Addressing machine and control method thereof

Abstract

The present invention discloses an addressing machine and a control method thereof, the addressing machine comprising: a chassis, wherein a storage chamber and a delivery chamber are provided in the chassis from left to right, a storage chamber is provided with a shelf, the shelf is provided with multiple layers of delivery aisles for accommodating goods, and the delivery chamber is provided with a delivery port; a pickup table moving mechanism and a pickup table arranged on the pickup table moving mechanism are further provided in the chassis, the pickup table moving mechanism is arranged in front of the delivery aisle, and the pickup table moves horizontally or vertically through the pickup table moving mechanism; a first marking hole and a second marking hole are provided on a side of the shelf facing the pickup table moving mechanism; a laser reflection detector is provided on the pickup table, the laser reflection detector faces the side where the first marking hole and the second marking hole of the shelf are located, and the laser reflection detector is communicatively connected to the pickup table moving mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of addressing machines, and in particular relates to an addressing machine and a control method thereof. Background Art

[0002] An addressable vending machine is a machine that automatically dispenses goods based on the amount of money inserted. After receiving a purchase instruction, the vending machine uses a horizontal and vertical movement mechanism to move the pickup table to the aisle position corresponding to the target product.

[0003] In the prior art, the horizontal and vertical moving mechanisms generally use motors to drive the pickup table along tracks. Each product is located on a different layer and aisle of the vending machine, with a horizontal coordinate position X and a vertical coordinate position Y. For a certain product at a different location, its coordinate position is pre-set by the vending machine control system. After the vending machine receives a purchase instruction, the motor moves a fixed distance according to a preset number of pulses to move the pickup table to the target position.

[0004] Therefore, after the vending machine leaves the factory, the moving distance of the pickup table controlled by the vending machine is fixed and cannot be adjusted. In actual applications, since the placed goods will change, the height or width of the goods in the aisle will change, so it will be necessary to adjust the distance between two horizontally adjacent aisles or the distance between the upper and lower aisles. In this way, the moving distance of the motor needs to be adjusted. However, the existing motor's method of controlling the moving distance based on a preset number of pulses is not suitable for situations where the position of the goods changes. After the position or quantity of the goods is adjusted, the existing vending machine needs to be disassembled to calibrate and set the parameters of the main control chip.

[0005] Patent document No. 201620671363.2 discloses a pickup and lifting device for a vending machine. The device comprises a lifting frame, a conveying mechanism movably disposed within the lifting frame, a product inlet located on the lifting frame corresponding to the conveying mechanism, a diffuse reflection photoelectric switch located on one side of the product inlet, a lifting mechanism connected to the conveying mechanism on the other side of the lifting frame, and a product pickup mechanism located on the top of the lifting frame. The conveying mechanism, diffuse reflection photoelectric switch, lifting mechanism, and product pickup mechanism are each connected to a control device via wires. This solution, which is used to lift products to the pickup position, differs from the present application in terms of structure and operating principle. Summary of the Invention

[0006] The main purpose of the present invention is to provide an addressing machine and a control method thereof, aiming to solve the problem that the moving distance of the existing addressing machine's pickup table is preset and thus cannot be adapted to the position adjustment changes of the goods after leaving the factory.

[0007] To achieve the above-mentioned purpose, the present invention proposes an addressing machine, comprising: a chassis, wherein a storage chamber and a delivery chamber are provided in the chassis from left to right, a storage rack is provided in the storage chamber, the rack is provided with multiple layers of delivery aisles for accommodating goods, and the delivery chamber is provided with a delivery port; a pickup table moving mechanism and a pickup table provided on the pickup table moving mechanism are further provided in the chassis, the pickup table moving mechanism is provided in front of the delivery aisle, and the pickup table moves horizontally or vertically through the pickup table moving mechanism; a first marking hole and a second marking hole are provided on a side of the rack facing the pickup table moving mechanism, and each layer of the rack is provided with a group of first marking holes, and each group of first marking holes includes adjacent holes located at upper and lower positions respectively. Two of the first marking holes are arranged adjacent to each other, and all of the first marking holes are arranged in a vertical line, and the height of the center points of the two adjacent first marking holes corresponds to the height of the shipping aisle of this layer; each layer of the storage rack is provided with multiple groups of second marking holes, and each group of second marking holes corresponds to a shipping aisle, and each group of marking holes includes two adjacent holes located on the left and right positions respectively, and all of the second marking holes on each layer are arranged in a horizontal line, and the center points of the two adjacent second marking holes correspond to the positions of the corresponding shipping aisles; a laser reflection detector is provided on the picking platform, and the laser reflection detector faces the side where the first marking holes and the second marking holes of the storage rack are located, and the laser reflection detector is communicatively connected to the moving mechanism of the picking platform.

