A delivery device, a vending cabinet and a control method

Abstract

The application provides a delivery device, a vending cabinet and a control method. The delivery device comprises: a shelf for placing goods; an irradiation module for emitting light to the goods; an imaging plate corresponding to the irradiation module, so that the light is projected onto the imaging plate after passing through the goods to form a projection of the goods on the imaging plate; a control module for identifying the shape and position of the projection to determine the stress point of the goods through the shape and position of the projection; and a pushing component in signal connection with the control module to control the pushing component to push the stress point of the goods. The delivery device solves the technical problem that the lunch box cannot be completely pushed out by the push rod due to the size and position difference of the lunch box and the inconsistency with the original push-out track in the related art.

Description

Technical Field

[0001] This invention relates to the field of vending machine technology, specifically to a dispensing device, vending machine, and control method. Background Technology

[0002] Currently available vending machines use fixed product racks, requiring standardized dimensions for product length, width, height, and uniformity. This imposes fixed requirements on product packaging. Merchants need to change the types and sizes of products they sell in different scenarios and at different times. Conventional vending machines cannot accommodate this product replacement. This invention addresses the problem of uneven lunchbox sizes and inconsistent placement by creating a vending machine that adapts to the size of lunchboxes.

[0003] Therefore, existing technologies need further development. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a dispensing device, vending machine, and control method to solve the technical problem in the related art where the lunchboxes are inconsistent with the original dispensing track due to differences in size and position, and the push rod cannot fully dispense the lunchboxes.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: A shipping device is provided, comprising: a shelf for placing goods; an illumination module for emitting light onto the goods; an imaging plate corresponding to the illumination module, such that light passes through the goods and is projected onto the imaging plate to form a projection of the goods on the imaging plate; a control module for identifying the shape and position of the projection to determine the force-bearing point of the goods; a pushing component connected to the control module to control the pushing component to push the force-bearing point of the goods; and a receiving component connected to the control module to receive the goods pushed by the pushing component.

[0006] Furthermore, the irradiation module includes a photoelectric sensor, which is disposed on the receiving component. The photoelectric sensor is used to irradiate the goods so as to determine whether the pushing component has pushed the goods into place or moved them onto the receiving component through the signal of the photoelectric sensor.

[0007] Furthermore, the shelving unit also includes a shelf, which is located between the light source and the imaging plate, and the goods are placed on the shelf.

[0008] Furthermore, there are multiple shelves, which are arranged at intervals along the vertical direction, and multiple pushing components, which are arranged one-to-one with the multiple shelves.

[0009] Furthermore, there is a transport gap between the placement plate and the imaging plate, and the receiving component is movably disposed to pass through the transport gap.

[0010] A vending machine includes: a dispensing device, a receiving cavity provided inside the shelf of the dispensing device, and a dispensing port on the dispensing device communicating with the receiving cavity; when the control module controls the pushing component to push the goods, the dispensing port opens to allow the goods to be moved out of the receiving cavity.

[0011] A control method is applicable to the above-mentioned shipping device. The control method includes: locating the force point based on the projection of the goods formed on the imaging plate, and controlling the pushing component to aim at the force point; the control module calculates the receiving position of the receiving component, causing the receiving component to move to the receiving position; and driving the pushing component to push the force point.

[0012] Furthermore, the method for locating the force point and controlling the pushing component to aim at the force point includes: establishing a planar coordinate system on the imaging plate, setting the X-axis and Y-axis, selecting the two endpoints A1 and A2 of the product's projection on the X-axis; and controlling the pushing component to move to the midpoint between A1 and A2.

[0013] Furthermore, the method for locating the force-bearing point and controlling the pushing component to aim at the force-bearing point includes: selecting point B1, which is closest to the X-axis, and point B2, which is farthest from the X-axis, and controlling the pushing component to move to the midpoint between B1 and B2.

[0014] Furthermore, the method of moving the receiving component to the receiving position includes: controlling the receiving component to move and moving it to the midpoint between A1 and A2.

