WO2020024963A1 - 自动售货机及货道出货方法 - Google Patents

自动售货机及货道出货方法 Download PDF

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Publication number
WO2020024963A1
WO2020024963A1 PCT/CN2019/098513 CN2019098513W WO2020024963A1 WO 2020024963 A1 WO2020024963 A1 WO 2020024963A1 CN 2019098513 W CN2019098513 W CN 2019098513W WO 2020024963 A1 WO2020024963 A1 WO 2020024963A1
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WO
WIPO (PCT)
Prior art keywords
cargo
motor
bucket
lane
entrance
Prior art date
Application number
PCT/CN2019/098513
Other languages
English (en)
French (fr)
Inventor
周冲
许加波
张腾飞
王鑫平
丛强滋
姜天信
王春涛
Original Assignee
山东新北洋信息技术股份有限公司
威海新北洋数码科技有限公司
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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Application filed by 山东新北洋信息技术股份有限公司, 威海新北洋数码科技有限公司 filed Critical 山东新北洋信息技术股份有限公司
Priority to US17/264,053 priority Critical patent/US11361609B2/en
Publication of WO2020024963A1 publication Critical patent/WO2020024963A1/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
    • G07F11/02—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
    • G07F11/24—Rotary or oscillatory members
    • 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

Definitions

  • the present application relates to the technical field of vending, for example, to a vending machine and a shipping lane shipping method.
  • 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.
  • the vending machine includes a cabinet body, a pickup opening provided on the surface of the cabinet body, and a cargo channel and a cargo bucket provided inside the cabinet.
  • the cargo channel is used to receive goods. It is located between the cargo lane and the pick-up port. It is used to transport goods between the cargo lane and the pick-up port.
  • the cargo lane has an exit. There is a push plate for moving the cargo in the cargo lane. There is a detection mechanism inside. When the target lane containing the goods is shipped, the bucket is first moved to the target lane so that the receiving port of the bucket is opposite to the exit of the target lane.
  • the cargo moves so that the cargo at the forefront of the target cargo lane is output from the exit of the target cargo lane and enters the interior of the hopper through the cargo receiving port of the hopper.
  • the control push plate stops pushing the cargo Move to complete the target lane shipment.
  • the present application provides a method for shipping a goods lane of a vending machine, so as to avoid the situation that the automatic vending machine of the related technology is prone to abnormal equipment operation after the target goods lane is shipped.
  • the application also provides a vending machine to implement the shipping method.
  • An embodiment of the present application provides a vending machine, which includes a control device, a cabinet, a pick-up port provided on the cabinet, and a cargo path and a hopper provided inside the cabinet.
  • the cargo channel is used to accommodate the cargo, and the hopper is located on the cargo. Between the lane and the pick-up port, it is used to transport goods between the cargo lane and the pick-up port.
  • the cargo lane is provided with an exit and the bucket is provided with an entrance.
  • the vending machine also includes a drive for moving the goods in the cargo lane to the exit of the cargo lane.
  • a first motor and a second motor for driving the goods at the entrance of the hopper into the interior of the hopper, and a detection device for detecting whether there is cargo at the entrance of the hopper.
  • the detection device, the first motor, and the second motor are respectively connected with
  • the control device is electrically connected, and the control device is configured to control the first motor to start rotating for the first time to deliver the target cargo to the entrance of the hopper; when detecting that the target cargo reaches the entrance of the hopper, control the first motor to stop rotating for the first time to make the target cargo Driven by the second motor, it enters the interior of the bucket, where the target cargo is at least one cargo closest to the bucket in the cargo lane.
  • a method for shipping a cargo lane of a vending machine includes a cabinet, a pickup opening provided on the cabinet, and a cargo lane and a hopper disposed inside the cabinet.
  • the cargo lane is used to accommodate goods, and the hopper is located in the cargo lane. It is used to transport goods between the cargo lane and the pick-up port.
  • the cargo lane is provided with an exit and the bucket is set with an entrance.
  • the vending machine also includes a section for driving the goods in the cargo lane to the cargo lane exit.
  • a motor and a second motor for driving the goods at the entrance of the hopper into the inside of the hopper, and a detection device for detecting whether there is goods at the entrance of the hopper.
  • the method of discharging the goods lane includes controlling the first motor to start for the first time. Rotate to convey goods to the entrance of the bucket; when it is detected that the target goods reach the entrance of the bucket, the first motor is controlled to stop rotating for the first time, so that the target goods enter the inside of the bucket under the drive of the second motor.
  • 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 according to an embodiment of the present application.
  • FIG. 3 is a block diagram of a vending machine according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a partial structure of a vending machine according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a bucket of a vending machine according to an embodiment of the present application.
  • FIG. 6 is a schematic flow chart of a goods lane shipping method of a vending machine according to an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of another method for shipping a cargo lane of a vending machine according to an embodiment of the present application.
  • FIG. 8 is a schematic flow chart of a third method for shipping a goods lane of a vending machine according to an embodiment of the present application.
  • Icon 010-Vending machine; 100-cabinet; 101-cabinet; 102-cabinet door; 103-carrying port; 200-storage device; 210-cargo lane; 211-first conveying mechanism; 211a-push plate 211b-first motor 300-delivery device 310-cargo hopper 311-second conveying mechanism 311a-second motor 311b-triangle roller 311c-transition roller 320-hopper drive mechanism 321-horizontal Drive mechanism; 322-vertical drive mechanism; 400-detection device; 410-photoelectric sensor; 500-control device.
  • the vending machine of the related technology when the vending machine of the related technology is shipped at the target lane, after the goods enter the hopper, the next cargo in the target lane, that is, the most front-end cargo in the target lane may be removed from the target lane.
  • the exit of the exit to the target lane is likely to hinder the movement of the bucket, which will cause the bucket to transport goods abnormally. Therefore, the vending machine of the related technology has a target after the target lane is shipped.
  • the cargo at the forefront of the cargo lane protrudes from the exit of the target cargo lane, causing the cargo to be transported abnormally by the hopper, and the equipment working abnormally.
  • 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 according to an embodiment of the present application
  • FIG. 3 is a block diagram of a vending machine provided according to an embodiment of the present application The following describes the vending machine in the embodiment of the present application with reference to FIGS. 1 to 3.
  • the vending machine 010 includes a cabinet 100, a storage device 200, a delivery device 300, a detection device 400, and a control device 500.
  • the cabinet 100 includes a cabinet body 101 and a cabinet door 102.
  • the cabinet body 101 is movably connected to the cabinet door 102.
  • the cabinet body 101 includes an opening (not shown in the figure).
  • the cabinet door 102 may be opposite to the cabinet body 101. The opening moves to open or close the cabinet 101.
  • the door 102 is provided with a pick-up port 103 for a user to take out the goods.
