Merchandise vending machine and its control method and control device

Abstract

This application relates to a vending machine and its control method and device. The vending machine includes: a product conveyor for transporting goods; a retrieval platform for receiving goods output from the product conveyor's outlet; a motion mechanism connected to the retrieval platform; a control device connected to the motion mechanism and used to control the motion mechanism's movement to move the retrieval platform to the product conveyor's outlet; at least one photoelectric switch disposed on the retrieval platform and connected to the control device; the control device is used to determine the relative positional relationship between the retrieval platform and a preset position based on the working state of the photoelectric switch, and to control the motion mechanism's movement based on the relative positional relationship to adjust the retrieval platform to the preset position; goods output from the product conveyor's outlet at the preset position can reach the retrieval platform. The vending machine can automatically adjust the height of the retrieval platform to match product conveyors of different heights, avoiding the problem of goods being unable to be pushed out due to uneven product conveyor heights.

Description

Technical Field

[0001] This application relates to the field of merchandise sales technology, and in particular to a merchandise vending machine and its control method and control device. Background Technology

[0002] Vending machines cater to consumers' desire for convenience and speed, making them a highly competitive new sales method. However, taking food vending machines as an example, issues such as sheet metal deformation, transportation vibrations, thermal expansion and contraction, and uneven adjustments can lead to inconsistent aisle heights during production and assembly. This can cause the retrieval platform to be unable to smoothly receive lunchboxes or meals from the aisle's outlet, resulting in food getting stuck or tipping over. For instance, if the aisle is too high (i.e., the retrieval platform is too low), meals can easily get stuck at the platform's rollers; if the aisle is too low (i.e., the retrieval platform is too high), meals cannot be pushed onto the platform. Summary of the Invention

[0003] This application provides a vending machine and its control method and device to solve the problem that the product cannot be pushed out due to uneven production height of the product channel and the inability of the picking platform to accurately match the product channel to receive the product output from the product channel.

[0004] In a first aspect, this application provides a vending machine, comprising: a product conveyor for conveying products; a retrieval platform for receiving products output from the product outlet of the product conveyor; a motion mechanism connected to the retrieval platform; a control device connected to the motion mechanism and used to control the motion mechanism to move, thereby moving the retrieval platform to the product outlet of the product conveyor; at least one photoelectric switch disposed on the retrieval platform and connected to the control device; the control device is used to determine the relative positional relationship between the retrieval platform and a preset position according to the working state of the at least one photoelectric switch, and to control the motion mechanism to move according to the relative positional relationship, thereby adjusting the retrieval platform to the preset position; wherein the working state includes the emitted light beam being blocked by the product and not being blocked by the product, and at the preset position, the product output from the product outlet of the product conveyor can reach the retrieval platform.

[0005] The vending machine of this application has a control device that can determine the relative positional relationship between the picking platform and the preset position based on the working state of at least one photoelectric switch, and control the movement of the motion mechanism according to the relative positional relationship to adjust the picking platform to the preset position. That is, it can adaptively adjust the height of the picking platform so that the picking platform can match the goods lanes of different heights, thereby ensuring that the goods output from the goods lane outlet can reach the picking platform, reducing the accident rate, improving product reliability, solving the problems of goods tipping over and goods not being able to be pushed out, and saving the labor costs of installation and debugging to a certain extent.

[0006] In one possible implementation, the at least one photoelectric switch includes: a first photoelectric switch disposed at one end of the picking platform near the outlet, wherein the direction of the light beam emitted by the first photoelectric switch is along the lateral direction of the picking platform; and a second photoelectric switch disposed at least partially at the other end of the picking platform away from the outlet, wherein the direction of the light beam emitted by the second photoelectric switch is along the diagonal direction of the picking platform; wherein, at the preset position, the light beam emitted by the first photoelectric switch is not blocked, and the light beam emitted by the second photoelectric switch is blocked.

[0007] In other words, in this implementation, the relative positional relationship between the picking platform and the cargo channel can be determined by the working states of the first photoelectric switch and the second photoelectric switch, so that the position of the picking platform can be adjusted according to the relative positional relationship so that the picking platform is located in the preset position, thereby ensuring that the goods output from the cargo channel outlet can reach the picking platform.

[0008] In one possible implementation, the vending machine further includes a timing device for recording the pickup time. If the pickup time exceeds a preset time: the beam emitted by the first photoelectric switch is not blocked, the beam emitted by the second photoelectric switch is not blocked, the control device determines that the pickup platform is above the preset position, and the control device controls the motion mechanism to move, thereby lowering the pickup platform until the beam emitted by the first photoelectric switch is blocked. After a set time, if the beam emitted by the first photoelectric switch is not blocked and the beam emitted by the second photoelectric switch is blocked, the control device determines that the pickup platform is at the preset position. Alternatively, if the beam emitted by the first photoelectric switch is blocked but the beam emitted by the second photoelectric switch is not blocked, the control device determines that the pickup platform is below the preset position, and the control device controls the motion mechanism to move, thereby raising the pickup platform until the beam emitted by the first photoelectric switch is not blocked and the beam emitted by the second photoelectric switch is blocked, the control device determines that the pickup platform is at the preset position.

[0009] In other words, in this implementation, if the pickup time is long: if the beams emitted by the first photoelectric switch and the second photoelectric switch are not blocked, the goods have not been delivered to the pickup platform, indicating that the pickup platform is at a high position. At this time, the control device can control the movement mechanism to move to lower the position of the pickup platform; if the beams emitted by the first photoelectric switch are blocked, but the beams emitted by the second photoelectric switch are not blocked, the goods are stuck at the pickup platform, indicating that the pickup platform is at a low position. At this time, the control device can control the movement mechanism to move to raise the position of the pickup platform.