[0015] Beneficial effects:

[0016] The dispensing device of this invention realizes automatic positioning of the lunch box, automatic determination of the lunch box size, and automatic adjustment of the receiving part and the push rod position. It effectively solves the problem that the lunch box size and position are inconsistent with the original dispensing track, and the push rod cannot push the lunch box out completely. This ensures accurate food dispensing from the vending machine and avoids food dispensing failure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the vending machine structure used in an embodiment of the present invention;

[0018] Figure 2 This is a cross-sectional view of the shipping device used in an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of the positioning method of the pushing component in the control method adopted in the embodiment of the present invention;

[0020] Figure 4This is a schematic diagram of the positioning method of the receiving component in the control method adopted in the embodiment of the present invention;

[0021] Figure 5 This is a flowchart of the control method used in an embodiment of the present invention.

[0022] The above figures include the following reference numerals:

[0023] 1. Shelf; 10. Goods; 12. Outlet; 2. Illumination module; 3. Imaging plate; 31. Transport gap; 4. Pushing component; 5. Receiving component; 6. Storage board. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] According to an embodiment of the present invention, a shipping device is provided; please refer to [link / reference]. Figures 1 to 5 The system includes: a shelf 1 for placing goods 10; an illumination module 2 for emitting light onto the goods 10; an imaging plate 3, which is correspondingly arranged with the illumination module 2 so that light passes through the goods 10 and is projected onto the imaging plate 3 to form a projection of the goods 10 on the imaging plate 3; a control module for identifying the shape and position of the projection to determine the force-bearing point of the goods 10; a pushing component 4, which is signal-connected to the control module to control the pushing component 4 to push the force-bearing point of the goods 10; and a receiving component 5, which is signal-connected to the control module and is used to receive the goods 10 pushed by the pushing component 4.

[0026] With the above setup, after the merchant replenishes the goods, the illumination module 2 emits light towards the goods 10. In the area on the shelf 1 where the goods 10 are present, the corresponding imaging plate 3 does not receive light information. In the area on the shelf 1 where the goods 10 are not present, the corresponding imaging plate 3 can receive the light information emitted by the illumination module 2. The control module determines the position of the goods 10 on the shelf 1 by receiving the light information on the imaging plate 3. When it is time to serve the food, the control module determines the center of gravity of the goods 10 by the light information on the imaging plate 3, and then controls the pushing component 4 to move to the center of gravity of the goods 10 and push the goods 10 out. After the corresponding area on the imaging plate 3 receives the light information, it indicates that the goods 10 has been completely pushed out. While the control module controls the pushing component 4 to move, the receiving component 5 also moves to the bottom of the goods 10 to receive the goods 10. After the receiving component 5 receives the goods 10, the user can take out the goods 10. This solves the technical problem in related technologies where the push rod cannot push out the entire lunch box due to the inconsistency between the original push track and the size and position of the lunch box.

[0027] In the shipping device of this embodiment, see Figure 2 The illumination module 2 includes a photoelectric sensor disposed on the receiving component 5. The photoelectric sensor illuminates the goods 10 to determine whether the goods 10 has moved onto the receiving component 5 based on the signal from the photoelectric sensor. Thus, the photoelectric sensor on the receiving component 5 emits an infrared signal towards the goods 10. When the photoelectric sensor on the receiving component 5 does not receive a returned photoelectric signal, it indicates that the receiving component 5 has not received the goods 10. When the photoelectric sensor on the receiving component 5 receives a returned photoelectric signal, it indicates that the receiving component 5 has received the goods 10, and then the receiving component 5 can move to the user's pickup location.

[0028] In the shipping device of this embodiment, see Figures 1 to 2 The shelf 1 device also includes a shelf 6, which is located between the irradiation module 2 and the imaging plate 3, and the goods 10 are placed on the shelf 6.

[0029] In the shipping device of this embodiment, see Figures 1 to 2 There are multiple shelf panels 6, which are arranged vertically at intervals. There are also multiple pushing components 4, which are arranged one-to-one with the multiple shelf panels 6. In this way, more goods 10 can be placed on the multiple shelf panels 6. The pushing component 4 closest to the goods 10 is selected according to the distance, which shortens the time it takes for the pushing component 4 to move to the center of gravity of the goods. The goods 10 can be pushed out in a shorter time, which improves the working efficiency of the dispensing device.