  • the storage device 200 is provided to accommodate goods. As shown in FIG. 2, the storage device 200 is disposed inside the cabinet 101, and the storage device 200 is spaced apart from the cabinet door 102.
  • 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).
  • the length direction of the cargo lane 210 is in the front-rear direction (that is, shown by the arrow ef). Direction).
  • An exit is provided at one end of the cargo path 210 near the cabinet door 102, and the exit of the cargo channel 210 faces the cabinet door 102.
  • the cargo lane 210 includes a first conveying mechanism 211.
  • the first conveying mechanism 211 is used for driving the goods in the cargo lane 210 to move toward the exit of the cargo lane 210 so that the goods are output from the exit of the cargo lane 210 to the outside of the cargo lane 210.
  • FIG. 4 is a schematic partial structural diagram of a vending machine according to an embodiment of the present application.
  • the first conveying mechanism 211 includes a push plate 211 a and a first motor 211 b, and the first motor 211 b and a control device 500 is electrically connected and drivingly connected to the push plate 211a. Under the control of the control device 500, the first motor 211b can drive the push plate 211a to move along the length of the cargo lane 210, thereby pushing the goods in the cargo lane 210 toward the cargo lane 210. Exit moves.
  • the delivery device 300 is configured to carry goods between the storage device 200 and the pickup port 103.
  • the delivery device 300 is located between the cabinet door 102 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 102 is provided with an exit, and an end of the bucket 310 near the cargo lane 210 is provided with an inlet.
  • the bucket driving mechanism 320 includes a horizontal driving mechanism 321 and a vertical driving mechanism 322.
  • the horizontal driving mechanism 321 and the vertical driving mechanism 322 are electrically connected to the control device 500, respectively.
  • the horizontal driving mechanism 321 drives the bucket 310 under the control of the control device 500.
  • the vertical driving mechanism 322 drives the bucket 310 to move in the up-down direction, so that the bucket 310 can be moved in the horizontal direction, or the bucket 310 can be moved in the vertical direction, or the bucket 310 can be moved along the same time.
  • the horizontal direction and the vertical direction are moved so that the entrance of the bucket 310 is opposite to the exit of any one of the cargo lanes 210, or the exit of the bucket 310 is opposite to the pickup port 103.
  • the goods in the cargo lane 210 can be sent to the hopper 310 through the entrance of the hopper 310 after being output from the exit of the cargo lane 210;
  • the exit of the bucket 310 is opposite to the pickup port 103, the user can take out the goods in the bucket 310 through the pickup port 103.
  • the entrance of the bucket 310 is provided with a second conveying mechanism 311.
  • the second conveying mechanism 311 is used to drive the goods at the entrance of the bucket 310 into the inside of the bucket 310.
  • the second conveying mechanism 311 includes a kicking component and a second motor 311a.
  • the kicking component is disposed on the side of the entrance of the hopper 310 for receiving the goods output from the exit of the cargo path 210.
  • the second motor 311a Electrically connected to the control device 500 and drivingly connected to the kicking component.
  • FIG. 5 is a schematic structural diagram of a bucket of a vending machine according to an embodiment of the present application.
  • the kicking component includes a triangular roller 311 b and a transition roller 311 c, a triangular roller spaced apart in the front-rear direction. Both 311b and the transition roller 311c are drivingly connected to the second motor 311a. Under the action of the second motor 311a, the triangle roller 311b and the transition roller 311c rotate at the same time, so that the goods are quickly sent into the inside of the bucket 310, and the efficiency of the goods transportation is improved.
  • the detection device 400 is configured to detect whether the goods reach the entrance of the bucket 310 and whether the goods enter the inside of the bucket 310.
  • the detection device 400 outputs a first signal when it detects that the goods are located at the entrance of the bucket 310, and the detection device 400 detects A second signal is output when no cargo is located at the entrance of the hopper 310;
  • the control device 500 is configured to determine that the cargo arrives at the entrance of the hopper 310 when receiving the first signal, and determine that no cargo arrives at the entrance of the hopper 310 when the second signal is received .
  • the detection device 400 is disposed at the entrance of the bucket 310 and is configured to detect whether a cargo is located at the entrance of the bucket 310.
  • the detection device 400 includes at least one photoelectric sensor 410, and a light generator and a light receiver of the photoelectric sensor 410 are oppositely disposed on both sides of the entrance of the bucket 310, and when there is cargo at the entrance of the bucket 310, The light path between the light generator and the light receiver of the photo sensor 410 is cut off, and the photo sensor 410 outputs the first signal; when there is no cargo at the entrance of the hopper 310, the light receiver of the photo sensor 410 receives the light generator to emit Light, the photoelectric sensor 410 outputs a second signal.
  • the detection device 400 includes a plurality of photoelectric sensors 410, and the light generator and the light receiver of each photoelectric sensor 410 are oppositely disposed on both sides of the entrance of the bucket 310, and there is a cargo at the entrance of the bucket 310.
  • at least one photoelectric sensor 410 outputs a first signal, and when there is no cargo at the entrance of the hopper 310, all the photoelectric sensors 410 output a second signal.
  • the photoelectric sensor 410 is electrically connected to the control device 500. Based on the signal output by the photoelectric sensor 410, the control device 500 can determine whether a cargo is located at the entrance of the hopper 310, and determine whether the cargo has reached the entrance of the hopper 310 and the cargo accordingly.
  • the control device 500 determines that there is cargo at the entrance of the bucket 310; and when all of the photoelectric sensors 410 of the detection device 400 output a second signal The control device 500 determines that there is no cargo at the entrance of the bucket 310. In the case where the control device 500 determines that the entrance of the bucket 310 is changed from no cargo to a cargo, it is determined that the goods arrive at the entrance of the bucket 310; the control device 500 determines that the entrance of the bucket 310 is changed from a cargo to no cargo. In the case, it is determined that the cargo enters the inside of the bucket 310.
  • the control device 500 is electrically connected to the detection device 400, the first motor 211b, and the second motor 311a, respectively.
  • the control device 500 is configured to control the operations of the above modules.
  • the control device 500 is configured to control the bucket driving mechanism 320 to drive the bucket 310 to move to the position of the cargo lane 210 (hereinafter referred to as the target cargo lane) containing the cargo and control the target.
  • the first conveying mechanism 211 of the cargo lane conveys the goods to the entrance of the hopper 310
  • the second conveying mechanism 311 that controls the hopper 310 conveys the goods to the inside of the hopper 310; and determines whether the goods arrive at the goods according to the signal of the detection device 400 received.
  • the first conveyance mechanism 211 is controlled to stop conveying the goods so that the goods enter the inside of the bucket 310 under the driving of the second conveyance mechanism 311.
