Self-moving vending robot, control method and interaction method

Abstract

The embodiment of the present invention provides a self-moving vending robot, a control method and an interaction method. The self-moving vending robot includes: a placement rack for placing exhibits; a cover plate arranged on the upper part of the placement rack; a movable base arranged at the bottom of the placement rack to drive the self-moving vending robot to move; the placement rack is provided with a movable part, and the movable part performs an action to prevent the exhibits from falling over. The technical solution provided by the embodiment of the present invention can effectively prevent the exhibits from falling over through the movable parts when the self-moving vending robot moves.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a self-moving vending robot, a control method and an interaction method. Background Art

[0002] With the continuous development of science and technology, a mobile vending machine that can be moved to the customer's side has appeared in places such as shopping malls and office buildings. One or more commodities to be sold are displayed in the mobile vending machine.

[0003] The goods displayed in the existing mobile vending machines are always tilted due to various reasons. For example, when the mobile vending machine passes a threshold or stops suddenly, the displayed goods are easy to fall over, and if the hatch is not closed tightly, the goods are easy to fall out of the mobile vending machine. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a self-moving vending robot, a control method and an interaction method that solve the above problems.

[0005] In one embodiment of the present invention, a self-moving vending robot is provided, comprising:

[0006] A shelf for placing exhibits;

[0007] A cover plate, arranged on the upper part of the placement rack;

[0008] A movable base is arranged at the bottom of the placement rack to drive the self-moving vending robot to move;

[0009] It is characterized in that

[0010] The placement rack is provided with a movable part, and the movable part performs an action to prevent the exhibit from tipping over.

[0011] Accordingly, in one embodiment of the present invention, a self-moving vending robot is provided, comprising: a placement rack for placing exhibits;

[0012] A movable shelf is arranged on the placement rack;

[0013] The movable shelf has a first position where it abuts against the top of the exhibit in the rack and the upper shelf or the cover of the rack, and a second position where there is a gap between the top of the exhibit in the rack and the upper shelf or the cover.

[0014] Accordingly, in one embodiment of the present invention, a control method for a self-moving vending robot is provided, comprising:

[0015] Detecting the working status of the self-moving vending robot;

[0016] According to the working state, controlling the movable layer plate to move to a corresponding position;

[0017] Wherein, the movable shelf is arranged on the placement rack of the self-moving vending robot.

[0018] Accordingly, in one embodiment of the present invention, a self-moving vending robot is provided, comprising:

[0019] A shelf for placing exhibits;

[0020] A position limiting and shaping bracket matched with the placement rack is arranged on the periphery of the placement rack;

[0021] The position-limiting and shaping bracket can move relative to the placement rack, and has a third position for preventing the exhibits in the placement rack from tipping over, and a fourth position for conveniently taking out the exhibits.

[0022] Accordingly, in one embodiment of the present invention, a control method for a self-moving vending robot is provided, comprising:

[0023] Detecting the working status of the self-moving vending robot;

[0024] According to the working state, the position limiting and shaping bracket is controlled to move to a corresponding position;

[0025] The position limiting and shaping bracket is arranged on the periphery of the placement rack of the self-moving vending robot, and has a third position for preventing the exhibits in the placement rack from falling over and a fourth position for facilitating the taking of the exhibits.

[0026] Accordingly, in one embodiment of the present invention, a self-moving vending robot is provided, comprising:

[0027] A shelf for placing exhibits;

[0028] An anti-dumping device is arranged on the placement rack;

[0029] An interactive device is arranged on the placement rack, and is used to respond to an interactive event triggered by a user on the self-moving delivery receiving robot, determine the behavioral action of the anti-dumping device according to the interactive event; and control the anti-dumping device to perform the behavioral action.

[0030] Accordingly, in one embodiment of the present invention, there is provided an interaction method of a self-moving vending robot, comprising:

[0031] In response to an interaction event triggered by a user on the self-moving vending robot, determining a behavior action of an anti-dumping device provided on the self-moving vending robot according to the interaction event;

[0032] Control the anti-dumping device to perform the behavior action.

[0033] The technical solution provided by the embodiment of the present invention can effectively prevent the exhibits from falling over when the self-moving vending robot moves, and facilitate users to take the exhibits when the self-moving vending robot stops moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the structure of a self-moving vending robot provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the structure of a self-moving vending robot provided by another embodiment of the present invention;

[0037] Figure 3 A schematic flow chart of a control method for a self-moving vending robot provided by an embodiment of the present invention;

[0038] Figure 4 A schematic structural diagram of a self-moving vending robot provided by another embodiment of the present invention;

[0039] Figure 5 A schematic flow chart of a control method for a self-moving vending robot provided by yet another embodiment of the present invention;

[0040] Figure 6 A schematic flow chart of an interactive method for a self-moving vending robot provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0042] In some processes described in the specification, claims and the above-mentioned figures of the present invention, multiple operations that appear in a specific order are included, and these operations may not be executed in the order in which they appear in this article or may be executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish between different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., and do not represent the order of precedence, nor do they limit the "first" and "second" to be different types.

[0043] In the prior art, when the self-propelled vending robot passes over a ridge or makes an emergency stop, the displayed goods are easily dumped, and if the hatch is not closed tightly, the goods are easily dropped out of the self-propelled vending robot.

[0044] In view of the above problems, the present invention provides a self-moving vending robot, a control method and an interaction method to solve the above problems.

[0045] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] Figure 1 FIG. 1 is a schematic diagram of the structure of a self-moving vending robot provided by an embodiment of the present invention. Figure 1 As shown, Figure 1 shown.

[0047] The self-moving vending robot comprises: a placement rack 10, a cover plate 101 and a movable base 102. The placement rack 10 is used to place exhibits. The cover plate 101 is arranged on the upper part of the placement rack 10. The movable base 102 is arranged at the bottom of the placement rack 10 to drive the self-moving vending robot to move. The placement rack 10 is provided with a movable part 103, and the movable part 103 performs an action to prevent the exhibits from falling over.

[0048] The technical solution provided by the embodiment of the present invention can effectively prevent the exhibits from falling over through the movable part 103 when the self-moving vending robot moves, and facilitate users to take the exhibits when the self-moving vending robot stops moving.

[0049] Further, the action includes movement in at least one of the horizontal and vertical directions. For example, in an achievable embodiment of the present invention, the movable member 103 includes one of a movable shelf, a limiting shaping bracket, a telescopic device, or a combination thereof. For example, when the movable member 103 is a movable shelf, the movable shelf can be moved toward the cover 101 to a first position, and the top of the exhibit in the placement rack 10 is abutted against the upper shelf or the cover 101 to prevent the exhibit from tipping over. The movable shelf can be moved toward the movable base 102 to a second position, and the top of the exhibit in the placement rack 10 is separated from the upper shelf or the cover 101 to facilitate the removal of the exhibit and tipping over. The action of the movable shelf is to move in the vertical direction.

[0050] When the movable member 103 is a position-limiting and shaping bracket, the position-limiting and shaping bracket can move toward the cover plate 101 to the center of gravity of the exhibit to prevent the exhibit from tipping over. The position-limiting and shaping bracket can move toward the movable base 102 to the bottom of the exhibit to facilitate taking the exhibit out of the way of tipping over. The action mode of the position-limiting and shaping bracket is vertical movement.

