Cargo orientation deviation correction method and device, selling cabinet and computer readable medium

Abstract

The invention relates to a cargo orientation deviation correction method and device, a selling cabinet and a computer readable medium. The method comprises the steps that position deflection information generated in the process that target goods are pushed to a goods taking platform from a goods shelf is determined through a deflection detection mechanism; and when the target goods reach a position calibration area on the goods taking platform, a calibration mechanism on the goods taking platform is controlled to calibrate the position of the target goods according to the position deflection information. Deflection possibly generated in the process that the goods enter the goods taking platform from the goods shelf is detected through the deflection detection mechanism, the placing position is corrected through the calibration mechanism according to the deflection information at the moment, and therefore the goods can smoothly reach the goods outlet; the technical problem of goods delivery failure caused by goods position deflection in the pushing process is solved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic vending cabinets, and in particular to a method and device for correcting cargo orientation deviation, a vending cabinet, and a computer-readable medium. Background Art

[0002] A vending machine is a device that can automatically sell goods. After the consumer selects the goods on the display screen and completes the payment, the system controls the pickup arm, the pickup platform, and the pushing mechanism to deliver the goods from the aisle to the pickup port. The specific process is that when the payment is completed, the display screen sends the location of the goods to the pickup control system, and the system controls the pickup arm to reach the aisle where the goods are located. After arriving, the pushing motor pushes the goods onto the pickup platform, and then the pickup platform delivers the goods to the delivery port. However, if the position of the goods deviates during the pushing process, the delivery will fail.

[0003] There is currently no effective solution to the problem that the deviation of the position of goods during the pushing process may lead to shipment failure. Summary of the invention

[0004] The present application provides a cargo orientation deviation correction method, device, vending cabinet and computer-readable medium to solve the technical problem that cargo position deviation during the pushing process may lead to delivery failure.

[0005] According to one aspect of an embodiment of the present application, the present application provides a method for correcting the orientation deviation of goods, including: determining, through a deflection detection mechanism, position deflection information generated in the process of a target goods being pushed from a shelf to a pickup platform; when the target goods arrive at a position calibration area on the pickup platform, controlling a calibration mechanism on the pickup platform to calibrate the position of the target goods according to the position deflection information.

[0006] Optionally, the position deflection information generated in the process of determining the target goods from the shelf to the pickup platform by the deflection detection mechanism includes: obtaining a first rotation distance of the first driven roller on the pickup platform and a second rotation distance of the second driven roller on the pickup platform in the process of obtaining the target goods moving from the shelf exit to the position calibration area on the pickup platform, wherein the first driven roller is arranged on the left side of the entrance of the pickup platform, and the second driven roller is arranged on the right side of the entrance of the pickup platform, and the deflection detection mechanism includes the first driven roller and the second driven roller; the position deflection direction and offset of the target goods are determined according to the first rotation distance and the second rotation distance, and the position deflection direction and the offset are determined as the position deflection information.

[0007] Optionally, determining the position deflection direction and offset of the target cargo according to the first rotation distance and the second rotation distance includes: comparing the first rotation distance and the second rotation distance; if the first rotation distance is greater than the second rotation distance, determining that the target cargo is deflected to the left, wherein the left side of the target cargo is farther away from the shelf relative to the right side as the left deflection; calculating a first distance difference between the first rotation distance and the second rotation distance; and taking half of the first distance difference as the first offset of the target cargo to the left.

[0008] Optionally, when the target goods arrive at the position calibration area on the pickup platform, according to the position deflection information, controlling the calibration mechanism on the pickup platform to calibrate the position of the target goods includes: when it is determined that the target goods are deflected to the left by the first offset, controlling the first calibration roller to rotate in the reverse direction by the distance of the first offset, and controlling the second calibration roller to rotate in the positive direction by the distance of the first offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at the left position within the position calibration area, and the second calibration roller is arranged at the right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target goods rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target goods rotates toward the side of the pickup platform close to the shelf.

[0009] Optionally, determining the position deflection direction and offset of the target cargo based on the first rotation distance and the second rotation distance also includes: comparing the first rotation distance and the second rotation distance; if the first rotation distance is smaller than the second rotation distance, determining that the target cargo is deflected to the right, wherein the right side of the target cargo is farther away from the shelf relative to the left side as the deflection to the right; calculating the second distance difference between the second rotation distance and the first rotation distance; and taking half of the second distance difference as the second offset of the target cargo to the right.

[0010] Optionally, when the target cargo arrives at the position calibration area on the pickup platform, controlling the calibration mechanism on the pickup platform to calibrate the position of the target cargo according to the position deflection information also includes: when it is determined that the target cargo is deflected to the right by the second offset, controlling the first calibration roller to rotate in a positive direction by the distance of the second offset, and controlling the second calibration roller to rotate in a reverse direction by the distance of the second offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at a left position within the position calibration area, and the second calibration roller is arranged at a right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

[0011] Optionally, the method also includes: pushing the target cargo from the original position to the shelf exit by means of a pushing mechanism on the shelf; controlling the rotation of a driving roller on the pickup platform to drive the target cargo to continue to move from the shelf exit toward the pickup platform; and determining that the target cargo has arrived at the position calibration area when it is detected that the front end of the target cargo has arrived at the end of the pickup platform.

