Multi-cup in-place status detection device and method

Abstract

The application discloses a kind of multi-cup in situ state detection device, and multi-cup in situ state detection device includes support, multiple detection units and multiple separators.A plurality of detection units are connected to the bottom of support, each detection unit includes transmitter and receiver, transmitter and receiver are spaced apart, transmitter can emit signal, receiver can accept infrared signal emitted by transmitter.A plurality of separators correspond to a plurality of detection units, and each separator is rotatably connected to the support.The separator is arranged to be rotatable between a natural state and a deviated state.In the natural state, the separator is in a vertical position, and one end of each separator is between the transmitter and receiver of each detection unit, and the other end extends beyond the bottom of the transmitter and receiver.In the deviated state, the separator deviates from the vertical position and can avoid the signal transmission path of the transmitter and receiver, and the receiver can receive the signal emitted by the transmitter.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, in particular to a multi-cup in-place state detection device and method. BACKGROUND

[0002] When performing tests or collecting samples in a laboratory or hospital, tubular transparent cups or opaque cups are often used. When the sample collection is large, multiple cups are usually placed side by side on a mounting rack, or multiple cups are placed side by side on a mounting rack before collecting samples, and then a mechanical hand is used to grab the cups to collect samples. Before the mechanical hand grabs the sample, it is necessary to read the situation of multiple cups placed on the mounting rack to determine whether the cups are out of place.

[0003] The prior art generally detects the in-place state of a single cup by using a transmission sensor, a reflection sensor, or a spring type limit switch.

[0004] For single non-transparent cup in-place detection, a transmission sensor or a reflection sensor can be used. However, for multi-cup in-place detection, the size, cost, and optical reflection and diffuse reflection of the transmission sensor or the reflection sensor are limited, and the transmission sensor or the reflection sensor cannot effectively scan the cups in a multi-cup environment.

[0005] For transparent cups, a reflection type optical fiber sensor can be used to scan and detect the in-place state of the cups. The reflection type optical fiber sensor has high receiving sensitivity and receiving threshold adjustability, and can select to scan each part of the cup. However, when detecting the transparent cup, the reflection type optical fiber sensor detects weak reflected light. If there is environmental light intensity variation interference during the detection process, or external vibration from the detection assembly, such as vibration caused by external motor movement, the detection result will be incorrect due to slight shaking of the measured cup.

[0006] A detection scheme using multiple spring type limit switches can detect the in-place state of multiple cups. However, during detection, the spring piece needs to reach a certain pressure on the cup to trigger the switch state change, otherwise the limit switch will hinder the movement of the cup. Multiple spring type limit switches concentrate the spring force to limit the movement of the cup, and the spring device is further affected by aging or rust caused by environmental moisture, which further increases the resistance to the movement of the cup, and also causes incorrect detection results. SUMMARY

[0007] The purpose of the present application is to provide a multi-cup in-place state detection device and method to solve the problems in the prior art.

[0008] In order to solve the above problems, according to one aspect of the present application, a multi-cup in-place state detection device is provided for detecting whether multiple cups are installed in the mounting slots of a mounting rack, the multi-cup in-place state detection device comprising:

[0009] a support frame;

[0010] a plurality of detection units, each of the detection units being connected to the support frame and comprising a transmitter and a receiver, the transmitter and the receiver being spaced apart, the transmitter being configured to transmit a signal, and the receiver being configured to receive the signal transmitted by the transmitter;

[0011] a plurality of blocking members, each of the blocking members being rotatably connected to the support frame, each of the blocking members being configured to rotate between a natural state and a deviated state, in the natural state, each of the blocking members is in a vertical position, and one end of each of the blocking members is located between the transmitter and the receiver of the corresponding detection unit and is configured to block the signal transmitted by the transmitter from reaching the receiver, in the deviated state, each of the blocking members deviates from the vertical position and avoids the signal transmission path of the transmitter and the receiver, and the receiver can receive the signal transmitted by the transmitter.

[0012] In one embodiment, the support frame comprises a connecting rod, and the blocking member is provided with a mounting hole, the mounting hole being sleeved on the connecting rod and allowing the blocking member to rotate relative to the connecting rod.