[0051] When the movable member 103 is a telescopic device, the telescopic device includes one or a combination of a horizontal telescopic device and a vertical telescopic device. The horizontal telescopic device and the vertical telescopic device can be extended in the horizontal direction and the vertical direction of the exhibit respectively to prevent the exhibit from falling. The horizontal telescopic device and the vertical telescopic device can be retracted in the horizontal direction and the vertical direction of the exhibit respectively to facilitate the taking of the exhibit from falling. Among them, the action mode of the horizontal telescopic device is to move in the horizontal direction, and the action mode of the vertical telescopic device is to move in the vertical direction.

[0052] Figure 2 A schematic diagram of the structure of a self-moving vending robot provided by another embodiment of the present invention is shown in FIG. Figure 2 shown.

[0053] The self-moving vending robot includes: a placement rack 10 for placing exhibits. A movable shelf 11 is arranged on the placement rack 10. The movable shelf 11 has a first position where the top of the exhibit in the placement rack 10 abuts against the upper shelf or the cover 101 of the placement rack 10, and a second position where there is a gap between the top of the exhibit in the placement rack 10 and the upper shelf or the cover 101. When the movable shelf 11 moves to the first position, the top of the exhibit abuts against the upper shelf or the cover 101 of the placement rack 10, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 clamp the exhibit, which can prevent the exhibit from tipping over when the self-moving vending robot moves. At the same time, when the movable layer 11 moves to the second position, there is a gap between the top of the exhibit and the upper layer or the cover 101 of the rack 10, and the movable layer 11 and the upper layer or the cover 101 of the rack 10 are released to clamp the exhibit, which can facilitate users to take the exhibit from the self-moving vending robot. When the movable layer 11 has only one layer, when the movable layer 11 moves to the first position, the top of the exhibit only abuts against the cover 101 of the rack 10.

[0054] It should be noted that the movable shelf 11 moves upwards, and can also move downwards. Specifically, when the movable shelf 11 moves to the first position, the movable shelf 11 abuts against the top of the exhibit on the lower shelf, and the movable shelf 11 and the lower shelf clamp the exhibit. When the movable shelf 11 moves to the second position, there is a gap between the movable shelf and the top of the exhibit on the lower shelf.

[0055] Furthermore, the self-moving vending robot further comprises: a hatch, which is arranged on the placement rack. A driving component 30 provides power to the hatch and the movable shelf 11. The driving component 30 drives the hatch to open and drives the movable shelf 11 to move from the first position to the second position; the driving component drives the hatch to close and drives the movable shelf 11 to move from the second position to the first position.

[0056] For example, in the initial state, the hatch of the self-mobile vending robot is closed, the self-mobile vending robot moves back and forth, the movable shelf 11 is at the first position, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 clamp the exhibit. When a customer stops the self-mobile vending robot to purchase items, the drive component 30 drives the hatch to open and drives the movable shelf 11 to move to the second position, so that there is a gap between the top of the exhibit and the upper shelf or the cover 101, making room for the customer to take the goods. When the customer finishes shopping, the drive component 30 drives the hatch to close and drives the movable shelf 11 from the second position to the first position, and the self-mobile vending robot continues to move back and forth.

[0057] Furthermore, the driving assembly 30 includes: a power source 31, which is arranged on the placement rack 10. A first transmission member, one end of which is connected to the power source 31, and the other end is connected to the cabin door. A second transmission member 32, one end of which is connected to the power source 31, and the other end is connected to the movable layer 11. One achievable way is that the power source 31 includes a motor and a reducer, the motor is connected to the reducer, and the reducer is connected to the first transmission member and the second transmission member 32. The motor provides power, and the reducer can adjust the speed of the motor to a suitable speed so as to transmit it to the first transmission member and the second transmission member 32, thereby avoiding the motor from rotating too fast and affecting the movement of the cabin door and the movable layer 11. In this embodiment, the first transmission member is not shown in the figure, and the first transmission member may include but is not limited to belts, racks, chains and other devices.

[0058] Furthermore, in an achievable embodiment of the present invention, the second transmission member 32 includes: a lead screw 321 and a cantilever bracket 322. The lead screw 321 is connected to the power source 31, specifically, the lead screw 321 is connected to the reducer, and the reducer transmits the driving force of the motor to the lead screw 321. The cantilever bracket 322 is arranged on the lead screw, and can move along the axis of the lead screw 321 when the lead screw 321 rotates. The cantilever bracket 322 is connected to the movable layer 11. When the cantilever bracket 322 moves along the axis of the lead screw 321, it drives the movable layer 11 to move, so that the movable layer 11 can be switched between the first position and the second position. In addition to being realized by the lead screw 321, the second transmission member 32 can also be realized by, but not limited to, belts, racks, chains and other devices.

[0059] Furthermore, in an achievable embodiment of the present invention, the self-moving vending robot further includes: a position-limiting and shaping bracket 20, which is arranged on the periphery of the placement rack 10. The position-limiting and shaping bracket 20 can move relative to the placement rack 10, and has a third position for preventing the exhibits in the placement rack 10 from tipping over, and a fourth position for conveniently taking the exhibits. By setting the position-limiting and shaping bracket 20, when the position-limiting and shaping bracket 20 moves to the third position, the exhibits can be prevented from tipping over when the self-moving vending robot moves. At the same time, when the position-limiting and shaping bracket 20 moves to the fourth position, it is convenient for users to take the exhibits from the self-moving vending robot.

[0060] In an achievable embodiment, when the movable layer 11 moves to the first position, the position limiting and shaping bracket 20 moves to the third position. While the exhibits are clamped by the movable layer 11 and the upper layer or the cover 101 of the placement rack 10, the position limiting and shaping bracket 20 blocks the exhibits, thereby achieving double anti-dumping protection. The position limiting and shaping bracket 20 and the movable layer 11 achieve a double anti-dumping effect.

[0061] When the movable shelf moves to the second position, the limiting shaping bracket moves to the fourth position. When the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 are released to clamp the exhibit, the limiting shaping bracket 20 makes room for the user to take the exhibit. The power for the movement of the shelf 11 may come from the driving assembly 30. The driving assembly 30 also includes a third transmission member, one end of which is connected to the power source 31, and the other end is connected to the shelf 11. The implementation method of the third transmission member may refer to the implementation method of the second transmission member 32.

[0062] In an achievable embodiment, the position-limiting and shaping bracket 20 has the third position that moves to the center of gravity of the exhibit. When the position-limiting and shaping bracket 20 moves to the third position, the position-limiting and shaping bracket 20 blocks the exhibit to prevent the exhibit from tipping over. Meanwhile, the position-limiting and shaping bracket 20 can also correct the exhibit that is not properly placed during the process of moving to the third position.

[0063] The limiting and shaping bracket 20 is moved to the fourth position to make room for taking out the exhibit. Therefore, there are many ways to implement the fourth position, including but not limited to providing the limiting and shaping bracket 20 with a fourth position that is moved above or below the exhibit, or a fourth position that is located above or below the exhibit, or a fourth position that is hidden above or below the exhibit.

