第三测距传感器与货道内推板的第一检测件配合，推板的第一检测件位于货品输送路径外；在货斗位于与货道对应的第三位置处的情况下，第三测距传感器与目标障碍物配合。
在一实施例中，推板上设置有第二检测件，第二检测件位于货品输送路径上，在货道内没有货品的情况下，目标障碍物为第二检测件。
在一实施例中，第二检测件位于推板的下端。
在一实施例中，货道包括用于承载货品的支撑板以及相对地设置于支撑板两侧的隔板，隔板和支撑板共同形成货道的货品容纳空间，第一检测件位于隔板上方或者位于推板的上端。
在一实施例中，控制装置还设置为在控制货斗移动到与货道对应的第一位置处之后，在控制第二测距传感器测量第二距离之前，控制货道的推板将用户要购买的货品推送至货斗。
在一实施例中，控制装置还设置为在控制货斗移动到与货道对应的第二位 置处之后，在控制货斗移动到与货道对应的第三位置处之前，控制货道的推板将用户要购买的货品推送至货斗。
在一实施例中，自动售货机还包括与控制装置电连接的人机交互装置，人机交互装置设置为接收用户的货品购买指令。
在一实施例中，控制装置还设置为判断第一距离和第二距离的差值是否小于第一阈值，基于第一距离和第二距离的差值小于第一阈值的判断结果，控制装置判定货道内的货品售空。
在一实施例中，控制装置还设置为判断货道内货品的数量是否小于第二阈值，基于货道内货品的数量小于第二阈值的判断结果，控制装置判定货道内的货品即将售空。
在一实施例中，自动售货机应用于自动售货系统，自动售货系统包括服务器以及若干与服务器通信连接的自动售货机；自动售货机还包括与控制装置电连接的通信装置，通信装置设置为向服务器发送货品售空和/或货品即将售空的提示信息。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本申请实施例提供的自动售货机的外部结构示意图；
图2是本申请实施例提供的自动售货机的内部结构示意图；
图3是本申请实施例提供的自动售货机的组成框图；
图4是本申请实施例提供的自动售货机的货道的结构示意图；
图5是本申请一种实施例提供的自动售货机的货道及其容纳的货品的位置关系的示意图。
图标：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-推板；211a-第一检测件；211b-第二检测件；212-支撑板；213-隔板；214-推板驱动机构；300-递送装置；310-货斗；320-货斗驱动机构；321-水平驱动机构；322-竖直驱动机构；400-测量装置；410-测距传感器； 410a-第一测距传感器；410b-第二测距传感器；500-存储装置；600-人机交互装置；700-通信装置；800-控制装置。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
应注意到：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需要对其进行进一步定义和解释。在本申请实施例的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该申请产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，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。
申请人发现，相关技术的自动售货机在售卖货品时，在维护人员补货后，或者在用户要购买的货品由货道的出口被推出到货道外部后，货道内位于最前端的货品(也即最靠近货道的出口的货品)的前表面(也即货品靠近货道的出口的表面)与货道的出口之间的距离可能不为零，并且该距离存在不确定性，在这种情况下，在根据设置于货斗上的测距传感器测得的推板与货道的出口之间的距离计算货道内货品的数量时，就可能存在计算所得的货品的数量与货道内货品的实际数量不一致的情况，也即，存在货道中货品的数量检测不准确的情况，对此申请人提出了以下技术方案。
下面结合附图并通过示例实施方式来进一步说明本申请的技术方案。
图1和图2是本申请实施例提供的自动售货机010的结构示意图，图3是本申请实施例提供的自动售货机010的组成框图，下面结合图1至图3，对本申 请实施例的自动售货机进行说明。