[0013] In one embodiment, the inner wall of the mounting hole is a smooth arc surface.

[0014] In one embodiment, the blocking member is in the shape of a rod, and the blocking member comprises:

[0015] an upper section, in the natural state, the upper section being located between the transmitter and the receiver;

[0016] a lower section, in the natural state, the lower section being located below the upper section and extending beyond the bottom of the transmitter and the receiver;

[0017] a mounting portion, the mounting portion being connected to the upper section at the top and connected to the lower section at the bottom, the mounting hole being located on the mounting portion, and the diameter of the mounting hole being greater than the width of the upper section and the lower section.

[0018] In one embodiment, the weight of the lower section is greater than the weight of the upper section.

[0019] In one embodiment, a detection board is further included, the detection board being signal-connected to the plurality of detection units, and the detection board being configured to read the information of the plurality of detection units.

[0020] In one embodiment, a moving mechanism is further included, the moving mechanism being configured to move the mounting frame on which the plurality of cup bodies are mounted to a preset position, and the moving mechanism also being configured to move the support frame to a preset position.

[0021] In one embodiment, a controller is further included, which is signal connected with the detection plate and the moving mechanism, and is configured to control the detection plate to read information of the plurality of detection units, and to control the moving mechanism to move.

[0022] The present application also relates to a multi-cup in-place detection method for detecting whether a plurality of cups are in place in mounting slots of a mounting rack, the mounting slots being arranged side by side, comprising the steps of:

[0023] S1, moving the mounting rack containing the plurality of cups and the support relative to each other, and placing a certain row of cups of the mounting rack below the partitioning piece, setting the number of the detection units and the partitioning pieces according to the number of the cups in each row of the mounting slots, setting the spacing of the plurality of partitioning pieces according to the spacing of the adjacent two mounting slots in each row of the mounting slots, and setting the vertical distance from the partitioning piece to the certain row of cups in the natural state according to the height of the certain row of cups, so as to ensure that the bottom end of the partitioning piece contacts the certain row of cups in the natural state;

[0024] S2, starting the multi-cup in-place detection device to detect the certain row of cups;

[0025] S3, translating the mounting rack and the support relative to each other to place a next row of cups below the partitioning piece, and detecting the next row of cups.

[0026] In one embodiment, the multi-cup detection device further comprises a controller and a moving mechanism, and the controller is signal connected with the moving mechanism.

[0027] In the step S1, the controller controls the moving mechanism to move the mounting rack or the support.

[0028] In one embodiment, the multi-cup detection device further comprises a detection plate, which is signal connected with the plurality of detection units and the controller, and can receive detection signals of the plurality of detection units and send the signals to the controller.

[0029] In the step S1, the controller controls the moving mechanism to move the mounting rack or the support, and sends an instruction to the detection plate.

[0030] In the step S2, the controller sends an instruction to the detection plate, and the detection plate starts to read information of the plurality of detection units after receiving the instruction of the controller, and feeds back the read information to the controller, and the controller judges whether the plurality of cups are in place according to the information of the detection plate.

[0031] In one embodiment, in the step S3, the controller determines the in-place state of the certain row of cups according to the signal of the detection plate, and then controls the detection unit to continue detecting the next row of cups until all the cups in the installation rack are detected, and records the information.

[0032] The multi-cup in-place state detection device of the present application can not only detect the in-place state of transparent cups, but also can be applied to non-transparent cups, and has a wide application range. In addition, the rotation of the partition member can control whether the receiver can receive the signal, and the multi-cup in-place state detection device is not affected by the external environment during operation, can be used for a long time, and is simple to operate and low in price. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a schematic view of a multi-cup in-place state detection device according to one embodiment of the present application.

[0034] Figure 2a is a schematic view of a detection unit detecting that a cup is in place according to the embodiment shown in Figure 1

[0035] Figure 2b is a schematic view of a detection unit detecting that a cup is not in place according to the embodiment shown in Figure 1

[0036] Figure 3 is a schematic view of a hardware system of a detection plate according to one embodiment of the present application.

[0037] Figure 4 is a schematic view of a multi-cup in-place state detection method according to one embodiment of the present application.