[0008] Preferably, the first marking hole and the second marking hole are both rectangular, the long direction of the first marking hole is consistent with the horizontal direction, and the long direction of the second marking hole is consistent with the vertical direction.

[0009] Preferably, the picking platform moving mechanism includes: a transverse conveying frame, a transverse moving pulley arranged on the transverse conveying frame, a horizontal moving drive motor for driving the transverse moving pulley, a transverse moving conveyor belt arranged on the transverse moving pulley, an adapter seat arranged on the transverse moving conveyor belt, a vertical conveying frame arranged on the adapter seat, a vertical moving pulley arranged on the vertical conveying frame, a vertical moving drive motor for driving the vertical moving pulley, and a vertical moving conveyor belt arranged on the vertical moving pulley, and the picking platform is arranged on the vertical moving conveyor belt.

[0010] Preferably, a first infrared detector is provided in the pickup platform for detecting whether there are goods in the pickup platform; the chassis is provided with an automatic door for picking up goods for opening or closing the delivery port, and the automatic door for picking up goods is provided with a second infrared detector.

[0011] Preferably, a camera is provided on one side of the retrieval platform close to the storage rack.

[0012] The present invention further provides a method for controlling the addressing machine described in any one of the above items, comprising the following steps:

[0013] S1, obtain the vertical coordinate position of the product on the shelf, including:

[0014] S11, control the object-taking platform to move in the vertical direction, and the laser emitted by the laser reflection detector moves along the straight line where the first marking hole is located.

[0015] S12, when the laser reaches the first mark hole of a certain layer, the laser will not be reflected back, and the laser reflection detector will send the first signal.

[0016] S13, after the laser leaves the first first marking hole, the laser can be reflected back from the middle part between the two first marking holes of this layer.

[0017] S14, when the laser moves to pass through the second first marking hole, the laser will not be reflected back, and the laser reflection detector will send a second signal.

[0018] S15, determining the ordinate of the midpoint between the two first marking holes according to the first signal and the second signal, which is the ordinate of the layer;

[0019] S2, obtain the horizontal coordinate position of the goods on the shelf, including:

[0020] S21, control the pick-up platform to move horizontally, and the laser emitted by the laser reflection detector moves along the straight line where all the second marking holes of the layer are located.

[0021] S22, when the laser passes through the first of a group of second marking holes, the laser will not be reflected back, and the laser reflection detector will send a third signal.

[0022] S23, after the laser leaves the first second marking hole, it can be reflected back from the middle part of the two second marking holes in this group.

[0023] S24, when the laser moves to pass through the second second marking hole, the laser will not be reflected back, and the laser reflection detector sends the fourth signal.

[0024] S25, determining the horizontal coordinate of the midpoint between the two second marking holes based on the third signal and the fourth signal, which is the horizontal coordinate of the corresponding cargo lane;

[0025] S3, according to the method of step S1 and step S2, obtain the vertical coordinate and horizontal coordinate of each cargo aisle on each floor, and store the coordinate data one by one.

[0026] S4, when a purchase order for a certain aisle is received, the coordinate data of the corresponding aisle is retrieved according to the label, and the picking platform moves according to the coordinate data to move to the target aisle position to receive the goods dropped from the shipping aisle;

[0027] S5, the picking platform moves to a position corresponding to the delivery port, and the picking automatic door automatically opens.

[0028] Preferably, the specific steps of determining the vertical coordinate of the midpoint between the two first marking holes according to the first signal and the second signal in step S15 are:

[0029] The retrieval platform is driven to move by a longitudinal movement drive motor. According to the operating speed and operating time of the longitudinal movement drive motor, when a first signal is received, the longitudinal coordinate of the first first marking hole can be obtained. When a second signal is received, the longitudinal coordinate of the second first marking hole can be obtained. Then, according to the longitudinal coordinates of the two first marking holes, the longitudinal coordinate of the midpoint of the two first marking holes can be obtained.