[0012] Optionally, a plurality of calibration points are arranged inside the shelf, and the plurality of calibration points are distributed at the starting end, the middle position and the position close to the pickup platform of the shelf, and each calibration point is equipped with driven rollers A1, A2 and calibration rollers B1, B2, and the method further comprises: when the target goods pass through the first calibration point, the driven rollers A1, A2 at the first calibration point record the rotation distance of the goods when passing through; the deflection amount of the target goods is calculated according to the difference in the rotation distance of the driven rollers A1, A2; the first calibration is performed according to the deflection amount by the calibration rollers B1, B2 at the first calibration point; the goods continue to move forward, and the above steps are repeated when they reach the next calibration point, until the last calibration point before the goods enter the pickup platform, and the last calibration on the shelf is performed by the calibration rollers B1, B2 at the last calibration point.

[0013] Optionally, the deflection detection mechanism also includes a visual sensor, and the method for determining the position deflection information of the goods and the corresponding position calibration also includes: when the target goods are pushed to the position calibration area on the pickup platform, using the visual sensor to capture an image of the target goods; performing image recognition on the image to identify the position and deflection angle of the target goods; when it is determined that the target goods are deflected to the left, controlling the first calibration roller to rotate in the opposite direction, controlling the second calibration roller to rotate in the positive direction, and confirming the calibration result through the visual sensor in real time until the position of the target goods is consistent with the preset position, and the rotation of the two calibration rollers is stopped; or, when it is determined that the target goods are deflected to the right, controlling the first calibration roller to rotate in the positive direction, controlling the second calibration roller to rotate in the opposite direction, and confirming the calibration result through the visual sensor in real time until the position of the target goods is consistent with the preset position, and the rotation of the two calibration rollers is stopped.

[0014] According to another aspect of an embodiment of the present application, the present application provides a cargo orientation deviation correction device, including: a deflection detection module, used to determine, through a deflection detection mechanism, position deflection information generated when a target cargo is pushed from a shelf to a pickup platform; a position calibration module, used to control a calibration mechanism on the pickup platform to calibrate the position of the target cargo according to the position deflection information when the target cargo arrives at a position calibration area on the pickup platform.

[0015] According to another aspect of an embodiment of the present application, the present application provides a vending cabinet, comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be executed on the processor, and the memory and the processor communicate via the communication bus and the communication interface, and the vending cabinet further comprises a driven roller and a calibration roller arranged on a pickup platform, wherein the driven roller is used to obtain position deflection information of the goods, and the calibration roller is used to calibrate the position of the goods, and the steps of the above method are implemented when the processor executes the computer program.

[0016] According to another aspect of an embodiment of the present application, the present application also provides a computer-readable medium having a non-volatile program code executable by a processor, and the program code enables the processor to execute the above method.

[0017] The above technical solution provided by the embodiment of the present application has the following advantages compared with the related art:

[0018] The present application provides a method for correcting the orientation deviation of goods, including: determining the position deflection information generated in the process of pushing the target goods from the shelf to the pickup platform through a deflection detection mechanism; when the target goods arrive at the position calibration area on the pickup platform, according to the position deflection information, controlling the calibration mechanism on the pickup platform to calibrate the position of the target goods. The present application detects the deflection that may be generated in the process of goods entering the pickup platform from the shelf through a deflection detection mechanism, and corrects the placement position according to the deflection information at this time through a calibration mechanism, so that the goods can smoothly reach the delivery port, solving the technical problem that the deflection of the goods position during the pushing process will lead to the failure of delivery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic diagram of a hardware environment for an optional cargo orientation deviation correction method provided according to an embodiment of the present application;

[0022] Figure 2 A schematic flow chart of an optional cargo orientation deviation correction method provided according to an embodiment of the present application;

[0023] Figure 3 A top view of an optional pickup mechanism provided according to an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of an optional leftward deviation of goods provided according to an embodiment of the present application;

[0025] Figure 5 This is a schematic diagram of an optional rightward shift of goods provided according to an embodiment of the present application;

[0026] Figure 6 A block diagram of an optional cargo orientation deviation correction device provided according to an embodiment of the present application;

[0027] Figure 7 A schematic diagram of an optional vending cabinet structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0030] In order to solve the problems mentioned in the background technology, according to one aspect of an embodiment of the present application, an embodiment of a method for correcting a cargo orientation deviation is provided.

[0031] Optionally, in the embodiment of the present application, the cargo orientation deviation correction method can be applied to Figure 1 As shown in the internal environment of the vending cabinet. Figure 1 As shown, after the consumer selects the product on the display screen and completes the payment, the system pushes the product 103 from the shelf 105 to the shelf exit through the pushing mechanism 101, and then controls the picking arm (not shown in the figure) to drive the picking platform 107 to obtain the product 103 from the shelf exit, and then delivers the product 103 to the picking port of the sales cabinet. The specific process is that after the payment is completed, the display screen sends the product location to the picking control system, and the system controls the picking arm to reach the shelf position where the product 103 is located. After arriving, the pushing mechanism 101 pushes the product 103 to the picking platform 107, and then the picking platform 107 delivers the product 103 to the delivery port of the sales cabinet.

[0032] Due to the differences in weight and center of gravity of different goods, as well as the height difference between the pickup platform and the cargo aisle during the pushing process, the axial position of the goods will deflect to a certain extent after the goods are pushed to the pickup platform. If the deflection angle is large at this time, the goods will rotate more severely during the subsequent pushing process to the exit, which will cause the goods to fail to enter the exit normally and cause the shipment to fail.

