Meal delivery control method and device, meal selling cabinet and storage medium

Abstract

The invention discloses a meal delivery control method and device, a meal selling cabinet and a storage medium. The method comprises the following steps: in response to a meal taking instruction, controlling a meal taking platform to move to a meal delivery position corresponding to a target meal product; in the process of pushing the target food to the food taking platform, the inclination degree of the target food is detected; and the target food is leveled by controlling a goods channel and / or the food taking platform until the inclination degree of the target food meets the requirement and the target food is pushed in place. The inclination degree of the target food product can be detected in time, the target food product is leveled by controlling the goods channel and / or the food taking platform until the inclination degree of the target food product meets the requirement and the target food product is pushed in place, so that the food product cannot be excessively inclined in the pushing process and cannot interfere with a metal plate, and the service life of the food product is prolonged. It is ensured that the food can be normally pushed to the food taking opening, and the problem that food taking fails due to the fact that the food inclines during manual catering of a food selling cabinet is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of meal vending cabinets, and in particular to a meal serving control method and device, a meal vending cabinet and a storage medium. Background Art

[0002] Currently, meal vending cabinets use the internal meal pickup platform to automatically push meals from the aisle to the meal pickup port. However, due to the manual meal distribution method, when the operator places the meals on the aisle, the meals may tilt, which can easily cause the meals to be unable to be pushed out and get stuck in the gap between the aisle and the meal pickup platform, or even cause the meals to interfere with the sheet metal, causing the meals to fall over and the vending cabinet to be unable to continue to be used, affecting the user experience.

[0003] With regard to the problem in the prior art that meal vending cabinets fail to pick up meals due to the tilt of meals during manual meal preparation, no effective solution has been proposed. Summary of the invention

[0004] The embodiments of the present invention provide a meal delivery control method, device, meal vending cabinet and storage medium, so as to at least solve the problem in the prior art that meal delivery failure occurs due to tilt of meals during manual meal preparation in the meal vending cabinet.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a meal serving control method, which is applied to a meal selling cabinet, comprising:

[0006] In response to the meal pickup instruction, the meal pickup platform is controlled to move to a meal delivery position corresponding to the target meal;

[0007] In the process of pushing the target food to the food pickup platform, detecting the tilt degree of the target food;

[0008] The target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place.

[0009] Optionally, detecting the tilt degree of the target food includes:

[0010] Detecting the push progress of the target meal;

[0011] Detecting a weight difference between a first portion and a second portion of the meal-taking platform, wherein a central axis is set along a direction in which the target meal is pushed to the meal-taking platform, and the central axis divides the meal-taking platform into the first portion and the second portion;

[0012] The tilt degree of the target meal is determined according to the pushing progress and the weight difference.

[0013] Optionally, determining the tilt degree of the target meal according to the pushing progress and the weight difference includes:

[0014] When the pushing progress indicates that part of the target meal has been pushed to the meal pickup platform, determining whether the weight difference is greater than a preset threshold;

[0015] If the weight difference is greater than the preset threshold, it is determined that the target meal is at the first tilt level and does not meet the requirement;

[0016] If the weight difference is less than or equal to the preset threshold, it is determined that the inclination degree of the target meal meets the requirement, and the target meal continues to be pushed to the meal pickup platform.

[0017] Optionally, a first photoelectric sensor is provided on a side of the food pickup platform close to the food delivery position, and a transmitting end and a receiving end of the first photoelectric sensor are symmetrically arranged. When the receiving end of the first photoelectric sensor receives a signal, it is determined that a portion of the target food has been pushed to the food pickup platform.

[0018] Optionally, a first gravity sensor is disposed on the first part of the meal picking platform to detect the weight of items placed on the first part; and a second gravity sensor is disposed on the second part of the meal picking platform to detect the weight of items placed on the second part.

