A vending machine picking system and method based on weighing detection

Abstract

The present invention provides a vending machine pickup system based on weighing detection, including a commodity storage module for storing commodities; a display for generating a commodity selection interface based on the inventory of commodities and displaying the total amount of commodities; an instruction input module for receiving the purchase information of commodities input by customers and generating commodity orders; a weighing detection module for weighing and allocating commodities transmitted from the commodity storage module and performing two weighing detections; a shipping module for shipping commodities; and a main control module for controlling the shipment of commodities and checking the quantity of shipped commodities according to commodity orders. The present invention also provides a vending machine pickup method based on weighing detection. The vending machine pickup system based on weighing detection of the present invention ensures the accuracy of shipment by weighing and detecting the purchased commodities twice and calculating the weight error percentage. At the same time, it also accurately controls the shipment of commodities by predicting commodity orders and using an iterative self-learning method.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic vending, and in particular to a vending machine picking system and method based on weighing detection. Background Art

[0002] At present, vending machines have become increasingly common. Since vending machines can work 24 hours a day without rest, and can also meet the daily needs of "night owls", vending machines are increasingly favored by merchants and consumers. Vending machines on the market include: food vending machines, which are used to automatically vend snacks; beverage vending machines, which are used to automatically vend liquid beverages; cosmetics vending machines, which are used to automatically vend cosmetics such as lipstick and eye cream, and comprehensive vending machines. However, most vending machines on the market sell standardized products, and there is no corresponding weighing test for the products sold. The delivery method is to pick up the goods one by one, and it is impossible to sell bulk goods. In addition, most vending machines push the goods to the delivery port through a rotating spiral ring. For example, if easy-to-fall goods such as cans are placed on the top layer of the vending machine, they are easily damaged in the process of falling to the bottom, causing the beverage to splash.

[0003] The prior art CN211207422U provides a vending machine based on weighing detection, which uses an open container and screws several weight sensing plates on the top of each shelf. Customers open the container door to pick up the goods, and the products sold are tested according to the weight changes of different shelves. However, this patent still sells standardized products, and the products on each shelf must have the same weight and the same unit price. It is impossible to sell bulk goods. At the same time, the goods sold are only weighed once, and there are no measures to detect and prevent goods with abnormal weight. Summary of the invention

[0004] One of the purposes of the present invention is to provide a vending machine pickup system based on weighing detection, which solves the problem of vending machines selling bulk goods and can accurately control the weight of bulk goods, and settle and proofread according to the weight of bulk goods shipped. At the same time, the main control module measures the total weight of goods transported on the conveyor belt and the weight of a single commodity on the conveyor belt and the tray respectively through the weighing detection module, and controls the shipping module to accurately ship, prevent over-shipping or under-shipping, and reduce the shipping error rate. One of the purposes of the present invention is to provide a vending machine pickup method based on weighing detection.

[0005] An embodiment of the present invention provides a vending machine pickup system based on weighing detection, comprising:

[0006] A commodity storage module, used for storing commodities;

[0007] A display, used to generate a product selection interface based on the inventory of the product and to display the total amount of the product;

[0008] The instruction input module is used to receive the purchase information of the goods input by the customer and generate the goods order;

[0009] The weighing and detection module is connected to the commodity storage module through a pipeline, and is used to weigh and distribute the commodities transmitted from the commodity storage module and to perform two weighing and detection operations;

[0010] The shipping module is connected to the weighing and detection module and is used to ship the goods;

[0011] And a main control module, which is respectively connected to the commodity storage module, the display, the instruction input module, the weighing detection module and the shipping module, and is used to control the shipment of commodities and check the quantity of the shipped commodities according to the commodity order.

[0012] Preferably, it also includes: a settlement module, connected to the main control module, for calculating the amount and performing settlement according to the commodity order, including:

[0013] The amount calculation unit is connected to the main control module and is used to calculate the total amount of the goods according to the goods order and transmit it to the main control module;

[0014] A communication unit, used for information exchange with an external network;

[0015] Amount payment unit, used to settle accounts with customers according to the calculated total amount of goods;

[0016] Among them, the amount payment unit includes a cash payment unit and a mobile payment unit;

[0017] A cash payment unit, used to identify cash and make payment according to the total amount of goods displayed on the display;

[0018] The mobile payment unit is used to make mobile payment according to the total amount of goods displayed on the display.

[0019] Preferably, it also includes: a real-time monitoring module, connected to the main control module and the weighing detection module, for collecting real-time monitoring information of the vending machine, including:

[0020] Camera, used to collect on-site surveillance video and commodity images in the commodity storage module;

[0021] A temperature sensor, used to collect the temperature of the vending machine;

[0022] Humidity sensor, used to collect humidity in the vending machine;

[0023] A temperature control unit, used to control the temperature of the vending machine;

[0024] A humidity control unit, used to control the humidity of the vending machine;

[0025] Door sensor, used to collect the door pressure of the vending machine.

[0026] Preferably, the shipping module includes:

[0027] guide,

[0028] The pickup box has an open top, a sponge pad on the inner bottom, and a slider connected to the guide rail on the outer bottom, which is used to receive the goods delivered by the weighing and detection module;

[0029] The motor is connected to the main control module and is connected to the pickup box through a retractable connecting rod, and is used to push the pickup box to move horizontally on the guide rail according to the delivery instruction issued by the main control module;

[0030] The pickup electronic lock is used to unlock the pickup box according to the delivery instruction issued by the main control module.

[0031] Preferably, it also includes: an early warning module, which is connected to the main control module and the real-time monitoring module respectively, and is used to transmit alarm information to the main control module, including:

[0032] The rule unit is used to preset rules and thresholds for temperature, humidity and door pressure.

[0033] A judgment unit, used to judge whether the temperature, humidity and door pressure are normal according to preset rules and thresholds;

[0034] A fire extinguishing unit, used to quickly extinguish the fire in the vending machine when the judging unit judges that the temperature is abnormal;

[0035] A drainage unit, used to quickly drain the vending machine when the determination unit determines that the humidity is abnormal;

[0036] Pressure electronic lock, used to control the door opening and closing of the vending machine;

[0037] The sound player is used to issue a prompt sound according to the abnormal judgment result of the judgment unit.