[0033] The cargo orientation deviation correction method provided in this application is intended to detect and correct the deflection position of the cargo after the cargo is pushed onto the pickup platform, so as to ensure that the cargo can be smoothly pushed to the delivery port. Figure 2 As shown, the cargo orientation deviation correction method may include the following steps:

[0034] Step S202, determining position deflection information generated during the process of pushing the target goods from the shelf to the pickup platform through a deflection detection mechanism;

[0035] Step S204: When the target goods arrive at the position calibration area on the pickup platform, the calibration mechanism on the pickup platform is controlled to calibrate the position of the target goods according to the position deflection information.

[0036] In an embodiment of the present application, the deflection detection mechanism is used to detect the position deflection of the goods during the process of being pushed from the shelf to the pickup platform. The deflection detection mechanism can be driven wheels A1 and A2 installed on the pickup platform. The driven wheels will rotate with the movement of the goods, and record the rotation distance through an encoder, thereby detecting the position deflection of the goods during the process of being pushed from the shelf to the pickup platform. The deflection detection mechanism can also be a visual sensor installed above the shelf or the pickup platform. The visual sensor acquires an image of the goods in real time during the process of the goods being pushed from the shelf to the pickup platform, and then compares the real-time image of the goods with the image of the goods at the initial position or the image of the standard position, thereby determining the position deflection of the goods during the process of being pushed from the shelf to the pickup platform. The deflection detection mechanism can also be a photoelectric sensor array installed on the transportation path.

[0037] In the embodiment of the present application, the pickup platform is used to pick up goods from the shelf and deliver the goods to the delivery port of the vending cabinet. The position calibration area on the pickup platform can be the area where the goods are located when the front end of the goods arrives at the end of the pickup platform. The area can be preset as a specific position on the pickup platform. When the goods completely enter the area, the position calibration of the goods can be performed.

[0038] In the embodiment of the present application, the calibration mechanism is used to correct the deflected position of the goods. The calibration mechanism can be calibration rollers B1 and B2 installed on the position calibration area. The calibration rollers are driven to rotate by the program and can rotate accordingly according to the offset detected by the deflection detection mechanism to adjust the position of the goods. The calibration mechanism can also be a mechanical arm, a push rod, a rotating platform, etc.

[0039] The present application uses a deflection detection mechanism to detect the deflection that may occur in the process of goods entering the pickup platform from the shelf, and uses a calibration mechanism to correct the placement position according to the deflection information at this time, so that the goods can reach the delivery port smoothly, solving the technical problem that the deflection of the goods position during the pushing process may lead to delivery failure.

[0040] The present application can also set multiple calibration points at different positions of the cargo channel, and perform a position calibration every time a calibration point is passed, which can reduce the cumulative deflection of the goods during the transmission process.

[0041] Specifically, the layout of the calibration points can be set as follows: multiple calibration points are set inside the cargo aisle. These calibration points can be located at the starting end, the middle position and the position close to the pickup platform of the cargo aisle. Each calibration point is equipped with a driven roller (A1, A2) and a calibration roller (B1, B2), as well as detection equipment such as photoelectric sensors.

[0042] The calibration process is as follows: When the goods pass through the first calibration point, the driven rollers A1 and A2 record the rotation distance of the goods when they pass. The deflection of the goods is calculated based on the difference in rotation distance, and the first calibration is performed by the calibration rollers B1 and B2. The goods continue to move forward and repeat the above steps when they reach the next calibration point until the goods enter the last calibration point before the pickup platform. At each calibration point, if the goods are detected to be deflected, calibration is performed immediately to reduce the impact of subsequent deflections. If the goods are still deflected after a certain level of calibration, the subsequent calibration points will be calibrated again according to the latest deflection status.

[0043] By implementing a multi-level calibration system, not only can the accuracy of cargo orientation deviation correction be improved, but also the deflection of cargo during the entire transmission process can be reduced, thereby effectively improving the working efficiency and user experience of the vending machine. In addition, this method can also reduce the probability of shipment failure caused by cargo deflection and reduce maintenance costs.

[0044] Taking the deflection detection mechanism as a driven roller as an example, the specific method provided in the present application for determining the position deflection information generated in the process of pushing the target goods from the shelf to the pickup platform is described below.

[0045] In an optional embodiment, the step S202 determines, by the deflection detection mechanism, the position deflection information generated during the process of pushing the target goods from the shelf to the pickup platform, including:

[0046] Step S2021, obtaining a first rotation distance of a first driven roller on the pickup platform and a second rotation distance of a second driven roller on the pickup platform during the process of the target cargo moving from the shelf exit to the position calibration area on the pickup platform, wherein the first driven roller is arranged at a left position at the entrance of the pickup platform, the second driven roller is arranged at a right position at the entrance of the pickup platform, and the deflection detection mechanism includes the first driven roller and the second driven roller;

[0047] Step S2022: determining a position deflection direction and an offset of the target cargo according to the first rotation distance and the second rotation distance, and determining the position deflection direction and the offset as the position deflection information.

[0048] like Figure 3As shown, the first driven roller can be represented by driven roller A1, and the second driven roller can be represented by driven roller A2. The first driven roller A1 is arranged on the left side of the entrance of the pickup platform, and rotates with the movement of the goods. The second driven roller A2 is arranged on the right side of the entrance of the pickup platform, and also rotates with the movement of the goods. The first rotation distance is the distance that the first driven roller A1 rotates when the goods pass through, and the second rotation distance is the distance that the second driven roller A2 rotates when the goods pass through. The position deflection direction refers to the deflection direction of the goods relative to the predetermined position, for example, Figure 4 It shows the cargo deflecting to the left. Figure 5 The cargo is shown deflected to the right.