[0019] Optionally, each meal serving position in the meal vending cabinet is provided with a first aisle and a second aisle in parallel, a portion of any meal is located on the first aisle and a portion is located on the second aisle, the first aisle corresponds to a first portion of the meal pickup platform, and the second aisle corresponds to a second portion of the meal pickup platform;

[0020] The target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place, including:

[0021] When the target food is at a first tilt degree, determining a portion with a smaller weight in the first portion and the second portion of the food taking platform;

[0022] The cargo lane corresponding to the light-weight portion is controlled to move toward the meal pickup platform until the weight difference between the first portion and the second portion of the meal pickup platform is less than or equal to a preset threshold, and the target meal continues to be pushed to the meal pickup platform.

[0023] Optionally, determining the tilt degree of the target meal according to the pushing progress and the weight difference includes:

[0024] When the pushing progress is that an object is detected on the side of the meal pickup platform far from the meal delivery position, and an object is also detected on the side of the meal pickup platform close to the meal delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the target meal is at the second tilt degree and does not meet the requirement;

[0025] When the pushing progress is that an object is detected on the side of the food pickup platform away from the food delivery position, and no object is detected on the side of the food pickup platform close to the food delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the inclination degree of the target meal meets the requirement and the target meal is pushed into place.

[0026] Optionally, a second photoelectric sensor is arranged on the side of the food pickup platform away from the food delivery position, and the transmitting end and the receiving end of the second photoelectric sensor are symmetrically arranged. When the receiving end of the second photoelectric sensor receives a signal, it is determined that there are items on the side of the food pickup platform away from the food delivery position.

[0027] Optionally, the target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place, including:

[0028] When the target food is at a second tilt degree, controlling the food pickup platform to move a preset distance in a preset direction or in a direction opposite to the preset direction, wherein the preset direction is perpendicular to the depth direction of the cargo aisle;

[0029] Then, the process returns to the step of detecting the tilt degree of the target food.

[0030] Optionally, after controlling the meal picking platform to move a preset distance toward the preset placement direction, it also includes: if the meal picking platform moves continuously in the same direction for a preset number of times, but the target food is still at the second tilt degree, outputting a fault prompt message.

[0031] Optionally, before responding to the meal pickup instruction, it also includes: receiving an automatic leveling instruction; controlling all cargo aisles to reverse to perform preliminary leveling of all meals placed in the cabinet.

[0032] The embodiment of the present invention further provides a meal serving control device, which is applied to a meal serving cabinet, comprising:

[0033] A first control module, for controlling the meal pickup platform to move to a meal delivery position corresponding to a target meal in response to a meal pickup instruction;

[0034] A detection module, used to detect the tilt degree of the target meal when the target meal is pushed to the meal pickup platform;

[0035] The second control module is used to level the target meal by controlling the cargo channel and / or the meal pickup platform until the inclination degree of the target meal meets the requirement and the target meal is pushed into place.

[0036] The embodiment of the present invention further provides a meal vending cabinet, comprising: the meal serving control device described in the embodiment of the present invention.

[0037] The embodiment of the present invention further provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the embodiment of the present invention are implemented.

[0038] By applying the technical solution of the present invention, the inclination degree of the target meal can be detected in time during the process of pushing the target meal to the meal pickup platform. If the inclination degree of the target meal does not meet the requirement, the target meal is leveled by controlling the cargo aisle and / or the meal pickup platform until the inclination degree of the target meal meets the requirement and the target meal is pushed into place, so that the meal will not be too tilted during the pushing process and will not interfere with the sheet metal, thereby ensuring that the meal can be pushed to the meal pickup port normally, reducing the risk of meal pickup failure due to meal tilt, solving the problem of meal pickup failure due to meal tilt during manual meal preparation in the meal vending cabinet, improving the product quality of the meal vending cabinet, and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a front schematic diagram of the overall structure of a meal vending cabinet provided by an embodiment of the present invention;

[0040] Figure 2 is a schematic diagram of picking up meals from a meal vending cabinet provided in an embodiment of the present invention;

[0041] Figure 3 is a top view of a meal pickup platform and a cargo aisle provided in an embodiment of the present invention;

[0042] Figure 4 is a flow chart of a meal serving control method provided by an embodiment of the present invention;

[0043] Figure 5A It is a top view of a meal pickup platform in the prior art;

[0044] Figure 5B is a top view of a meal pickup platform provided in an embodiment of the present invention;