[0030] In step S25, the specific steps of determining the horizontal coordinate of the midpoint between the two second marking holes according to the third signal and the fourth signal are as follows:

[0031] The picking platform is driven by a horizontal moving drive motor. According to the operating speed and operating time of the horizontal moving drive motor, when the third signal is received, the horizontal coordinate of the first second marking hole can be obtained. When the fourth signal is received, the horizontal coordinate of the second second marking hole can be obtained. Then, based on the horizontal coordinates of the two second marking holes, the horizontal coordinate of the midpoint of the two second marking holes can be obtained.

[0032] Preferably, in the step S1, after the step S15, the step S16 is further included:

[0033] When the laser reflection detector sends out the second signal, the platform is controlled to return to the middle position between the two first marking holes, and it can be checked whether the height of the delivery channel at the layer where the first marking holes are located is consistent with the height of the platform at this time;

[0034] In the step S2, after the step S25, the step S26 is further included:

[0035] When the laser reflection detector pushes out the fourth signal, the picking platform is controlled to return to the middle position between the two second marking holes, and it can be checked whether the left and right positions of the shipping channel where the second marking holes are located are consistent with the left and right positions of the picking platform at this time.

[0036] Preferably, in step S5, a first infrared detector is provided in the pickup platform, and when the pickup platform detects that goods have entered and are in place, it moves toward the delivery port; and the automatic door for picking up goods is provided with a second infrared detector, and when it detects that a hand or an item has passed through the delivery port, the automatic door for picking up goods will continue to open with a delay.

[0037] Preferably, a camera is provided on one side of the picking platform close to the storage rack. In steps S1 to S3, while the goods in each shipping aisle are addressed by the laser reflection detector, the goods in each shipping aisle are photographed by the camera. The host computer of the addressing machine identifies and analyzes the photographed image to determine the type of goods, and then records the current quantity of the goods in the addressing machine in real time and uploads it to the background to facilitate replenishment according to the background data.

[0038] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0039] The addressing machine of the present invention is provided with a group of first marking holes on each layer of the rack, and each group of first marking holes includes two adjacently arranged holes. A laser reflection detector is provided on the picking table. The laser emitted by the laser reflection detector is not reflected when passing through the marking hole. By setting two adjacent marking holes, when the laser passes through the two marking holes continuously, the position of the midpoint between the two marking holes can be determined as the target position corresponding to the goods. Therefore, the vertical coordinate data of each layer can be found through the first marking hole. Similarly, a group of second marking holes is provided on each aisle of each layer of the rack, and each group of second marking holes includes two adjacently arranged holes. The horizontal coordinate data of each aisle can be found through the second marking hole. Accordingly, the location address of each product can be found by driving the picking platform to move up and down or horizontally left and right through the moving mechanism. After addressing, the address coordinate length of each product is recorded in the lower computer chip. When purchasing products subsequently, you only need to call the corresponding coordinates. Therefore, if the vending machine can still change the quantity and position of the products on the shelf after leaving the factory, just run the addressing machine to automatically find the position of each product again, without having to manually go to the background to set the motor operating parameters, etc., making the vending machine more convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0041] Figure 1 A structural diagram of an addressing machine proposed in one embodiment of the present invention;

[0042] Figure 2 for Figure 1 The structural diagram of the moving mechanism of the pickup platform in the proposed addressing machine;

[0043] Figure 3 for Figure 1Schematic diagram of the arrangement of the first marking holes on the shelf in the proposed addressing machine;

[0044] Figure 4 for Figure 1 Schematic diagram of the arrangement of the second marking holes on the shelf in the proposed addressing machine.

[0045] Description of the accompanying drawings of the present invention:

[0046] Label name Label name 1 First marking hole 8 Pick-up platform moving mechanism 2 Second marking hole 9 Pick-up table 3 chassis 81 Horizontal conveyor rack 4 storage room 82 Horizontal moving conveyor belt 5 Shipping Room 83 adapter 6 Shipping channel 84 Vertical conveyor rack 7 Shipping Port 85 Vertical moving conveyor belt DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0050] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0051] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] The present invention provides an addressing machine and a control method thereof.