[0064] Furthermore, in order to effectively prevent multiple exhibits from tipping over, in an achievable embodiment of the present invention, the position-limiting and shaping bracket 20 includes a strip-shaped blocking plate. The strip-shaped blocking plates are arranged at intervals along the display depth direction of the placement rack 10. The display space can be divided into multiple spaces by the strip-shaped blocking plates, and the strip-shaped blocking plates can effectively block multiple exhibits in different spaces, so that the exhibits in different spaces do not affect each other.

[0065] Further, in an achievable embodiment of the present invention, the placement rack 10 has a display position. The display position can display the exhibits separately, and the exhibits on different display positions do not interfere with each other. In order to prevent the exhibits on the display positions from tipping over, a position-limiting and shaping bracket 20 is correspondingly provided at one display position. Further, the position-limiting and shaping bracket 20 is a semi-wrapped or fully wrapped blocking wall surrounding the outer periphery of the exhibits. For example, the position-limiting and shaping bracket 20 is an arc-shaped blocking wall, and when the arc-shaped blocking wall moves to the first position, it can block the exhibits on a display position alone. And in the process of moving to the third position, the exhibits that are not placed correctly can also be corrected. When the arc-shaped blocking wall moves to the fourth position, space is made for taking the exhibits. It should be noted that when the position-limiting and shaping bracket 20 is an arc-shaped blocking wall, when the arc-shaped blocking wall moves to the third position, it does not need to move to the center of gravity of the exhibits, and the moving position can be slightly lower or slightly higher than the center of gravity of the exhibits.

[0066] In order to facilitate the user to obtain the display information of the exhibits, further, the movable shelf 11 is provided with a sensor for sensing the exhibit information. The user can obtain the exhibit information of the exhibits through the sensor. For example, the user can obtain the number of the exhibits, the weight of the exhibits, or the price information of the exhibits through the exhibit information. One achievable method is that the sensor includes at least one of the following: a weighing sensor, a visual sensor. For example, the weight of a single exhibit can be obtained through the weighing sensor, or the total weight of all the exhibits on the movable shelf 11 can be obtained, thereby obtaining the number of the exhibits. The visual sensor can be used to obtain the commodity specifications, quantity information, price information, etc. of the exhibits.

[0067] In order to further prevent the exhibits from being displaced, the movable layer plate 11 is provided with a limiting groove for limiting the placement position of the exhibits. The exhibits are placed in the limiting grooves, and while ensuring that the exhibits are placed in the placement position, the limiting grooves can also prevent the exhibits from being displaced. The shape of the limiting grooves can be a shape that matches the shape of the exhibits. For example, if the exhibits are beverages, the limiting grooves are circular and match the bottom of the beverage bottle.

[0068] In an achievable embodiment of the present invention, the self-moving vending robot further includes: an interactive device. The interactive device is disposed on the placement rack 10, and is used to control the movable shelf 11 to move from the first position to the second position after detecting an interactive event triggered by a user; and to control the movable shelf 11 to move from the second position to the first position after detecting the user's purchase completion event. For example, when a customer stops the self-moving vending robot, it means that the user needs to purchase an item, and the movable shelf 11 needs to make room for picking up the item, that is, the movable shelf 11 moves to the second position to facilitate the customer to pick up the item. When the customer finishes shopping, that is, the movable shelf 11 needs to continue to clamp the exhibits, the limiting shaping bracket 20 moves from the second position to the first position.

[0069] Furthermore, the interaction device includes but is not limited to at least one of the following: a visual interaction module, a voice interaction module, a pressure sensor, a touch screen and a control button. For example, when the interaction device is a visual interaction module, the interaction event is triggered when it is detected that the user makes a specified action. When the interaction device is a voice interaction module, the interaction event is triggered when it is detected that the user's interactive voice is detected. When the interaction device is a pressure sensor, the interaction event is triggered when it is detected that the user touches or taps a specified area. When the interaction device touches the screen and controls the buttons, the interaction event is triggered when it is detected that the user touches the specified touch screen and control buttons.

[0070] In summary, the technical solution provided by the embodiment of the present invention, on the one hand, by providing the movable shelf 11, when the movable shelf 11 moves to the first position, it can prevent the exhibits from tipping over when the self-moving vending robot moves. At the same time, when the movable shelf 11 moves to the second position, it can facilitate users to take the exhibits from the self-moving vending robot.

[0071] The technical solution adopted by the present invention is described below in conjunction with specific application scenarios to facilitate understanding.

[0072] In the initial state, the hatch of the self-mobile vending robot is closed, the self-mobile vending robot moves back and forth, and the movable shelf 11 is at the first position.

[0073] When the user stops the self-moving vending robot through the interactive device to purchase an item, an interactive event is triggered. At this time, the driving component 30 drives the hatch to open and drives the movable layer plate 11 to move from the first position to the second position, so that there is a gap between the top of the exhibit and the upper layer plate or the cover plate 101, leaving space for taking the item. When the customer takes out the exhibit and finishes shopping, the interactive device detects the user's purchase completion event, and the driving component 30 drives the hatch to close and drives the movable layer plate 11 to move from the second position to the first position, and the self-moving vending robot continues to move back and forth.

[0074] Figure 3 The flowchart of the control method of the self-moving vending robot provided by one embodiment of the present invention is shown in FIG. The execution subject of the method provided by this embodiment may be a controller, and the controller may be the controller of the self-moving vending robot, which is not specifically limited by the embodiment of the present invention. The method provided by this embodiment needs to be implemented based on the structures provided by the above embodiments. Specifically, the method includes:

[0075] S101: Detecting the working status of the self-moving vending robot;

[0076] S102: According to the working state, controlling the movable layer to move to a corresponding position;

[0077] Wherein, the movable shelf is arranged on the placement rack of the self-moving vending robot.

[0078] By moving the movable layer plate 11 to a corresponding position, the exhibits can be prevented from falling over. The movable layer plate 11 can be moved upward or downward.

[0079] Further, in S102, according to the working state, controlling the movable shelf 11 to move to a corresponding position includes: when the working state is the traveling state, controlling the movable shelf 11 to move to the first position so that the top of the exhibit abuts against the upper shelf or the cover 101 of the placement rack 10. When the working state is the selling state, controlling the movable shelf 11 to move to the second position so that there is a gap between the top of the exhibit and the upper shelf or the cover 101.

[0080] Taking the movable shelf 11 moving toward the upper shelf as an example, when the movable shelf 11 moves to the first position, the top of the exhibit abuts against the upper shelf 11 or the cover 101 of the placement rack 10, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 clamp the exhibit. When the movable shelf 11 moves to the second position, there is a gap between the top of the exhibit and the upper shelf or the cover 101, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 release the clamping of the exhibit, so that the user can take the exhibit.

[0081] It should be noted here that the specific implementation of the structural features involved in this embodiment and the connection relationship between the various structural features can refer to the corresponding contents in the above embodiments, which will not be repeated here.