如图1至图3所示，本实施例的自动售货机010包括机柜100、储物装置200、递送装置300、测量装置400、存储装置500、人机交互装置600、通信装置700和控制装置800。
如图1所示，机柜100包括柜体110和柜门120，柜体110与柜门120活动连接，柜体110包括开口(图中未示出)，柜门120可以相对于柜体110的开口运动，以打开或封闭柜体110。柜门120上设置有用于用户取出货品的取货口121。
储物装置200被设置为容纳待售货品。如图2所示，储物装置200设置于柜体110内部，储物装置200与柜门120相对间隔设置，储物装置200包括多个用于容纳货品的货道210，多个货道210沿上下方向(即箭头cd所示的方向)呈M层、沿左右方向(即箭头ab所示的方向)呈N列排布，货道210的长度方向沿前后方向(即箭头ef所示的方向)延伸。货品在货道210内储存时，沿货道210的长度方向依次排列。货道210靠近柜门120的一端设置有出口，货道210的出口正对柜门120，容纳在货道210中的货品可从货道210的出口输出到货道210的外部。可以理解，在本申请的其他实施例中，自动售货机可以仅仅包含一个货道，用于储存一种货品。
图4是本申请实施例提供的自动售货机010的货道210的结构示意图。如图4所示，货道210包括推板211、支撑板212，以及沿左右方向间隔设置在支撑板212上方的多个隔板213。支撑板212和相邻的两个隔板213之间形成容纳货品的货品容纳空间，推板211设置于货道210内，并且部分位于货品容纳空间内。货道210还包括推板驱动机构214，推板驱动机构214与推板211传动连接，在推板驱动机构214的驱动下，推板211可沿货道210的长度方向移动，从而推动货道210中的货品在货道210中沿货品输送路径移动，以将待售货品从货道210的出口推出到货道210的外部。
递送装置300被设置为在储物装置200和取货口121之间运送货品。递送装置300位于柜门120与储物装置200之间。如图2所示，递送装置300包括货斗310和货斗驱动机构320，货斗310的靠近柜门120的一端设置有出口，货斗310的靠近货道210的一端设置有入口。货斗驱动机构320包括水平驱动机构321和竖直驱动机构322，水平驱动机构321包括水平支架(图中未示出)和第一动力组件(图中未示出)，竖直驱动机构322包括竖直支架(图中未示出) 和第二动力组件(图中未示出)。货斗310与竖直支架传动连接，第二动力组件设置于货斗310与竖直支架之间，以驱动货斗310在竖直支架上沿上下方向移动，竖直支架与水平支架传动连接，第一动力组件设置于竖直支架与水平支架之间，以驱动竖直支架携带货斗310在水平支架上沿左右方向移动。如此，货斗驱动机构320能够驱动货斗310沿上下方向移动，或者驱动货斗310沿左右方向移动，或者驱动货斗310沿上下方向和左右方向同时移动，以使货斗310的入口与任意一个货道210的出口相对，或使货斗310的出口与取货口121相对。在货斗310的入口与一个货道210的出口相对的情况下，该货道210中的货品能够被从货道210的出口推出并经由货斗310的入口进入货斗310内部；在货斗310的出口与取货口121相对时，用户能够经由取货口121取走货斗310内的货品。
测量装置400被设置为测量货道210的推板211以及货品输送路径上目标障碍物到货斗310的距离。目标障碍物为货品输送路径上最靠近货斗310的障碍物。可以理解，在货道210内有货品的情况下，目标障碍物为第一货品，第一货品为货道210内最靠近货道210的出口的货品。在货道210内有货品的情况下，目标障碍物到货斗310的距离是指第一货品的前表面(即朝向货斗310的表面)到货斗310的距离。在货道210内没有货品的情况下，目标障碍物即为推板211。测量装置400包括至少一个测距传感器410，测距传感器410设置在货斗310上且可以随货斗310移动。