[0038] Reference signs: 100, multi-cup in-place state detection device; 1, support; 11, connecting rod; 2, detection unit; 21, transmitter; 22, receiver; 3, partition member; 31, mounting hole; 32, upper section; 33, lower section; 34, mounting portion; 4, detection plate; 5, cup. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, so that the purpose, characteristics and advantages of the present application can be more clearly understood. It should be understood that the embodiments shown in the drawings are not a limitation on the scope of the present application, but are only used to illustrate the essential spirit of the technical solutions of the present application.

[0040] ​​In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. It will be appreciated, however, that embodiments can be practiced in other ways without one or more of the specific details set forth in this description. In other instances, well-known devices, structures and techniques have not been shown or described in order to avoid unnecessarily obscuring embodiments.

[0041] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrase "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0042] In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. It will be appreciated, however, that embodiments can be practiced in other ways without one or more of the specific details set forth in this description. In other instances, well-known devices, structures and techniques have not been shown or described in order to avoid unnecessarily obscuring embodiments.

[0043] The present application relates to a multi-cup in-position detection device 100, which is mainly used for detecting whether a plurality of cups 5 are installed in the installation slots of the installation rack, including transparent cups and opaque cups. Specifically, the multi-cup in-position detection device 100 includes a support 1, a plurality of detection units 2, and a plurality of partitioning pieces 3.

[0044] The support 1 is used to support the plurality of detection units 2 and the plurality of partitioning pieces 3, and the support 1 can be set to a movable or fixed state.

[0045] The plurality of detection units 2 are connected to the bottom of the support 1, and each detection unit 2 includes a transmitter 21 and a receiver 22, which are arranged at intervals. The transmitter 21 can emit a signal, and the receiver 22 can receive the infrared signal emitted by the transmitter 21. In addition, in the embodiment shown, the detection unit 2 is a slot photoelectric sensor, and it should be understood that other sensors can also be applied, and the type of detection unit is not limited. Figure 1 In the embodiment shown, the detection unit 2 is a slot photoelectric sensor, and it should be understood that other sensors can also be applied, and the type of detection unit is not limited.

[0046] The plurality of barriers 3 correspond to the plurality of detection units 2, and each barrier 3 is rotatably connected to the support 1. The barrier 3 is arranged to be rotatable between a natural state and a deviated state. In the natural state, under the influence of its own gravity, the barrier 3 is in a vertical position, and the upper end of the barrier 3 is between the transmitter 21 and the receiver 22 of the corresponding detection unit 2, and can block the signal transmitted by the transmitter 21 from reaching the receiver 22. In the deviated state, the barrier 3 deviates from the vertical position and can avoid the signal transmission path of the transmitter 21 and the receiver 22, and the receiver 22 can receive the signal transmitted by the transmitter 21.

[0047] In actual application, the number of detection units 2 can be designed or selected according to the number of cup bodies 5, the spacing between the detection units 2 can be designed according to the distance between the cup bodies 5, or the length of the barrier 3 can be selected according to the height of the cup bodies 5 on the mounting rack, to ensure that the lower end of the barrier 3 can touch the cup body 5 in the natural state.

[0048] The principle of the present application is that when it is necessary to detect whether the plurality of cup bodies 5 mounted on the mounting rack are placed in position, the mounting rack on which the cup bodies 5 are mounted and the support 1 of the present application are moved relative to each other, so that the plurality of cup bodies 5 that need to be detected on the mounting rack are located below the detection units 2. If the lower end of the barrier 3 touches the cup body 5 during the movement, the entire barrier 3 will be deflected from the vertical position and the upper end of the barrier 3 will deviate from the signal transmission path of the transmitter 21, so that the receiver 22 can receive the signal transmitted by the transmitter 21. If there is no cup body 5 below a certain barrier 3 during the movement, the barrier 3 will maintain its original natural state, and the upper end of the barrier 3 will be in the signal transmission path of the transmitter 21, so that the receiver 22 cannot receive the signal transmitted by the transmitter 21, thereby determining that there is no cup body 5 at a certain position of the mounting rack.

[0049] The present application can detect whether the plurality of cup bodies 5 are placed in the mounting rack through the cooperation of the barrier 3 and the detection unit, and can detect both transparent and opaque cup bodies. The rotation of the barrier 3 controls whether the receiver 22 can receive the signal, the multi-cup in-position state detection device 100 is not affected by the external environment and can be used for a long time, and is simple to operate and low in cost.