[0082] Furthermore, the control method further includes: according to the working state, controlling the position-limiting and shaping bracket 20 to move to a corresponding position. The position-limiting and shaping bracket 20 is arranged around the placement rack 10. The position-limiting and shaping bracket 20 can move relative to the placement rack, and has a third position for preventing the exhibits in the placement rack 10 from falling over and a fourth position for conveniently taking the exhibits.

[0083] The position-limiting and shaping bracket 20 is controlled to move to a corresponding position to prevent the exhibits from falling or shifting. Specifically, when the position-limiting and shaping bracket 20 moves to the third position, the exhibits can be prevented from falling when the self-moving vending robot moves. At the same time, when the position-limiting and shaping bracket 20 moves to the fourth position, it is convenient for users to take the exhibits from the self-moving vending robot.

[0084] Further, controlling the position limiting and shaping bracket 20 to move to a corresponding position includes:

[0085] When the working state is the moving state, the limiting shaping bracket 20 is controlled to move to the third position to prevent the exhibits in the placement rack 10 from falling over. When the self-moving vending robot passes over a ridge or makes an emergency stop, the displayed goods are prone to falling over. If the hatch is not closed tightly, the goods are prone to falling out of the self-moving vending robot. The limiting shaping bracket 20 moves to the third position to prevent the exhibits in the placement rack 10 from falling over. For example, the limiting shaping bracket 20 moves to the third position at the center of gravity of the exhibits. The limiting shaping bracket 20 blocks the exhibits to prevent them from falling over. At the same time, the limiting shaping bracket 20 can also correct the exhibits that are not placed correctly during the process of moving to the third position.

[0086] When the working state is the selling state, the position limiting and shaping bracket 20 is controlled to move to the fourth position to facilitate the taking of the exhibit. When the self-moving vending robot is in the selling state, that is, the self-moving vending robot is in the stopped state, the position limiting and shaping bracket 20 moves to the fourth position to make room for taking the exhibit. There are many ways to implement the fourth position, including but not limited to the position limiting and shaping bracket 20 moving to the fourth position above or below the exhibit, or the fourth position located above or below the exhibit, or the fourth position hidden above or below the exhibit.

[0087] Figure 4 This is a schematic diagram of the structure of a self-moving vending robot provided by another embodiment of the present invention. The difference between the self-moving vending robot provided by this embodiment and the structures provided by the above embodiments is that the display items are prevented from falling over by a limiting shaping bracket 20. Specifically, the self-moving vending robot includes:

[0088] The placement rack 10 is used to place exhibits. The limiting and shaping bracket 20 matched with the placement rack 10 is arranged on the periphery of the placement rack 10. The limiting and shaping bracket 20 can move relative to the placement rack 10, and has a third position to prevent the exhibits in the placement rack 10 from tipping over and a fourth position to facilitate taking the exhibits. By setting the limiting and shaping bracket 20, when the limiting and shaping bracket 20 moves to the third position, the exhibits can be prevented from tipping over when the self-moving vending robot moves. At the same time, when the limiting and shaping bracket 20 moves to the fourth position, it is convenient for users to take the exhibits from the self-moving vending robot.

[0089] In an achievable embodiment, the position-limiting and shaping bracket 20 has the third position that moves to the center of gravity of the exhibit. When the position-limiting and shaping bracket 20 moves to the third position, the position-limiting and shaping bracket 20 blocks the exhibit to prevent the exhibit from tipping over. Meanwhile, when the position-limiting and shaping bracket 20 moves to the third position, it can also correct the exhibit that is not properly placed.

[0090] The limiting and shaping bracket 20 is moved to the fourth position to make room for taking out the exhibit. Therefore, there are many ways to implement the fourth position, including but not limited to providing the limiting and shaping bracket 20 with a fourth position that is moved above or below the exhibit, or a fourth position that is located above or below the exhibit, or a fourth position that is hidden above or below the exhibit.

[0091] Furthermore, in order to effectively prevent multiple exhibits from tipping over, in an achievable embodiment of the present invention, the position-limiting and shaping bracket 20 includes a strip-shaped blocking plate. The strip-shaped blocking plates are arranged at intervals along the display depth direction of the placement rack 10. The display space can be divided into multiple spaces by the strip-shaped blocking plates, and the strip-shaped blocking plates can effectively block multiple exhibits in different spaces, so that the exhibits in different spaces do not affect each other.

[0092] Further, in an achievable embodiment of the present invention, the placement rack 10 has a display position. The display position can display the exhibits separately, and the exhibits on different display positions do not interfere with each other. In order to prevent the exhibits on the display positions from tipping over, a position-limiting and shaping bracket 20 is correspondingly provided at one display position. Further, the position-limiting and shaping bracket 20 is a semi-wrapped or fully wrapped blocking wall surrounding the outer periphery of the exhibits. For example, the position-limiting and shaping bracket 20 is an arc-shaped blocking wall, and when the arc-shaped blocking wall moves to the first position, it can block the exhibits on a display position alone. And in the process of moving to the third position, the exhibits that are not placed correctly can also be corrected. When the arc-shaped blocking wall moves to the fourth position, space is made for taking the exhibits. It should be noted that when the position-limiting and shaping bracket 20 is an arc-shaped blocking wall, when the arc-shaped blocking wall moves to the third position, it does not need to move to the center of gravity of the exhibits, and the moving position can be slightly lower or slightly higher than the center of gravity of the exhibits.

[0093] In order to further save the user's time in purchasing goods and facilitate the user to take the displayed goods on the placement rack 10, continue to refer to Figure 4 In an achievable embodiment of the present invention, the self-moving vending robot further includes: a hatch (not shown in the figure), which is arranged on the placement rack 10. A driving component 30 provides power to the hatch and the position limiting and shaping bracket 20. The driving component 30 drives the hatch to open and drives the position limiting and shaping bracket 20 to move from the third position to the fourth position; the driving component 30 drives the hatch to close and drives the position limiting and shaping bracket 20 to move from the fourth position to the third position.

[0094] For example, in the initial state, the hatch of the self-moving vending robot is closed, the self-moving vending robot moves back and forth, the limiting shaping bracket 20 is at the third position, and the limiting shaping bracket 20 is located at the center of gravity of the exhibit to prevent the exhibit from tipping over.

[0095] When a customer stops the self-moving vending robot to purchase items, the driving component 30 drives the hatch to open and drives the position-limiting and shaping bracket 20 to move to the fourth position. The position-limiting and shaping bracket 20 moves to the bottom of the exhibit to make room for the customer to take the goods. When the customer finishes shopping, the driving component 30 drives the hatch to close and drives the position-limiting and shaping bracket 20 to move from the bottom of the exhibit to the third position, and the self-moving vending robot continues to move back and forth. When the position-limiting and shaping bracket 20 moves from the bottom of the exhibit to the third position, it also corrects the exhibit that is not in the correct position.