  • control device 500 is configured to control the first motor 211b to start rotating for the first time to convey the target cargo to the entrance of the bucket 310; when it is detected that the target cargo reaches the entrance of the bucket 310, the first motor 211b is stopped to rotate for the first time
  • the target cargo is at least one cargo in the cargo lane 211 closest to the hopper 310.
  • the first motor that controls the target goods lane stops conveying the goods to the exit of the target goods lane so that the goods enter under the drive of the second motor.
  • the target goods in the related technology due to the target lane after shipment are avoided.
  • the cargo at the forefront of the lane protrudes from the exit of the destination lane and causes equipment to malfunction.
  • the second motor 311a is controlled to start to rotate to After the target cargo reaches the entrance of the bucket 310, it can be driven into the inside of the bucket immediately under the driving of the second motor 311a. It should be understood that, in some embodiments of the present application, the second motor 311a may also start to rotate at any time before the target cargo reaches the entrance of the bucket 310, or start to rotate within a period of time after the target cargo reaches the entrance of the bucket 310.
  • control device 500 is further configured to determine whether the target cargo enters the bucket 310 within the first preset time from the moment when the first motor 211b stops rotating for the first time; based on the target cargo not entering the bucket 310 within the first preset time
  • the first motor 211b is controlled to rotate at least once again, wherein the first motor 211b is rotated once to start the first motor 211b and stop the rotation after continuously rotating for a second preset time.
  • the first preset time after the first motor 211b delivers the target cargo for the first time, if the target cargo does not enter the inside of the hopper 310, it can be transported at least once to ensure that the target cargo can be as much as possible by the second motor 311a.
  • the bucket 310 Into the bucket 310.
  • the control device 500 is configured to control the first motor 211b to rotate at least once again by the following method: After the control device 500 controls the first motor 211b to rotate at least once again (that is, excluding the first rotation), it is determined that the first motor 211b stops each time Whether the target cargo enters the inside of the bucket 310 within the third preset time from the moment of rotation, based on the judgment result that the target cargo does not enter the inside of the bucket 310 within the third preset time from the moment when the first motor 211b stops rotating, The first motor 211b is controlled to perform the next rotation. In this way, the first motor 211b can repeatedly transport the target cargo until the target cargo enters the inside of the bucket 310 under the driving of the second motor 311a.
  • control device 500 is configured to control the first motor 211b to rotate at least once again by the following method: After the control device 500 controls the first motor 211b to rotate at least once again (that is, excluding the first rotation), it is determined that the first motor 211b is rotated every time.
  • the target cargo enters the inside of the bucket 310 within the third preset time from the moment of stopping the rotation, based on the judgment result that the target cargo does not enter the inside of the bucket 310 within the third preset time from the moment when the first motor 211b stops rotating this time
  • the first motor is controlled 211b performs the next rotation. Based on the determination result that the number of rotations of the first motor 211b reaches a preset number, an alarm message is output that the cargo lane 210 is abnormally shipped.
  • the first motor 211b can determine that the cargo lane 210 is abnormally shipped after the number of rotations reaches a preset number, thereby preventing the first motor 211b from continuously rotating because the target cargo cannot always enter the interior of the bucket 310. Risk of equipment damage.
  • the output alarm message of abnormal cargo lane delivery can also prompt the staff to perform maintenance in time.
  • control device 500 is also configured to control the first motor 211b to start rotating for the first time to control the movement of the bucket 310 to the cargo lane 210 before delivering the target cargo to the entrance of the bucket 310 so that the entrance of the bucket 310 is opposite to the exit of the cargo lane 210 .
  • the cargo lane 210 mentioned here is a cargo lane in which goods to be purchased by a user are displayed.
  • the control device 500 is also configured to control the second motor 311a to stop rotating when the target cargo enters the inside of the hopper 310.
  • FIG. 6 is a schematic flowchart of a cargo lane shipping method of a vending machine according to an embodiment of the present application. As shown in FIG. 6, the cargo lane shipping method includes steps S1 and S2.
  • step S1 the first motor is controlled to start rotating for the first time to deliver the target cargo to the bucket entrance.
  • the control device 500 determines a cargo lane (hereinafter referred to as a target cargo lane) that houses the goods to be purchased according to the user's purchase instruction, and then controls the bucket driving mechanism 320 to drive the bucket 310 to The corresponding position of the target cargo lane 210 makes the entrance of the hopper 310 and the outlet of the target cargo lane opposite. Then, the control device 500 controls the first motor 211b to start rotating for the first time to drive the goods in the target cargo lane toward the exit of the target cargo lane. That is, moving toward the entrance of the hopper 310, and the second motor 311a that controls the hopper 310 conveys goods to the inside of the hopper 310.
  • a cargo lane hereinafter referred to as a target cargo lane
  • the control device 500 controls the first motor 211b to start rotating for the first time, so that the first motor 211b conveys goods toward the entrance of the bucket 310, and at the same time controls the second motor 311a to start rotating to control the second motor 311a to drive the goods
  • the cargo is sent inside the hopper 310.
  • the process of determining the target cargo lane is omitted, and the bucket is directly moved to the corresponding position of the cargo lane, and the second motor 311a can The operation starts before reaching the entrance of the bucket 310 or when reaching the entrance of the bucket 310.
  • the “first start of rotation” of the first motor 211b in the embodiment of the present application is the first rotation of the first motor 211b during one shipment process for one target cargo.
  • step S2 when it is detected that the target cargo reaches the entrance of the bucket, the first motor is controlled to stop rotating for the first time, so that the target cargo enters the inside of the bucket under the driving of the second motor.
  • the detection device 400 outputs a first signal when it detects that there is goods at the entrance of the hopper 310, and the detection device 400 outputs a second signal when it detects that no goods are at the entrance of the hopper 310. signal.
  • the control device 500 controls the first motor 211b of the target cargo lane to rotate, the target cargo is driven by the first motor 211b of the target cargo lane to reach the exit of the target cargo lane and gradually protrudes beyond the exit of the target cargo lane into the hopper. Entrance to 310.
  • the control device 500 When the control device 500 receives the first signal output from the detection device 400, it determines that the cargo has reached the entrance of the hopper 310, and controls the first motor 211b to stop rotating for the first time, so that the first motor 211b stops transporting the cargo. In one embodiment, the control device 500 determines whether the goods have arrived at the entrance of the bucket 310 according to the signal output by the photoelectric sensor 410 of the detection device 400. When it is determined that the entrance of the bucket 310 is changed from no goods to goods, It is determined that the goods reach the entrance of the bucket 310, and the control device 500 controls the first motor 211b of the target goods lane to stop conveying the goods, so that the goods enter the inside of the bucket 310 under the driving of the second motor 311a. It should be understood that the "first stop rotation" of the first motor 211b in the embodiment of the present application is the first stop rotation during a shipment process for one target cargo.