[0049] In the present application embodiment, Figure 3 As shown, at the entrance of the pickup platform, the first driven roller A1 is installed on the left side, and the second driven roller A2 is installed on the right side, and it is ensured that the rollers are parallel to the platform surface and can rotate freely, and then the roller rotation counter or sensor is initialized to prepare to record the rotation distance. When the goods are pushed from the shelf to the pickup platform, its edge first contacts the roller. As the goods move, the first driven roller A1 and the second driven roller A2 begin to rotate, and the encoder detects the rotation distance, and records the first rotation distance a1 of the first driven roller A1 and the second rotation distance a2 of the second driven roller A2 respectively. The position deflection direction and offset of the target goods are determined according to the first rotation distance a1 and the second rotation distance a2, and the calibration mechanism can be controlled to calibrate the position of the goods according to the position deflection direction and the offset.

[0050] The present application uses a driven roller as a deflection detection mechanism, which does not require additional sensors or complex equipment, reduces costs, and infers the deflection of the goods by measuring the rotation distance of the roller, reducing errors that may be caused by indirect measurement.

[0051] like Figure 4 and Figure 5 Two situations of target cargo position deflection, i.e., leftward deflection and rightward deflection, are shown. The schemes for determining the offset and performing position calibration in the two situations are described in detail below.

[0052] The first one is combined Figure 3 ,exist Figure 4 In the perspective shown (the vertical black bar on the left side of the pickup platform is the pickup push plate), the left side of the target cargo is farther away from the shelf than the right side, which means that the cargo is deflected to the left.

[0053] In an optional embodiment, the step S2022 of determining the position deflection direction and offset of the target cargo according to the first rotation distance and the second rotation distance includes:

[0054] Step 1, comparing the first rotation distance and the second rotation distance;

[0055] Step 2: If the first rotation distance is greater than the second rotation distance, it is determined that the target goods are deflected to the left, wherein the left side of the target goods is farther away from the shelf than the right side;

[0056] Step 3, calculating a first distance difference between the first rotation distance and the second rotation distance;

[0057] Step 4: taking half of the first distance difference as a first offset of the target cargo to the left.

[0058] In the embodiment of the present application, when the goods pass through the entrance of the pickup platform, the first driven roller A1 and the second driven roller A2 are driven to rotate, and the encoder records the rotation distances a1 and a2 of the first driven roller A1 and the second driven roller A2, and compares the sizes of a1 and a2. If a1>a2, it is determined that the goods are deflected to the left. At this time, a1-a2 is calculated to obtain the first distance difference a0, and the offset of the goods deflecting to the left can be calculated according to the first distance difference a0, such as one-half, that is, A1 rotates forward by one-half, and A2 rotates reversely by one-half, and another example is that A1 rotates forward by one-third, and A2 rotates reversely by two-thirds. Preferably, half of a0 can be taken as the first offset of the goods deflecting to the left, because A1 and A2 are symmetrically arranged on the platform, and the advantage of A1 and A2 rotating by one-half is that the final position of the goods can be in the center of the pickup platform, which is conducive to the subsequent transportation of the goods and is not prone to offset. If the number of revolutions of the two wheels is inconsistent, the corrected position of the goods will not be in the center, which may cause abnormalities such as jamming in the subsequent goods transmission process.

[0059] This application utilizes the characteristics of the symmetrically arranged A1 and A2 driven rollers, and ensures that the final position of the goods after calibration is in the center of the pickup platform by making the two rollers rotate forward and reverse in the same proportion (for example, half each), which not only effectively avoids the problems such as jamming that may occur in the subsequent transmission process due to the offset of the goods, but also significantly improves the stability and reliability of the goods transmission system. In addition, since the encoder is used to record the rotation distance of the rollers for automatic calibration, the whole process is easy to implement and has high accuracy, thereby improving the overall logistics efficiency and automation level.

[0060] In an optional embodiment, when the target cargo arrives at the position calibration area on the cargo pickup platform, controlling the calibration mechanism on the cargo pickup platform to calibrate the position of the target cargo according to the position deflection information includes:

[0061] When it is determined that the target cargo is deflected to the left by the first offset, the first calibration roller is controlled to rotate in the reverse direction by the distance of the first offset, and the second calibration roller is controlled to rotate in the positive direction by the distance of the first offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at the left position within the position calibration area, the second calibration roller is arranged at the right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

[0062] In the present application embodiment, Figure 3 As shown, the first calibration roller can be represented by the calibration roller B1, and the second calibration roller can be represented by the calibration roller B2. The first calibration roller B1 is set on the left side of the pickup platform position calibration area for calibrating the cargo position, and the second calibration roller B2 is set on the right side of the pickup platform position calibration area for calibrating the cargo position. The direction in which the roller and the cargo contact surface rotate toward the side of the pickup platform away from the shelf is set as the positive direction, and the direction in which the roller and the cargo contact surface rotate toward the side of the pickup platform close to the shelf is set as the reverse direction.