[0096] Further, the driving assembly 30 includes: a power source 31, which is arranged on the placement rack 10. A first transmission member, one end of which is connected to the power source 31, and the other end is connected to the cabin door. A second transmission member 32, one end of which is connected to the power source 31, and the other end is connected to the limiting and shaping bracket 20. One achievable way is that the power source 31 includes a motor and a reducer, the motor is connected to the reducer, and the reducer is connected to the first transmission member and the second transmission member 32. The motor provides power, and the reducer can adjust the speed of the motor to a suitable speed so as to transmit it to the first transmission member and the second transmission member 32, thereby avoiding the motor from rotating too fast and affecting the movement of the cabin door and the limiting and shaping bracket 20. In this embodiment, the first transmission member is not shown in the figure, and the first transmission member may include but is not limited to belts, racks, chains and other devices.

[0097] Furthermore, in an achievable embodiment of the present invention, the second transmission member 32 includes: a lead screw 321 and a cantilever bracket 322. The lead screw 321 is connected to the power source 31, specifically, the lead screw 321 is connected to the reducer, and the reducer transmits the driving force of the motor to the lead screw 321. The cantilever bracket 322 is arranged on the lead screw, and can move along the axis of the lead screw 321 when the lead screw 321 rotates. The cantilever bracket 322 is connected to the position limiting and shaping bracket 20. When the cantilever bracket 322 moves along the axis of the lead screw 321, it drives the position limiting and shaping bracket 20 to move, so that the position limiting and shaping bracket 20 is converted between the first position and the second position. In addition to being realized by the lead screw 321, the second transmission member 32 can also be realized by, but not limited to, belts, racks, chains and other devices.

[0098] In summary, the technical solution provided by the embodiment of the present invention, on the one hand, by setting the limiting and shaping bracket 20, when the limiting and shaping bracket 20 moves to the first position, it can prevent the display items from tipping over when the self-moving vending robot moves. At the same time, when the limiting and shaping bracket 20 moves to the second position, it can facilitate users to take the display items from the self-moving vending robot.

[0099] The technical solution adopted by the present invention is described below in conjunction with specific application scenarios to facilitate understanding.

[0100] In the initial state, the hatch of the self-moving vending robot is closed, the self-moving vending robot moves back and forth, and the limiting and shaping bracket 20 is at the first position.

[0101] When the user stops the self-moving vending robot through the interactive device and needs to buy an item, a purchase event is triggered. At this time, the driving component 30 drives the hatch to open while driving the limiting and shaping bracket 20 to move from the first position to the second position, and the limiting and shaping bracket 20 moves to the bottom of the exhibit to make room for picking up. When the customer takes out the exhibit and finishes shopping, after the interactive device detects the user's purchase completion event, the driving component 30 drives the hatch to close while driving the limiting and shaping bracket 20 to move from the bottom of the exhibit to the first position, and the self-moving vending robot continues to move back and forth. When the limiting and shaping bracket 20 moves from the bottom of the exhibit to the first position, it also corrects the exhibit that is not in the correct position.

[0102] Figure 5 A flowchart of a control method for a self-moving vending robot provided by another embodiment of the present invention. The execution subject of the method provided by this embodiment may be a controller, and the controller may be a controller of the self-moving vending robot, which is not specifically limited in this embodiment of the present invention. The method provided by this embodiment needs to be implemented based on the structures provided by the above embodiments. Specifically, the method includes:

[0103] S201: Detecting the working status of the self-moving vending robot;

[0104] S202: According to the working state, controlling the position limiting and shaping bracket 20 to move to a corresponding position;

[0105] The position limiting and shaping bracket 20 is arranged on the periphery of the placement rack 10 of the self-moving vending robot, and has a third position for preventing one side of the exhibit in the placement rack 10 from tipping over and a fourth position for conveniently taking the exhibit.

[0106] The position of the limiting and shaping bracket 20 is controlled to prevent the exhibits from falling or shifting. Specifically, when the limiting and shaping bracket 20 moves to the third position, the exhibits can be prevented from falling when the self-moving vending robot moves. At the same time, when the limiting and shaping bracket 20 moves to the fourth position, it is convenient for users to take the exhibits from the self-moving vending robot.

[0107] It should be noted here that the specific implementation of the structural features involved in this embodiment and the connection relationship between the various structural features can refer to the corresponding contents in the above embodiments, which will not be repeated here.

[0108] Furthermore, in the above S102, according to the working state, controlling the position limiting and shaping bracket 20 to move to a corresponding position includes:

[0109] When the working state is the moving state, the limiting shaping bracket 20 is controlled to move from the fourth position to the third position. When the self-moving vending robot passes over a ridge or makes an emergency stop, the displayed goods are prone to tipping over. If the hatch is not closed tightly, the goods are prone to fall out of the self-moving vending robot. The limiting shaping bracket 20 moves from the fourth position to the third position. For example, the limiting shaping bracket 20 moves to the third position at the center of gravity of the exhibit. The limiting shaping bracket 20 blocks the exhibit to prevent the exhibit from tipping over. At the same time, the limiting shaping bracket 20 can also correct the exhibit that is not properly placed during the process of moving to the third position.

[0110] When the working state is the selling state, the position limiting and shaping bracket 20 is controlled to move from the third position to the fourth position. When the self-moving vending robot is in the stopped state, the position limiting and shaping bracket 20 moves to the fourth position to make room for taking the exhibit. There are many ways to implement the fourth position, including but not limited to the position limiting and shaping bracket 20 moving to the fourth position above or below the exhibit, or the fourth position located above or below the exhibit, or the fourth position hidden above or below the exhibit.

[0111] Furthermore, another achievable embodiment of the present invention further provides a self-moving vending robot. Specifically, the self-moving vending robot comprises:

[0112] The placement rack 10 is used to place exhibits. The anti-dumping device is arranged on the placement rack 10. The interactive device is arranged on the placement rack 10, and is used to respond to an interactive event triggered by a user on the self-moving delivery robot, determine the behavior of the anti-dumping device according to the interactive event, and control the anti-dumping device to perform the behavior. By setting the anti-dumping device, the exhibits placed in the anti-dumping rack can be prevented from tipping over when the self-moving vending robot moves.

[0113] Furthermore, the self-moving vending robot further comprises: a hatch, which is arranged on the placement rack 10 to accommodate the exhibits in a closed space. The interactive device is connected to the hatch, and determines the behavior of the hatch according to the interactive event; and controls the hatch to open and close according to the determined behavior.

[0114] For example, the anti-dumping device is a movable shelf 11, which is arranged on the placement rack 10. The movable shelf 11 has a first position where the top of the exhibit in the placement rack 10 abuts against the upper shelf or the cover 101 of the placement rack 10, and a second position where there is a gap between the top of the exhibit in the placement rack 10 and the upper shelf or the cover 101. And controlling the anti-dumping device to perform the behavior action includes: controlling the movable shelf to move from the first position to the second position, so that there is a gap between the top of the exhibit on the movable shelf 11 and the upper shelf or the cover 101, the movable shelf 11 and the upper shelf or the cover 101 of the placement rack release the clamping of the exhibit, so that the user can take the exhibit, and at the same time controlling the hatch to open. And controlling the movable shelf to move from the second position to the first position. When the movable layer plate 11 moves to the first position, the top of the exhibit is abutted against the upper layer plate or the cover plate 101 of the placement rack 10. The movable layer plate 11 and the upper layer plate or the cover plate 101 of the placement rack 10 clamp the exhibit, thereby preventing the exhibit from tipping over when the self-moving vending robot moves, and controlling the hatch to close at the same time.