[0038] Preferably, the main control module performs the following operations:

[0039] Get the commodity order generated by the instruction input module;

[0040] According to the iterative self-learning method, the commodity storage module is controlled to transmit the purchased commodities to the weighing detection module through the pipeline;

[0041] Send settlement instructions to the settlement module for settlement and check the quantity and amount of goods in the settlement module;

[0042] The weighing detection module performs two weighing monitoring on the purchased goods to determine whether to transmit the goods to the delivery module;

[0043] After the settlement is completed, control the shipping module to ship the goods.

[0044] Preferably, according to the iterative self-learning method, control the commodity storage module to convey the purchased goods to the weighing and detection module through a pipeline, specifically including:

[0045] Set an initial value a0, where 0 < a0 < T, and T is the quantity of goods that the customer needs to purchase;

[0046] Perform iterative self-learning according to the advance quantity transmitted to the weighing and detection module each time to obtain the final advance quantity;

[0047] According to the calculated final advance quantity, control the commodity storage module to convey the purchased goods to the weighing and detection module through a pipeline;

[0048] Compare the weight of the goods on the weighing and detection module with the actual required weight of the goods. If there is underweight, the main control module will reweigh the weighing and detection module.

[0049] Preferably, the weighing and detection module includes:

[0050] A conveyor belt, one end of which is arranged under the pipeline for conveying goods by the commodity storage module, and is used for conveying goods;

[0051] A tray, arranged at the other end of the conveyor belt and connected to the shipping module, and is used for conveying the goods to the shipping module;

[0052] A number of weight sensors, respectively arranged on the conveyor belt and the tray, and are used for measuring the total weight of the goods on the conveyor belt and the total weight of the goods on the tray;

[0053] A zero calibration unit, used for;

[0054] A barcode scanner, arranged above the connection between the conveyor belt and the tray, and is used for obtaining the type of goods and automatic counting by scanning the goods;

[0055] The weighing and detection module performs the following operations:

[0056] Before purchasing goods, zero-calibrate the weight sensors according to the temperature and humidity of the vending machine;

[0057] Weigh and detect the total goods on the conveyor belt and the goods on the tray respectively, and calculate the corresponding weight error percentage;

[0058] Send the measured weight data and the calculated corresponding weight error percentage to the main control module;

[0059] Convey the goods to the shipping module according to the judgment result of the main control module.

[0060] Preferably, the display performs the following operations:

[0061] Display the product selection interface;

[0062] Acquire the commodity purchase information input by the customer based on the commodity selection interface, and display a preset shipment confirmation interface;

[0063] When the customer inputs a shipment confirmation instruction based on the product selection interface, the display sends the shipment confirmation instruction to the main control module, and the main control module controls the shipment module to ship the product. Otherwise, the preset voice instruction input information is obtained and displayed;

[0064] Acquire the voice command input by the customer, and perform command analysis on the voice command to obtain the customer's needs;

[0065] Analyzing the customer demand types of the customer demand, wherein the customer demand types include: commodity increase, commodity decrease and commodity selection;

[0066] When the customer demand type is an increase in goods, the goods storage module transmits the required increase in value to the weighing and detection module;

[0067] When the customer demand type is a reduction in goods, the main control module obtains a preset first customer demand-tilt solution library corresponding to the type of goods purchased by the customer, and determines a first tilt solution corresponding to the customer demand from the first customer demand-tilt solution library;

[0068] Based on the first tilting scheme, controlling the weighing and detecting module to tilt and reduce the weight to meet the customer's needs;

[0069] When the customer demand type is product selection, the main control module obtains a preset second customer demand-tilt solution library corresponding to the type of product purchased by the customer, and determines a second tilt solution corresponding to the customer demand from the second customer demand-tilt solution library;

[0070] Based on the second tilting scheme, the weighing detection module is controlled to tilt in a set direction to meet the customer's needs;

[0071] The rollover scheme includes: rollover degree and holding time. The present invention also provides a method for picking up goods from a vending machine based on weighing detection, comprising the following steps:

[0072] The real-time monitoring module collects commodity images from the commodity storage module and status information of the vending machine;

[0073] The main control module identifies the commodity inventory based on the commodity image of the commodity storage module;

[0074] The instruction input module obtains the purchase information of the goods input by the customer to generate a goods order;

[0075] The main control module calculates the advance amount through iterative self-learning according to the commodity order, and controls the commodity storage module to transfer the commodity to the weighing detection module according to the advance amount;

[0076] The weighing detection module performs two weighing monitoring on the conveyed goods;

[0077] The main control module determines whether to transfer the goods to the shipping module for shipment based on the results of the two weighing monitoring;

[0078] The early warning module determines whether the vending machine is abnormal based on the status information of the vending machine.

[0079] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0080] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0082] Figure 1 Schematic diagram of a vending machine pickup system based on weighing detection in an embodiment of the present invention;

[0083] Figure 2 is a schematic diagram of a settlement module in an embodiment of the present invention;

[0084] Figure 3 A schematic diagram of a real-time monitoring module in an embodiment of the present invention

[0085] Figure 4 Schematic diagram of a shipping module in an embodiment of the present invention;

[0086] Figure 5 Schematic diagram of an early warning module in an embodiment of the present invention

[0087] Figure 6 Flow chart of iterative self-learning method in an embodiment of the present invention;

[0088] Figure 7 Schematic diagram of a weighing detection module in an embodiment of the present invention;

[0089] Figure 8The present invention is a flowchart of a method for picking up goods from a vending machine based on weighing detection in an embodiment of the present invention. DETAILED DESCRIPTION

[0090] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0091] The embodiment of the present invention provides a vending machine pickup system based on weighing detection, such as Figure 1 As shown, it includes: a commodity storage module 1, a display 2, a command input module 3, a weighing and detection module 4, a shipping module 5, and a main control module 6.

[0092] The commodity storage module 1 is used to store commodities for sale. Different commodities are placed on different shelves, and bulk commodities are placed in storage containers.

[0093] Display 2 is used to generate a product selection interface based on the inventory of the product and display the total amount of the product. Display 2 also provides pictures, inventory or advertising information of the product, which is convenient for customers to make decisions, and is also conducive to the promotion of the product and increases the sales volume of the product.