[0010] In one possible implementation, the vending machine further includes a timing device for recording the pickup time; if the pickup time is less than or equal to a preset time, the light beam emitted by the first photoelectric switch is not blocked, while the light beam emitted by the second photoelectric switch is blocked, and the control device determines that the pickup platform is located at the preset position.

[0011] In other words, in this implementation, if the light beam emitted by the first photoelectric switch is not blocked (i.e., not blocked by the product) and the light beam emitted by the second photoelectric switch is blocked (i.e. blocked by the product), the product is successfully delivered to the pickup platform, and the pickup platform is located at a preset position.

[0012] In one possible implementation, at least one of the first photoelectric switch and the second photoelectric switch is a normally closed photoelectric switch. When the light beam emitted by the normally closed photoelectric switch is blocked, the normally closed photoelectric switch is open; when the light beam emitted by the normally closed photoelectric switch is not blocked, the normally closed photoelectric switch is closed. And / or, at least one of the first photoelectric switch and the second photoelectric switch is a normally open photoelectric switch. When the light beam emitted by the normally open photoelectric switch is blocked, the normally open photoelectric switch is closed; when the light beam emitted by the normally open photoelectric switch is not blocked, the normally open photoelectric switch is open.

[0013] In other words, in this implementation, both the first photoelectric switch and the second photoelectric switch can be normally closed photoelectric switches; or both the first photoelectric switch and the second photoelectric switch can be normally open photoelectric switches; or one of the first photoelectric switch and the second photoelectric switch is a normally closed photoelectric switch and the other is a normally open photoelectric switch.

[0014] Secondly, this application provides a control method for a vending machine, the vending machine including a retrieval platform and a conveyor for transporting goods, the retrieval platform being used to receive the goods output from the outlet of the conveyor, the control method including: acquiring the operating state of at least one photoelectric switch, wherein the at least one photoelectric switch is disposed on the retrieval platform, the operating state including whether the emitted light beam is blocked by the goods and whether it is not blocked by the goods; determining the relative positional relationship between the retrieval platform and a preset position based on the operating state of the at least one photoelectric switch, wherein at the preset position, the goods output from the outlet of the conveyor can reach the retrieval platform; and controlling the movement of a motion mechanism connected to the retrieval platform according to the relative positional relationship to adjust the retrieval platform to the preset position.

[0015] In other words, in this implementation, the control device can determine the relative positional relationship between the picking platform and the preset position based on the working state of at least one photoelectric switch, and control the movement of the motion mechanism according to the relative positional relationship to adjust the picking platform to the preset position. That is, it can adaptively adjust the height of the picking platform so that the picking platform can match the cargo channels of different heights, thereby ensuring that the goods output from the cargo channel outlet can reach the picking platform, improving the reliability of the product, solving the problems of goods tipping over and goods not being able to be pushed out, and saving the labor costs of installation and debugging to a certain extent.

[0016] In one possible implementation, the at least one photoelectric switch includes: a first photoelectric switch disposed at one end of the picking platform near the outlet, wherein the direction of the light beam emitted by the first photoelectric switch is along the lateral direction of the picking platform; and a second photoelectric switch disposed at least partially at the other end of the picking platform away from the outlet, wherein the direction of the light beam emitted by the second photoelectric switch is along the diagonal direction of the picking platform; wherein, at the preset position, the light beam emitted by the first photoelectric switch is not blocked, and the light beam emitted by the second photoelectric switch is blocked.

[0017] In one possible implementation, determining the relative position of the pickup platform to a preset position based on the operating state of the at least one photoelectric switch includes: acquiring the pickup duration; if the pickup duration is less than or equal to the preset duration, and the light beam emitted by the first photoelectric switch is not blocked while the light beam emitted by the second photoelectric switch is blocked, then the pickup platform is determined to be located at the preset position; if the pickup duration is greater than the preset duration: if the light beam emitted by the first photoelectric switch is not blocked while the light beam emitted by the second photoelectric switch is not blocked, then the pickup platform is determined to be higher than the preset position; if the light beam emitted by the first photoelectric switch is blocked while the light beam emitted by the second photoelectric switch is not blocked, then the pickup platform is determined to be lower than the preset position.

[0018] In other words, in this implementation, the relative positional relationship between the picking platform and the preset position can be determined by the working states of the first photoelectric switch and the second photoelectric switch.

[0019] In one possible implementation, the relative positional relationship includes the pickup platform being higher or lower than the preset position. Controlling the movement of the motion mechanism connected to the pickup platform according to the relative positional relationship to adjust the pickup platform to the preset position includes: determining that the pickup platform is higher than the preset position; controlling the movement of the motion mechanism connected to the pickup platform to lower the pickup platform until the light beam emitted by the first photoelectric switch is blocked; after a set time, if the light beam emitted by the first photoelectric switch is not blocked but the light beam emitted by the second photoelectric switch is blocked, determining that the pickup platform is located at the preset position; or, determining that the pickup platform is lower than the preset position; controlling the movement of the motion mechanism connected to the pickup platform to raise the pickup platform until the light beam emitted by the first photoelectric switch is not blocked but the light beam emitted by the second photoelectric switch is blocked, determining that the pickup platform is located at the preset position.

[0020] In other words, in this implementation, the movement of the motion mechanism can be controlled according to the relative positional relationship between the pickup platform and the preset position, so as to adjust the pickup platform to the preset position, thereby ensuring that the goods output from the outlet of the cargo channel can reach the pickup platform.