如图4所示，在本申请的一种实施例中，每个货道210的推板211均包括第一检测件211a和第二检测件211b，其中，第一检测件211a和第二检测件211b沿货道210的长度方向(也即前后方向)的位置相同，且第一检测件211a设置于推板211的第一预设位置，第二检测件211b设置于推板211的第二预设位置。其中，推板211的第一预设位置位于货品输送路径外，推板211的第二预设位置位于货道210的货品容纳空间内部并位于货品输送路径上，即第一检测件211a位于货品输送路径外，第二检测件211b位于货品输送路径上。货品输送路径可以理解为货品在沿货道210的长度方向输送时所扫过的空间以及该空间在货道210长度方向的延伸。第一检测件211a位于货品输送路径外，即是说第一检测件211a不位于货品在沿货道210的长度方向输送时所扫过的空间及该空间在货道210长度方向的延伸的范围以内；第二检测件211b位于货品输送路径上，即是说第二检测件211b位于货品在沿货道210的长度方向输送时所扫过的空间及 该空间在货道210长度方向的延伸的范围以内。在货斗310位于与一个货道210对应的位置处的情况下，测距传感器410位于该货道210的出口处，由于第一预设位置位于货品输送路径外，因此，第一检测件211a的设置位置满足：无论货道210内是否有货品，均可以通过将货斗310驱动至设定位置处使沿货道210长度方向第一检测件211a与测距传感器410之间不会被货道210内的货品遮挡，也即，无论货道210内是否有货品，测距传感器410均可以与第一检测件211a配合，从而可以测量第一检测件211a到货斗310的距离，也即，测量推板211到货斗310的距离。由于推板211的第二预设位置位于货道210的货品容纳空间内部并位于货品输送路径上，因此，第二检测件211b的设置位置满足：在货道210内没有货品的情况下，可以通过将货斗310驱动至设定位置处使沿货道210长度方向第二检测件211b与测距传感器410之间不会被货道210内的货品遮挡，测距传感器410可以与第二检测件211b配合，从而可以测量第二检测件211b到货斗310的距离，也即，测量推板211到货斗310的距离。在货道210内有货品的情况下，在货斗310位于任意位置的情况下，第二检测件211b与测距传感器410之间均会被货道210内的货品遮挡，测距传感器410不能与第二检测件211b配合，可以通过将货斗310驱动至设定位置处使测距传感器410与货道210内的第一货品配合，从而可以测量第一货品到货斗310的距离。因此也可以理解为，货品沿货道210长度方向排列时，其沿货道210长度方向在推板211上的投影是可以覆盖第二预设位置的。如图4所示，本实施例中，第一预设位置位于推板211的左上部且位于货道210的隔板213的上方，第二预设位置位于推板211的下端且沿左右方向位于货道210的中部，在本申请提供的其他实施例中，还可以设置第一预设位置位于推板211的上端，并设置推板211的高度大于自动售货机010所售卖的最高货品的高度，以使第一检测件211a与货斗310之间不会被货道210内的货品遮挡。
需要说明的是，测量装置400包括的测距传感器410只要能够测量推板211和目标障碍物到货斗310的距离即可，本申请不对测量装置400包括的测距传感器410的数量进行限制。比如，在本申请一实施例中，测测量装置400可以包括第一测距传感器和第二测距传感器，第一测距传感器和第二测距传感器沿货斗310的长度方向(也即前后方向)的位置相同，通过控制货斗310位于与一个货道210对应的第一位置处，可以使第一测距传感器的位置与该货道210内推板211的第一预设位置对应，以使第一测距传感器可以测量第一检测件211a 到货斗310的距离，使第二测距传感器的位置与该货道210内推板211的第二预设位置对应，以使第二测距传感器在该货道210内没有货品的情况下可以测量第二检测件211b到货斗310的距离，在该货道210内有货品的情况下可以测量该货道210内的第一货品到货斗310的距离。在本申请另一实施例中，测量装置400包括第三测距传感器，通过控制货斗310位于与一个货道210对应的第二位置处，可以使第三测距传感器的位置与该货道210内推板211的第一预设位置对应，即，使第三测距传感器与货道210内推板211的第一检测件211a配合，以测量第一检测件211a到货斗310的距离。通过控制货斗310位于与该货道210对应的第三位置处，可以使第三测距传感器的位置与该货道210内推板211的第二预设位置对应，即，使第三测距传感器与目标障碍物配合，以测量目标障碍物到货斗310的距离，也即，在货道210内没有货品时测量第二检测件211b到货斗310的距离，在货道210内有货品时测量该货道210内的第一货品到货斗310的距离。通过设置测量装置400仅包括一个测距传感器410，可以降低自动售货机010的制造成本。在本申请一实施例中，测量装置400的第三测距传感器也可以是活动设置于货斗310上，在货斗310移动到与一个货道210对应的位置后，可以在不移动货斗310的情况下，通过驱动第三测距传感器移动到不同的位置来测量第一检测件211a到货斗310的距离以及目标障碍物到货斗310的距离。