[0063] In the embodiment of the present application, when it is determined that the goods are deflected to the left by the first offset a0 / 2, that is, a1>a2. Based on the state when the goods are not deflected is a1=a2, the position calibration of the goods when a1>a2 is actually to retract the extra turns and compensate for the short turns, that is, a1-a0 / 2=a2+a0 / 2. Therefore, when a1>a2, the first calibration roller B1 can be controlled to rotate in the opposite direction by the first offset, that is, to retract the extra turns, and the second calibration roller B2 can be controlled to rotate in the positive direction by the first offset, that is, to compensate for the short turns.

[0064] This application can effectively correct the position deflection of the goods by accurately controlling the rotation direction and distance of the calibration roller, ensuring that the goods can smoothly enter the delivery port, thereby improving the reliability and efficiency of the system. The entire calibration process is completed automatically without manual intervention, which improves the automation level of the system.

[0065] The second type is combined Figure 3 , in such Figure 5 In the viewing angle shown (the vertical black bar on the left side of the pickup platform is the pickup push plate), the right side of the target cargo is farther away from the shelf than the left side, which means that the cargo is deflected to the right.

[0066] In an optional embodiment, the step S2022 of determining the position deflection direction and offset of the target cargo according to the first rotation distance and the second rotation distance further includes:

[0067] Step 1, compare the magnitudes of the first rotation distance and the second rotation distance;

[0068] Step 2, if the first rotation distance is less than the second rotation distance, determine that the target cargo deflects to the right, where the right side of the target cargo being farther from the shelf than the left side is defined as the right deflection;

[0069] Step 3, calculate the second distance difference between the second rotation distance and the first rotation distance;

[0070] Step 4, take half of the second distance difference as the second offset amount of the target cargo deflecting to the right.

[0071] In the embodiment of the present application, when the cargo passes through the entrance of the picking platform, it drives the first driven roller A1 and the second driven roller A2 to rotate. The rotation distances a1 and a2 of the first driven roller A1 and the second driven roller A2 are recorded by an encoder. Compare the magnitudes of a1 and a2. If a1 < a2, it is determined that the cargo deflects to the right. At this time, calculate a2 - a1 to obtain the second distance difference a0, and take half of a0 as the second offset amount of the cargo deflecting to the right. A1 and A2 are symmetrically arranged on the platform. The advantage of each of A1 and A2 rotating by one-half is that it can make the final position of the cargo in the central position of the picking platform, which is beneficial for the subsequent transportation of the cargo and not prone to offset. If the number of rotations of the two wheels is inconsistent, the corrected position of the cargo will not be in the central position, which may lead to abnormalities such as jams during the subsequent cargo transmission process.

[0072] The present application utilizes the characteristics of the symmetrically arranged driven rollers A1 and A2. By making the two rollers rotate forward and reverse by the same proportion (for example, each by one-half), it ensures that the final position of the cargo after calibration is in the center of the picking platform. This not only effectively avoids problems such as jams that may occur during the subsequent transmission process due to cargo offset, but also significantly improves the stability and reliability of the cargo transmission system. In addition, since the encoder is used to record the rotation distance of the rollers for automatic calibration, the whole process is easy to implement and has high precision, thereby improving the overall logistics efficiency and automation level.

[0073] In an alternative embodiment, when the target cargo reaches the position calibration area on the picking platform, according to the position deflection information, controlling the calibration mechanism on the picking platform to calibrate the position of the target cargo further includes:

[0074] When it is determined that the target cargo deflects to the right by the second offset amount, control the first calibration roller to rotate in the positive direction by a distance of the second offset amount, and control the second calibration roller to rotate in the reverse direction by a distance of the second offset amount. Wherein, the calibration mechanism includes the first calibration roller and the second calibration roller. The first calibration roller is arranged at the left position within the position calibration area, and the second calibration roller is arranged at the right position within the position calibration area. The positive direction is the direction in which the contact surface of the roller with the target cargo rotates towards the side of the picking platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller with the target cargo rotates towards the side of the picking platform close to the shelf.

[0075] In the embodiment of the present application, when it is determined that the cargo deflects to the right by the second offset amount a0 / 2, that is, a1 < a2. Based on the state when the cargo does not deflect is a1 = a2, so when a1 < a2, performing position calibration on the cargo actually means that the one that rotates more needs to be retracted, and the one that rotates less needs to be compensated, that is, a1 + a0 / 2 = a2 - a0 / 2. Therefore, when a1 < a2, the first calibration roller B1 can be controlled to rotate in the positive direction by a distance of the second offset amount, that is, less rotation compensation, and the second calibration roller B2 can be controlled to rotate in the reverse direction by a distance of the second offset amount, that is, more rotation retraction.

[0076] The present application can effectively correct the position deflection of the cargo by precisely controlling the rotation direction and distance of the calibration roller, ensuring that the cargo can smoothly enter the shipping outlet, improving the reliability and efficiency of the system. The entire calibration process is automatically completed without manual intervention, improving the automation level of the system.

[0077] In the embodiment of the present application, if a1 = a2, it can be confirmed that the cargo does not deflect and no calibration is required.

[0078] If the deflection detection mechanism uses a vision sensor, such as a camera, the method for determining the position deflection information of the cargo and the corresponding position calibration can be carried out according to the following steps:

[0079] Step 1, image acquisition. Install one or more high-resolution cameras above the picking platform. When the cargo is pushed to the position calibration area on the picking platform, trigger the camera to take one or more images.