[0094] The instruction input module 3 is used to receive the purchase information of the commodity input by the customer. The instruction input module 3 includes a keyboard or a touch screen. When a keyboard is used as the instruction input module 3, the customer can select the commodity by inputting the commodity code or commodity name through the keyboard, and enter the purchase quantity of the commodity. If the bulk goods are purchased, the purchase weight of the commodity can be entered.

[0095] The weighing and detecting module 4 is connected to the commodity storage module 1 through a pipeline, and is used for weighing and allocating the commodities transmitted from the commodity storage module 1 and performing two weighing and detecting operations.

[0096] The shipping module 5 is connected to the weighing and detection module 4. When the real-time data of the goods is consistent with the purchase information of the goods input by the instruction input module 3 and the weighing and detection of the goods are normal, the main control module 6 controls the shipping module 5 to ship. For the purchase of bulk goods, a packaging bag can be placed next to the shipping module 5 to facilitate customers to accept the goods from the shipping module 5.

[0097] The main control module 6 is connected to the commodity storage module 1, the display 2, the instruction input module 3, the weighing detection module 4 and the shipping module 5 respectively, and is used to control the shipment of commodities and check the quantity of the shipped commodities according to the commodity order. The working principle and beneficial effects of the above technical solution are as follows:

[0098] The customer inputs the purchase information of the goods to the instruction input module 3 according to the goods he needs. The main control module 6 receives the purchase information of the goods and controls the goods storage module 1 to transmit the goods to the weighing detection module 4 through the pipeline. When the goods on the weighing detection module 4 are consistent with the purchase information input by the customer, the goods storage module 1 stops transmitting, and the weighing detection module 4 transmits the information of the goods leaving the warehouse to the main control module 6 in real time. The main control module 6 verifies the information of the goods leaving the warehouse. When the customer completes the settlement, the main control module 6 controls the shipping module 5 to ship the goods.

[0099] In the embodiment of the present invention, the weighing and detection module 4 balances the weight of the goods according to the purchase information of the goods input by the customer, and detects the weight of the goods, thereby ensuring that the goods are sold accurately.

[0100] The embodiment of the present invention provides a vending machine pickup system based on weighing detection, which also includes a settlement module 7 connected to the main control module 6, for calculating the amount according to the commodity order and performing settlement, such as Figure 2 As shown, including:

[0101] The amount calculation unit 71 is connected to the main control module 6 and is used to calculate the total amount of the goods according to the goods order and transmit it to the main control module 6.

[0102] The communication unit 72 is used for information exchange with the external network.

[0103] The amount payment unit 73 is used to settle accounts with customers according to the calculated total amount of goods. The amount payment unit 73 includes a currency payment unit 731 and a mobile payment unit 732.

[0104] The cash payment unit 731 is used to identify cash and make payment according to the total amount of goods displayed on the display 2.

[0105] The mobile payment unit 732 is used to perform mobile payment according to the total amount of the goods displayed on the display 2.

[0106] The working principle and beneficial effects of the above technical solution are:

[0107] If the customer purchases multiple commodities, the amount calculation unit 71 calculates the total amount of the commodities according to the commodity order information. The calculation formula is:

[0108]

[0109] In the formula, a i is the discount rate of the price of the product purchased for the i-th time, P i is the unit price of the ith commodity, T i is the weight of the i-th commodity measured by the weighing detection module 4, y iis the weight of the gift from the merchant of the i-th commodity, M is the total amount of settlement for multiple commodities, n is the type of commodity, b is the number of packaging bags used by the customer, P t It is the price of the packaging bag.

[0110] The amount payment unit 73 provides a variety of payment methods, including a cash payment unit 731 and a mobile payment unit 732. The cash payment unit 731 recognizes and settles the coins or banknotes inserted by the customer, and can also realize automatic change of coins. The mobile payment unit 732 displays the total amount of the goods through the display 2. The customer scans the QR code generated by the display 2 through the mobile phone to make a mobile payment. Mobile payment includes WeChat payment, Alipay and online banking.

[0111] The communication unit 72 sends the purchased goods and the amount to the database of the service terminal. The manager can know the quantity, amount and inventory of the goods sold by the vending machine by browsing the database of the service terminal, and replenish the goods in time according to the information of the goods. At the same time, the main control module 6 exchanges information with the service terminal through the communication module 72, which can provide the information of the vending machine in real time, and also facilitate the company to remotely control or operate the vending machine pickup system in real time. The normal operation of the equipment is guaranteed.

[0112] The embodiment of the present invention provides a vending machine pickup system based on weighing detection. It also includes a real-time monitoring module 8 connected to the main control module 6 and the weighing detection module 4, which is used to collect real-time monitoring information of the vending machine, such as Figure 3 As shown, including:

[0113] The camera 81 is used to collect on-site monitoring videos and commodity images in the commodity storage module 1 .

[0114] The temperature sensor 82 is used to collect the temperature of the vending machine.

[0115] The humidity sensor 83 is used to collect the humidity of the vending machine.

[0116] The temperature control unit 84 is used to control the temperature of the vending machine.

[0117] The humidity control unit 85 is used to control the humidity of the vending machine.

[0118] The door sensor 86 is used to collect the door pressure of the vending machine.

[0119] The working principle and beneficial effects of the above technical solution are:

[0120] The camera 81 collects on-site surveillance video and monitors the site in real time. At the same time, the control module 6 recognizes the type and quantity of the inventory in the commodity storage module 1 through the commodity image of the commodity storage module 1 collected by the camera 81, and sends the inventory information to the service terminal through the communication unit 72. The service terminal replenishes the goods in time according to the inventory information. The camera 81 can also be combined with the settlement module 7 to complete face payment through face recognition.

[0121] The temperature sensor 82 collects the temperature of the vending machine. The temperature control unit 84 controls the vending machine to work at a certain temperature through cooling or heating of the air circulation machine according to the temperature of the vending machine collected by the temperature sensor 82. At the same time, the humidity sensor 83 collects the humidity of the vending machine. The humidity control unit 85 controls the vending machine to work at a certain humidity through the dry humidity controller according to the humidity of the vending machine collected by the humidity sensor 83.

[0122] The real-time monitoring module 8 monitors the vending machine in real time and controls the vending machine to operate at a certain temperature and humidity. For example, some vending machines automatically sell fresh vegetables, frozen food and other products, which require a certain temperature and humidity. At the same time, the real-time monitoring module 8 identifies the on-site inventory and obtains the inventory information of the vending machine, including the type and quantity of the goods. According to the speed and amount of inventory consumption, the service terminal is notified in time to replenish the goods.