[0053] Please refer to Figures 1 to 4 The addressing machine is used to automatically address goods for sale. The addressing machine includes a chassis 3, which has a storage chamber 4 and a delivery chamber 5 from left to right. The storage chamber 5 is provided with a shelf, which includes multiple layers of delivery channels 6 for accommodating goods. The delivery chamber 5 is provided with a delivery port 7. Figure 1 This is the internal structure diagram of the addressing machine proposed in this embodiment. Figure 1 The left door panel on the front side of the storage chamber 4 is omitted, the right door panel on the front side of the delivery chamber 5 is omitted, and the delivery port panel where the delivery port 7 is located and the display panel above the delivery port panel are retained.

[0054] The chassis 3 is further provided with a fetching platform moving mechanism 8 and a fetching platform 9 provided on the fetching platform moving mechanism 8. The fetching platform moving mechanism 8 is provided in front of the delivery channel 6. The fetching platform 9 is moved horizontally or vertically by the fetching platform moving mechanism 8.

[0055] The front side of the rack is provided with a first marking hole and a second marking hole.

[0056] Each layer of the rack is provided with a set of first marking holes. Each set of first marking holes includes two adjacent holes located at the upper and lower positions, respectively. All first marking holes are arranged in a vertical line. The height of the center point of the two adjacent first marking holes corresponds to the height of the shipping aisle of the layer. The vertical coordinate of the center point of the two first marking holes is the vertical coordinate of the shipping aisle of the layer.

[0057] Each layer of the rack is provided with multiple groups of second marking holes, each group of second marking holes corresponds to a shipping aisle, and each group of marking holes includes two adjacently arranged holes located on the left and right positions respectively. All the second marking holes on each layer are arranged in a horizontal straight line, and the center points of the two adjacently arranged second marking holes correspond to the positions of the corresponding shipping aisles, and the horizontal coordinates of the center points of the two second marking holes are the horizontal coordinates of the shipping aisles;

[0058] The retrieval platform is arranged on the retrieval platform moving mechanism and can be moved by the retrieval platform moving mechanism. A laser reflection detector is provided in the middle part of the retrieval platform on the side close to the storage rack. The laser reflection detector faces the storage rack and is communicated with the retrieval platform moving mechanism 8.

[0059] When the picking platform 9 moves vertically, the laser emitted by the laser reflection detector can move along the straight line where all the first marking holes 1 are located. When the picking platform 9 moves horizontally, the laser emitted by the laser reflection detector can move along the straight line where all the second marking holes 2 of a certain layer of cargo aisle are located.

[0060] See also Figure 3, Position D and Position E represent the first marking hole 1. The laser emitted by the laser reflection detector moves from the lower right to the top of the picking platform. When the laser reaches Position B, there is a reflection, and the signal received by the laser reflection detector does not change, and the signal is displayed as 0; when the laser reaches Position D, there is no reflection, and the signal received by the laser reflection detector changes, and the signal is displayed as 1; when the laser reaches Position A, there is a reflection, and the signal received by the laser reflection detector does not change compared with the previous signal, and the signal is displayed as 0; similarly, when the laser reaches Position E, there is no reflection. According to the two consecutively displayed 0 signals, Position A can be accurately found, and the vertical coordinate data of Position A can be obtained.

[0061] See also Figure 4 , D1 position and E1 position represent the second marking hole 2. The laser emitted by the laser reflection detector moves from left to right with the object-picking platform. When the laser reaches the C1 position, there is a reflection, and the signal received by the laser reflection detector does not change, and the signal is displayed as 0; when the laser reaches the E1 position, there is no reflection, and the signal received by the laser reflection detector changes, and the signal is displayed as 1; when the laser reaches the A1 position, there is a reflection, and the signal received by the laser reflection detector does not change compared with the previous signal, and the signal is displayed as 0; similarly, when the laser reaches the D1 position, there is no reflection. According to the two consecutively displayed 0 signals, the A1 position can be accurately found, and the horizontal coordinate data of the A1 position can be obtained.