存储装置500被设置为存储自动售货机010的控制程序以及程序运行过程中生成的数据和变量。比如，存储装置500被设置为存储每个货道210内货品的单位长度，其中，货品的长度为货品摆放在货道210内时其沿货道210的长度方向相对的两个表面的距离，存储装置500还被设置为存储第一阈值和第二阈值。其中，第一阈值用于判断货道210内的货品是否售空，第二阈值用于判断货道210内的货品是否即将售空。
人机交互装置600被设置为完成用户与自动售货机010之间的信息交互。比如，人机交互装置600接收用户输入的货品购买指令，再比如，人机交互装置600向用户输出货道210的货品售空或即将售空的提示信息。
通信装置700被设置为完成自动售货机010与服务器之间的数据传输，或者完成自动售货机010与用户的手持终端之间的数据传输。比如，通信装置700被设置为接收用户通过手持终端发送的货品购买指令，再比如，通信装置700被设置为向服务器发送货道210的货品售空或即将售空的提示信息。
控制装置800与储物装置200、递送装置300、测量装置400、存储装置500、人机交互装置600和通信装置700电连接，控制装置800被设置为控制与其电连接的每个装置工作。
比如，控制装置800被设置为获取用户的货品购买指令，根据用户的货品购买指令确定容纳有用户要购买的货品的货道210，控制递送装置300的货斗驱动机构320将货斗310驱动至该货道210处，以及控制该货道210的推板211将用户要购买的货品由该货道210的出口推送至货斗310内，并控制货斗驱动机构320将货斗310驱动至取货口121处，以使用户能够取走货斗310内的货品；控制装置800还被设置为检测货道210内货品的数量。
在一实施例中，控制装置800被设置为控制测量装置400测量推板211与货斗310在出货方向(也即，货道210的长度方向)上的间距作为第一距离，控制测量装置400测量目标障碍物与货斗310在出货方向上的间距作为第二距离，计算第一距离和第二距离的差值，并根据该差值计算货道210内货品的数量。
本申请的实施例中，测量装置400被设置为测量货道210的推板211或第一货品到货斗310的距离，其中，第一货品为货道210内最靠近货道210的出口的货品，第一货品到货斗310的距离指第一货品的前表面到货斗310的距离。测量装置400包括至少一个测距传感器410，测距传感器410设置在货斗310上且可以随货斗310移动。通过控制货斗310移动使测距传感器410移动到与推板211的第一检测件211a相对的位置来检测第一距离，通过控制货斗310移动使测距传感器410移动到与推板211的第二检测件211b相对的位置来检测第二距离。控制装置800可以根据第一距离和第二距离的差值以及预存储的货品的单位长度来计算货道210内货品的数量。
在测量装置400包含第一测距传感器和第二测距传感器的实施例中，控制装置800设置为控制货斗310移动到与货道210对应的第一位置处，控制第一测距传感器测量第一距离以及控制第二测距传感器测量第二距离。其中，在货斗310位于与货道210对应的第一位置处的情况下，第一测距传感器与货道210内推板211的第一检测件211a配合，第二测距传感器与货道210内的目标障碍物配合，如上所述，推板211的第一检测件211a位于货品输送路径外。