[0021] Thirdly, this application provides a control device for a vending machine, the vending machine including a retrieval platform and a conveyor for transporting goods, the retrieval platform receiving goods output from the outlet of the conveyor, the control device including: an acquisition module for acquiring the operating state of at least one photoelectric switch, wherein the at least one photoelectric switch is disposed on the retrieval platform, the operating state including whether the emitted light beam is blocked by the goods and whether it is not blocked by the goods; a determination module for determining the relative positional relationship between the retrieval platform and a preset position based on the operating state of the at least one photoelectric switch, wherein at the preset position, the goods output from the outlet of the conveyor can reach the retrieval platform; and a control module for controlling the movement of a motion mechanism connected to the retrieval platform according to the relative positional relationship, so as to adjust the retrieval platform to the preset position.

[0022] Fourthly, this application provides a vending machine for selling goods, which includes a processor and a memory. The processor is used to execute a control program for the vending machine stored in the memory to implement the steps of the control method for the vending machine described in the second aspect above.

[0023] Fifthly, this application also provides a computer storage medium storing computer-executable instructions for performing the steps of the control method for the vending machine described in the second aspect above.

[0024] Compared with the prior art, the above-mentioned technical solution provided in this application embodiment has the following advantages: The merchandise vending cabinet provided in this application embodiment can adaptively adjust the height of the picking platform so that the picking platform can match the merchandise channels of different heights, thereby ensuring that the merchandise output from the outlet of the merchandise channel can reach the picking platform, improving the reliability of the product, solving the problems of merchandise tipping over and merchandise not being able to be pushed out, and saving the labor cost of installation and debugging to a certain extent. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0028] Figure 1A This is a schematic diagram of the structure of a merchandise vending machine provided in an embodiment of this application;

[0029] Figure 1B for Figure 1A A schematic diagram showing another configuration of the merchandise vending machine;

[0030] Figure 1C for Figure 1A A schematic diagram showing another configuration of the merchandise vending machine;

[0031] Figure 2 A flowchart illustrating a method for controlling a vending machine provided in an embodiment of this application;

[0032] Figure 3 A flowchart illustrating another method for controlling a vending machine provided in this application embodiment;

[0033] Figure 4A schematic diagram of the structure of a control device for a vending machine provided in this application embodiment;

[0034] Figure 5 This is a schematic diagram of another product vending machine provided in an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0037] To address the technical problem in existing technologies where uneven height of the product aisle prevents the retrieval platform from accurately aligning with the aisle to receive goods, thus hindering the removal of products, this application provides a product vending machine that adaptively adjusts the height of the retrieval platform. This allows the retrieval platform to match aisles of different heights, ensuring that goods exiting from the aisle's outlet reach the retrieval platform. This improves product reliability, solves the problems of product tipping and failure to be removed, and saves on installation and debugging labor costs to some extent.

[0038] Figure 1A This is a schematic diagram of the structure of a vending machine provided in an embodiment of this application. Figure 1A As shown, the vending machine includes a product channel 1, a retrieval platform 2, a motion mechanism 3, a control device (not shown), and at least one photoelectric switch 4. The product channel 1 is used to transport product P. The retrieval platform 2 is used to receive product P output from the outlet of the product channel 1, and can move product P to the retrieval outlet. The motion mechanism 3 is connected to the retrieval platform 2. The control device is connected to the motion mechanism 3 and is used to control the movement of the motion mechanism 3 to move the retrieval platform 2 to the outlet of the product channel 1. At least one photoelectric switch 4 is disposed on the retrieval platform 2 and connected to the control device.

[0039] The control device determines the relative positional relationship between the picking platform 2 and a preset position based on the operating state of at least one photoelectric switch 4, and controls the motion mechanism 3 to move according to the relative positional relationship to adjust the picking platform 2 to the preset position. The operating states include when the emitted light beam is blocked by the product P and when it is not blocked by the product P. In the following text, "the emitted light beam is blocked" means "the emitted light beam is blocked by the product," and "the emitted light beam is not blocked" means "the emitted light beam is not blocked by the product." Furthermore, at the preset position, the product P output from the outlet of the cargo channel 1 can reach the picking platform 2.

[0040] The vending machine of this application has a control device that can determine the relative positional relationship between the picking platform and the preset position based on the working state of at least one photoelectric switch, and control the movement of the motion mechanism according to the relative positional relationship to adjust the picking platform to the preset position. That is, it can adaptively adjust the height of the picking platform so that the picking platform can match the goods lanes of different heights, thereby ensuring that the goods output from the goods lane outlet can reach the picking platform, improving the reliability of the product, solving the problems of goods tipping over and goods not being able to be pushed out, and saving the labor costs of installation and debugging to a certain extent.

[0041] For example, such as Figure 1A As shown, at least one photoelectric switch 4 includes a first photoelectric switch 41 and a second photoelectric switch 42. The first photoelectric switch 41 is disposed at one end of the picking platform 2 near the outlet, and the direction of the light beam emitted by the first photoelectric switch 41 is along the lateral direction of the picking platform 2. At least a portion of the second photoelectric switch 42 is disposed at the other end of the picking platform 2 away from the outlet, and the direction of the light beam emitted by the second photoelectric switch 42 is along the diagonal direction of the picking platform 2. In a preset position, the light beam emitted by the first photoelectric switch 41 is not blocked, while the light beam emitted by the second photoelectric switch 42 is blocked.