[0030] In the shipping device of this embodiment, see Figure 2A transport gap 31 exists between the shelf 6 and the imaging plate 3. The receiving component 5 is movably disposed to pass through the transport gap 31. Thus, after the control module determines the position of the goods 10, the receiving component 5 moves within the transport gap 31. After the receiving component 5 moves to below the position of the goods 10, it stops moving and the pushing component 4 moves to the center of gravity of the goods 10, pushing the goods 10 so that the goods 10 fall onto the receiving component 5. Subsequently, the receiving component 5 moves within the transport gap 31 to the user's pick-up position.

[0031] This embodiment provides a vending machine, see [link / reference] Figure 1 The system includes: the aforementioned dispensing device, wherein the shelf 1 of the dispensing device is provided with a receiving cavity, and the dispensing device is provided with a dispensing port 12 communicating with the receiving cavity; when the control module controls the pushing component 4 to push the goods 10, the dispensing port 12 opens, so that the goods 10 are moved out of the receiving cavity. In this way, the pushing component 4 pushes the goods 10 until they fall from the shelf 1 onto the receiving component 5, and the receiving component 5 transports the goods 10 along the transport gap 31 in the receiving cavity into the dispensing port 12. Subsequently, the control module controls the dispensing port 12 to open, and the user can take out the goods 10 from the opened dispensing port 12, completing one automatic dispensing cycle.

[0032] This embodiment provides a control method, see [link / reference] Figures 3 to 5 The control method, applicable to the above-mentioned shipping device, includes: locating the force point based on the projection of the goods 10 formed on the imaging plate 3, and controlling the pushing component 4 to aim at the force point; the control module calculates the receiving position of the receiving component 5, causing the receiving component 5 to move to the receiving position; and driving the pushing component 4 to push the force point.

[0033] In the control method of this embodiment, see Figures 3 to 5 The method for locating the force point and controlling the pushing component 4 to aim at the force point includes: establishing a planar coordinate system on the imaging plate 3, setting the X-axis and Y-axis, selecting the two endpoints A1 and A2 of the projection of the goods 10 on the X-axis; and controlling the pushing component 4 to move to the midpoint of A1 and A2.

[0034] In the control method of this embodiment, see Figures 3 to 5 The method for locating the force-bearing point and controlling the pushing component 4 to aim at the force-bearing point includes: selecting the point B1 that is closest to the X-axis and the point B2 that is farthest from the X-axis, and controlling the pushing component 4 to move to the midpoint between B1 and B2.

[0035] In the control method of this embodiment, see Figures 3 to 5 The method for moving the receiving component 5 to the receiving position includes: controlling the receiving component 5 to move and move it to the midpoint between A1 and A2.