[0080] Step 2, image processing and deflection angle calculation. Use image processing software to process the captured images and identify the position and deflection angle of the cargo. Edge detection, contour recognition and other technologies can be used to determine the center position and direction of the cargo, and the deflection angle of the cargo relative to the ideal position is calculated through image processing algorithms.

[0081] Step 3, position calibration. When it is determined that the target cargo is deflected to the left, the first calibration roller is controlled to rotate in the reverse direction, the second calibration roller is controlled to rotate in the forward direction, and the calibration result is confirmed in real time through the camera until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped. Alternatively, when it is determined that the target cargo is deflected to the right, the first calibration roller is controlled to rotate in the forward direction, the second calibration roller is controlled to rotate in the reverse direction, and the calibration result is confirmed in real time through the camera until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped.

[0082] Through visual detection technology, the two calibration rollers can be controlled to rotate in real time and dynamically according to the actual deflection situation, thereby making the position calibration more accurate.

[0083] In an optional embodiment, the method further includes:

[0084] Pushing the target goods from the original position to the shelf exit by means of the pushing mechanism on the shelf;

[0085] Controlling the driving roller on the pickup platform to rotate, so as to drive the target goods to continue to move from the shelf exit toward the pickup platform;

[0086] When it is detected that the front end of the target cargo arrives at the end of the cargo pickup platform, it is determined that the target cargo arrives at the position calibration area.

[0087] In the present application embodiment, Figure 3 As shown, the pushing mechanism is a mechanical device on the shelf, which is used to push the goods from the original position to the shelf exit, and the driving roller C is a roller on the pickup platform 107, which is used to drive the goods to continue to move toward the pickup platform. A photoelectric sensor can be set at the end of the pickup platform 107 to detect whether the front end of the goods has reached the end of the pickup platform, so as to completely enter the position calibration area D.

[0088] In the embodiment of the present application, the goods 103 are pushed from the original position to the shelf exit E by the pushing mechanism 101 on the shelf. When the goods 103 arrive at the shelf exit E, the driving roller C on the pickup platform 107 is controlled to rotate, driving the goods 103 to continue to move toward the pickup platform 107. When the photoelectric sensor detects that the front end of the goods arrives at the end of the pickup platform 107, it is determined that the goods arrive at the position calibration area E.

[0089] The embodiment of the present application pushes the target goods 103 from their original position to the shelf exit E through the pushing mechanism 101 on the shelf, and then the driving roller C on the pickup platform 107 drives the goods to continue to move toward the pickup platform until the front end of the goods triggers the photoelectric sensor located at the end of the pickup platform, thereby determining that the goods have completely entered the position calibration area D, ensuring a smooth transition of the goods from the shelf to the pickup platform, and avoiding the deviation of the goods position that may be caused by improper human operation or loose equipment coordination under traditional methods. At the same time, the application of photoelectric sensors realizes accurate detection of the goods position, ensuring that the goods can enter the calibration process at the correct time point, reducing unnecessary waiting time and the risk of misoperation.

[0090] The present application uses a deflection detection mechanism to detect the deflection that may occur in the process of goods entering the pickup platform from the shelf, and uses a calibration mechanism to correct the placement position according to the deflection information at this time, so that the goods can reach the delivery port smoothly, solving the technical problem that the deflection of the goods position during the pushing process may lead to delivery failure.

[0091] According to another aspect of the embodiment of the present application, Figure 6 As shown, a cargo orientation deviation correction device is provided, comprising:

[0092] The deflection detection module 601 is used to determine the position deflection information generated in the process of pushing the target goods from the shelf to the pickup platform through the deflection detection mechanism;

[0093] The position calibration module 603 is used to control the calibration mechanism on the pickup platform to calibrate the position of the target goods according to the position deflection information when the target goods arrive at the position calibration area on the pickup platform.

[0094] It should be noted that the deflection detection module 601 in this embodiment can be used to execute step S202 in the embodiment of the present application, and the position calibration module 603 in this embodiment can be used to execute step S204 in the embodiment of the present application.

[0095] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be implemented by software or hardware.

[0096] Optionally, the deflection detection module is specifically used to: obtain a first rotation distance of a first driven roller on the picking platform and a second rotation distance of a second driven roller on the picking platform in the process of moving the target goods from the shelf exit to the position calibration area on the picking platform, wherein the first driven roller is arranged on the left side of the entrance of the picking platform, and the second driven roller is arranged on the right side of the entrance of the picking platform, and the deflection detection mechanism includes the first driven roller and the second driven roller; determine the position deflection direction and offset of the target goods according to the first rotation distance and the second rotation distance, and determine the position deflection direction and the offset as the position deflection information.

[0097] Optionally, the deflection detection module is also used to: compare the first rotation distance and the second rotation distance; if the first rotation distance is greater than the second rotation distance, determine that the target cargo is deflected to the left, wherein the left side of the target cargo is farther away from the shelf relative to the right side, which is the deflection to the left; calculate a first distance difference between the first rotation distance and the second rotation distance; take half of the first distance difference as a first offset for the target cargo to deflect to the left.