在此实施例中，由于在货斗310位于与货道210对应的第一位置处的情况下，第一测距传感器的位置与货道210内推板211的第一预设位置对应，推板 211的第一预设位置位于货道210的货品输送路径外，第一检测件211a位于推板211的第一预设位置。因此，无论货道210内是否有货品，第一检测件211a与第一测距传感器之间均不会被货道210内的货品遮挡，也即，无论货道210内是否有货品，第一测距传感器均可以与货道210的第一检测件211a配合。因此，在货斗310位于与货道210对应的第一位置处的情况下，第一测距传感器测得的第一距离为第一检测件211a到货斗310的距离，也即，第一距离为推板211到货斗310的距离。由于在货斗310位于与货道210对应的第一位置处的情况下，第二测距传感器的位置与货道210内推板211的第二预设位置对应，第二预设位置位于货道210的货品输送路径上，第二检测件211b位于推板211的第二预设位置。因此，在货道210内没有货品的情况下，第二检测件211b与第二测距传感器之间不会被货道210内的货品遮挡，第二测距传感器与货道210的第二检测件211b配合，也即，第二检测件211b为货品输送路径上最靠近货斗310的障碍物，也即，目标障碍物。因此，在货斗310位于与货道210对应的第一位置处的情况下，第二测距传感器测得的第二距离为第二检测件211b到货斗310的距离，也即，第二距离为推板211到货斗310的距离。在货道210内有货品的情况下，第二检测件211b与第二测距传感器之间会被货道210内的货品遮挡，第二测距传感器与货道210内的第一货品配合，也即，第一货品为货品输送路径上最靠近货斗310的障碍物，也即，目标障碍物。因此，在货斗310位于与货道210对应的第一位置处的情况下，第二测距传感器测得的第二距离为第一货品到货斗310的距离。
图5是本申请一种实施例提供的自动售货机010的货道210及其容纳的货品的位置关系的示意图。如图5所示，第一测距传感器410a和第二测距传感器410b位于货斗310的入口处，由于第一距离D1为货道210的推板211到货斗310的距离，在货道210内没有货品的情况下，第二距离D2为货道210的推板211到货斗310的距离；在货道210内有货品的情况下，第二距离D2为货道210内第一货品到货斗310的距离。因此，在货道210内没有货品的情况下，第一距离和第二距离相等，在货道210内有货品的情况下，第一距离和第二距离不相等，且二者的差值为货道210的推板211到第一货品C1的前表面的距离，也即，第一距离和第二距离的差值为货道210内货品的总长度。控制装置800根据计算所得的货道210内货品的总长度和存储装置500中预先存储的货道210内货品的单位长度，即可计算货道210内货品的数量。
在测量装置400包括固定于货斗310的第三测距传感器的实施例中，控制装置800设置为控制货斗310移动到与货道210对应的第二位置处，并控制第三测距传感器(图未示)测量第一距离，以及控制货斗310移动到与货道210对应的第三位置处，并控制第三测距传感器测量第二距离。
其中，在货斗310位于与货道210对应的第二位置处的情况下，第三测距传感器与货道210内推板211的第一预设位置对应，也即，第三测距传感器与第一检测件211a配合，其中，推板211的第一预设位置位于货品输送路径外；在货斗310位于与货道210对应的第三位置处时，第三测距传感器与货道210内推板211的第二预设位置对应，第三测距传感器与目标障碍物配合，其中，推板211的第二预设位置位于货品输送路径上。
在此实施例中，控制装置800首先控制货斗驱动机构320将货斗310驱动至与货道210对应的第二位置处，控制第三测距传感器测量第一距离。由于在货斗310位于与货道210对应的第二位置处的情况下，第三测距传感器的位置与货道210内推板211的第一预设位置对应，推板211的第一预设位置位于货道210的货品输送路径外，第一检测件211a位于推板211的第一预设位置。因此，在货斗310位于与货道210对应的第二位置处的情况下，第三测距传感器测得的第一距离为第一检测件211a到货斗310的距离，也即，第一距离为推板211到货斗310的距离。然后，控制装置800控制货斗驱动机构320将货斗310驱动至与货道210对应的第三位置处，控制第三测距传感器测量第二距离，由于在货斗310位于与货道210对应的第三位置处的情况下，第三测距传感器的位置与货道210内推板211的第二预设位置对应，第二预设位置位于货品输送路径上，第二检测件211b位于推板211的第二预设位置。因此，在货道210内没有货品的情况下，第二检测件211b与第三测距传感器之间不会被货道210内的货品遮挡，第三测距传感器与货道210的第二检测件211b配合，也即，第二检测件211b为货品输送路径上最靠近货斗310的障碍物，也即，目标障碍物。因此，在货斗310位于与货道210对应的第二位置处的情况下，第三测距传感器测得的第二距离为第二检测件211b到货斗310的距离，也即，第二距离为推板211到货斗310的距离。在货道210内有货品的情况下，第二检测件211b与第三测距传感器之间会被货道210内的货品遮挡，第三测距传感器与货道210内的第一货品配合，也即，第一货品为货品输送路径上最靠近货斗310的障碍物，也即，目标障碍物。因此，在货斗310位于与货道210对应的第三位置处 的情况下，第三测距传感器测得的第二距离为第一货品到货斗310的距离。