[0050] It should be noted that the plurality of in the present application means two or more (for example, three, four, five, six, seven, eight, nine, ten or more than ten). The plurality of rows in the present application means two rows or more (for example, three rows, four rows, five rows, six rows, seven rows, eight rows, nine rows, ten rows or more than ten rows).

[0051] The barrier 3 and the support 1 can be connected in many ways, and the connection mode is not limited. In the embodiment, the barrier 3 is rotatably connected to the support 1. Figure 1In the embodiment, the support 1 is provided with a connecting rod 11, and the partition member 3 is provided with a mounting hole 31 sleeving the connecting rod 11, and the partition member 3 can rotate around the connecting rod 11 as the axis.

[0052] As a preferred solution, a smooth coating can be provided on the inner wall of the mounting hole 31 and the outer periphery of the connecting rod 11, so that the partition member 3 and the connecting rod 11 can rotate without damping, so as to achieve the purpose of accurate testing.

[0053] Optionally, the mounting hole 31 can be circular or other arc shapes, such as an ellipse close to a circle, that is, the inner wall of the mounting hole 31 can be a smooth arc surface, and the mounting hole 31 designed as a smooth arc surface is more conducive to the damping-free rotation of the partition member 3. In addition, the diameter of the mounting hole 31 is greater than the diameter of the connecting rod 11, so as to facilitate the greater and more flexible rotation of the partition member 3.

[0054] Optionally, the partition member 3 can be a rod, as shown in Figure 2a and Figure 2b The partition member 3 has a certain length, and the partition member 3 includes an upper section 32, a mounting portion 34, and a lower section 33. In the natural state, the partition member 3 is in a vertical state under the influence of its own gravity, the upper section 32 of the partition member 3 is located between the transmitter 21 and the receiver, and the lower section 33 is located below the upper section 32 and extends beyond the bottom of the transmitter 21 and the receiver 22. The lower end of the upper section 32 is used to touch the cup 5.

[0055] Further, the mounting portion 34 is connected to the upper section 32 at the top and connected to the lower section 33 at the bottom, that is, the mounting portion 34 is located between the upper section 32 and the lower section 33, and the mounting hole 31 is located in the mounting portion 34. As shown in Figure 2a and Figure 2b The upper section 32 and the lower section 33 are both rods with a certain width, and the diameter of the mounting hole 31 is greater than the width of the upper section 32 and the lower section 33. On the one hand, it is convenient for the partition member 3 to move more greatly, and on the other hand, the diameter of the upper section 32 and the lower section 33 is small, which can test the case that the spacing of multiple rows of cups 5 is small. The lower section 33 can be inserted into the spacing between multiple cups 5 to touch the cup 5 to be tested, and the partition member 3 rotates flexibly, which is conducive to accurate testing. In addition, it should be noted that the width of the upper section 32 needs to ensure that it can block the signal of the transmitter 21 in the natural state, and can deviate from the signal path of the transmitter 21 when it is affected by the cup.

[0056] Further, in order to ensure that the lower section 33 of the partition member 3 can be in a vertical state in the natural state, or to prevent the lower section 33 from rotating due to air flow in the environment, the weight of the lower section 33 can be appropriately increased, so that the weight of the lower section 33 is greater than the weight of the upper section 32, but at the same time, it needs to be ensured that the lower section 33 can touch the cup 5 and rotate flexibly during the testing process.

[0057] Optionally, the length of the lower section 33 can also be appropriately smaller than the length of the upper section 32, and since the upper section 32 and the lower section 33 are both rotated along the connecting rod 11, the length of the lower section 33 is smaller than the length of the upper section 32, and the lower section 33 deflects a smaller angle to make the upper section 32 deviate from the signal transmission path of the transmitter 21, so as to improve the flexibility and accuracy of the test.