[0042] The photoelectric switch 4 generally includes a transmitter and a receiver. For the first photoelectric switch 41, its transmitter and receiver can be arranged on two opposite side walls of the picking platform 2 along the lateral direction of the picking platform 2; for the second photoelectric switch 42, its transmitter and receiver can be arranged on two opposite side walls of the picking platform 2 along the diagonal direction of the picking platform 2.

[0043] In some embodiments, at least one of the first photoelectric switch 41 and the second photoelectric switch 42 is a normally closed photoelectric switch. When the light beam emitted by the normally closed photoelectric switch is blocked, the normally closed photoelectric switch is open; when the light beam emitted by the normally closed photoelectric switch is not blocked, the normally closed photoelectric switch is closed. In other embodiments, at least one of the first photoelectric switch 41 and the second photoelectric switch 42 is a normally open photoelectric switch. When the light beam emitted by the normally open photoelectric switch is blocked, the normally open photoelectric switch is closed; when the light beam emitted by the normally open photoelectric switch is not blocked, the normally open photoelectric switch is open. For example, both the first photoelectric switch 41 and the second photoelectric switch 42 are normally closed photoelectric switches; or, both the first photoelectric switch 41 and the second photoelectric switch 42 are normally open photoelectric switches; or, one of the first photoelectric switch 41 and the second photoelectric switch 42 is a normally closed photoelectric switch, and the other is a normally open photoelectric switch.

[0044] Figure 1B for Figure 1A The diagram shows another configuration of the merchandise vending machine. Figure 1C for Figure 1A The diagram shows another configuration of the merchandise vending machine. (Example:) Figures 1A to 1C As shown, the relative positional relationship between the pickup platform 2 and the preset location can be one of the following three possibilities:

[0045] 1) such as Figure 1A As shown, the pickup platform 2 is located at a preset location.

[0046] At the preset position, the product P output from the outlet of the cargo channel 1 can reach the appropriate position of the picking platform 2. Therefore, the beam emitted by the first photoelectric switch 41 is not blocked by the product P, while the beam emitted by the second photoelectric switch 42 is blocked by the product P. In some embodiments, the first photoelectric switch 41 and the second photoelectric switch 42 are normally closed photoelectric switches, with the first photoelectric switch 41 closed and the second photoelectric switch 42 open. In other embodiments, the first photoelectric switch 41 and the second photoelectric switch 42 are normally open photoelectric switches, with the first photoelectric switch 41 open and the second photoelectric switch 42 closed.

[0047] In addition, the vending machine also includes a timing device to record the retrieval time. If the retrieval time is less than or equal to a preset time, the beam emitted by the first photoelectric switch 41 is not blocked, while the beam emitted by the second photoelectric switch 42 is blocked, and the control device can determine that the retrieval platform 2 is located at a preset position.

[0048] 2) such as Figure 1B As shown, the location of pickup platform 2 is higher than the preset location.

[0049] When the pickup platform 2 is positioned higher than a preset position, the goods P output from the outlet of the cargo channel 1 cannot reach the pickup platform 2. Therefore, the light beams emitted by the first photoelectric switch 41 and the second photoelectric switch 42 are not blocked by the goods P. In some embodiments, the first photoelectric switch 41 and the second photoelectric switch 42 are normally closed photoelectric switches, and both the first photoelectric switch 41 and the second photoelectric switch 42 are closed. In other embodiments, when the first photoelectric switch 41 and the second photoelectric switch 42 are normally open photoelectric switches, both the first photoelectric switch 41 and the second photoelectric switch 42 are open.

[0050] Therefore, if the pickup time exceeds the preset time, the beam emitted by the first photoelectric switch 41 is not blocked, the beam emitted by the second photoelectric switch 42 is not blocked, the control device determines that the position of the pickup platform 2 is higher than the preset position, and the control device controls the motion mechanism 3 to move so that the position of the pickup platform 2 is lowered until the beam emitted by the first photoelectric switch 41 is blocked. After a set time, the beam emitted by the first photoelectric switch 41 is not blocked, the beam emitted by the second photoelectric switch 42 is blocked, and the control device determines that the pickup platform 2 is at the preset position.

[0051] 3) such as Figure 1C As shown, the location of pickup platform 2 is lower than the preset location.

[0052] When the position of the picking platform 2 is lower than the preset position, the lower end of the product P output from the outlet of the cargo channel 1 reaches the picking platform 2. Therefore, the beam emitted by the first photoelectric switch 41 is blocked by the product P, while the beam emitted by the second photoelectric switch 42 is not blocked by the product P. In some embodiments, the first photoelectric switch 41 and the second photoelectric switch 42 are normally closed photoelectric switches, with the first photoelectric switch 41 open and the second photoelectric switch 42 closed. In other embodiments, the first photoelectric switch 41 and the second photoelectric switch 42 are normally open photoelectric switches, with the first photoelectric switch 41 closed and the second photoelectric switch 42 open.

[0053] Therefore, if the pickup time exceeds the preset time: the beam emitted by the first photoelectric switch 41 is blocked, while the beam emitted by the second photoelectric switch 42 is not blocked, the control device determines that the position of the pickup platform 2 is lower than the preset position, and the control device controls the motion mechanism 3 to move so that the position of the pickup platform 2 is raised until the beam emitted by the first photoelectric switch 41 is not blocked and the beam emitted by the second photoelectric switch 42 is blocked, and the control device determines that the pickup platform 2 is at the preset position.