[0115] For another example, the anti-dumping device is a position-limiting and shaping bracket 20, which is arranged on the periphery of the placement rack 10 and can move relative to the placement rack 10, and has a third position for preventing one side of the exhibit in the placement rack 10 from tipping over and a fourth position for convenient access. And controlling the anti-dumping device to perform the action includes: controlling the position-limiting and shaping bracket 20 to move from the third position to the fourth position to make room for taking the exhibit, making it convenient for the user to take the exhibit, and controlling the hatch to open. And controlling the position-limiting and shaping bracket 20 to move from the fourth position to the third position so that the position-limiting and shaping bracket 20 blocks the exhibit, preventing the exhibit from tipping over, and controlling the hatch to close. When the position-limiting and shaping bracket 20 moves to the third position, it can also correct the exhibit that is not properly placed.

[0116] Figure 6 The flowchart of the interactive method of the self-moving vending robot provided by one embodiment of the present invention is shown in FIG. The execution subject of the method provided by this embodiment may be a controller, and the controller may be the controller of the self-moving vending robot, which is not specifically limited by the embodiment of the present invention. The method provided by this embodiment needs to be implemented based on the structures provided by the above embodiments. Specifically, the method includes:

[0117] S301: In response to an interaction event triggered by a user on the self-moving vending robot, determining a behavior action of an anti-dumping device provided on the self-moving vending robot according to the interaction event;

[0118] S302: Control the anti-dumping device to perform the behavior action.

[0119] Wherein, the anti-dumping device includes a limiting shaping bracket 20 or a movable shelf 11. When the anti-dumping device is a movable shelf 11, the movable shelf 11 has a first position where the top of the exhibit in the shelf abuts against the upper shelf or the cover 101 of the shelf 10 and a second position where there is a gap between the top of the exhibit and the upper shelf or the cover 101; wherein the self-moving vending robot includes a shelf 10, and the shelf 10 is provided with a movable shelf 11 arranged on the shelf 10. And determining the behavior of the anti-dumping device provided on the self-moving vending robot according to the interaction event, including: when the interaction event is a purchase event, controlling the movable shelf 11 to move from the first position to the second position;

[0120] When the interaction event is a payment event, the movable layer plate 11 is controlled to move from the second position to the first position.

[0121] Specifically, when the interactive event is a purchase event, the movable shelf 11 moves to the second position, so that there is a gap between the top of the exhibit on the movable shelf 11 and the upper shelf or the cover 101, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 release the clamping of the exhibit, so that the user can take the exhibit. It should be noted that the shelf 11 can move upward or downward.

[0122] When the interactive event is a payment event, the movable shelf 11 moves to the first position, so that the top of the exhibit on the movable shelf 11 is against the upper shelf or the cover 101, and the movable shelf 11 and the upper shelf or the cover 101 of the placement rack 10 clamp the exhibit, which can prevent the exhibit from tipping over when the self-moving vending robot moves.

[0123] The anti-dumping device is a position-limiting and shaping bracket 20, the self-moving vending robot includes a placement rack 10, the position-limiting and shaping bracket 20 is arranged around the placement rack 10 and can move relative to the placement rack 10, and has a third position to prevent one side of the exhibits in the placement rack 10 from tipping over and a fourth position for convenient access. And according to the interaction event, the behavior of the anti-dumping device is determined, including: when the interaction event is a purchase event, controlling the position-limiting and shaping bracket to move from the third position to the fourth position; when the interaction event is a payment event, controlling the position-limiting and shaping bracket to move from the fourth position to the third position.

[0124] For example, when the interactive event is a purchase event, the position-limiting and shaping bracket 20 moves from the third position located at the center of gravity of the exhibit to a fourth position away from the third position to make room for the exhibit to facilitate users to take the exhibit. When the interactive event is a payment event, the position-limiting and shaping bracket 20 moves from the fourth position to the third position so that the position-limiting and shaping bracket 20 blocks the exhibit to prevent the exhibit from tipping over. At the same time, the position-limiting and shaping bracket 20 can also correct the exhibit that is not properly placed during the process of moving to the third position.

[0125] The self-moving vending robot also includes: an interactive device. The interactive device is arranged on the placement rack 10, and is used to detect interactive events triggered by users. The interactive device includes but is not limited to at least one of the following: a pressure sensor, a touch screen and control buttons, a voice interaction module and a visual interaction module. Further, for S301, the triggering method of the interactive event includes at least one of the following: when it is detected that the user touches or taps a designated area, the interactive event is triggered; when it is detected that the user touches a designated control button, the interactive event is triggered; when it is detected that the user's interactive voice is detected, the interactive event is triggered; when it is detected that the user makes a designated action, the interactive event is triggered.

[0126] Furthermore, it also includes: controlling the opening and closing of the hatch of the self-moving vending robot in response to the interaction event triggered by the user.

[0127] For example, when the interaction event is a purchase event, the hatch is controlled to be opened, and when the interaction event is a payment event, the hatch is controlled to be closed.

[0128] It should be noted here that the same or similar parts between the various embodiments in this specification can refer to each other.

[0129] The following further describes the various embodiments provided in this application in conjunction with specific application scenarios to facilitate understanding.

[0130] Application Scenario 1

[0131] The self-moving vending robot moves in the mall. The user taps the self-moving vending robot (such as the head), and the self-moving vending robot stops moving and asks the user whether he has any purchase needs. For example, the self-moving vending robot stops and speaks to the user, "Do you need help?" If the user replies "yes" or "I want to buy ** drinks", the self-moving vending robot opens the hatch, and at the same time, the movable layer in the self-moving vending robot moves downward so that there is a gap between the top of the exhibit and the upper layer or the cover of the self-moving vending robot, which is convenient for the user to take. After the user takes the exhibit and completes the payment, the self-moving vending robot closes the hatch, and at the same time, the movable layer in the self-moving vending robot moves upward so that the top of the exhibit is against the upper layer or the cover of the self-moving vending robot, and continues to move in the mall to find the next user.

[0132] Application Scenario 2

[0133] The self-mobile vending robot moves in the office area. A user nearby makes a greeting gesture to the self-mobile vending robot. After the self-mobile vending robot detects it, it moves to the user. After the user scans the purchase code on the self-mobile vending robot or touches the control on the self-mobile vending robot, selects the exhibit and completes the payment, the self-mobile vending robot opens the hatch, and at the same time, the limiting shaping bracket inside the self-mobile vending robot moves from the height of the center of gravity of the exhibit to the lower part of the exhibit to facilitate the user to take it. After the user takes the exhibit, close the hatch. After the self-mobile vending robot detects that the hatch is closed, the limiting shaping bracket moves to the center of gravity of the exhibit to prevent the exhibit from tipping over and correct the exhibit that is not placed correctly. After the limiting shaping bracket moves into place, the self-mobile vending robot continues to move in the office area to find the next user.