[0058] Optionally, the multi-cup 5 in-place detection device further comprises a detection plate 4, as shown in the drawings. Figure 3 As shown, the detection plate 4 is in signal connection with the plurality of detection units 2, and the detection plate 4 can read the information of the plurality of detection units 2. The power supply part adopts an LDO voltage converter step-down circuit to the control circuit and interface circuit of the detection unit, a MAX3232 chip to realize a TTL←→RS232232 signal level converter circuit, etc. Among them, the voltage converter for supplying power to the plurality of detection units can be one group of power supply or grouped power supply according to the number of detection units, so as to ensure the stability of the power supply voltage when the plurality of detection units are simultaneously detected.

[0059] In addition, a moving mechanism can also be provided, which is connected to the support 1 or mounting rack for moving the support 1 or mounting rack, so that the support 1 and the mounting rack are relatively moved to a preset position, so as to facilitate the lower section 33 of the partition piece 3 to touch the cup 5 to be detected, and realize automatic detection.

[0060] As a preferred solution, the movement of the moving mechanism can also be controlled by a controller. Specifically, the controller is in signal connection with the detection plate 4 and the moving mechanism, and the controller can receive the signal of the detection plate 4 and control the operation of the moving mechanism according to the signal of the detection plate 4.

[0061] The present application also relates to a multi-cup 5 in-place state detection method, which mainly uses the above-mentioned multi-cup 5 detection device to detect whether the plurality of cups 5 are installed in the mounting slots of the mounting rack. In actual application, the mounting slots are arranged side by side on the mounting rack, and the plurality of cups 5 are installed side by side in the mounting slots, and the multi-cup 5 detection device can detect in the form of each row or each column.

[0062] Specific steps include:

[0063] S1, relatively moving the mounting rack containing a plurality of cups 5 and the support 1, and moving a row of cups 5 of the mounting rack below the partition piece 3, setting the number of detection units 2 and the number of partition pieces 3 according to the number of cups 5 in each row of mounting slots, setting the spacing of the plurality of partition pieces 3 according to the spacing of the adjacent two mounting slots in each row of mounting slots, and setting the vertical distance from the partition piece 3 to a row of cups 5 in a natural state according to the height of the cup 5, so as to ensure that the bottom end of the partition piece 3 contacts a row of cups 5 in a natural state;

[0064] S2. Activate the multi-cup body 5 in-situ detection device to detect a row of cup bodies 5;

[0065] S3. Move the mounting bracket and support 1 relative to each other so that the next row of cups 5 is below the partition 3, and inspect the next row of cups 5.

[0066] In addition, some equipment can be added to enable the multi-cup body 5 detection device to achieve automatic detection. For example, a controller and a moving mechanism can be added. In step S1, the moving mechanism can drive the mounting bracket or support 1 to move, while the controller signal connects to the moving mechanism and controls the operation of the moving mechanism.

[0067] In addition, a detection plate 4 is also provided on the bracket 1. The detection plate 4 is connected to multiple detection units 2 and the controller. The detection plate 4 can receive detection signals from multiple detection units 2 and send the detection signals to the controller. The controller controls the operation of the multi-cup detection device according to the detection signals. For example, in step S1, the controller can control the moving mechanism to move the mounting bracket or the bracket 1 so that a row of cups 5 is located below the detection unit 2. Then the controller sends a command to the detection unit 2. In step S2, after receiving the command from the controller, the detection plate 4 reads the information of multiple detection units 2 and feeds the read information back to the controller. The controller determines whether the multiple cups 5 are in place according to the information of the detection table.

[0068] In addition, in step S3, the controller determines the position of a certain row of cups based on the signal from the detection board 4, and then controls the detection unit 2 to continue detecting the next row of cups until all the cups in the entire mounting bracket have been detected, and records the information for use in subsequent operations.

[0069] The multi-cup presence detection device 100 of the present invention can not only detect whether multiple transparent cups 5 are in place, but also can be applied to multiple opaque cups 5, thus having a wide range of applications. In addition, the present invention controls whether the receiver 22 receives a signal by rotating the partition 3. The multi-cup presence detection device 100 is not affected by the external environment during operation, can be used for a long time, and is simple to operate and inexpensive.

[0070] The preferred embodiments of the present invention have been described in detail above. However, it should be understood that after reading the above teachings, those skilled in the art can make various alterations or modifications to the present invention. These equivalent forms also fall within the scope defined by the appended claims.