  • the control device 500 controls the first motor 211b to stop rotating, that is, the first motor 211b is stopped to transport the goods, so that the goods are only in the second motor of the bucket 310 Driven by 311a, it enters the inside of the bucket 310.
  • the first motor 211b is stopped to transport the goods, so that the goods are only in the second motor of the bucket 310 Driven by 311a, it enters the inside of the bucket 310.
  • other goods in the target lane will not continue to be transported by the first motor 211b and extend out of the target lane, thereby avoiding the vending machine existing in the related technology in the target lane.
  • the equipment at the front of the target lane protrudes from the exit of the target lane and the equipment works abnormally.
  • the first motor that controls the target lane stops transporting the goods to the exit of the lane so that the goods are in the second lane. Driven by the motor, it enters the inside of the bucket. Since the other goods in the target lane will not continue to be transported while the goods enter the bucket, they will extend out of the lane. Therefore, the related technology to avoid the shipment due to the lane is avoided.
  • the front-end cargo of the rear cargo lane protrudes from the exit of the cargo lane and causes abnormal working conditions of the equipment.
  • FIG. 7 is a schematic flowchart of another method for shipping a cargo lane of a vending machine according to an embodiment of the present application.
  • This embodiment can be used as an example implementation of the embodiment shown in FIG. 6.
  • this embodiment The difference from the embodiment shown in FIG. 6 is that the shipping lane shipping method further includes steps S3 to S5.
  • step S3 it is determined whether the target cargo enters the inside of the bucket within a first preset time from the moment when the first motor stops rotating for the first time.
  • the control device 500 determines whether the target cargo enters the inside of the bucket 310 within a first preset time from the moment when the first motor 211b stops rotating for the first time. In an embodiment, the control device 500 detects whether the entrance of the hopper 310 changes from a cargo to no cargo at the entrance of the hopper 310 according to a signal output by the detection device 400, and detects a change from a cargo to no cargo at the entrance of the hopper 310. Next, the control device 500 determines that the target cargo enters the inside of the hopper 310. It should be understood that when the target cargo is multiple cargoes, the detection device 400 may include an image sensor.
  • step S4 determines that the target cargo enters the inside of the bucket 310 within the first preset time
  • step S5 is performed.
  • step S4 the second motor is controlled to stop rotating.
  • the control device 500 controls the second motor 311a to stop rotating, so that the second motor 311a stops moving toward The hopper 310 conveys goods inside.
  • step S5 the first motor is controlled to rotate at least once more.
  • the control device 500 controls the first motor 211b to rotate at least once more.
  • the first motor 211b rotates once to start the first motor 211b and stop rotating after the second motor 211b continues to rotate for a second preset time.
  • the control device 500 controls the first motor 211b to transport the goods in the target cargo lane, and when the time for the first motor 211b to transport the goods reaches a second preset time, the first motor 211b is controlled to stop the transport of the goods.
  • the first motor is controlled to transport the goods again for a second preset time at least once, thereby sending the target goods into the inside of the bucket to ensure the reliability of the goods lane shipping.
  • step S5 controls the first motor to rotate at least once again by the following method: determining whether the target cargo enters the inside of the bucket within a third preset time from the moment when the first motor stops rotating, based on As a result of the determination that the target cargo does not enter the inside of the bucket within a third preset time from the moment when the motor stops rotating, the first motor is controlled to perform the next rotation. That is, step S5 includes steps S51 and S52.
  • step S51 the first motor is controlled to rotate again.
  • the control device 500 controls the first motor 211b to rotate again for a second preset time and then stops rotating, so that the first motor 211b transports the target goods again for a second preset time.
  • step S52 it is determined whether the target cargo enters the inside of the bucket within a third preset time from the moment when the first motor stops rotating.
  • the control device 500 determines whether the target cargo enters the bucket 310 within a third preset time from the moment when the first motor 211b stops rotating. Based on the determination result that the target cargo has not entered the inside of the bucket 310 within a third preset time from the moment when the first motor 211b stopped rotating this time, the first motor 211b is controlled to rotate next time, that is, step S51 is performed again. Based on the determination result that the target cargo has entered the inside of the bucket 310 within the third preset time from the moment when the first motor 211b stopped rotating this time, step S4 is executed, that is, the second motor 311a is controlled to stop rotating. In one embodiment, the third preset time is equal to the first preset time.
  • FIG. 8 is a schematic flow chart of a third method for shipping a cargo lane of a vending machine according to an embodiment of the present application.
  • This embodiment can be used as an example implementation of the embodiment shown in FIG. 7.
  • this embodiment The difference from the embodiment shown in FIG. 7 lies in that in a case where it is determined that the target cargo has not entered the inside of the bucket 310 within a third preset time from the moment when the first motor 211b stopped rotating this time, it is determined that the first motor 211b has not entered the bucket 310 for the first time.
  • step S5 further includes step S53.
  • step S53 it is determined whether or not the number of rotations of the first motor since the first start of rotation to deliver the target cargo to the bucket entrance has reached a preset number of times.
  • the number of rotations of the first motor 211b is recorded by the counting device of the vending machine 010, and the control device 500 stores the number of rotations of the first motor 211b recorded by the counting device and the vending machine 010 in advance. It is determined whether the number of rotations of the first motor 211b has reached the preset number of times.
  • the number of rotations of the first motor 211b when the number of rotations of the first motor 211b is less than the preset number, it is determined that the number of rotations of the first motor 211b has not reached the preset number; the number of rotations of the first motor 211b is greater than or equal to the preset number In the case, it is determined that the number of rotations of the first motor 211b reaches a preset number of times.
  • step S51 is performed.
  • the shipping method of this embodiment further includes step S6, where step S6 is performed when the number of rotations of the first motor 211 b reaches a preset number of times.
  • step S6 a warning message is output that the target cargo lane is out of order.
  • the control device 500 outputs alarm information of abnormal shipments in the cargo lane through an alarm device (not shown) of the vending machine.
  • the first motor rotates again, avoiding the risk of equipment damage caused by the continuous repeated rotation of the first motor because the target cargo cannot always enter the inside of the bucket.
  • it outputs an alarm message that the target cargo lane is abnormal, so that maintenance personnel can know the target in time.
  • the goods lane is abnormal and the normal vending machine resumes the normal shipment, which further improves the reliability of the goods lane.