[0062] Specifically in this embodiment, the first marking hole 1 and the second marking hole 2 are both rectangular. The first marking hole is arranged in an orientation that is consistent with the horizontal direction in the long direction, and the second marking hole is arranged in an orientation that is consistent with the vertical direction in the long direction. The long direction is preferably set to a long strip. For example, the length of the rectangle can be 10 mm, the width of the rectangle can be 1.5 mm, the distance between two adjacent first marking holes can be 1.5 mm, and the distance between two adjacent horizontal and vertical coordinates can be 1.5 mm. Obviously, without limitation, in some other embodiments, the first marking hole 1 and the second marking hole 2 can also be other shapes such as squares, as long as it is convenient to provide instant feedback signals when the laser passes through the two marking holes. This is not limited here.

[0063] Specifically in this embodiment, please refer to Figure 2 The platform moving mechanism includes: a transverse conveyor, 81, a transverse moving pulley provided on the transverse conveyor frame 81, and a horizontal moving drive motor (in Figure 2The bottom of the picking platform 9), a horizontal moving conveyor belt 82 arranged on the horizontal moving pulley, a transfer seat 83 arranged on the horizontal moving conveyor belt 82, a vertical conveying frame 84 arranged on the transfer seat 83, a vertical moving pulley arranged on the vertical conveying frame 84, a vertical moving drive motor for driving the vertical moving pulley, a vertical moving conveyor belt 85 arranged on the vertical moving pulley, and the picking platform 9 is arranged on the vertical moving conveyor belt 85.

[0064] Therefore, when the addressing machine host system controls the horizontal movement drive motor to operate, the horizontal movement drive motor can drive the horizontal moving conveyor belt to rotate, and then drive the adapter seat 83 and the picking table 9 on the adapter seat 83 to move horizontally together. When the addressing machine host system controls the vertical movement drive motor to operate, the vertical movement drive motor can drive the vertical moving conveyor belt to move, and then drive the picking table 9 to move vertically. Figure 2 The middle picking platform 9 is moved to the left side by the drive of the transverse moving conveyor belt 82 and is located at the bottom of the vertical conveyor frame. Figure 1 The middle picking platform 9 is driven by the transverse moving conveyor belt 82 and the vertical moving conveyor belt 85 to move to the right side of the addressing machine and a certain distance upward from the bottom.

[0065] In this embodiment, when the laser reaches the first of two adjacent marking holes (the first marking hole or the second marking hole), it can control the push of a first signal according to the change of the received signal. When the laser reaches the second marking hole, it can also control the push of a second signal according to the change of the received signal. Combined with the first signal, the position of the midpoint of the two marking holes can be determined.

[0066] Therefore, this addressing machine can find the position of the layer by controlling the laser to move vertically along the first marking hole 1, and can find the exact position of the aisle where the goods are located by controlling the laser to move horizontally along the second marking hole 2, that is, find the position of each shipping aisle 6 on each shelf. After addressing, the address length of each product is recorded only in the chip of the vending machine's lower computer. Later, when the user wants to buy a certain product, the vending machine only needs to call the corresponding coordinates to control the pickup table to move to the target position and receive the goods that fall out of the aisle.

[0067] The vending machine can automatically find the position of each product through the moving mechanism of the pickup table, that is, the position relative to the coordinate origin. After each replenishment, the specific coordinates of the product on the shelf can be known through addressing. In this way, the loading staff can change the number and position of the shelves without affecting the entire machine.

[0068] Next, based on the above-mentioned addressing machine, a control method of the addressing machine is introduced.

[0069] The control method of the addressing machine comprises the following steps:

[0070] S1, obtain the vertical coordinate position of the product on the shelf, including:

[0071] S11, control the object-taking platform to move in the vertical direction, and the laser emitted by the laser reflection detector moves along the straight line where the first marking hole is located.

[0072] S12, when the laser reaches the first mark hole of a certain layer, the laser will not be reflected back, and the laser reflection detector will send the first signal.

[0073] S13, after the laser leaves the first first marking hole, the laser can be reflected back from the middle part between the two first marking holes of this layer.

[0074] S14, when the laser moves to pass through the second first marking hole, the laser will not be reflected back, and the laser reflection detector will send a second signal.

[0075] S15, determining the ordinate of the midpoint between the two first marking holes according to the first signal and the second signal, which is the ordinate of the layer;

[0076] S2, obtain the horizontal coordinate position of the goods on the shelf, including:

[0077] S21, control the pick-up platform to move horizontally, and the laser emitted by the laser reflection detector moves along the straight line where all the second marking holes of the layer are located.