[0123] The embodiment of the present invention provides a vending machine pickup system based on weighing detection. Figure 4 As shown, the delivery module 5 includes a guide rail 51, a pickup box 52, a motor 53, a slider 54, a retractable connecting rod 55 and a pickup electronic lock 56.

[0124] The guide rail 51 is provided at the bottom of the vending machine.

[0125] The top of the pickup box 52 is open, a layer of sponge pad is provided on the inner bottom, and the outer bottom is connected to the guide rail 51 through a slider 54 to receive the goods transmitted by the weighing and detection module 4.

[0126] The motor 53 is connected to the main control module 6 and is connected to the pickup box 52 through a retractable connecting rod 55, and is used to push the pickup box 52 to move horizontally on the guide rail 51 according to the delivery instruction issued by the main control module 6.

[0127] The pickup electronic lock 56 is used to unlock the pickup box 52 according to the delivery instruction issued by the main control module 6.

[0128] The working principle and beneficial effects of the above technical solution are:

[0129] After the goods are weighed and tested twice by the weighing and detection module 4 and are found to be correct, they are transferred to the pickup box 52. The main control module 6 receives the settlement completion instruction issued by the settlement module 7 and issues an unlocking and picking instruction to the pickup electronic lock 56. After receiving the unlocking and picking instruction, the pickup electronic lock 56 unlocks, and at the same time, the motor 53 moves the pickup box 52 horizontally along the guide rail 51 through the bottom slider 54 through the retractable connecting rod 55. The customer takes the purchased goods in the pickup box 52, and the motor 53 retracts the pickup box 52 along the guide rail 51 through the retractable connecting rod 55. The pickup electronic lock 56 locks the pickup box 52.

[0130] The present invention uses a pull-out storage box 52, which is different from the general inclined bucket type. The inclined bucket type is often stuck on the inclined bucket of the pickup because the purchased goods are too large and are not easy to fall off. The pull-out type makes it easier for customers to take their own goods. In addition, a layer of sponge pad is provided at the bottom of the inner side of the pickup box 52 to prevent the beverages filled in glass bottles from being damaged during the automatic vending process. At the same time, the present invention locks the delivery module 5 to prevent customers from taking more or less of the purchased goods when the weighing detection module 4 makes a mistake in the verification.

[0131] The embodiment of the present invention provides a vending machine pickup system based on weighing detection. It also includes an early warning module 9, which is connected to the main control module 6 and the real-time monitoring module 8 respectively, and is used to transmit alarm information to the main control module 6, such as Figure 5 As shown, including:

[0132] The rule unit 91 is used to preset rules and thresholds for temperature, humidity and door pressure.

[0133] The judgment unit 92 is used to judge whether the temperature, humidity and door pressure are normal according to preset rules and thresholds.

[0134] The fire extinguishing unit 93 is used to quickly extinguish the fire in the vending machine when the judging unit 92 judges that the temperature is abnormal.

[0135] The drainage unit 94 is used to quickly drain the vending machine when the determination unit 92 determines that the humidity is abnormal.

[0136] The pressure electronic lock 95 is used to control the door switch of the vending machine.

[0137] The sound player 96 is used to issue a prompt sound according to the abnormality of the judgment result of the judgment unit 92.

[0138] The working principle and beneficial effects of the above technical solution are:

[0139] First, the rules and thresholds of temperature, humidity and door pressure are preset by the rule unit 91. The judgment unit 92 compares the temperature, humidity and door pressure of the vending machine collected by the real-time monitoring module 8 with the rules and thresholds set by the rule unit 91. If the temperature exceeds the temperature threshold set by the rule unit 91, it means that the vending machine has been overheated and a fire has occurred inside. The fire extinguishing unit 93 needs to extinguish the fire to restore the temperature to normal, and the sound player 96 sends a fire alarm. If the humidity exceeds the humidity threshold set by the rule unit 91, it means that there is a lot of water inside the vending machine. The drainage unit 94 needs to drain the accumulated water from the vending machine to restore the humidity to normal, and the sound player 96 sends a drainage alarm. If the door pressure exceeds the door pressure threshold set by the rule unit 91, the judgment unit 92 sends a door pressure alarm message to the main control module 6, and the sound player 96 sends a safety alarm. The main control module 6 controls the camera 81 to collect on-site information and record the on-site situation, and then sends it to the service terminal through the communication unit 72 to remind the service terminal to perform safety maintenance on the vending machine. The service terminal arranges maintenance personnel to open the warehouse door through the pressure electronic lock 95 to carry out necessary maintenance.

[0140] The embodiment of the present invention provides a vending machine pickup system based on weighing detection.

[0141] The main control module 6 performs the following operations:

[0142] Get the commodity order generated by the instruction input module 3.

[0143] According to the iterative self-learning method, the commodity storage module 1 is controlled to transmit the purchased commodities to the weighing detection module 4 through the pipeline.

[0144] Send a settlement instruction to the settlement module 7 and check the quantity and amount of goods in the settlement module 7.

[0145] The weighing detection module 4 performs two weighing monitoring on the purchased goods to determine whether to transmit the goods to the delivery module 5.

[0146] After the settlement is completed, the shipping module 5 is controlled to ship the goods.

[0147] The working principle and beneficial effects of the above technical solution are:

[0148] After the customer browses the product information provided by the display 2, the customer inputs the product purchase information to the main control module 6 through the instruction input module 3. The instruction input module 3 generates a product order according to the product purchase information input by the customer. The main control module 6 calculates the lead time through the iterative self-learning method, and controls the product storage module 1 to transfer the purchased product to the weighing and detection module 4 through the pipeline according to the calculated lead time. After the customer completes the product settlement through the settlement module 7, the main control module 6 controls the shipping module 5 to ship the product.

[0149] For standardized products with a relatively large volume and that can be easily separated, they can be directly transferred from the product storage module 1 to the weighing and detection module 4. However, for some bulk goods with a relatively small volume and a relatively large difficulty in differentiation, such as candies, melon seeds, and small-packaged snacks. Since there is a certain distance between the outlet of the product storage module 1 and the weighing and detection module 4. Therefore, there is a certain delay in the weighing data of the weighing and detection module 4, and it fails to stop the outbound of the product storage module 1 in time, which easily leads to overshipping. Therefore, the products can be transferred through the iterative self-learning method, so that the weight of the products out of the product storage module 1 is close to the weight that the customer wants to purchase.