Claims

1. A multi-cup body in-situ detection device, used to detect whether multiple cup bodies are installed in the mounting slots of a mounting bracket, characterized in that, The multi-cup body in-situ status detection device includes: support; Multiple detection units are connected to the bracket, and each detection unit includes a transmitter and a receiver, the transmitter and the receiver being spaced apart, the transmitter being used to transmit signals, and the receiver being used to receive signals transmitted by the transmitter. Multiple spacers are rotatably connected to the bracket. The spacers are configured to rotate between a natural state and an offset state. In the natural state, the spacers are in a vertical position, with one end positioned between the transmitter and receiver of the corresponding detection unit and configured to block signals emitted by the transmitter from reaching the receiver. In the offset state, the spacers deviate from the vertical position and avoid the signal transmission paths of the transmitter and receiver, allowing the receiver to receive the signals emitted by the transmitter. The bracket includes a connecting rod, and the spacers have mounting holes that are fitted around the connecting rod, allowing the spacers to rotate relative to the connecting rod. The partition is rod-shaped, and the partition includes: In its natural state, the upper segment is located between the transmitter and the receiver; In its natural state, the lower segment is located below the upper segment and extends beyond the bottom of the transmitter and the receiver; The mounting part is connected to the upper section at the top and the lower section at the bottom. The mounting hole is located on the mounting part, and the diameter of the mounting hole is greater than the width of the upper section and the lower section. The weight of the lower segment is greater than the weight of the upper segment.

2. The multi-cup body in-situ status detection device according to claim 1, characterized in that, The inner wall of the mounting hole is a smooth arc surface.

3. The multi-cup body in-situ status detection device according to claim 1, characterized in that, It also includes a detection board, which is signal-connected to multiple detection units and is used to read information from the multiple detection units.

4. The multi-cup body in-situ status detection device according to claim 3, characterized in that, It also includes a moving mechanism, which is used to move the mounting bracket on which the plurality of cups are mounted to a preset position, and can also be used to move the support to a preset position.

5. The multi-cup body in-situ status detection device according to claim 4, characterized in that, It also includes a controller, which is signal-connected to the detection board and the moving mechanism. The controller is used to control the detection board to read information from multiple detection units and to control the moving mechanism to move.

6. A method for detecting the presence of multiple cups, wherein the method is used to detect whether multiple cups are in the mounting slots of a mounting bracket, the mounting slots being arranged side by side, characterized in that... Including the following steps: S1. The mounting rack holding multiple cups and the support are moved relative to each other, and a row of cups on the mounting rack is positioned below the partition. The number of the detection unit and the partition according to the number of cups in each row of the mounting slot is set according to the distance between two adjacent mounting slots in each row. The vertical distance from the partition to the row of cups in the natural state is set according to the height of the row of cups, ensuring that the bottom end of the partition contacts the row of cups in the natural state. S2. Activate the multi-cup body in-situ detection device to detect a certain row of cups; S3. The mounting bracket and the support are translated relative to each other so that the next row of cups is located below the partition, and the next row of cups is detected.

7. The method for detecting the in-situ state of multiple cups according to claim 6, characterized in that, The multi-cup detection device further includes a controller and a moving mechanism, and the controller is signal-connected to the moving mechanism; In step S1, the controller controls the moving mechanism to move the mounting frame or the support.

8. The method for detecting the in-situ state of multiple cups according to claim 7, characterized in that, The multi-cup detection device further includes a detection board, which is signal-connected to multiple detection units and the controller. The detection board is capable of receiving detection signals from multiple detection units and sending the signals to the controller. In step S1, the controller controls the moving mechanism to move the mounting bracket or the support, and sends instructions to the detection plate; In step S2, the controller sends an instruction to the detection board. After receiving the instruction from the controller, the detection board begins to read the information of the multiple detection units and feeds back the read information to the controller. The controller determines whether the multiple cups are in place based on the information from the detection board.

9. The method for detecting the in-situ state of multiple cups according to claim 8, characterized in that, In step S3, the controller determines the position of a certain row of cups based on the signal from the detection board, and then controls the detection unit to continue detecting the next row of cups until all the cups in the mounting bracket have been detected, and records the information.

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