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Abstract

提供了一种自动售货机及其货道出货方法。该自动售货机的货道出货方法中，控制第一电机首次开始转动，以向货斗入口输送货物（S1）；在检测到货物到达货斗的入口时，控制第一电机首次停止转动，以使目标货物在第二电机的驱动下进入货斗内部（S2）。

Description

自动售货机及货道出货方法
本申请要求在2018年08月01日提交中国专利局、申请号为201810865957.0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及货道出货方法。
背景技术
自动售货机是一种商业自动化设备，用于自动出售货物。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，得到了越来越广泛的应用。
相关技术公开了一种自动售货机，该自动售货机包括柜体、设置于柜体表面的取货口，以及设置于柜体内部的货道和货斗，货道用于容纳货物，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物，货道具有出口，货道内设置有用于推动货物移动的推板，货斗具有接货口，货斗内设置有检测机构，容纳货物的目标货道出货时，首先将货斗移动至目标货道处以使货斗的接货口与目标货道的出口相对，然后控制目标货道中的推板推动货物移动以使位于目标货道最前端的货物从目标货道的出口输出并经由货斗的接货口进入货斗内部，在检测机构检测到货物进入货斗内部后，控制推板停止推动货物移动以完成目标货道出货。
然而，相关技术的自动售货机在目标货道出货后，容易出现货斗运送货物异常而导致设备工作异常的情况。
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的货道出货方法，以避免相关技术的自动售货机存在的在目标货道出货后容易出现设备工作异常的情况。本申请还提供一种自动售货机以实现该出货方法。
本申请的实施例提供一种自动售货机，其包括控制装置、机柜、设置于机柜上的取货口以及设置于机柜内部的货道和货斗，货道用于容纳货物，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物，货道设置出口，货斗设置入口，自动售货机还包括用于驱动货道内的货物向货道出口移动的第一电机和用于驱动货斗入口处的货物进入货斗内部的第二电机，以及用于检测是否有货物位于货斗入口处的检测装置，检测装置、第一电机和第二电机分别与控制装置电连接，控制装置设置为：控制第一电机首次开始转动，以向货斗入口输送目标货物；在检测到目标货物到达货斗入口时，控制第一电机首次停止转动，以使目标货物在第二电机的驱动下进入货斗内部，其中，目标货物为货道内最靠近货斗的至少一个货物。
一种自动售货机的货道出货方法，自动售货机包括机柜、设置于机柜上的取货口以及设置于机柜内部的货道和货斗，货道用于容纳货物，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物，货道设置出口，货斗设置入口，自动售货机还包括用于驱动货道内的货物向货道出口移动的第一电机和用于驱动货斗入口处的货物进入货斗内部的第二电机，以及用于检测是否有货物位于货斗入口处的检测装置，货道出货方法包括：控制第一电机首次开始转动，以向货斗入口输送货物；在检测到目标货物到达货斗入口时，控制第一电机首次停止转动，以使目标货物在第二电机的驱动下进入货斗内部。
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是根据本申请实施例的自动售货机的外部结构示意图；
图2是根据本申请实施例的自动售货机的内部结构示意图；
图3是根据本申请实施例的自动售货机的组成框图；
图4是根据本申请实施例的自动售货机的局部结构示意图；
图5为根据本申请实施例的自动售货机的货斗的结构示意图；
图6是根据本申请实施例的自动售货机的一种货道出货方法的流程示意图；
图7是根据本申请实施例的自动售货机的另一种货道出货方法的流程示意图；
图8是根据本申请实施例的自动售货机的第三种货道出货方法的流程示意图。
图标：010-自动售货机；100-机柜；101-柜体；102-柜门；103-取货口；200-储物装置；210-货道；211-第一输送机构；211a-推板；211b-第一电机；300-递送装置；310-货斗；311-第二输送机构；311a-第二电机；311b-三角辊；311c-过渡辊；320-货斗驱动机构；321-水平驱动机构；322-竖直驱动机构；400-检测装置；410-光电传感器；500-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”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目标货道出货时，在货物进入货斗后，目标货道中的下一个货物，也即，目标货道内位于最前端的货物可能会从 目标货道的出口伸出至目标货道外部，伸出至目标货道外部的货物容易阻碍货斗运动，从而造成货斗运送货物异常，因此，相关技术的自动售货机存在由于目标货道出货后目标货道最前端的货物从目标货道的出口伸出而造成货斗运送货物异常，进而出现设备工作异常的情况。
图1是根据本申请实施例的自动售货机的外部结构示意图，图2是根据本申请实施例的自动售货机的内部结构示意图，图3是根据本申请实施例提供的自动售货机的组成框图，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，自动售货机010包括机柜100、储物装置200、递送装置300、检测装置400和控制装置500。
如图1所示，机柜100包括柜体101和柜门102，柜体101与柜门102活动连接，柜体101包括开口(图中未示出)，柜门102可以相对于柜体101的开口运动，以打开或封闭柜体101。柜门102上设置有用于用户取出货物的取货口103。
储物装置200设置为容纳货物。如图2所示，储物装置200设置于柜体101内部，储物装置200与柜门102相对间隔设置，储物装置200包括多个用于容纳货物的货道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。货道210靠近柜门102的一端设置有出口，货道210的出口正对柜门102。
货道210包括第一输送机构211，第一输送机构211用于驱动货道210中的货物向货道210的出口移动，以使货物从货道210的出口输出到货道210外部。图4是根据本申请实施例的自动售货机的局部结构示意图，如图4所示，本实施例中，第一输送机构211包括推板211a和第一电机211b，第一电机211b与控制装置500电连接并且与推板211a传动连接，在控制装置500的控制下，第一电机211b可以驱动推板211a沿货道210的长度方向运动，从而推动货道210中的货物向货道210的出口移动。