[0150] The embodiment of the present invention provides a vending machine picking system based on weighing detection. As Figure 6 shown, controlling the product storage module 1 to transfer the purchased product to the weighing and detection module 4 through the pipeline according to the iterative self-learning method specifically includes the following steps:

[0151] The first step is to set the initial value a0, where 0 < a0 < T, and T is the quantity of products that the customer needs to purchase.

[0152] The second step is to perform iterative self-learning according to the lead time transmitted to the weighing and detection module 4 each time to obtain the final lead time.

[0153] The third step is to control the product storage module 1 to transfer the purchased product to the weighing and detection module 4 through the pipeline according to the calculated final lead time.

[0154] The fourth step is to compare the weight of the product on the weighing and detection module 4 with the actual required weight of the product. If there is underweighing, the main control module 6 performs supplementary weighing on the weighing and detection module 4.

[0155] The working principle and beneficial effects of the above technical solution are:

[0156] The specific expression of iterative self-learning is:

[0157] a n+1 =a n +b(e n -T-x)+c

[0158] In the formula, a n+1is the advance amount transmitted to the weighing detection module 4 for the n+1th time, a n is the advance amount transmitted to the weighing detection module 4 for the nth time. b is the iterative learning constant, 0 <b<1,e n is the weight transmitted to the weighing detection module 4 for the nth time, T is the total weight of the goods that the customer needs to buy, x is the weight of the goods given by the merchant, and c is the set error of the transmitted weight of the goods.

[0159] when e is the set iteration termination threshold, the iterative self-learning is terminated, and the final advance amount is output.

[0160] If there is a shortfall, the main control module 6 controls the weighing and detection module 4 to perform a supplementary weighing. The weight calculation formula for the supplementary weighing of the goods is:

[0161] Δu=Δh×Δt

[0162] Wherein, Δu is the weight of the commodity that needs to be reweighed, Δh is the increase in the commodity on the weighing detection module 4, and Δt is the opening and closing time difference.

[0163] The embodiment of the present invention takes into account that when the commodity storage module 1 stops conveying commodities, the weighing and detection module 4 is delayed and some commodities are still conveyed in the pipeline. By calculating the advance amount of commodities leaving the warehouse, the commodities are shipped out of the warehouse according to the advance amount. Since the weight of commodities leaving the warehouse is less than the weight of commodities that customers need to purchase, the advance amount can be measured according to the weighing and detection module 4. Finally, the accurate commodity weight can be reached and transmitted to the shipping module 5 for shipment, thus avoiding the phenomenon of over-shipment. In addition, a supplementary scale is designed to further improve the shipping accuracy of bulk commodities.

[0164] The embodiment of the present invention provides a vending machine pickup system based on weighing detection. Figure 7 As shown, the weighing detection module 4 includes a conveyor belt 41 , a tray 42 , a plurality of weight sensors 43 , a zero calibration unit 44 and a barcode scanner 45 .

[0165] One end of the conveyor belt 41 is connected to the tray 42. The commodity storage module 1 conveys the commodity to one end of the conveyor belt 41 through a pipeline, and the conveyor belt 41 conveys the commodity to the tray 42.

[0166] The weight of each commodity is measured by the change in weight of the tray 42.

[0167] A plurality of weight sensors 43 are arranged at the bottom of the conveyor belt 41 and the tray 42 , and collect real-time data of the weight of the goods transmitted from the goods storage module 1 by converting the weight pressure of the goods into electric current and transmitting it to the main control module 6 .

[0168] The zero calibration unit 44 is used to calibrate the weighing detection module 4 before purchasing the product. Due to the long-term use of the weighing detection module 4 or the presence of other foreign matter and dust on the weighing detection module 4, as well as the influence of the temperature and humidity in the vending machine, the weight measured by the weight sensor 43 may deviate from the actual weight. Therefore, the zero calibration unit 44 is required to calibrate the weighing detection module 4.

[0169] The barcode scanner 45 is arranged above the connection between the conveyor belt 41 and the tray 42, and is used to obtain the type and quantity of the goods by scanning the barcode of the goods, calculate the total weight according to the specification weight of each product, and compare it with the weight measured by the weighing detection module 4.

[0170] The weighing detection module 4 performs the following operations:

[0171] Before purchasing the merchandise, the weight sensor 43 is calibrated to zero according to the temperature and humidity of the vending machine.

[0172] Weigh the total commodities on the conveyor belt 41 and the commodities on the tray 42 and calculate the corresponding weight error percentage;

[0173] The measured weight data and the corresponding calculated weight error percentage are sent to the main control module 6;

[0174] The goods are transmitted to the shipping module 5 according to the judgment result of the main control module 6.

[0175] The working principle and beneficial effects of the above technical solution are:

[0176] Before being transmitted to the weighing detection module 4 , the measured value of each weight sensor 43 under the conveyor belt 41 should be 0. If one of the weight sensors 43 is not 0, the zeroing module 44 performs zeroing on the weight sensor 43 with error.

[0177] The conveyor belt 41 receives the goods conveyed by the goods storage module 1 and weighs them. The weight sensor 43 is used to measure the weight of the goods on the conveyor belt 41. The total weight of the products on the conveyor belt 41 is T c , the specific expression is:

[0178]

[0179] Where, T c is the total weight of the goods on the conveyor belt 41, t k is the single weight of the kth commodity on conveyor belt 41, c k is the quantity of the kth commodity on the conveyor belt 41 , and m is the number of commodity types on the conveyor belt 41 .

[0180] Then calculate the total weight error percentage η of the goods on the conveyor belt 41, and the calculation formula is:

[0181]

[0182] The error percentage η is set within a reasonable range, for example, 10%. When η>10%, the main control module 6 issues a fault alarm based on the information measured by the weighing detection module 4, closes the delivery port, stops the conveyor belt 41, and re-weighs the goods on the conveyor belt 41. If the re-weighing η≤10%, the main control module 6 controls the conveyor belt 41 to directly deliver the goods to the delivery module 5 for delivery. If η>10%, the weight of a single product is weighed and detected through the tray 42.