[0054] Figure 2 This is a flowchart illustrating a control method for a vending machine provided in an embodiment of this application. The vending machine can be the one described above. Figures 1A to 1CThe vending machine shown includes a pickup platform and a conveyor for transporting goods. The pickup platform receives goods exiting from the conveyor's outlet, such as... Figure 2 As shown, the control method includes the following steps:

[0055] S201, obtain the operating state of at least one photoelectric switch, wherein at least one photoelectric switch is disposed on the picking platform, and the operating state includes whether the emitted light beam is blocked by the goods or not.

[0056] In the following text, "the emitted light beam is blocked" means "the emitted light beam is blocked by the product," and "the emitted light beam is not blocked" means "the emitted light beam is not blocked by the product." Exemplarily, at least one photoelectric switch may include a first photoelectric switch and a second photoelectric switch. The first photoelectric switch is disposed at one end of the picking platform near the outlet, and the direction of the light beam emitted by the first photoelectric switch is along the lateral direction of the picking platform. At least a portion of the second photoelectric switch is disposed at the other end of the picking platform away from the outlet, and the direction of the light beam emitted by the second photoelectric switch is along the diagonal direction of the picking platform; wherein, in a preset position, the light beam emitted by the first photoelectric switch is not blocked, and the light beam emitted by the second photoelectric switch is blocked.

[0057] In some embodiments, both the first photoelectric switch and the second photoelectric switch are normally closed photoelectric switches. In other embodiments, both the first photoelectric switch and the second photoelectric switch are normally open photoelectric switches. In still other embodiments, one of the first photoelectric switch and the second photoelectric switch is a normally closed photoelectric switch, and the other is a normally open photoelectric switch. Furthermore, other details regarding the first photoelectric switch and the second photoelectric switch can be found above. Figure 1A The product display case shown is for informational purposes only.

[0058] S202, determine the relative positional relationship between the picking platform and the preset position based on the working state of at least one photoelectric switch, wherein at the preset position, the goods output from the outlet of the cargo channel can reach the picking platform.

[0059] For example, determining the relative position of the pickup platform to a preset position based on the operating state of at least one photoelectric switch can be performed according to the following steps: obtaining the pickup duration; if the pickup duration is less than or equal to the preset duration, the beam emitted by the first photoelectric switch is not blocked, while the beam emitted by the second photoelectric switch is blocked, thus determining that the pickup platform is located at the preset position; if the pickup duration is greater than the preset duration: the beam emitted by the first photoelectric switch is not blocked, and the beam emitted by the second photoelectric switch is not blocked, thus determining that the pickup platform is higher than the preset position; if the beam emitted by the first photoelectric switch is blocked, and the beam emitted by the second photoelectric switch is not blocked, thus determining that the pickup platform is lower than the preset position.

[0060] S203, control the movement of the motion mechanism connected to the picking platform according to the relative position relationship, so as to adjust the picking platform to the preset position.

[0061] For example, in some embodiments, it is determined that the pickup platform is higher than a preset position; the motion mechanism connected to the pickup platform is controlled to move to lower the pickup platform until the light beam emitted by the first photoelectric switch is blocked. After a set time, if the light beam emitted by the first photoelectric switch is not blocked and the light beam emitted by the second photoelectric switch is blocked, it is determined that the pickup platform is at the preset position. In other embodiments, it is determined that the pickup platform is lower than a preset position; the motion mechanism connected to the pickup platform is controlled to move to raise the pickup platform until the light beam emitted by the first photoelectric switch is not blocked and the light beam emitted by the second photoelectric switch is not blocked, it is determined that the pickup platform is at the preset position.

[0062] In summary, the vending machine and its control method of this application eliminate the need for manual adjustment of the product aisle height after a malfunction, solving the problem of uneven product aisle height preventing products such as food from being pushed out. It also addresses the issue of products tipping over during push-out using existing control methods. Specifically, by setting a horizontal photoelectric switch (first photoelectric switch) and an oblique photoelectric switch (second photoelectric switch) at the picking platform, along with a corresponding control method, the product can be pushed normally to the picking platform. When the vending machine is dispensing products but the picking platform is higher or lower than the product aisle's outlet, the working state of the photoelectric switch on the picking platform determines the relationship between the picking platform and a preset position. A moving structure then lowers or raises the picking platform by a corresponding distance, achieving adaptive adjustment of the platform's position. This allows the picking platform to match product aisle heights of different levels, ensuring that food accurately reaches the picking platform, thereby improving the product's reliability, solving the problem of food tipping over and being unable to be pushed out, and saving on installation and debugging labor costs to some extent.

[0063] Figure 3 This is a flowchart illustrating another control method for a vending machine provided in this application embodiment. The vending machine's retrieval platform is equipped with a horizontal photoelectric switch (i.e., a first photoelectric switch) and a diagonal photoelectric switch (i.e., a second photoelectric switch). The horizontal photoelectric switch can detect whether a product, such as a lunchbox, has been pushed out of the delivery channel. The horizontal and diagonal photoelectric switches work together to determine whether the product has moved into position. Taking an example where both the horizontal and diagonal photoelectric switches are normally open, the product is a meal or a lunchbox, and the retrieval platform is a food retrieval platform.

[0064] like Figure 3As shown, the food retrieval threshold is set to t+2. This threshold can be manually set and needs to be matched with the speed of the conveyor motor. If the conveyor can move the food box from the rear to the front in t seconds, the threshold can be set to t+2 seconds. Timing begins when the food retrieval platform and cantilever (i.e., the motion mechanism) reach their positions, and the status of the horizontal photoelectric switch is checked simultaneously. When the retrieval time is less than the threshold, the horizontal photoelectric switch is off, and the diagonal photoelectric switch is on, it indicates that the food has been successfully pushed onto the food retrieval platform.