[0134] Application Scenario 3

[0135] The self-moving vending robot moves in the airport. In the attached picture, a user said to the self-moving vending robot: "Wangbao, wait a minute." After the self-moving vending robot detected the voice, it stopped and asked the user, "What kind of help do you need?" The user replied, "I want to buy a bottle of water." The self-moving vending robot replied, "You can complete the selection and payment of goods by operating the touch screen on my body, or you can use the APP installed on your mobile phone to complete the selection and payment of goods." After the user completes the selection and payment of the goods, the self-moving vending robot opens the door and moves the shelf and the limit-shaped bracket at the same time to facilitate the user to take it. After the user takes it and closes the door, the self-moving vending robot resets the shelf and the limit-shaped bracket to prevent the exhibits from tipping over during the movement. After the reset action is completed, the self-moving vending robot continues to move to find the next user.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-moving vending robot, comprising: A shelf for placing exhibits; A cover plate, arranged on the upper part of the placement rack; A movable base is arranged at the bottom of the placement rack to drive the self-moving vending robot to move; It is characterized in that The placement rack is provided with a movable part, and the movable part performs an action to prevent the exhibit from tipping over; wherein, the movable part includes a limiting shaping bracket, and the limiting shaping bracket is arranged at the periphery of the placement rack so as to surround the outer periphery of the exhibit; and the limiting shaping bracket can move relative to the placement rack, and has a third position to prevent the exhibit in the placement rack from tipping over and a fourth position for conveniently taking the exhibit.

2. The self-moving vending robot according to claim 1, characterized in that: The movable part also includes one of a movable layer plate and a telescopic device or a combination thereof.

3. The self-moving vending robot according to claim 1, characterized in that: The action includes moving in at least one of a horizontal direction and a vertical direction.

4. A self-moving vending robot, characterized in that: include: A shelf for placing exhibits; A movable shelf is arranged on the placement rack; A positioning and shaping bracket is arranged at the periphery of the placement rack so as to surround the periphery of the exhibit; The movable shelf has a first position where the top of the exhibit in the shelf is against the upper shelf or the cover of the shelf, and a second position where there is a gap between the top of the exhibit in the shelf and the upper shelf or the cover; The position limiting and shaping bracket can move relative to the placement rack, and has a third position for preventing the exhibits in the placement rack from falling over and a fourth position for conveniently taking out the exhibits; Among them, the power for the limiting and shaping bracket to perform the moving action is provided by the driving component on the self-moving vending robot; the power source in the driving component includes a motor and a reducer connected to the motor, and the reducer is used to adjust the rotation speed of the motor to an appropriate speed.

5. The self-moving vending robot according to claim 4, characterized in that: Also includes: A hatch, arranged on the placement rack; A driving assembly, providing power to the hatch and the movable layer respectively; Wherein, the driving component drives the cabin door to open while driving the movable shelf to move from the first position to the second position; the driving component drives the cabin door to close while driving the movable shelf to move from the second position to the first position.

6. The self-moving vending robot according to claim 5, characterized in that: The drive assembly comprises: A power source is arranged on the placement rack; A first transmission member, one end of which is connected to the power source and the other end of which is connected to the cabin door; The second transmission member has one end connected to the power source and the other end connected to the movable layer plate.

7. The self-moving vending robot according to claim 6, characterized in that: The second transmission member comprises: A lead screw connected to the power source; A cantilever bracket, arranged on the lead screw, and capable of moving along the axis of the lead screw when the lead screw rotates; The cantilever bracket is connected to the movable layer plate.

8. The self-moving vending robot according to any one of claims 4 to 7, characterized in that: When the movable layer moves to the first position, the position limiting and shaping bracket moves to the third position; When the movable layer moves to the second position, the limiting and shaping bracket moves to the fourth position.

9. The self-moving vending robot according to claim 8, characterized in that: The position limiting and shaping support has the third position moved to the center of gravity of the exhibit, and The positioning and shaping support can be moved to a fourth position located above or below the exhibit, or a fourth position located above or below the exhibit; wherein the fourth position located above or below the exhibit includes a fourth position hidden above or below the exhibit.

10. The self-moving vending robot according to claim 9, characterized in that: The position limiting and shaping bracket comprises a strip-shaped blocking plate; The strip-shaped blocking plates are arranged at intervals along the display depth direction of the placement rack.

11. The self-moving vending robot according to claim 10, characterized in that: The placement rack has a display position; One strip-shaped blocking plate is correspondingly arranged at one display position.

12. The self-moving vending robot according to claim 11, characterized in that: The positioning and shaping support is a semi-enclosed or fully-enclosed blocking wall surrounding the outer periphery of the exhibit.

13. The self-moving vending robot according to any one of claims 4 to 7, characterized in that: The movable layer is provided with a sensor for sensing the information of the exhibits.

14. The self-moving vending robot according to claim 13, characterized in that: The sensor includes at least one of the following: a weighing sensor and a visual sensor.

15. The self-moving vending robot according to any one of claims 4 to 7, characterized in that: The movable layer is provided with a limiting groove for limiting the placement position of the exhibits.

16. The self-moving vending robot according to any one of claims 4 to 7, characterized in that: Also includes: An interactive device is arranged on the placement rack, and is used to control the movable shelf to move from the first position to the second position after detecting an interactive event triggered by a user; and control the movable shelf to move from the second position to the first position after detecting a purchase completion event of the user.

17. The self-moving vending robot according to claim 16, characterized in that: The interaction device includes at least one of the following: a visual interaction module, a voice interaction module, a pressure sensor, a touch screen and a control button.

18. A control method for a self-moving vending robot, characterized in that: Applicable to a self-moving vending robot including a placement rack, a movable shelf and a limiting and shaping bracket; the method comprises: Detecting the working status of the self-moving vending robot; According to the working state, controlling the movable layer plate to move to a corresponding position; According to the working state, the limiting and shaping bracket is controlled to move to a third position for preventing the exhibits in the placement rack from falling over or to a fourth position for facilitating taking out the exhibits; Wherein, the movable shelf is arranged on the placement rack of the self-moving vending robot, and the limiting and shaping bracket is arranged on the periphery of the placement rack so as to surround the outer periphery of the exhibit.

19. The method according to claim 18, characterized in that According to the working state, controlling the movable shelf to move to a corresponding position includes: When the working state is the moving state, the movable layer plate is controlled to move to the first position so that the top of the exhibit is against the upper layer plate or the cover plate of the placement rack; When the working state is the selling state, the movable layer plate is controlled to move to the second position so that a gap exists between the top of the exhibit and the upper layer plate or the cover plate.

20. The method according to claim 18 or 19, characterized in that According to the working state, controlling the position limiting and shaping bracket to move to a third position for preventing the exhibits in the placement rack from falling over or a fourth position for conveniently taking the exhibits comprises: When the working state is the moving state, the position limiting and shaping bracket is controlled to move to the third position to prevent the exhibits in the placement rack from falling over; When the working state is the selling state, the position limiting and shaping bracket is controlled to move to the fourth position to facilitate taking the exhibit.