[0183] The barcode scanner 45 is arranged above the connection between the conveyor belt 41 and the tray 42, and scans the goods that fall onto the tray 42 one by one, determines the type of each product, and counts the number of products. The barcode scanner 45 in this embodiment uses infrared barcode scanning, and the scanning time is within 1 millisecond. It can quickly detect the number of purchased goods, saving the buyer's time.

[0184] The pallet 42 weighs a commodity through the change in weight, and the specific expression is:

[0185] t s =t d -t d-1

[0186] Where, t s is the weight of a commodity dropped onto the tray 42, t d-1 is the weight of a product on the tray 42 before it falls into the tray, t d It is the weight of a certain commodity displayed on the tray 42 after it falls into the tray.

[0187] Calculate the weight error percentage of a single product The calculation formula is:

[0188]

[0189] Where t′ s It is the standard weight of a certain product. The standard weight of a certain product can be found based on the merchant's quality specifications or industry standards.

[0190] Reset error percentage A reasonable range, such as 10%. When the main control module 6 controls the delivery module 5 to stop delivery and notifies the maintenance personnel to repair the vending machine through the communication module 72.

[0191] Before being transmitted to the weighing detection module 4 , the measured value of each weight sensor 43 under the conveyor belt 41 should be 0. If one of the weight sensors 43 is not 0, the zeroing module 44 performs zeroing on the weight sensor 43 with error.

[0192] The first weighing test is that the weighing test module 4 weighs the goods on the conveyor belt 41 at a constant speed. The conveyor belt 41 receives the goods conveyed by the goods storage module 1 and conveys them at a constant speed. The conveyor belt 41 measures the weight of the goods during the conveying process. First, identify the type of goods on the conveyor belt 41. And calculate the total weight T of the goods conveyed on the conveyor belt 41 according to the type and number of goods on the conveyor belt 41. c .

[0193]

[0194] Where, t k is the single weight of the kth commodity on conveyor belt 41, c k is the quantity of the kth commodity on the conveyor belt 41 , and m is the number of commodity types on the conveyor belt 41 .

[0195] Then calculate the total weight error percentage η of the goods on the conveyor belt 41.

[0196]

[0197] The second weighing test is to weigh a commodity on a tray 42 set at one end of the conveyor belt 41.

[0198] t s =t d -t d-1

[0199] The weight of a product is indicated by the change in the weight value displayed on the tray 42 before and after weighing. The weight error percentage of a single product is then calculated.

[0200]

[0201] The embodiment of the present invention sets weight sensors 43 on the conveyor belt 41 and the tray 42 respectively, and detects the weight of the goods on the conveyor belt 41 and the weight of a single commodity during the conveying process of the goods, which saves the customer's purchase time and improves the accuracy of the error detection of the goods. At the same time, a zero calibration unit 44 is set to zero the weighing detection module 4 to ensure the accuracy of the weight detection of the goods. At the same time, the embodiment of the present invention measures the total weight of the goods on the entire conveyor belt 41 and the weight of a single commodity through two weighing tests, and calculates the weight error percentage η and And determine whether it is within the set error range to ensure the normal operation of the vending machine.

[0202] The embodiment of the present invention provides a vending machine pickup system based on weighing detection. The display 2 performs the following operations:

[0203] The product selection interface is displayed.

[0204] The commodity purchase information input by the customer based on the commodity selection interface is obtained, and a preset shipment confirmation interface is displayed.

[0205] When the customer inputs a shipment confirmation instruction based on the product selection interface, the display 2 sends the shipment confirmation instruction to the main control module 6, and the main control module 6 controls the shipment module 5 to ship the goods. Otherwise, the preset voice instruction input information is obtained and displayed.

[0206] Get the voice commands input by the customer, parse the voice commands, and get the customer's needs.

[0207] Analyze the customer demand types of the customer demand, wherein the customer demand types include: commodity increase, commodity decrease and commodity selection.

[0208] When the customer demand type is to increase the goods, the goods storage module 1 transmits the required increase value to the weighing and detection module 4.

[0209] When the customer demand type is a reduction in goods, the main control module 6 obtains a preset first customer demand-tilt solution library corresponding to the type of goods purchased by the customer, and determines a first tilt solution corresponding to the customer demand from the first customer demand-tilt solution library.

[0210] Based on the first tilting scheme, the weighing and detecting module 4 is controlled to tilt to reduce the weight to meet the customer's demand.

[0211] When the customer demand type is product selection, the main control module 6 obtains a preset second customer demand-tilt solution library corresponding to the type of goods purchased by the customer, and determines a second tilt solution corresponding to the customer demand from the second customer demand-tilt solution library.

[0212] Based on the second tilting scheme, the weighing detection module 4 is controlled to tilt in a set direction to meet the customer's needs.

[0213] The roll plan includes: roll degree and holding time.

[0214] The working principle and beneficial effects of the above technical solution are:

[0215] First, the display 2 generates a product selection interface based on the product inventory. Then, the customer's purchase information is obtained by displaying the product selection interface and the preset shipment confirmation interface is displayed. When the customer inputs the shipment confirmation instruction based on the product selection interface, the display 2 sends the shipment confirmation instruction to the main control module 6, and the main control module 6 controls the shipment module 5 to ship. Otherwise, the preset voice instruction input information is obtained and displayed. The voice instruction input by the customer is obtained, and the voice instruction is feature extracted to obtain the customer demand type and value. The customer demand types include: increase in goods, decrease in goods, and selection of goods. When the customer demand type is an increase in goods, the voice prompt "how much more do you want", and then the value of the required increase in goods is obtained according to the voice instruction input by the customer, and the product storage module 1 transmits the required increase in value to the weighing detection module 4. For example, the customer enters the voice instruction "100 grams more melon seeds", and the main control module 6 controls the product storage module 1 to deliver 100g to the weighing detection module 4. When the customer demand type is the reduction of goods, the voice prompt "how much do you want to reduce", and then obtain the required reduction value of the goods according to the voice command input by the customer, the main control module 6 obtains the preset first customer demand-tilt solution library corresponding to the type of goods, and controls the weighing detection module 4 to tilt and reduce the weight to the required reduction value. The first customer demand-tilt solution library is based on the correlation between the weight reduction amount and the tilting solution corresponding to the type of goods. Among them, the tilting solution includes: tilting degree and holding time. For example, the melon seeds in the first customer demand-tilt solution library are tilted at 30°, the tilting time is 5 minutes, and the weight will be reduced by 100g. When the customer inputs the voice command "reduce 100 grams of melon seeds", the main control module 6 controls the weighing detection module 4 to tilt 30° and keep it for 5 minutes, then the weight of the melon seeds will be reduced by 100g. When the customer demand type is product selection, the customer inputs the voice command "keep 1 / 3 of the melon seeds on the right", the melon seeds in the second customer demand-tilt solution library are tilted to the left at 45°, the tilting time is 15 minutes, and the weight will be reduced by 2 / 3. According to the second customer demand - the tilting solution library, the main control module 6 controls the weighing and detecting module 4 to tilt 45° to the left and keep tilting for 15 minutes, so that the weight of the melon seeds is reduced by 2 / 3, thereby retaining 1 / 3 of the melon seeds on the right.