[0065] When the food collection time exceeds the threshold, the horizontal photoelectric switch is off, and the diagonal photoelectric switch is off, it indicates that the food collection platform is too high and the food cannot be moved from the conveyor to the food collection platform. At this time, control the cantilever to lower the food collection platform. For example, the food collection platform and cantilever can be moved to a far point, and the initial position of the food collection platform is reduced by one step. Repeat the food collection action. If the state of "food collection time exceeds the threshold, horizontal photoelectric switch off, and diagonal photoelectric switch off" still occurs, the initial position of the food collection platform is reduced by two steps until the food is successfully collected, and the step position is recorded to the control panel.

[0066] When the food collection time exceeds the threshold, the horizontal photoelectric switch closes, and the diagonal photoelectric switch opens, it indicates that the food collection platform is too low. Part of the food has reached the food collection platform, but because the conveyor is too high, the food is stuck at the roller of the food collection platform. In this case, optionally, the roller motor (installed on the food collection platform to help the food smoothly reach the food collection platform from the conveyor) and the conveyor motor (installed in the conveyor to allow the goods to be transported in the conveyor) can be reversed synchronously. Then, the cantilever is controlled to move, so that the food collection platform is raised. For example, the food collection platform and the cantilever are moved to the farthest point, and the original position of the food collection platform is incremented by one. The food collection action is repeated. If the state of "food collection time exceeds the threshold, horizontal photoelectric switch closes, diagonal photoelectric switch opens" still occurs, the original position of the food collection platform is incremented by two until the food is successfully collected, and the step position is recorded to the control board.

[0067] In addition, continue to refer to Figure 3 After adjusting the position of the food pickup platform (e.g., lowering or raising it), the food pickup timer can be reset to zero, and the process can return to the step of determining whether the food pickup time exceeds the threshold, that is, re-timing the food pickup time (i.e., the pickup time).

[0068] Considering the uncertainties in the production of the vending machine structure, and the susceptibility of sheet metal deformation during movement and installation, coupled with the inability to guarantee reliability during post-production debugging, issues may arise when the vending machine is moved to the usage scenario, leading to problems such as goods failing to be properly pushed onto the pickup platform. Therefore, this application provides a control method or algorithm for a vending machine. This algorithm, in conjunction with a photoelectric switch, can automatically adjust the height of the pickup platform to ensure that goods are pushed onto it each time. This algorithm can specifically address on-site anomalies, simultaneously resolving issues such as production consistency and transportation vibration, eliminating the need for additional manual intervention, significantly saving manpower, reducing the accident rate, and improving product reliability.

[0069] Figure 4 This is a schematic diagram of a control device for a vending machine provided in an embodiment of this application. The vending machine includes a retrieval platform and a conveyor for transporting goods. The retrieval platform receives goods exiting from the outlet of the conveyor, such as... Figure 4 As shown, the control device includes an acquisition module 401, a determination module 402, and a control module 403. The acquisition module 401 acquires the operating state of at least one photoelectric switch, wherein the at least one photoelectric switch is disposed on the picking platform, and the operating state includes whether the emitted light beam is blocked by a product or not. The determination module 402 determines the relative positional relationship between the picking platform and a preset position based on the operating state of the at least one photoelectric switch, wherein at the preset position, products output from the outlet of the cargo channel can reach the picking platform. The control module 403 controls the movement of a motion mechanism connected to the picking platform according to the relative positional relationship to adjust the picking platform to the preset position.

[0070] In one possible implementation, at least one photoelectric switch includes a first photoelectric switch and a second photoelectric switch. The first photoelectric switch is disposed at one end of the picking platform near the outlet, and the direction of the light beam emitted by the first photoelectric switch is along the lateral direction of the picking platform. At least a portion of the second photoelectric switch is disposed at the other end of the picking platform away from the outlet, and the direction of the light beam emitted by the second photoelectric switch is along the diagonal direction of the picking platform; wherein, in a preset position, the light beam emitted by the first photoelectric switch is not blocked, while the light beam emitted by the second photoelectric switch is blocked.

[0071] In one possible implementation, the determining module 402 is specifically used to: obtain the pickup time; if the pickup time is less than or equal to a preset time, the beam emitted by the first photoelectric switch is not blocked, while the beam emitted by the second photoelectric switch is blocked, thus determining that the pickup platform is located at a preset position; if the pickup time is greater than the preset time: the beam emitted by the first photoelectric switch is not blocked, while the beam emitted by the second photoelectric switch is not blocked, thus determining that the pickup platform is higher than the preset position; if the beam emitted by the first photoelectric switch is blocked, while the beam emitted by the second photoelectric switch is not blocked, thus determining that the pickup platform is lower than the preset position.

[0072] In one possible implementation, the control module 403 is specifically used to: determine that the picking platform is higher than a preset position; control the movement of the motion mechanism connected to the picking platform to lower the picking platform until the beam emitted by the first photoelectric switch is blocked; after a set time, the beam emitted by the first photoelectric switch is not blocked, and the beam emitted by the second photoelectric switch is blocked, thus determining that the picking platform is located at the preset position; or, determine that the picking platform is lower than the preset position; control the movement of the motion mechanism connected to the picking platform to raise the picking platform until the beam emitted by the first photoelectric switch is not blocked, and the beam emitted by the second photoelectric switch is not blocked, thus determining that the picking platform is located at the preset position.