[0045] Figure 6 is a meal serving control flow chart provided by an embodiment of the present invention;

[0046] Figure 7 It is a structural block diagram of the meal delivery control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that the terms "first", "second", etc. in the specification, claims and drawings of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0050] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0051] The optional embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0052] refer to Figure 1 and Figure 2 The meal vending cabinet includes: a meal pickup platform 10, at least one meal delivery position 20 and at least one meal pickup port 30. The meal delivery position is Figure 1 and Figure 2The grids in the cabinet are arranged in a regular pattern. Each serving position has a certain depth and is provided with a cargo lane. A conveyor belt is provided on the cargo lane. The same type of food can be placed on the conveyor belt one by one according to the position. The food-collecting platform 10 can be moved in the cabinet driven by the cantilever 11. According to the food-collecting demand, the cantilever 11 is controlled to move the food-collecting platform 10 to the serving position 20 corresponding to the target food. At the serving position 20, the target food moves from the inside to the outside along the conveyor belt (i.e., the cargo lane rotates forward, such as Figure 3 The target food is pushed from the aisle to the meal pickup platform 10 by moving the target food from the aisle to the meal pickup platform 10. When the target food is completely pushed to the meal pickup platform 10, the meal pickup platform 10 is moved to the meal pickup port 30 by controlling the cantilever 11, and the target food is pushed to the meal pickup port 30 by the push plate on the meal pickup platform 20, and the user can take the required food from the meal pickup port 30 to complete the meal pickup.

[0053] refer to Figure 3 Each food delivery position is provided with a parallel first aisle 21 and a second aisle 22. The first aisle 21 is provided with a first push plate 23, and the second aisle 22 is provided with a second push plate 24. The push plates are installed on the conveyor belt of the aisle. When the operator has finished preparing the food, the push plates are located at the origin position at the innermost side of the aisle. When the food needs to be picked up, the conveyor belt of the aisle rotates forward, and the push plates move outward and push the food out. Figure 3 In the process, the food is first pushed from the cargo channel to the food pickup platform 10 (i.e. Figure 3 Then the meal taking platform 10 moves to the meal taking port 30 to push the meal (i.e. Figure 3 A plurality of rollers 12 are provided on the meal-picking platform 10 . The rollers 12 cooperate with the cargo channel and the push plate to push the meal completely onto the meal-picking platform 10 .

[0054] Example 1

[0055] The present embodiment provides a meal delivery control method, which is applied to a meal vending cabinet and can solve the problem of meal delivery failure caused by tilting of meals during manual meal distribution in the meal vending cabinet.

[0056] Figure 4 is a flow chart of a meal serving control method provided by an embodiment of the present invention. Figure 4 As shown, the method comprises the following steps:

[0057] S401, in response to a meal pickup instruction, controlling the meal pickup platform to move to a meal delivery position corresponding to a target meal.

[0058] S402, in the process of pushing the target meal to the meal pickup platform, detecting the tilt degree of the target meal.

[0059] S403, leveling the target meal by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place.

[0060] In the process of pushing the target meal to the meal pickup platform, the present embodiment can timely detect the inclination degree of the target meal, if the inclination degree of the target meal does not meet the requirement, the target meal is leveled by controlling the cargo aisle and / or the meal pickup platform until the inclination degree of the target meal meets the requirement and the target meal is pushed into place, so that the meal will not be too tilted during the pushing process, and will not interfere with the sheet metal, thereby ensuring that the meal can be pushed to the meal pickup port normally, reducing the risk of meal pickup failure due to meal tilt, solving the problem of meal pickup failure due to meal tilt during manual meal preparation in the meal vending cabinet, improving the product quality of the meal vending cabinet, and improving the user experience.

[0061] In one embodiment, detecting the tilt degree of the target meal includes: detecting the pushing progress of the target meal; detecting the weight difference between the first part and the second part of the meal pickup platform, wherein, for the meal pickup platform, a central axis is set along the direction in which the target meal is pushed to the meal pickup platform, and the central axis divides the meal pickup platform into the first part and the second part; and determining the tilt degree of the target meal according to the pushing progress and the weight difference. Figure 5B , the dotted line is the central axis, the left side is the first part, and the right side is the second part. The first part and the second part can be exactly the same, which is equivalent to dividing the meal pickup platform into two equal parts.