[0078] S22, when the laser passes through the first of a group of second marking holes, the laser will not be reflected back, and the laser reflection detector will send a third signal.

[0079] S23, after the laser leaves the first second marking hole, it can be reflected back from the middle part of the two second marking holes in this group.

[0080] S24, when the laser moves to pass through the second second marking hole, the laser will not be reflected back, and the laser reflection detector sends the fourth signal.

[0081] S25, determining the horizontal coordinate of the midpoint between the two second marking holes based on the third signal and the fourth signal, which is the horizontal coordinate of the corresponding cargo lane;

[0082] S3, according to the method of step S1 and step S2, obtain the vertical coordinate and horizontal coordinate of each cargo aisle on each floor, and store the coordinate data one by one.

[0083] S4, when a purchase order for a certain aisle is received, the coordinate data of the corresponding aisle is retrieved according to the label, and the picking platform moves according to the coordinate data to move to the target aisle position to receive the goods dropped from the shipping aisle;

[0084] S5, the picking platform moves to a position corresponding to the delivery port, and the picking automatic door automatically opens.

[0085] Furthermore, the specific steps of determining the vertical coordinate of the midpoint between the two first marking holes according to the first signal and the second signal in step S15 are as follows:

[0086] The retrieval platform is driven to move by a longitudinal movement drive motor. According to the operating speed and operating time of the longitudinal movement drive motor, when a first signal is received, the longitudinal coordinate of the first first marking hole can be obtained. When a second signal is received, the longitudinal coordinate of the second first marking hole can be obtained. Then, according to the longitudinal coordinates of the two first marking holes, the longitudinal coordinate of the midpoint of the two first marking holes can be obtained.

[0087] In step S25, the specific steps of determining the horizontal coordinate of the midpoint between the two second marking holes according to the third signal and the fourth signal are as follows:

[0088] The picking platform is driven by a horizontal moving drive motor. According to the operating speed and operating time of the horizontal moving drive motor, when the third signal is received, the horizontal coordinate of the first second marking hole can be obtained. When the fourth signal is received, the horizontal coordinate of the second second marking hole can be obtained. Then, based on the horizontal coordinates of the two second marking holes, the horizontal coordinate of the midpoint of the two second marking holes can be obtained.

[0089] Furthermore, in the step S1, after the step S15, the step S16 is further included:

[0090] When the laser reflection detector sends out the second signal, the platform is controlled to return to the middle position between the two first marking holes, and it can be checked whether the height of the delivery channel at the layer where the first marking holes are located is consistent with the height of the platform at this time;

[0091] In the step S2, after the step S25, the step S26 is further included:

[0092] When the laser reflection detector pushes out the fourth signal, the picking platform is controlled to return to the middle position between the two second marking holes, and it can be checked whether the left and right positions of the shipping channel where the second marking holes are located are consistent with the left and right positions of the picking platform at this time.

[0093] Furthermore, the purchase process of step S4 specifically includes:

[0094] S41, the Android host computer selects the corresponding product and completes the payment; the addressing machine slave computer receives the shipping instruction and prepares to ship;

[0095] S42, controlling the pickup platform to move to the corresponding shipping aisle, ready to receive the goods pushed from the shipping aisle;

[0096] Furthermore, the step S5 includes:

[0097] S51, the first infrared detector in the pickup platform detects whether there is any goods entering the pickup platform and whether they are in place;

[0098] S52, the pickup platform moves toward the pickup port, and at the same time, the thermally insulated and sealed automatic door on the right side of the chassis opens. After the pickup platform reaches the designated position, the automatic door opens downwards.

[0099] S53: The first infrared detector in the pickup station determines whether the goods have been taken away. If so, the automatic door of the pickup port automatically closes upwards. At the same time, the second infrared detector on the automatic door of the pickup port determines whether a hand or goods are passing by. If so, the automatic door of the pickup port remains open, thus preventing hands from being pinched and goods from being damaged.

[0100] S54, after the items are taken, the lifting system automatically returns to the system origin, and the shopping is completed.

[0101] Furthermore, in steps S1 to S3, while the goods in each shipping aisle are addressed by the laser reflection detector, the goods in each shipping aisle are photographed by the camera, and the host computer system of the addressing machine identifies and analyzes the photographed images to determine the type of goods, and then records the current quantity of the goods in the addressing machine in real time and uploads it to the background to facilitate replenishment based on the background data.