在上述两种实施例的基础上，控制装置800还被设置为在控制测量装置400测量第一距离和/或第二距离之前，根据用户的货品购买指令，控制货道210的推板211将用户要购买的货品推送至货斗310。
在测量装置400包括第一测距传感器和第二测距传感器的实施例中，控制装置800被设置为在控制货斗310移动到与货道210对应的第一位置处之后，在控制第二测距传感器测量第二距离之前，控制货道210的推板211将用户要购买的货品推送至货斗310。在一实施例中，控制装置800获取用户通过自动售货机010人机交互装置600输入的货品购买指令，或者通过通信装置700接收用户通过手持终端发送的货品购买指令，并根据用户的货品购买指令，确定容纳有用户要购买的货品的货道210(以下简称为目标货道210)。控制装置800首先控制递送装置300的货斗驱动机构320将货斗310驱动至与目标货道210对应的第一位置处，然后控制目标货道210的推板驱动机构214驱动推板211由后向前移动，以使推板211将用户要购买的货品推送至货斗310，最后控制测量装置400测量第一距离和第二距离。
在测量装置400包含第三测距传感器的实施例中，控制装置800还被设置为在控制货斗310移动到与货道210对应的第二位置处之后，在控制货斗310移动到与货道210对应的第三位置处之前，控制货道210的推板211将用户要购买的货品推送至货斗310。在一实施例中，控制装置800根据用户的货品购买指令，确定容纳有用户要购买的货品的目标货道210后，首先控制递送装置300的货斗驱动机构320将货斗310驱动至与目标货道210对应的第二位置处，然后控制目标货道210的推板驱动机构214驱动推板211由后向前移动，以使推板211将用户要购买的货品推送至货斗310，然后控制测量装置400测量第一距离，接着控制货斗驱动机构320将货斗310驱动至与目标货道210对应的第三位置以测量第二距离。
这两种实施例中的自动售货机能够获取用户的货品购买指令，并根据用户的货品购买指令确定目标货道，然后控制货斗移动到与目标货道对应的位置处，控制目标货道的推板将用户要购买的货品推送至货斗，并控制测量装置测量第一距离和第二距离，最后计算第一距离和第二距离的差值，并根据该差值计算目标货道内货品的数量。这两种实施例中的自动售货机可以在货道每次出货后检测货道内货品的数量，从而在货道出货后及时获取到货道内剩余的货品的数 量，提高了货品数量检测的时效性。
在上述实施例的基础上，控制装置800还被设置为判断第一距离和第二距离的差值是否小于第一阈值，基于第一距离和第二距离的差值小于第一阈值的判断结果，判定货道210内的货品售空。在一实施例中，控制装置800可以控制自动售货机010的人机交互装置600或通信装置700发出货道210内的货品售空的第一提示信息，以提醒工作人员补货。同时，控制装置800记录货道210内的货品售空的状态，以停止该货道210的货品售卖，避免由于在货道210内的货品售空时继续尝试从该货道210出货而出现货品售卖异常。在一实施例中，第一阈值大于或等于零且第一阈值小于自动售货机010所售卖的长度最小的货品的单位长度。
在一实施例中，控制装置800还被设置为判断货道210内货品的数量是否小于第二阈值，基于货道210内货品的数量小于第二阈值的判断结果，判定货道210内的货品即将售空。控制装置800控制自动售货机010的人机交互装置600或通信装置700发出目标货道210内的货品即将售空的第二提示信息，以提醒工作人员准备补货。
在一实施例中，在自动售货机010应用于自动售货系统，自动售货系统包括服务器以及若干与服务器通信连接的自动售货机010时，通信装置700可以被设置为向服务器发送货品售空和/或货品即将售空的提示信息。