[0062] Based on the pushing progress of the target meal and the weight difference between the first part and the second part of the meal pickup platform, this embodiment can timely and accurately determine the tilt degree of the target meal during the meal delivery process, and then can timely level the meal to ensure successful meal delivery.

[0063] In one embodiment, the inclination degree of the target meal is determined according to the pushing progress and the weight difference, including: when the pushing progress is that a part of the target meal has been pushed to the meal pickup platform, judging whether the weight difference is greater than a preset threshold; if the weight difference is greater than the preset threshold, determining that the target meal is at a first inclination degree and does not meet the requirement; if the weight difference is less than or equal to the preset threshold, determining that the inclination degree of the target meal meets the requirement, and continuing to push the target meal to the meal pickup platform.

[0064] Among them, the preset threshold can be set according to the actual situation, for example, the preset threshold is set to 1 / 3 of the weight of a single meal. If the weight difference is greater than the preset threshold, it means that the weight of the first part and the second part of the meal pickup platform is unbalanced, the tilt degree of the target meal is large, and the requirements are not met, and the target meal needs to be leveled. If the weight difference is less than or equal to the preset threshold, it means that the weight of the first part and the second part of the meal pickup platform is relatively balanced, the tilt degree of the target meal is small or not tilted, and the requirements are met. At this time, the target meal can continue to be pushed to the meal pickup platform.

[0065] In this embodiment, when a portion of the target meal has been pushed to the meal pickup platform, the tilt degree of the target meal can be determined more accurately based on the weight difference between the first portion and the second portion of the meal pickup platform.

[0066] refer to Figure 5B A first photoelectric sensor is disposed on a side of the meal pickup platform close to the meal delivery position, and a transmitting end 41 and a receiving end 42 of the first photoelectric sensor are symmetrically disposed. For example, the transmitting end 41 of the first photoelectric sensor is disposed on the first part of the meal pickup platform, and the receiving end 42 of the first photoelectric sensor is disposed on the second part of the meal pickup platform, or the transmitting end 41 of the first photoelectric sensor is disposed on the second part of the meal pickup platform, and the receiving end 42 of the first photoelectric sensor is disposed on the first part of the meal pickup platform. When the receiving end 42 of the first photoelectric sensor receives a signal, it is determined that a portion of the target meal has been pushed to the meal pickup platform. In this embodiment, the first photoelectric sensor can detect whether there are objects on the side of the meal pickup platform close to the meal delivery position, thereby judging the pushing progress of the target meal.

[0067] refer to Figure 5B , a first gravity sensor 51 is provided on the first part of the meal-taking platform to detect the weight of items placed on the first part. A second gravity sensor 52 is provided on the second part of the meal-taking platform to detect the weight of items placed on the second part. Taking the first part as an example, the weight detected by the gravity sensor can be the sum of the weights of the first part and the items placed on the first part. Since the weight of the first part is fixed, the sum of the weights can be used as the weight of the items to calculate the weight difference. The average weight of the food is about 500g to 800g, and a high-precision and low-range gravity sensor can be selected, such as a gravity sensor with an accuracy of about 10g. In actual applications, the independent first and second parts can be spliced ​​into a complete meal-taking platform, so as to accurately detect the weight of the first part and the weight of the second part respectively.

[0068] This embodiment can accurately detect the weight difference between the two parts by setting two gravity sensors on the meal pickup platform, which serves as a basis for judging the tilt degree of the target meal, thereby ensuring that the judgment result is accurate and reliable.

[0069] refer to Figure 3 Each food delivery position in the food selling cabinet is provided with a parallel first aisle 21 and a second aisle 22. A portion of any food is located on the first aisle 21 and a portion is located on the second aisle 22. The first aisle 21 corresponds to the first portion of the food pickup platform, and the second aisle 22 corresponds to the second portion of the food pickup platform. Under normal circumstances, the two aisles move toward the food pickup platform at the same time, so that the food is pushed to the food pickup platform.