[0098] Optionally, the position calibration module is specifically used to: when it is determined that the target cargo is deflected to the left by the first offset, control the first calibration roller to rotate in the reverse direction by the distance of the first offset, and control the second calibration roller to rotate in the positive direction by the distance of the first offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at the left position within the position calibration area, the second calibration roller is arranged at the right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

[0099] Optionally, the deflection detection module is also used to: compare the first rotation distance and the second rotation distance; if the first rotation distance is smaller than the second rotation distance, determine that the target cargo is deflected to the right, wherein the right side of the target cargo is farther away from the shelf relative to the left side, which is the deflection to the right; calculate the second distance difference between the second rotation distance and the first rotation distance; take half of the second distance difference as the second offset for the deflection of the target cargo to the right.

[0100] Optionally, the position calibration module is also used to: when it is determined that the target cargo is deflected to the right by the second offset, control the first calibration roller to rotate in a positive direction by the distance of the second offset, and control the second calibration roller to rotate in a reverse direction by the distance of the second offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at a left position within the position calibration area, the second calibration roller is arranged at a right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

[0101] Optionally, the cargo orientation offset correction device also includes a picking module, which is specifically used to: push the target cargo from the original position to the shelf exit through the pushing mechanism on the shelf; control the rotation of the driving rollers on the picking platform to drive the target cargo to continue moving from the shelf exit toward the picking platform; and determine that the target cargo has arrived at the position calibration area when it is detected that the front end of the target cargo has arrived at the end of the picking platform.

[0102] Optionally, a plurality of calibration points are arranged inside the shelf, and the plurality of calibration points are distributed at the starting end, the middle position and the position close to the pickup platform of the shelf, and each calibration point is equipped with driven rollers A1, A2 and calibration rollers B1, B2. The cargo orientation offset correction device also includes a multi-stage calibration module, which is specifically used for: when the target cargo passes through the first calibration point, the driven rollers A1, A2 at the first calibration point record the rotation distance of the cargo when it passes; the deflection amount of the target cargo is calculated according to the difference in the rotation distance of the driven rollers A1, A2; the first calibration is performed according to the deflection amount by the calibration rollers B1, B2 at the first calibration point; the cargo continues to move forward, and the above steps are repeated when it reaches the next calibration point, until the cargo enters the last calibration point before the cargo enters the pickup platform, and the last calibration on the shelf is performed by the calibration rollers B1, B2 at the last calibration point.

[0103] Optionally, the deflection detection mechanism also includes a visual sensor, and the cargo orientation offset correction device also includes a visual assisted calibration module, which is specifically used to: when the target cargo is pushed to the position calibration area on the pickup platform, use the visual sensor to capture an image of the target cargo; perform image recognition on the image to identify the position and deflection angle of the target cargo; when it is determined that the target cargo is deflected to the left, control the first calibration roller to rotate in the opposite direction, control the second calibration roller to rotate in the positive direction, and confirm the calibration result through the visual sensor in real time until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped; or, when it is determined that the target cargo is deflected to the right, control the first calibration roller to rotate in the positive direction, control the second calibration roller to rotate in the opposite direction, and confirm the calibration result through the visual sensor in real time until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped.

[0104] According to another aspect of the embodiment of the present application, the present application provides a vending cabinet, such as Figure 7 As shown, it includes a memory 701, a processor 703, a communication interface 705 and a communication bus 707. The memory 701 stores a computer program that can be run on the processor 703. The memory 701 and the processor 703 communicate through the communication interface 705 and the communication bus 707. The processor 703 implements the steps of the above method when executing the computer program. The vending cabinet also includes a driven roller and a calibration roller arranged on the pickup platform. The driven roller is used to obtain the position deflection information of the goods, and the calibration roller is used to calibrate the position of the goods.

[0105] The memory and processor in the above electronic device communicate via a communication bus and a communication interface. The communication bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus may be divided into an address bus, a data bus, a control bus, etc.

[0106] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0107] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be 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, discrete hardware components.

[0108] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of any of the above embodiments.

[0109] Optionally, in an embodiment of the present application, the computer-readable medium is configured to store program codes for the processor to perform the following steps:

[0110] Determine the position deflection information generated when the target goods are pushed from the shelf to the pickup platform through the deflection detection mechanism;

[0111] When the target goods arrive at the position calibration area on the pickup platform, the calibration mechanism on the pickup platform is controlled to calibrate the position of the target goods according to the position deflection information.

[0112] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0113] When the embodiments of the present application are specifically implemented, reference may be made to the above-mentioned embodiments, which have corresponding technical effects.

[0114] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0115] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.

[0116] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0117] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0118] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0119] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0121] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk. It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0122] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for correcting cargo orientation deviation, characterized in that: include: Determine the position deflection information generated when the target goods are pushed from the shelf to the pickup platform through the deflection detection mechanism; When the target goods arrive at the position calibration area on the pickup platform, the calibration mechanism on the pickup platform is controlled to calibrate the position of the target goods according to the position deflection information.

2. The method according to claim 1, characterized in that The position deflection information generated by the process of determining the target goods from the shelf to the pickup platform by the deflection detection mechanism includes: Acquire a first rotation distance of a first driven roller on the pickup platform and a second rotation distance of a second driven roller on the pickup platform during the process of the target cargo moving from the shelf exit to the position calibration area on the pickup platform, wherein the first driven roller is arranged at the left side of the entrance of the pickup platform, the second driven roller is arranged at the right side of the entrance of the pickup platform, and the deflection detection mechanism includes the first driven roller and the second driven roller; The position deflection direction and the offset of the target cargo are determined according to the first rotation distance and the second rotation distance, and the position deflection direction and the offset are determined as the position deflection information.