[0216] Obtain the preset increase / decrease amount-tilt plan library corresponding to the type of product; the tilt plan includes: tilt degree and holding time.

[0217] The embodiment of the present invention provides a method for picking up goods from a vending machine based on weighing detection, such as Figure 8 As shown, the following steps are included:

[0218] Step 1: The real-time monitoring module 8 collects commodity images from the commodity storage module 1 and status information of the vending machine.

[0219] Step 2: the main control module 6 identifies the commodity inventory based on the commodity images of the commodity storage module 1.

[0220] Step 3, the instruction input module 3 obtains the purchase information of the goods input by the customer to generate a goods order.

[0221] Step 4, the main control module 6 calculates the advance amount through iterative self-learning according to the commodity order, and controls the commodity storage module 1 to transfer the commodity to the weighing and detection module 4 according to the advance amount.

[0222] Step 5: the weighing detection module 4 performs two weighing monitoring on the conveyed goods.

[0223] Step 6: The main control module 6 determines whether to transfer the goods to the shipping module 5 for shipping based on the results of the two weighing monitoring.

[0224] Step 7: the early warning module 9 determines whether the vending machine is abnormal based on the status information of the vending machine.

[0225] The working principle and beneficial effects of the above technical solution are:

[0226] In this embodiment, the main control module 6 identifies the inventory of goods based on the goods image of the goods storage module 1. The instruction input module 3 obtains the purchase information of the goods input by the customer to generate a goods order and transmits it to the main control module 6. The main control module 6 calculates the advance amount through iterative self-learning, and controls the delivery of goods in the goods storage module 1 according to the advance amount. The weighing detection module 4 weighs and monitors the delivered goods twice, and delivers the goods to the shipping module 5 for delivery. The early warning module 9 performs real-time monitoring based on the status information of the vending machine collected by the real-time monitoring module 8. The status information includes the temperature, humidity and door pressure of the vending machine.

[0227] The embodiment of the present invention provides security for the vending machine by setting up a real-time monitoring module 8 and an early warning module 9. At the same time, the main control module 6 calculates the advance amount through iterative self-learning according to the product order, and controls the weighing detection module 4 to perform two weighing monitoring on the product, thereby accurately ensuring that the weight of the transmitted product is error-free.

[0228] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vending machine pickup system based on weighing detection, characterized in that: include: A commodity storage module, used for storing commodities; A display, used to generate a product selection interface based on the inventory of the product and output the display; An instruction input module, used to receive the commodity purchase information input by the customer based on the commodity selection interface, and generate a commodity order; The weighing and detection module is connected to the commodity storage module through a pipeline, and is used to weigh and distribute the commodities transmitted from the commodity storage module based on the commodity order and to perform two weighing and detection operations; The shipping module is connected to the weighing and detection module and is used to ship the goods that have been weighed and matched; and a main control module, which is respectively connected to the commodity storage module, the display, the command input module, the weighing detection module and the shipping module, and is used to control the shipment of commodities and check the quantity of the shipped commodities according to the commodity order; The display performs the following operations: Display the product selection interface; Acquire the commodity purchase information input by the customer based on the commodity selection interface, and display a preset shipment confirmation interface; When the customer inputs a shipment confirmation instruction based on the product selection interface, the display sends the shipment confirmation instruction to the main control module, and the main control module controls the shipment module to ship the product. Otherwise, the preset voice instruction input information is obtained and displayed; Acquire the voice command input by the customer, and perform command analysis on the voice command to obtain the customer's needs; Analyzing the customer demand types of the customer demand, wherein the customer demand types include: commodity increase, commodity decrease and commodity selection; When the customer demand type is an increase in goods, the goods storage module transmits the required increase in value to the weighing and detection module; When the customer demand type is a reduction in goods, the main control module obtains a preset first customer demand-tilt solution library corresponding to the type of goods purchased by the customer, and determines a first tilt solution corresponding to the customer demand from the first customer demand-tilt solution library; Based on the first tilting scheme, controlling the weighing and detecting module to tilt and reduce the weight to meet the customer's needs; When the customer demand type is product selection, the main control module obtains a preset second customer demand-tilt solution library corresponding to the type of product purchased by the customer, and determines a second tilt solution corresponding to the customer demand from the second customer demand-tilt solution library; Based on the second tilting scheme, the weighing detection module is controlled to tilt in a set direction to meet the customer's needs; The roll plan includes: roll degree and holding time.

2. A vending machine pickup system based on weighing detection as claimed in claim 1, characterized in that: Also includes: A real-time monitoring module, connected to the main control module and the weighing detection module, for collecting real-time monitoring information of the vending machine; Wherein, the real-time monitoring module includes: Camera, used to collect on-site surveillance video and commodity images in the commodity storage module; A temperature sensor, used to collect the temperature of the vending machine; Humidity sensor, used to collect humidity in the vending machine; A temperature control unit, used to control the temperature of the vending machine; A humidity control unit, used to control the humidity of the vending machine; Door sensor, used to collect the door pressure of the vending machine.