递送装置300设置为在储物装置200和取货口103之间运送货物。递送装置300位于柜门102与储物装置200之间。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102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和竖直驱动机构322分别与控制装置500电连接，在控制装置500的控制下水平驱动机构321驱动货斗310沿左右方向移动，竖直驱动机构322驱动货斗310沿上下方向移动，以使货斗310可以沿水平方向移动，或使货斗310可以沿竖直方向移动，或使货斗310可以同时沿水平方向和竖直方向移动，从而使货斗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103相对。在货斗310的入口与任意一个货道210的出口相对的情况下，该货道210中的货物从货道210的出口输出后能够经由货斗310的入口被送入货斗310；在货斗310的出口与取货口103相对的情况下，用户能够经由取货口103取走货斗310内的货物。
货斗310的入口设置有第二输送机构311，第二输送机构311用于驱动货斗310的入口处的货物进入货斗310的内部。本实施例中，第二输送机构311包括踢货组件和第二电机311a，踢货组件设置在货斗310入口的一侧，用于承接从货道210的出口输出的货物，第二电机311a与控制装置500电连接并与踢货组件传动连接，在控制装置500的控制下，第二电机311a可以驱动踢货组件的辊轮沿自身的轴线转动，从而驱动货物由货斗310的入口向货斗310内部移动，以使货物进入货斗310内部。图5是根据本申请实施例的自动售货机的货斗的结构示意图，如图5所示，本实施例中，踢货组件包括沿前后方向间隔设置的三角辊311b和过渡辊311c，三角辊311b和过渡辊311c均与第二电机311a传动连接，在第二电机311a的作用下，三角辊311b和过渡辊311c同时转动，从而将货物快速送入货斗310内部，提高货物运输的效率。
检测装置400设置为检测货物是否到达货斗310的入口处以及货物是否进入货斗310的内部，检测装置400在检测到有货物位于货斗310入口处时输出第一信号，检测装置400在检测到没有货物位于货斗310入口处时输出第二信号；控制装置500设置为在接收到第一信号时确定货物到达货斗310入口，在接收到第二信号时确定没有货物到达货斗310入口。在一实施例中，检测装置400设置在货斗310的入口处，设置为检测是否有货物位于货斗310的入口处。本实施例中，检测装置400包括至少一个光电传感器410，光电传感器410的光发生器和光接收器相对设置在货斗310的入口的两侧，在货斗310的入口处有货物的情况下，光电传感器410的光发生器和光接收器之间的光路被截断，光电传感器410输出第一信号；在货斗310的入口处没有货物的情况下，光电传感器410的光接收器接收光发生器发射的光，光电传感器410输出第二信号。 在一实施例中，检测装置400包括多个光电传感器410，每个光电传感器410的光发生器和光接收器相对设置在货斗310的入口的两侧，在货斗310的入口处有货物的情况下，至少一个光电传感器410输出第一信号，在货斗310的入口处没有货物的情况下，所有光电传感器410均输出第二信号。光电传感器410与控制装置500电连接，控制装置500根据光电传感器410输出的信号，即可判断是否有货物位于货斗310的入口处，并据此判断货物是否到达货斗310的入口处以及货物是否进入货斗310的内部。其中，在检测装置400的任意一个光电传感器410输出第一信号的情况下，控制装置500确定货斗310的入口处有货物；在检测装置400的所有光电传感器410均输出第二信号的情况下，控制装置500确定货斗310的入口处没有货物。在控制装置500确定货斗310的入口处由没有货物变化为有货物的情况下，确定货物到达货斗310的入口处；在控制装置500确定货斗310的入口处由有货物变化为没有货物的情况下，确定货物进入货斗310的内部。
控制装置500分别与检测装置400、第一电机211b、第二电机311a电连接。控制装置500设置为控制上述各模块工作，比如，控制装置500设置为控制货斗驱动机构320驱动货斗310移动至容纳有货物的货道210(以下简称目标货道)的位置处，控制目标货道的第一输送机构211向货斗310的入口输送货物以及控制货斗310的第二输送机构311向货斗310内部输送货物；以及根据接收到的检测装置400的信号判断货物是否到达货斗310的入口处，基于货物到达货斗310的入口处的判断结果，控制第一输送机构211停止输送货物，以使货物在第二输送机构311的驱动下进入货斗310内部。
在一实施例中，控制装置500设置为控制第一电机211b首次开始转动，以向货斗310入口输送目标货物；在检测到目标货物到达货斗310入口时，控制第一电机211b首次停止转动，以使目标货物在第二电机311a的驱动下进入货斗310内部，其中，目标货物为货道211内最靠近货斗310的至少一个货物。
本实施例提供的自动售货机中，在检测到货物到达货斗的入口时，控制目标货道的第一电机停止向目标货道的出口输送货物，以使货物在第二电机的驱动下进入货斗内部，由于货物进入货斗的过程中目标货道内的其他货物不会继续被输送而伸出目标货道的出口，因此，避免了相关技术中存在的由于目标货道出货后目标货道最前端的货物从目标货道的出口伸出而造成设备工作异常的情况。
为了使目标货物到达货斗310入口时，目标货物能够立刻向货斗310内输送，在一种实施方式中，在控制第一电机211b首次开始转动时，控制第二电机311a就开始转动，以使目标货物在到达货斗310入口后就能够立刻在第二电机311a的驱动下进入货斗内部。应当理解，在本申请的一些实施例中，第二电机311a也可以在目标货物到达货斗310入口之前的任意时刻开始转动，或者在目标货物到达货斗310入口之后的一段时间内开始转动。
进一步的，控制装置500还设置为判断自第一电机211b首次停止转动时刻起的第一预设时间内目标货物是否进入货斗310内部；基于第一预设时间内目标货物未进入货斗310内部的判断结果，控制第一电机211b再转动至少一次，其中，第一电机211b转动一次为第一电机211b开始转动并在持续转动第二预设时间后停止转动的过程。这样使得在第一电机211b首次输送目标货物之后的第一预设时间内，若目标货物没有进入货斗310内部，可以再进行至少一次输送，来尽可能地保证目标货物能够被第二电机311a送入货斗310内部。
控制装置500设置为通过以下方法控制所述第一电机211b再转动至少一次：控制装置500控制第一电机211b再转动至少一次(即不包括首次转动)后，判断在第一电机211b每次停止转动时刻起的第三预设时间内目标货物是否进入货斗310内部，基于自第一电机211b本次停止转动时刻起的第三预设时间内目标货物未进入货斗310内部的判断结果，控制第一电机211b进行下一次转动。这样可以令第一电机211b重复输送目标货物多次，直至目标货物在第二电机311a的驱动下进入货斗310内部。
或者，控制装置500设置为通过以下方法控制所述第一电机211b再转动至少一次：控制装置500控制第一电机211b再转动至少一次(即不包括首次转动)后，判断第一电机211b每次停止转动时刻起的第三预设时间内目标货物是否进入货斗310内部，基于自第一电机211b本次停止转动时刻起的第三预设时间内目标货物未进入货斗310内部的判断结果，判断第一电机211b自首次开始转动以向货斗310入口输送目标货物起的转动次数是否到达预设次数，基于第一电机211b的转动次数未到达预设次数的判断结果，控制第一电机211b进行下一次转动。基于第一电机211b的转动次数到达预设次数的判断结果，输出货道210出货异常的报警信息。