3. The method according to claim 2, characterized in that The determining the position deflection direction and offset of the target cargo according to the first rotation distance and the second rotation distance comprises: comparing the first rotation distance and the second rotation distance; If the first rotation distance is greater than the second rotation distance, it is determined that the target goods are deflected to the left, wherein the left side of the target goods is farther away from the shelf than the right side; Calculating a first distance difference between the first rotation distance and the second rotation distance; One half of the first distance difference is taken as a first offset of the target cargo to the left.

4. The method according to claim 3, characterized in that When the target goods arrive at the position calibration area on the pickup platform, controlling the calibration mechanism on the pickup platform to calibrate the position of the target goods according to the position deflection information includes: When it is determined that the target cargo is deflected to the left by the first offset, the first calibration roller is controlled to rotate in the reverse direction by the distance of the first offset, and the second calibration roller is controlled to rotate in the positive direction by the distance of the first offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at the left position within the position calibration area, the second calibration roller is arranged at the right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

5. The method according to claim 2, characterized in that: The determining the position deflection direction and offset of the target cargo according to the first rotation distance and the second rotation distance further comprises: comparing the first rotation distance and the second rotation distance; If the first rotation distance is less than the second rotation distance, it is determined that the target goods are deflected to the right, wherein the right side of the target goods is farther away from the shelf than the left side; calculating a second distance difference between the second rotation distance and the first rotation distance; One half of the second distance difference is taken as a second offset of the target cargo to the right.

6. The method according to claim 5, characterized in that When the target goods arrive at the position calibration area on the pickup platform, controlling the calibration mechanism on the pickup platform to calibrate the position of the target goods according to the position deflection information further includes: When it is determined that the target cargo is deflected to the right by the second offset, the first calibration roller is controlled to rotate in the positive direction by the distance of the second offset, and the second calibration roller is controlled to rotate in the reverse direction by the distance of the second offset, wherein the calibration mechanism includes the first calibration roller and the second calibration roller, the first calibration roller is arranged at the left position within the position calibration area, the second calibration roller is arranged at the right position within the position calibration area, the positive direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform away from the shelf, and the reverse direction is the direction in which the contact surface of the roller and the target cargo rotates toward the side of the pickup platform close to the shelf.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: Pushing the target goods from the original position to the shelf exit by means of the pushing mechanism on the shelf; Controlling the driving roller on the pickup platform to rotate, so as to drive the target goods to continue to move from the shelf exit toward the pickup platform; When it is detected that the front end of the target cargo arrives at the end of the cargo pickup platform, it is determined that the target cargo arrives at the position calibration area.

8. The method according to any one of claims 1 to 6, characterized in that: A plurality of calibration points are arranged inside the shelf, and the plurality of calibration points are distributed at the starting end, the middle position and the position close to the pickup platform of the shelf, and each calibration point is equipped with driven rollers A1, A2 and calibration rollers B1, B2. The method further comprises: When the target cargo passes through the first calibration point, the driven rollers A1 and A2 at the first calibration point record the rotation distance of the cargo when it passes; Calculating the deflection amount of the target cargo according to the difference in rotation distances of the driven rollers A1 and A2; Performing a first calibration according to the deflection amount by using the calibration rollers B1 and B2 at the first calibration point; The goods continue to move forward, and when they reach the next calibration point, the above steps are repeated until the goods enter the last calibration point before the pickup platform, and the last calibration on the shelf is performed by the calibration rollers B1 and B2 at the last calibration point.

9. The method according to any one of claims 1 to 6, characterized in that: The deflection detection mechanism further includes a visual sensor, and the method for determining the position deflection information of the goods and the corresponding position calibration also includes: When the target goods are pushed to the position calibration area on the pickup platform, using the visual sensor to capture an image of the target goods; Performing image recognition on the image to identify the position and deflection angle of the target cargo; When it is determined that the target cargo is deflected to the left, the first calibration roller is controlled to rotate in the reverse direction, the second calibration roller is controlled to rotate in the forward direction, and the calibration result is confirmed in real time through the visual sensor until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped; or When it is determined that the target cargo is deflected to the right, the first calibration roller is controlled to rotate in the positive direction, and the second calibration roller is controlled to rotate in the reverse direction, and the calibration result is confirmed in real time through the visual sensor until the position of the target cargo is consistent with the preset position, and the rotation of the two calibration rollers is stopped.

10. A cargo orientation deviation correction device, characterized in that: include: A deflection detection module, used to determine position deflection information generated during the process of pushing the target goods from the shelf to the pickup platform through a deflection detection mechanism; The position calibration module is used to control the calibration mechanism on the pickup platform to calibrate the position of the target cargo according to the position deflection information when the target cargo arrives at the position calibration area on the pickup platform.

11. A vending machine, comprising a memory, a processor, a communication interface and a communication bus, wherein the memory stores a computer program that can be run on the processor, and the memory and the processor communicate through the communication bus and the communication interface, characterized in that: The vending cabinet also includes a driven roller and a calibration roller arranged on the pickup platform, the driven roller is used to obtain the position deflection information of the goods, and the calibration roller is used to calibrate the position of the goods. When the processor executes the computer program, it implements the cargo orientation offset correction method described in any one of claims 1 to 9 above.

12. A computer-readable medium having a non-volatile program code executable by a processor, characterized in that: The program code enables the processor to execute the cargo orientation deviation correction method described in any one of claims 1 to 9.

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