[0102] In the existing technology, the staff cannot grasp the types and quantities of various goods in the vending machine in real time. When the position of the shipping channel in the addressing machine changes or the placement of goods changes, it is more likely to make mistakes. Through the setting of the camera, the goods can be identified and uploaded to the background. In this way, after the addressing machine is used after leaving the factory, when the types and placement of goods in the addressing machine change, the number of goods in the addressing machine and the position of the goods in the addressing machine can be uploaded in real time through the camera, which is convenient for replenishment.

[0103] Furthermore, the position of the taking platform 9 when it is at the bottom layer of the rack and at one end of the bottom layer is set as the initial position, and the initial position is set as the coordinate origin.

[0104] Furthermore, specifically in this embodiment, step S1 is automatically executed upon system power-up. However, in other embodiments, the addressing machine is provided with an addressing operation button, which can be used to manually initiate step S1 as needed. Furthermore, after the addressing machine is powered on and in use, the system automatically executes step S1 each time the front door corresponding to the storage compartment is closed after each replenishment. This ensures that after each replenishment, the laser reflection detector and the access platform movement mechanism are used to address and record the products in each aisle of the shelf.

[0105] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An addressing machine, characterized in that: The machine comprises a chassis, wherein a storage room and a shipping room are provided in the chassis from left to right, wherein the storage room is provided with a shelf, wherein the shelf is provided with multiple layers of shipping channels for accommodating goods, and wherein the shipping room is provided with a shipping port; The chassis is further provided with a fetching platform moving mechanism and a fetching platform provided on the fetching platform moving mechanism, wherein the fetching platform moving mechanism is provided at the front side of the delivery channel, and the fetching platform is moved horizontally or vertically by the fetching platform moving mechanism; The side of the storage rack facing the moving mechanism of the pickup platform is provided with a first marking hole and a second marking hole. Each layer of the storage rack is provided with a group of first marking holes, each group of first marking holes includes two adjacent holes located at the upper and lower positions respectively, all of the first marking holes are arranged in a vertical line, and the height of the center points of the two adjacent first marking holes corresponds to the height of the shipping channel of the layer; Each layer of the storage rack is provided with a plurality of groups of second marking holes, each group of second marking holes corresponding to a shipping aisle, each group of marking holes including two adjacently arranged holes located on the left and right, respectively, all the second marking holes on each layer are arranged in a horizontal straight line, and the center points of the two adjacently arranged second marking holes correspond to the positions of the corresponding shipping aisles; The retrieval platform is provided with a laser reflection detector, the laser reflection detector faces the side where the first marking hole and the second marking hole of the rack are located, and the laser reflection detector is communicatively connected with the retrieval platform moving mechanism; Wherein, the addressing machine comprises the following steps: S1, obtain the vertical coordinate position of the product on the shelf, including: S11, control the object-taking platform to move in the vertical direction, and the laser emitted by the laser reflection detector moves along the straight line where the first marking hole is located. S12, when the laser reaches the first mark hole of a certain layer, the laser will not be reflected back, and the laser reflection detector will send the first signal. S13, after the laser leaves the first first marking hole, the laser can be reflected back from the middle part between the two first marking holes of this layer. S14, when the laser moves to pass through the second first marking hole, the laser will not be reflected back, and the laser reflection detector will send a second signal. S15, determining the ordinate of the midpoint between the two first marking holes according to the first signal and the second signal, which is the ordinate of the layer; S2, obtain the horizontal coordinate position of the goods on the shelf, including: S21, control the pick-up platform to move horizontally, and the laser emitted by the laser reflection detector moves along the straight line where all the second marking holes of the layer are located. S22, when the laser passes through the first of a group of second marking holes, the laser will not be reflected back, and the laser reflection detector will send a third signal. S23, after the laser leaves the first second marking hole, it can be reflected back from the middle part of the two second marking holes in this group. S24, when the laser moves to pass through the second second marking hole, the laser will not be reflected back, and the laser reflection detector sends the fourth signal. S25, determining the horizontal coordinate of the midpoint between the two second marking holes based on the third signal and the fourth signal, which is the horizontal coordinate of the corresponding cargo lane; S3, according to the method of step S1 and step S2, obtain the vertical coordinate and horizontal coordinate of each cargo aisle on each floor, and store the coordinate data one by one. S4, when a purchase order for a certain aisle is received, the coordinate data of the corresponding aisle is retrieved according to the label, and the picking platform moves according to the coordinate data to move to the target aisle position to receive the goods dropped from the shipping aisle; S5, the picking platform moves to a position corresponding to the delivery port, and the automatic door for picking up goods opens automatically.