在这样的控制方式下，可以使得第一电机211b在转动次数达到预设次数后，确定货道210出货异常，避免了第一电机211b因目标货物始终无法进入货斗310 内部而持续重复转动导致设备损坏的风险。输出的货道出货异常的报警信息也可以及时提醒工作人员进行维护。
另外，控制装置500还设置为控制第一电机211b首次开始转动，以向货斗310入口输送目标货物之前，控制货斗310移动到货道210处，使货斗310入口与货道210出口相对。此处提及的货道210为陈列有用户要购买的货物的货道。控制装置500还设置为在目标货物进入货斗310内部时，控制第二电机311a停止转动。
图6是根据本申请实施例的自动售货机的一种货道出货方法的流程示意图，如图6所示，货道出货方法包括步骤S1和步骤S2。
在步骤S1中，控制第一电机首次开始转动，以向货斗入口输送目标货物。
以本申请提供的自动售货机010为例，控制装置500根据用户的购买指令确定容纳需购买的货物的货道(以下简称目标货道)，再控制货斗驱动机构320驱动货斗310移动至目标货道210对应的位置，使货斗310的入口与目标货道的出口相对，然后，控制装置500控制第一电机211b首次开始转动，以驱动目标货道内的货物向目标货道的出口移动，也即，向货斗310的入口移动，以及控制货斗310的第二电机311a向货斗310内部输送货物。在一实施例中，控制装置500控制第一电机211b首次开始转动，使得第一电机211b向货斗310的入口方向输送货物，同时控制第二电机311a开始转动，以控制第二电机311a驱动货物将货物送入货斗310内部。应当理解，在该方法应用于只有一个货道的自动售货机时，则省去确定目标货道的过程，直接将货斗移动至货道对应的位置，并且，第二电机311a可以在目标货物到达货斗310的入口之前或者到达货斗310的入口时开始运行。应当理解，本申请实施例中的第一电机211b的“首次开始转动”是针对一个目标货物的一次出货过程中的第一电机211b首次转动。
在步骤S2中，在检测到目标货物到达货斗入口时，控制第一电机首次停止转动，以使目标货物在第二电机的驱动下进入货斗内部。
以本申请提供的自动售货机010为例，检测装置400在检测到有货物位于货斗310入口处时输出第一信号，检测装置400在检测到没有货物位于货斗310入口处时输出第二信号。在控制装置500控制目标货道的第一电机211b转动后，目标货物在目标货道的第一电机211b的驱动下到达目标货道的出口并逐渐伸出目标货道的出口而进到达货斗310的入口。控制装置500在接收到检测装置400输出的第一信号时，确定货物到达货斗310入口，并控制第一电机211b首次停 止转动，使得第一电机211b停止输送货物。在一实施例中，控制装置500根据检测装置400的光电传感器410输出的信号判断货物是否到达货斗310的入口处，在确定货斗310的入口处由没有货物变化为有货物的情况下，确定货物到达货斗310的入口处，控制装置500控制目标货道的第一电机211b停止输送货物，从而使货物在第二电机311a的驱动下进入货斗310内部。应当理解，本申请实施例中的第一电机211b的“首次停止转动”是针对一个目标货物的一次出货过程中的首次停止转动。
在一实施例中，在判定货物到达货斗310的入口处时，控制装置500控制第一电机211b停止转动，即控制第一电机211b停止输送货物，使得货物仅在货斗310的第二电机311a的驱动下进入货斗310内部。这样使得在货物进入货斗310的过程中，目标货道内的其他货物不会继续被第一电机211b输送而伸出目标货道出口，从而避免了相关技术中存在的自动售货机在目标货道出货后目标货道最前端的货物伸出目标货道出口而造成的设备工作异常的情况。
本实施例提供的自动售货机的货道出货方法中，在检测到货物到达货斗的入口时，控制目标货道的第一电机停止向货道的出口输送货物，以使货物在第二电机的驱动下进入货斗内部，由于货物进入货斗的过程中目标货道内的其他货物不会继续被输送而伸出货道的出口，因此，避免了相关技术中存在的由于货道出货后货道最前端的货物从货道的出口伸出而造成设备工作异常的情况。
图7是根据本申请实施例的自动售货机的另一种货道出货方法的流程示意图，该实施例可以作为图6所示实施例的示例实施方式，如图7所示，本实施例与图6所示实施例的区别在于，货道出货方法还包括步骤S3至步骤S5。
在步骤S3中，判断自第一电机首次停止转动时刻起的第一预设时间内目标货物是否进入货斗内部。
以本申请提供的自动售货010为例，控制装置500判断自第一电机211b首次停止转动时刻起的第一预设时间内目标货物是否进入货斗310内部。在一实施例中，控制装置500根据检测装置400输出的信号检测货斗310的入口处是否由有货物变化为没有货物，在检测到货斗310的入口处由有货物变化为没有货物的情况下，控制装置500确定目标货物进入货斗310内部。应当理解，在目标货物为多个货物时，检测装置400可以包括图像传感器，在图像传感器检测到目标货物中的所有货物均进入货斗310内部时，控制装置500确定目标货物进入货斗310内部。在控制装置500确定第一预设时间内目标货物进入货斗 310内部时，执行步骤S4，在控制装置500确定到达第一预设时间时目标货物未进入货斗310内部时，执行步骤S5。
在步骤S4中，控制第二电机停止转动。
以本申请提供的自动售货机010为例，在确定第一预设时间内目标货物已进入货斗310内部的情况下，控制装置500控制第二电机311a停止转动，使得第二电机311a停止向货斗310内部输送货物。
在步骤S5中，控制第一电机再转动至少一次。
以本申请提供的自动售货机010为例，在确定第一预设时间内目标货物未进入货斗310内部的情况下，控制装置500控制第一电机211b再转动至少一次。其中，第一电机211b转动一次为第一电机211b开始转动并在持续转动第二预设时间后停止转动的过程。本实施例中，控制装置500控制第一电机211b输送目标货道内的货物，在第一电机211b输送货物的时间到达第二预设时间时，控制第一电机211b停止输送货物。
本实施例提供的自动售货机的货道出货方法中，判断自第一电机首次停止转动时刻起的第一预设时间内目标货物是否进入货斗内部，在第一预设时间内目标货物未进入货斗内部的情况下，控制第一电机再输送货物第二预设时间至少一次，从而将目标货物送入货斗内部，保证了货道出货的可靠性。
在一实施例中，步骤S5通过以下方法控制所述第一电机再转动至少一次：判断第一电机每次停止转动时刻起的第三预设时间内目标货物是否进入货斗内部，基于自第一电机本次停止转动时刻起的第三预设时间内目标货物未进入货斗内部的判断结果，控制第一电机进行下一次转动。即，步骤S5包括步骤S51和步骤S52。
在步骤S51中，控制第一电机再转动一次。
以本申请实施例的自动售货机010为例，其控制装置500控制第一电机211b再次转动第二预设时间后停止转动，使第一电机211b再次输送目标货物第二预设时间。
在步骤S52中，判断第一电机本次停止转动时刻起的第三预设时间内目标货物是否进入货斗内部。