[0036] Specifically, in some embodiments, the coordinate system extends along the X, Y, and Z axes with the lower left corner of the vending machine as the origin. After the merchant replenishes the stock, the control module begins to locate the product 10. At this time, the light from the illumination module 2 behind the vending machine turns on, and the imaging board 3 receives the information that the illuminated areas are empty and the unilluminated areas are in stock. The position information of the product 10 is determined based on the illuminated area. At this point, the planar state of the entire product 10 has been located, and the frontal view of the product 10 can be calculated. Figure 4 The points (X1, Y1) and (X2, Y2) in the upper left and lower left dark areas, (X3, Y3) in the lower right dark area, and (X4, Y4) in the upper right are located as the position of item 10. Using this as an example, item 10 can be located in other locations with one click. The pusher component 4 determines the center point using a four-point method. When a meal pick-up instruction is received, the position of the meal box is determined using four points. First, the left X-axis is checked, and the smaller value of X1 and X2 is taken as the left point A1 for meal box correction. On the right, the larger value of X3 and X4 is taken as the correction A2. Since the shelf is flat, the values ​​of the lower left and right sides of the shelf are Y2 = Y3 = B1. The larger value of Y1 and Y4 is taken as the correction B2. This allows an irregular item to be filled according to the rules. At this time, the filled item is located at the upper left (A1, B2), lower left (A1, B1), upper right (A2, B2), and lower right (A2, B1). The four points of the item are now filled, and the average value of the four points is taken as the center point. The center point is [(A1+A2) / 2, (B1+B2) / 2]. The pusher method ensures that items of different sizes can be pushed out normally. Once the location of the goods is determined and a pick-up instruction is received, the receiving center shifts from the origin to [(A1+A2) / 2, B1]. At this point, the Z-axis position needs to be determined to push the meal box out. The photoelectric sensor on the receiving component 5 receives the light signal. During the pushing process, if the goods are blocked, the photoelectric sensor does not receive light information, so the pushing component 4 continues to work. When the pushing component 4 has completely pushed the goods out of the shelf 1, the red photoelectric sensor receives the light signal, and the pushing component 4 stops pushing. After the pushing is complete, the receiving component 5 moves to the pick-up port, and the user can easily retrieve the meal box.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0039] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0040] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0041] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A shipping device, comprising: The application relates to a goods delivery device. The goods delivery device comprises: a shelf (1) for placing goods (10); an irradiation module (2) for emitting light to the goods (10); an imaging plate (3) corresponding to the irradiation module (2) and arranged to project the light passing through the goods (10) onto the imaging plate (3) to form a projection of the goods (10) on the imaging plate (3); a control module for identifying the shape and position of the projection to determine the stress point of the goods (10) through the shape and position of the projection; a pushing component (4) connected to the control module and arranged to push the stress point of the goods (10); a taking component (5) connected to the control module and arranged to take the goods (10) pushed by the pushing component (4); wherein the stress point is positioned according to the projection of the goods (10) formed on the imaging plate (3), and the pushing component (4) is controlled to aim at the stress point; the control module calculates the taking position of the taking component (5) and drives the taking component (5) to move to the taking position; and 2. The shipping apparatus of claim 1, wherein, the pushing component (4) is driven to push the stress point. The irradiation module (2) comprises:

3. The dispensing apparatus of claim 2, wherein, a photoelectric sensor arranged on the taking component (5) and arranged to irradiate the goods (10) to determine whether the goods (10) move to the taking component (5) through the signal of the photoelectric sensor.

4. The dispensing apparatus of claim 3, wherein The goods delivery device further comprises a placing plate (6) arranged between the irradiation module (2) and the imaging plate (3) and arranged to place the goods (10).

5. The shipping apparatus of claim 4, wherein, The placing plate (6) is arranged in a vertical direction and spaced apart from each other, and the pushing component (4) is arranged in one-to-one correspondence with the placing plate (6).

6. A merchandising cabinet comprising the dispensing device of any one of claims 1 to 5, characterized in that, The placing plate (6) and the imaging plate (3) have a transport gap (31), and the taking component (5) is movably arranged to pass through the transport gap (31). The application further relates to a control method of the goods delivery device.

7. A control method for the shipment device according to any one of claims 1 to 5, characterized by, The control method comprises: positioning the stress point according to the projection of the goods (10) formed on the imaging plate (3) and controlling the pushing component (4) to aim at the stress point; calculating the taking position of the taking component (5) and driving the taking component (5) to move to the taking position; and driving the pushing component (4) to push the stress point.

8. The control method according to claim 7, characterized by, The method for positioning the force point and controlling the pushing component (4) to aim at the force point comprises: A plane coordinate system is established on the imaging plate (3), X and Y axes are set, and two end points A1 and A2 of the projection of the goods (10) on the X axis are selected; The pushing component (4) is controlled to move to the midpoint of A1 and A2.

9. The control method according to claim 8, characterized by, The method for positioning the force point and controlling the pushing component (4) to aim at the force point comprises: The point B1 closest to the X axis and the point B2 farthest from the X axis are selected, and the pushing component (4) is controlled to move to the midpoint of B1 and B2.

10. The control method according to claim 9, characterized by, The method for moving the picking component (5) to the picking position comprises: The picking component (5) is controlled to move and move to the midpoint of A1 and A2.

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