2. The addressing machine according to claim 1, wherein: The first marking hole and the second marking hole are both rectangular, the long direction of the first marking hole is consistent with the horizontal direction, and the long direction of the second marking hole is consistent with the vertical direction.

3. The addressing machine according to claim 1, wherein: The moving mechanism of the picking platform includes: a horizontal conveying frame, a horizontal moving pulley arranged on the horizontal conveying frame, a horizontal moving drive motor for driving the horizontal moving pulley, a horizontal moving conveyor belt arranged on the horizontal moving pulley, an adapter seat arranged on the horizontal moving conveyor belt, a vertical conveying frame arranged on the adapter seat, a vertical moving pulley arranged on the vertical conveying frame, a vertical moving drive motor for driving the vertical moving pulley, and a vertical moving conveyor belt arranged on the vertical moving pulley, and the picking platform is arranged on the vertical moving conveyor belt.

4. The addressing machine according to claim 3, wherein: The pickup platform is provided with a first infrared detector for detecting whether there are goods in the pickup platform; the chassis is provided with an automatic door for picking up goods for opening or closing the delivery port, and the automatic door for picking up goods is provided with a second infrared detector.

5. The addressing machine according to claim 1, wherein: A camera is provided on one side of the taking platform close to the storage rack.

6. The addressing machine according to claim 1, wherein: The specific steps of determining the vertical coordinate of the midpoint between the two first marking holes according to the first signal and the second signal in step S15 are as follows: The retrieval platform is driven to move by a longitudinal movement drive motor. According to the operating speed and operating time of the longitudinal movement drive motor, when a first signal is received, the longitudinal coordinate of the first first marking hole can be obtained. When a second signal is received, the longitudinal coordinate of the second first marking hole can be obtained. Then, according to the longitudinal coordinates of the two first marking holes, the longitudinal coordinate of the midpoint of the two first marking holes can be obtained. In step S25, the specific steps of determining the horizontal coordinate of the midpoint between the two second marking holes according to the third signal and the fourth signal are as follows: The picking platform is driven by a horizontal moving drive motor. According to the operating speed and operating time of the horizontal moving drive motor, when the third signal is received, the horizontal coordinate of the first second marking hole can be obtained. When the fourth signal is received, the horizontal coordinate of the second second marking hole can be obtained. Then, based on the horizontal coordinates of the two second marking holes, the horizontal coordinate of the midpoint of the two second marking holes can be obtained.

7. The addressing machine according to claim 6, characterized in that: In the step S1, after step S15, the step S16 is further included: When the laser reflection detector sends out the second signal, the platform is controlled to return to the middle position between the two first marking holes, and it can be checked whether the height of the delivery channel at the layer where the first marking holes are located is consistent with the height of the platform at this time; In the step S2, after the step S25, the step S26 is further included: When the laser reflection detector pushes out the fourth signal, the picking platform is controlled to return to the middle position between the two second marking holes, and it can be checked whether the left and right positions of the shipping channel where the second marking holes are located are consistent with the left and right positions of the picking platform at this time.

8. The addressing machine according to claim 6, wherein: In step S5, a first infrared detector is provided in the pickup platform. When the pickup platform detects that goods have entered and are in place, it moves toward the delivery port. In addition, the automatic door for picking up goods is provided with a second infrared detector. When a hand or an item is detected passing through the delivery port, the automatic door for picking up goods delays and continues to open.

9. The addressing machine according to claim 8, characterized in that: A camera is provided on one side of the pickup platform close to the storage rack. In steps S1 to S3, while the laser reflection detector is used to address the goods in each shipping aisle, the camera is used to photograph the goods in each shipping aisle. The host computer of the addressing machine identifies and analyzes the photographed image to determine the type of goods, and then records the current quantity of the goods in the addressing machine in real time and uploads it to the background to facilitate replenishment based on the background data.

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