综上所述，本申请实施例的自动售货机能够控制测量装置测量第一距离和第二距离，以及计算第一距离和第二距离的差值，并根据该差值计算货道内货品的数量。由于通过计算第一距离和第二距离的差值可以准确获得货道内货品的总长度，并根据该长度准确计算货道内货品的数量，因此，本申请实施例的自动售货机提高了自动售货机货品数量检测的准确性，可以有效避免关技术的自动售货机所存在的货道中货品的数量检测不准确的情况。

Claims (10)

  1. 一种自动售货机，所述自动售货机包括控制装置、货斗、用于驱动所述货斗移动的货斗驱动机构和用于储存货品的货道，所述货道包括推板以及推板驱动机构，所述推板驱动机构用于驱动所述推板在所述货道的货品输送路径上移动，以将所述货道内的货品沿出货方向从所述货道的出口推出所述货道，所述自动售货机还包括设置于所述货斗上的测量装置，所述测量装置被配置为测量所述货品输送路径上目标障碍物到所述货斗的距离以及所述推板到所述货斗的距离，其中，所述目标障碍物为所述货品输送路径上最靠近所述货斗的障碍物；所述货斗驱动机构、所述推板驱动机构以及所述测量装置分别与所述控制装置电连接；
    所述控制装置设置为控制所述测量装置测量所述推板与所述货斗在所述出货方向上的间距作为第一距离，控制所述测量装置测量所述目标障碍物与所述货斗在所述出货方向上的间距作为第二距离，计算所述第一距离和所述第二距离的差值，并根据所述差值计算所述货道内货品的数量。
  2. 根据权利要求1所述的自动售货机，其中，所述测量装置包括第一测距传感器和第二测距传感器；
    所述控制装置设置为控制所述货斗移动到与所述货道对应的第一位置处，控制所述第一测距传感器测量所述第一距离并控制所述第二测距传感器测量所述第二距离，其中，在所述货斗位于与所述货道对应的所述第一位置处的情况下，所述第一测距传感器与所述货道内推板的第一检测件配合，所述第二测距传感器与所述货道内的所述目标障碍物配合，所述推板的所述第一检测件位于所述货品输送路径外。
  3. 根据权利要求1所述的自动售货机，其中，所述测量装置包括第三测距传感器；
    所述控制装置设置为控制所述货斗移动到与所述货道对应的第二位置处，控制所述第三测距传感器测量所述第一距离，控制所述货斗移动到与所述货道对应的第三位置处，控制所述第三测距传感器测量所述第二距离；
    其中，在所述货斗位于与所述货道对应的所述第二位置处的情况下，所述第三测距传感器与所述货道内推板的第一检测件配合，所述推板的所述第一检测件位于所述货品输送路径外；在所述货斗位于与所述货道对应的所述第三位置处的情况下，所述第三测距传感器与所述目标障碍物配合。
  4. 根据权利要求2或3所述的自动售货机，其中，所述推板上设置有第二 检测件，所述第二检测件位于所述货品输送路径上，在所述货道内没有货品的情况下，所述目标障碍物为所述第二检测件。
  5. 根据权利要求4所述的自动售货机，其中，所述第二检测件位于所述推板的下端。
  6. 根据权利要求2或3所述的自动售货机，其中，所述货道包括用于承载货品的支撑板以及相对设置于所述支撑板两侧的隔板，所述隔板和所述支撑板共同形成所述货道的货品容纳空间，所述第一检测件位于所述隔板上方或者位于所述推板的上端。
  7. 根据权利要求2所述的自动售货机，所述控制装置还设置为在控制所述货斗移动到与所述货道对应的所述第一位置处之后，在控制所述第二测距传感器测量所述第二距离之前，控制所述推板将用户要购买的货品推送至所述货斗。
  8. 根据权利要求3所述的自动售货机，所述控制装置还设置为在控制所述货斗移动到与所述货道对应的所述第二位置处之后，在控制所述货斗移动到与所述货道对应的所述第三位置处之前，控制所述货道的推板将用户要购买的货品推送至所述货斗。
  9. 根据权利要求1-3中任一项所述的自动售货机，所述控制装置还设置为：判断所述第一距离和所述第二距离的差值是否小于第一阈值，基于所述差值小于第一阈值的判断结果，确定所述货道内的货品售空。
  10. 根据权利要求1-3中任一项所述的自动售货机，所述控制装置还设置为：判断所述货道内货品的数量是否小于第二阈值，基于所述货道内货品的数量小于所述第二阈值的判断结果，确定所述货道内的货品即将售空。
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