[0073] Figure 5 This is a schematic diagram of another product vending machine provided in an embodiment of this application. Figure 5 As shown, the vending machine 500 includes at least one processor 501, a memory 502, at least one network interface 504, and other user interfaces 503. The various components in the vending machine 500 are coupled together via a bus system 505. It is understood that the bus system 505 is used to implement communication between these components. In addition to a data bus, the bus system 505 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 5 The general designated all buses as Bus System 505.

[0074] The user interface 503 may include a display, keyboard, or clicking device (e.g., mouse, trackball, touchpad, or touchscreen).

[0075] It is understood that the memory 502 in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and Direct Rambus RAM (DRRAM). The memory 502 described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0076] In some implementations, memory 502 stores executable units or data structures, or subsets thereof, or extended sets thereof. Exemplarily, memory 502 includes an operating system 5021 and application programs 5022. The operating system 5021 includes various system programs, such as a framework layer, core library layer, and driver layer, for implementing various basic services and handling hardware-based tasks. Application programs 5022 include various applications, such as a media player and a browser, for implementing various application services. Furthermore, programs implementing the methods of the embodiments of this application can be included in application programs 5022.

[0077] In this embodiment, by calling the program or instructions stored in memory 502, specifically the program or instructions stored in application program 5022, processor 501 executes the method steps provided in each method embodiment, such as: obtaining the working state of at least one photoelectric switch, wherein at least one photoelectric switch is disposed on the picking platform, and the working state includes the emitted light beam being blocked by the goods and not being blocked by the goods; determining the relative positional relationship between the picking platform and a preset position based on the working state of at least one photoelectric switch, wherein at the preset position, the goods output from the outlet of the cargo channel can reach the picking platform; and controlling the movement of the motion mechanism connected to the picking platform according to the relative positional relationship to adjust the picking platform to the preset position.

[0078] The methods disclosed in the embodiments of this application can be applied to or implemented by processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 501 or by instructions in the form of software. The processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 502. Processor 501 reads the information in memory 502 and, in conjunction with its hardware, completes the steps of the above method.

[0079] It is understood that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described herein, or combinations thereof.

[0080] For software implementation, the techniques described herein can be implemented by units that perform the functions described herein. The software code can be stored in memory and executed by a processor. The memory can be implemented in the processor or external to the processor.

[0081] The product vending machine provided in this embodiment can be as follows: Figure 5 The merchandise vending machine shown can perform the following functions: Figure 2 and Figure 3 All steps of the control method for vending machines, thereby achieving such Figure 2 and Figure 3 For details on the technical effects of the control method for the vending machine shown, please refer to [link / reference needed]. Figure 2 and Figure 3 The relevant descriptions are presented concisely and will not be elaborated upon here.

[0082] This application also provides a storage medium (computer-readable storage medium). This storage medium stores one or more programs. The storage medium may include volatile memory, such as random access memory; it may also include non-volatile memory, such as read-only memory, flash memory, hard disk, or solid-state drive; it may also include combinations of the above types of memory. One or more programs in the storage medium can be executed by one or more processors to implement the above-described control method for a vending machine.

[0083] The processor is used to execute a control program for the vending machine stored in the memory to implement the following steps of the vending machine control method, such as: acquiring the operating state of at least one photoelectric switch, wherein the at least one photoelectric switch is disposed on the picking platform, and the operating state includes whether the emitted light beam is blocked by the product or not; determining the relative positional relationship between the picking platform and a preset position based on the operating state of the at least one photoelectric switch, wherein at the preset position, the product output from the outlet of the product channel can reach the picking platform; and controlling the movement of a motion mechanism connected to the picking platform according to the relative positional relationship to adjust the picking platform to the preset position.

[0084] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0085] It should be noted that the terms "one implementation," "embodiment," "exemplary embodiment," and "some embodiments" used in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0086] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A merchandise vending machine, characterized in that, include: Cargo channel (1), used for transporting goods (P); Pick-up platform (2) is used to receive the goods (P) output from the outlet of the cargo channel (1); The motion mechanism (3) is connected to the picking platform (2); A control device is connected to the motion mechanism (3) and is used to control the motion mechanism (3) to move the picking platform (2) to the outlet of the cargo channel (1); At least one photoelectric switch (4) is disposed on the picking platform (2) and connected to the control device; The control device is used to determine the relative positional relationship between the picking platform (2) and the preset position according to the working state of the at least one photoelectric switch (4), and control the motion mechanism (3) to move according to the relative positional relationship so as to adjust the picking platform (2) to the preset position; The working state includes the emitted light beam being blocked by the product (P) and not being blocked by the product (P), and at the preset position, the product (P) output from the outlet of the cargo channel (1) can reach the picking platform (2).

2. The vending machine according to claim 1, characterized in that, The at least one photoelectric switch (4) includes: A first photoelectric switch (41) is disposed at one end of the picking platform (2) near the outlet, and the direction of the light beam emitted by the first photoelectric switch (41) is along the lateral direction of the picking platform (2). The second photoelectric switch (42) is at least partially disposed at the other end of the picking platform (2) away from the outlet, and the direction of the light beam emitted by the second photoelectric switch (42) is along the diagonal direction of the picking platform (2). At the preset position, the light beam emitted by the first photoelectric switch (41) is not blocked, while the light beam emitted by the second photoelectric switch (42) is blocked.