3. A vending machine pickup system based on weighing detection as claimed in claim 2, characterized in that: Also includes: The settlement module is connected to the main control module and is used to calculate the amount based on the product order and conduct interactive settlement with the customer; Wherein, the settlement module includes: An amount calculation unit, connected to the main control module, for calculating the total amount of goods according to the goods order and transmitting it to the main control module; A communication unit, for information interaction with an external network; An amount payment unit, for settling accounts with customers according to the calculated total amount of goods; Among them, the amount payment unit includes a cash payment unit and a mobile payment unit; The cash payment unit is used to identify cash and make payments according to the total amount of goods displayed on the display; The mobile payment unit is used to make mobile payments according to the total amount of goods displayed on the display.

4. A vending machine pickup system based on weighing detection as claimed in claim 1, characterized in that: The shipping module includes: A guide rail, A pick-up box, with an open top and a layer of sponge padding provided at the inner bottom, and the outer bottom is connected to the guide rail through a slider, for receiving the goods transmitted by the weighing and detection module; A motor, connected to the main control module and connected to the pick-up box through a telescopic connecting rod, for pushing the pick-up box to move horizontally on the guide rail according to the shipping instruction issued by the main control module; A pick-up electronic lock, for unlocking the pick-up box according to the shipping instruction issued by the main control module.

5. A vending machine pickup system based on weighing detection as claimed in claim 3, characterized in that: It also includes: An early warning module, connected to the main control module and the real-time monitoring module, for transmitting alarm information to the main control module; Among them, the early warning module includes: A rule unit, for presetting rules and thresholds for temperature, humidity and warehouse door pressure, A judgment unit, for judging whether the temperature, humidity and warehouse door pressure are normal according to the preset rules and thresholds; A fire extinguishing unit, for quickly extinguishing the vending machine in case the judgment unit judges that the temperature is abnormal; A drainage unit, for quickly draining the vending machine in case the judgment unit judges that the humidity is abnormal; A pressure electronic lock, for controlling the opening and closing of the warehouse door of the vending machine; A sound player, for emitting a prompt sound according to the abnormal judgment result of the judgment unit.

6. A vending machine pickup system based on weighing detection as claimed in claim 3, characterized in that: The main control module performs the following operations: Obtain the goods order generated by the instruction input module; Control the goods storage module to transmit the purchased goods to the weighing and detection module through the pipeline according to the iterative self-learning method; Send a settlement instruction to the settlement module for settlement and proofread with the quantity and amount of goods in the settlement module; Judge whether to transmit the goods to the shipping module according to the results of two weighing monitors of the purchased goods by the weighing and detection module; After settlement, control the shipping module to ship the goods.

7. A vending machine pickup system based on weighing detection as claimed in claim 6, characterized in that: Controlling the goods storage module to transmit the purchased goods to the weighing and detection module through the pipeline according to the iterative self-learning method specifically includes: Set an initial value a0, where 0 < a0 < T, and T is the quantity of goods that the customer needs to purchase; Perform iterative self-learning according to the advance quantity transmitted to the weighing and detection module each time in history to obtain the final advance quantity; According to the calculated final advance quantity, control the goods storage module to transmit the purchased goods to the weighing and detection module through the pipeline; Compare the weight of the goods on the weighing and detection module with the actual required weight of the goods to determine whether there is underweight. If there is underweight, the main control module performs corresponding supplementary weighing on the weighing and detection module.

8. The vending machine pickup system based on weighing detection as claimed in claim 1, characterized in that: The weighing and detection module includes: A conveyor belt, one end of which is arranged under the pipeline for transmitting goods by the goods storage module, for transmitting goods; A tray is arranged at the other end of the conveyor belt and connected to the shipping module, and is used to transport the goods to the shipping module; Several weight sensors are respectively arranged on the conveyor belt and the pallet to measure the total weight of the goods on the conveyor belt and the total weight of the goods on the pallet; Zero calibration unit, used for: The barcode scanner is arranged above the connection between the conveyor belt and the tray, and is used to obtain the type of goods and automatically count the goods by scanning the barcode of the goods; The weighing detection module performs the following operations: Before purchasing the product, calibrate the weight sensor to zero according to the temperature and humidity of the vending machine; Weigh the total goods on the conveyor belt and the goods on the pallet and calculate the corresponding weight error percentage; The measured weight data and the corresponding calculated weight error percentage are sent to the main control module; The goods are transmitted to the shipping module according to the judgment results of the main control module.

9. A method for picking up goods from a vending machine based on weighing detection, characterized in that: The following steps are involved: The real-time monitoring module collects commodity images from the commodity storage module and status information of the vending machine; The main control module identifies the commodity inventory based on the commodity image of the commodity storage module; The instruction input module obtains the purchase information of the goods input by the customer to generate a goods order; The main control module calculates the advance amount through iterative self-learning according to the commodity order, and controls the commodity storage module to transfer the commodity to the weighing detection module according to the advance amount; The weighing detection module performs two weighing monitoring on the conveyed goods; The main control module determines whether to transfer the goods to the shipping module for shipment based on the results of the two weighing monitoring; The early warning module determines whether the vending machine is abnormal based on the status information of the vending machine; The display connected to the main control module performs the following operations: Display the product selection interface; Acquire the commodity purchase information input by the customer based on the commodity selection interface, and display a preset shipment confirmation interface; When the customer inputs a shipment confirmation instruction based on the product selection interface, the display sends the shipment confirmation instruction to the main control module, and the main control module controls the shipment module to ship the product. Otherwise, the preset voice instruction input information is obtained and displayed; Acquire the voice command input by the customer, and perform command analysis on the voice command to obtain the customer's needs; Analyzing the customer demand types of the customer demand, wherein the customer demand types include: commodity increase, commodity decrease and commodity selection; When the customer demand type is an increase in goods, the goods storage module transmits the required increase in value to the weighing and detection module; When the customer demand type is a reduction in goods, the main control module obtains a preset first customer demand-tilt solution library corresponding to the type of goods purchased by the customer, and determines a first tilt solution corresponding to the customer demand from the first customer demand-tilt solution library; Based on the first tilting scheme, controlling the weighing and detecting module to tilt and reduce the weight to meet the customer's needs; When the customer demand type is product selection, the main control module obtains a preset second customer demand-tilt solution library corresponding to the type of product purchased by the customer, and determines a second tilt solution corresponding to the customer demand from the second customer demand-tilt solution library; Based on the second tilting scheme, the weighing detection module is controlled to tilt in a set direction to meet the customer's needs; The roll plan includes: roll degree and holding time.

Images