21. A self-moving vending robot, characterized in that: include: A shelf for placing exhibits; A position limiting and shaping bracket matched with the placement rack is arranged at the periphery of the placement rack so as to surround the periphery of the exhibit; Among them, the limiting and shaping bracket can move relative to the placement rack, and has the function of moving to a third position to prevent the exhibits in the placement rack from falling over and a fourth position to facilitate the taking of the exhibits, and the third position is the center of gravity of the exhibits; the power for the limiting and shaping bracket to perform the moving action is provided by the driving component on the self-moving vending robot; the power source in the driving component includes a motor and a reducer connected to the motor, and the reducer is used to adjust the rotation speed of the motor to an appropriate speed.

22. The self-moving vending robot according to claim 21, characterized in that: The positioning and shaping support can be moved to a fourth position located above or below the exhibit, or a fourth position located above or below the exhibit; wherein the fourth position located above or below the exhibit includes a fourth position hidden above or below the exhibit.

23. The self-moving vending robot according to claim 22, characterized in that: The position limiting and shaping bracket comprises a strip-shaped blocking plate; The strip-shaped blocking plates are arranged at intervals along the display depth direction of the placement rack.

24. The self-moving vending robot according to claim 23, characterized in that: The placement rack has a display position; One strip-shaped blocking plate is correspondingly arranged at one display position.

25. The self-moving vending robot according to claim 24, characterized in that: The positioning and shaping support is a semi-enclosed or fully-enclosed blocking wall surrounding the outer periphery of the exhibit.

26. The self-moving vending robot according to any one of claims 21 to 25, characterized in that: Also includes: A hatch, arranged on the placement rack; A driving assembly, providing power to the door and the limiting and shaping bracket respectively; Wherein, when the driving component drives the cabin door to open, it drives the limiting shaping bracket to move from the third position to the fourth position; when the driving component drives the cabin door to close, it drives the limiting shaping bracket to move from the fourth position to the third position.

27. The self-moving vending robot according to claim 26, characterized in that: The drive assembly comprises: A power source is arranged on the placement rack; A first transmission member, one end of which is connected to the power source and the other end of which is connected to the cabin door; The second transmission member has one end connected to the power source and the other end connected to the position limiting and shaping bracket.

28. The self-moving vending robot according to claim 27, characterized in that: The second transmission member comprises: A lead screw connected to the power source; A cantilever bracket, arranged on the lead screw, and capable of moving along the axis of the lead screw when the lead screw rotates; The cantilever bracket is connected to the position limiting and shaping bracket.

29. A control method for a self-moving vending robot, characterized in that: The method is applied to a self-moving vending robot including a placement rack and a position-limiting and shaping bracket, wherein the placement rack is used to place exhibits; the method comprises: Detecting the working status of the self-moving vending robot; According to the working state, the position limiting and shaping bracket is controlled to move to a corresponding position; Among them, the limiting and shaping bracket is arranged on the periphery of the placement rack of the self-moving vending robot so as to surround the outer periphery of the exhibit, and it has a third position to prevent the exhibit in the placement rack from tipping over and a fourth position to facilitate the taking of the exhibit, and the third position is the center of gravity of the exhibit; the exhibit is a commodity to be sold, and the commodity to be sold includes beverages.

30. The method according to claim 29, characterized in that According to the working state, controlling the limit shaping bracket to move to a corresponding position includes: When the working state is the traveling state, controlling the position limiting and shaping bracket to move from the fourth position to the third position; When the working state is the selling state, the limiting and shaping bracket is controlled to move from the third position to the fourth position.

31. A self-moving vending robot, characterized in that: include: A shelf for placing exhibits; An anti-dumping device is arranged on the placement rack; An interactive device, arranged on the placement rack, for responding to an interactive event triggered by a user on the self-moving vending robot, determining a behavior action of the anti-dumping device according to the interactive event; and controlling the anti-dumping device to perform the behavior action; Wherein, the anti-dumping device is a position-limiting and shaping bracket and a movable layer plate; The position to which the position-limiting and shaping bracket can move when performing the action includes: moving to a third position at the center of gravity of the exhibit in the placement rack to prevent the exhibit from tipping over; and the power for the position-limiting and shaping bracket to perform the moving action is provided by a driving component on the self-moving vending robot, the power source in the driving component includes a motor and a reducer connected to the motor, and the reducer is used to adjust the speed of the motor to a suitable speed; The movable shelf can move to positions where the action is performed including: a first position where the top of the exhibit in the rack is against the upper shelf or the cover of the rack, and a second position where there is a gap between the top of the exhibit in the rack and the upper shelf or the cover.

32. The self-moving vending robot according to claim 31, characterized in that: Also includes: A door is provided on the placement rack to accommodate the exhibits in a closed space; The interactive device is connected to the cabin door, and determines a behavior action of the cabin door according to the interactive event; and controls the opening and closing of the cabin door according to the determined behavior action.

33. An interactive method for a self-moving vending robot, characterized in that: include: In response to an interaction event triggered by a user on the self-moving vending robot, determining a behavior action of an anti-dumping device provided on the self-moving vending robot according to the interaction event; Controlling the anti-dumping device to perform the behavior action; Wherein, the anti-dumping device is a position-limiting and shaping bracket or a movable layer; When the anti-dumping device is a position-limiting and shaping bracket, the position to which it can move when performing the action includes: moving to a third position at the center of gravity of the exhibit in the rack to prevent the exhibit from tipping over; When the anti-dumping device is a movable shelf, the movable shelf can move to positions when performing the action including: a first position where the top of the exhibit in the rack is against the upper shelf or the cover of the rack, and a second position where there is a gap between the top of the exhibit in the rack and the upper shelf or the cover.

34. The method according to claim 33, characterized in that The triggering method of the interaction event includes at least one of the following: When detecting that the user touches or taps a designated area, triggering the interaction event; When detecting that the user touches a designated control key, triggering the interaction event; When the interactive voice of the user is detected, triggering the interactive event; When it is detected that the user performs a specified action, the interaction event is triggered.

35. The method according to claim 33 or 34, characterized in that The anti-dumping device is a movable layer plate, the self-moving vending robot comprises a placement rack, and the movable layer plate is arranged on the placement rack; as well as Determining a behavior action of the anti-dumping device provided on the self-moving vending robot according to the interaction event includes: When the interaction event is a purchase event, controlling the movable layer plate to move from the first position to the second position; When the interaction event is a payment event, the movable layer is controlled to move from the second position to the first position.

36. The method according to claim 33 or 34, characterized in that The anti-dumping device is a position-limiting and shaping bracket, and the self-moving vending robot includes a placement rack; the position-limiting and shaping bracket is arranged on the periphery of the placement rack so as to surround the periphery of the exhibit and move relative to the placement rack, and has a third position for preventing one side of the exhibit in the placement rack from tipping over and a fourth position for facilitating the taking of the exhibit; as well as Determining a behavior action of the anti-dumping device according to the interaction event includes: When the interaction event is a purchase event, controlling the position limiting and shaping bracket to move from the third position to the fourth position; When the interaction event is a payment event, the limiting shaping bracket is controlled to move from the fourth position to the third position.

37. The method according to claim 33 or 34, characterized in that Also includes: In response to the interactive event triggered by the user, the opening and closing of the hatch of the self-moving vending robot is controlled.

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