以本申请实施例的自动售货机010为例，其控制装置500判断本次第一电机211b停止转动时刻起的第三预设时间内目标货物是否进入货斗310内部。基于自第一电机211b本次停止转动时刻起的第三预设时间内目标货物未进入货斗 310内部的判断结果，控制第一电机211b下一次转动，即再次执行步骤S51。基于自第一电机211b本次停止转动时刻起的第三预设时间内目标货物已进入货斗310内部的判断结果，执行步骤S4，即控制第二电机311a停止转动。在一实施例中，第三预设时间等于第一预设时间。
图8是根据本申请实施例的自动售货机的第三种货道出货方法的流程示意图，该实施例可以作为图7所示实施例的示例实施方式，如图8所示，本实施例与图7所示实施例的区别在于，在确定自第一电机211b本次停止转动时刻起的第三预设时间内目标货物未进入货斗310内部的情况下，判断第一电机211b自首次开始转动以向货斗310入口输送目标货物起的转动次数是否到达预设次数，基于第一电机211b的转动次数未到达预设次数的判断结果，控制第一电机211b进行下一次转动。因此，在图7实施例的基础上，步骤S5中还包括步骤S53。
在步骤S53中，判断第一电机自首次开始转动以向货斗入口输送目标货物起的转动次数是否到达预设次数。
以本申请提供的自动售货机010为例，通过自动售货机010的计数装置记录第一电机211b的转动次数，控制装置500根据计数装置记录的第一电机211b的转动次数和自动售货机010预存的预设次数，判断第一电机211b的转动次数是否到达预设次数。在一实施例中，在第一电机211b的转动次数小于预设次数的情况下，确定第一电机211b的转动次数未到达预设次数；在第一电机211b的转动次数大于或等于预设次数的情况下，确定第一电机211b的转动次数到达预设次数。
在第一电机211b的转动次数未到达预设次数的情况下，执行步骤S51。
如图8所示，在图7实施例的基础上，本实施例的出货方法还包括步骤S6，其中，在第一电机211b的转动次数到达预设次数的情况下，执行步骤S6。
在步骤S6中，输出目标货道出货异常的报警信息。
以本申请提供的自动售货机010为例，控制装置500通过自动售货机的报警装置(图未示)输出货道出货异常的报警信息。
本实施例提供的自动售货机的货道出货方法中，在确定第一电机的转动次数到达预设次数，且目标货物仍未进入货斗的情况下，确定货道出货异常并停止控制第一电机再次转动，避免了第一电机因目标货物始终无法进入货斗内部而持续重复转动导致设备损坏的风险，同时，输出目标货道出货异常的报警信 息，使得维护人员能够及时获知目标货道出货异常并恢复自动售货机正常出货，进一步提高了货道出货的可靠性。

Claims (10)

  1. 一种自动售货机，包括控制装置、机柜、设置于机柜上的取货口以及设置于机柜内部的货道和货斗，所述货道用于容纳货物，所述货斗位于所述货道和所述取货口之间，用于在所述货道和所述取货口之间运送货物，所述货道设置有出口，所述货斗设置有入口，所述自动售货机还包括用于驱动所述货道内的货物向所述货道出口移动的第一电机和用于驱动所述货斗入口处的货物进入所述货斗内部的第二电机，以及用于检测是否有货物位于所述货斗入口处的检测装置，所述检测装置、所述第一电机和所述第二电机分别与所述控制装置电连接，所述控制装置设置为：
    控制所述第一电机首次开始转动，以向所述货斗入口输送目标货物；
    在检测到所述目标货物到达所述货斗入口时，控制所述第一电机首次停止转动，以使所述目标货物在所述第二电机的驱动下进入所述货斗内部，其中，所述目标货物为所述货道内最靠近所述货斗的至少一个货物。
  2. 根据权利要求1所述的自动售货机，所述控制装置还设置为：
    在控制所述第一电机首次开始转动时，控制所述第二电机开始转动，以使所述目标货物在所述第二电机的驱动下进入所述货斗内部。
  3. 根据权利要求1所述的自动售货机，其中，所述控制装置设置为：
    判断自所述第一电机首次停止转动时刻起的第一预设时间内，所述目标货物是否进入所述货斗内部；
    基于所述第一预设时间内所述目标货物未进入所述货斗内部的判断结果，控制所述第一电机再转动至少一次，其中，所述第一电机转动一次为所述第一电机开始转动并在持续转动第二预设时间后停止转动的过程。
  4. 根据权利要求3所述的自动售货机，其中，所述控制装置设置为通过以下方法控制所述第一电机再转动至少一次：
    判断所述第一电机每次停止转动时刻起的第三预设时间内所述目标货物是否进入所述货斗内部，基于自所述第一电机本次停止转动时刻起的第三预设时间内所述目标货物未进入所述货斗内部的判断结果，控制所述第一电机进行下一次转动。
  5. 根据权利要求3所述的自动售货机，其中，所述控制装置设置为通过以下方法控制所述第一电机再转动至少一次：
    判断所述第一电机每次停止转动时刻起的第三预设时间内所述目标货物是否进入所述货斗内部，基于自所述第一电机本次停止转动时刻起的第三预设时 间内所述目标货物未进入所述货斗内部的判断结果，判断所述第一电机自首次开始转动以向所述货斗入口输送所述目标货物起的转动次数是否到达预设次数，基于所述第一电机的所述转动次数未到达所述预设次数的判断结果，控制所述第一电机进行下一次转动。
  6. 根据权利要求5所述的自动售货机，所述控制装置还设置为：
    在确定所述第一电机的所述转动次数到达所述预设次数的情况下，输出所述货道出货异常的报警信息。
  7. 根据权利要求1至5任一项所述的自动售货机，所述控制装置还设置为在所述目标货物进入所述货斗内部后，控制所述第二电机停止转动。
  8. 根据权利要求1所述的自动售货机，所述控制装置还设置为：
    在控制所述第一电机首次开始转动，以向所述货斗入口输送目标货物之前，控制所述货斗移动到所述货道处，使所述货斗入口与所述货道出口相对。
  9. 一种自动售货机的货道出货方法，所述自动售货机包括机柜、设置于机柜上的取货口以及设置于机柜内部的货道和货斗，所述货道用于容纳货物，所述货斗位于所述货道和所述取货口之间，用于在所述货道和所述取货口之间运送货物，所述货道设置有出口，所述货斗设置有入口，所述自动售货机还包括用于驱动所述货道内的货物向所述货道出口移动的第一电机和用于驱动所述货斗入口处的货物进入所述货斗内部的第二电机，以及用于检测是否有货物位于所述货斗入口处的检测装置，所述货道出货方法包括：
    控制第一电机首次开始转动，以向所述货斗入口输送货物；
    在检测到所述目标货物到达所述货斗入口时，控制所述第一电机首次停止转动，以使所述目标货物在所述第二电机的驱动下进入所述货斗内部。
  10. 根据权利要求9所述的自动售货机的货道出货方法，还包括：
    判断自所述第一电机首次停止转动时刻起的第一预设时间内所述目标货物是否进入所述货斗内部；
    基于所述第一预设时间内所述目标货物未进入所述货斗内部的判断结果，控制所述第一电机再转动至少一次，其中，所述第一电机转动一次为所述第一电机开始转动并在持续转动第二预设时间后停止转动的过程。
PCT/CN2019/098513 2018-08-01 2019-07-31 自动售货机及货道出货方法 WO2020024963A1 (zh)

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