3. The vending machine according to claim 2, characterized in that, It also includes a timing device for recording the pickup time; if the pickup time exceeds a preset time: The beam emitted by the first photoelectric switch (41) is not blocked, the beam emitted by the second photoelectric switch (42) is not blocked, the control device determines that the position of the picking platform (2) is higher than the preset position, the control device controls the motion mechanism (3) to move so that the position of the picking platform (2) is lowered until the beam emitted by the first photoelectric switch (41) is blocked, after a set time, the beam emitted by the first photoelectric switch (41) is not blocked, the beam emitted by the second photoelectric switch (42) is blocked, the control device determines that the picking platform (2) is located at the preset position; or, The beam emitted by the first photoelectric switch (41) is blocked, while the beam emitted by the second photoelectric switch (42) is not blocked. The control device determines that the position of the picking platform (2) is lower than the preset position. The control device controls the motion mechanism (3) to move so that the position of the picking platform (2) is raised until the beam emitted by the first photoelectric switch (41) is not blocked and the beam emitted by the second photoelectric switch (42) is blocked. The control device determines that the picking platform (2) is located at the preset position.

4. The vending machine according to claim 2, characterized in that, It also includes a timing device for recording the pickup time; if the pickup time is less than or equal to a preset time, the beam emitted by the first photoelectric switch (41) is not blocked, the beam emitted by the second photoelectric switch (42) is blocked, and the control device determines that the pickup platform (2) is located at the preset position.

5. The merchandise vending machine according to any one of claims 2-4, characterized in that, At least one of the first photoelectric switch (41) and the second photoelectric switch (42) is a normally closed photoelectric switch. When the light beam emitted by the normally closed photoelectric switch is blocked, the normally closed photoelectric switch is open; when the light beam emitted by the normally closed photoelectric switch is not blocked, the normally closed photoelectric switch is closed; and / or, At least one of the first photoelectric switch (41) and the second photoelectric switch (42) is a normally open photoelectric switch. When the light beam emitted by the normally open photoelectric switch is blocked, the normally open photoelectric switch is closed; when the light beam emitted by the normally open photoelectric switch is not blocked, the normally open photoelectric switch is open.

6. A method for controlling a merchandise vending machine, characterized in that, The vending machine includes a pickup platform and a conveyor for transporting goods. The pickup platform receives the goods output from the outlet of the conveyor. The control method includes: The operating state of at least one photoelectric switch is obtained, wherein the at least one photoelectric switch is disposed on the picking platform, and the operating state includes whether the emitted light beam is blocked by the product or not. The relative positional relationship between the picking platform and the preset position is determined according to the working state of the at least one photoelectric switch, wherein, at the preset position, the goods output from the outlet of the cargo channel can reach the picking platform. The movement of the motion mechanism connected to the picking platform is controlled according to the relative positional relationship, so as to adjust the picking platform to the preset position.

7. The control method according to claim 6, characterized in that, The at least one photoelectric switch includes: A first photoelectric switch is disposed at one end of the picking platform near the loading port, and the direction of the light beam emitted by the first photoelectric switch is along the lateral direction of the picking platform. A second photoelectric switch is at least partially disposed at the other end of the picking platform away from the delivery port, and the direction of the light beam emitted by the second photoelectric switch is along the diagonal direction of the picking platform. At the preset position, the light beam emitted by the first photoelectric switch is not blocked, while the light beam emitted by the second photoelectric switch is blocked.

8. The control method according to claim 7, characterized in that, Determining the relative positional relationship between the picking platform and the preset location based on the operating state of the at least one photoelectric switch includes: Get pickup time If the pickup time is less than or equal to the preset time, the beam emitted by the first photoelectric switch is not blocked, while the beam emitted by the second photoelectric switch is blocked, thus determining that the pickup platform is located at the preset position. If the pickup time exceeds the preset time: if the beam emitted by the first photoelectric switch is not blocked and the beam emitted by the second photoelectric switch is not blocked, it is determined that the pickup platform is above the preset position; if the beam emitted by the first photoelectric switch is blocked and the beam emitted by the second photoelectric switch is not blocked, it is determined that the pickup platform is below the preset position.

9. The control method according to claim 7 or 8, characterized in that, The relative positional relationship includes whether the picking platform is higher or lower than the preset position. Controlling the movement of the motion mechanism connected to the picking platform according to the relative positional relationship to adjust the picking platform to the preset position includes: It is determined that the pickup platform is higher than the preset position; The motion mechanism connected to the picking platform is controlled to move to lower the picking platform until the light beam emitted by the first photoelectric switch is blocked. After a set time, if the light beam emitted by the first photoelectric switch is not blocked, but the light beam emitted by the second photoelectric switch is blocked, it is determined that the picking platform is located at the preset position; or, It is determined that the pickup platform is lower than the preset position; The motion mechanism connected to the picking platform is controlled to move to raise the picking platform until the light beam emitted by the first photoelectric switch is not blocked and the light beam emitted by the second photoelectric switch is blocked, thus determining that the picking platform is located at the preset position.

10. A control device for a merchandise vending machine, characterized in that, The vending machine includes a pickup platform and a conveyor for transporting goods. The pickup platform receives the goods output from the outlet of the conveyor. The control device includes: An acquisition module is used to acquire the working state of at least one photoelectric switch, wherein the at least one photoelectric switch is disposed on the picking platform, and the working state includes whether the emitted light beam is blocked by the product or not. The determining module is used to determine the relative positional relationship between the picking platform and the preset position based on the working state of the at least one photoelectric switch, wherein, at the preset position, the goods output from the outlet of the cargo channel can reach the picking platform. The control module is used to control the movement of the motion mechanism connected to the picking platform according to the relative position relationship, so as to adjust the picking platform to the preset position.

11. A merchandise vending machine, characterized in that, It includes a processor and a memory, the processor being used to execute a control program for a vending machine stored in the memory to implement the steps of the control method for a vending machine according to any one of claims 6 to 9.

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