[0070] The target meal is leveled by controlling the cargo aisle and / or the meal pickup platform until the inclination degree of the target meal meets the requirements and the target meal is pushed into place, including: when the target meal is at a first inclination degree, determining a portion with smaller weight between a first portion and a second portion of the meal pickup platform; controlling the cargo aisle corresponding to the portion with smaller weight to move toward the meal pickup platform until the weight difference between the first portion and the second portion of the meal pickup platform is less than or equal to a preset threshold, and continuing to push the target meal to the meal pickup platform.

[0071] In this embodiment, when the target food is at a first inclination degree, the portion with smaller weight between the first and second portions of the food pickup platform is determined, and less food is pushed out of this portion. Therefore, the aisle corresponding to this portion is individually controlled to move toward the food pickup platform, while the aisle corresponding to the other portion does not move, so as to balance the weight on both sides. After that, the two aisles can continue to rotate forward at the same time to push the food to the food pickup platform normally.

[0072] The meals and the meal pickup platforms are generally rectangular. Under normal circumstances, when the meals are pushed to the meal pickup platform, the long sides of the meals correspond to the meal pickup platform (can be approximately parallel), and the short sides correspond to the meal pickup platform (can be approximately parallel). If the operator tilts the meals too much when placing them on the aisle, or even rotates them 90 degrees, when the meals are pushed to the meal pickup platform, the long sides of the meals correspond to the short sides of the meal pickup platform, and the meals exceed the meal pickup platform. If the meals continue to be pushed, interference between the meals and the sheet metal will occur, resulting in meal pickup failure.

[0073] In order to avoid the above problem, in one embodiment of the present invention, the tilt degree of the target meal is determined according to the pushing progress and the weight difference, including:

[0074] When the pushing progress is that an object is detected on the side of the meal pickup platform far from the meal delivery position, and an object is also detected on the side of the meal pickup platform close to the meal delivery position, and the weight difference is less than or equal to the preset threshold, it is determined that the target meal is at the second tilt degree and does not meet the requirement;

[0075] When the pushing progress is that an object is detected on the side of the food pickup platform away from the food delivery position, and no object is detected on the side of the food pickup platform close to the food delivery position, and the weight difference is less than or equal to the preset threshold, it is determined that the inclination degree of the target meal meets the requirements and the target meal is pushed into place, and the food pickup platform can be moved toward the food pickup port.

[0076] Wherein, when the target food is not tilted, the angle between the first designated axis of the target food and the second designated axis of the food pickup platform is very small, for example, 0° to 5°. The shapes of the food and the food pickup platform are the same or very similar, and the position of the first designated axis on the food and the position of the second designated axis on the food pickup platform are the same, which can be a long axis, a diagonal line, a short axis, etc.

[0077] The second inclination degree means that the angle between the first designated axis of the target meal and the second designated axis of the meal pickup platform is within a preset angle range, and the preset angle range is a larger angle less than or equal to 90°, for example, the preset angle range is [85°, 90°]. If an object is detected on the side of the meal pickup platform away from the meal delivery position, it means that the target meal is pushed to the last section of the meal pickup platform.

[0078] In this embodiment, when the target meal is pushed to the last section of the meal pickup platform, the tilt of the target meal can be determined more accurately by comprehensively detecting items on the side of the meal pickup platform close to the meal delivery position, and corresponding measures can be taken to level it.

[0079] refer to Figure 5B A second photoelectric sensor is provided on the side of the meal-picking platform away from the meal-dispensing position, and the transmitting end 61 and the receiving end 62 of the second photoelectric sensor are symmetrically provided. For example, the transmitting end 61 of the second photoelectric sensor is provided on the first part of the meal-picking platform, and the receiving end 62 of the second photoelectric sensor is provided on the second part of the meal-picking platform, or the transmitting end 61 of the second photoelectric sensor is provided on the second part of the meal-picking platform, and the receiving end 62 of the second photoelectric sensor is provided on the first part of the meal-picking platform. When the receiving end 62 of the second photoelectric sensor receives a signal, it is determined that there is an object on the side of the meal-picking platform away from the meal-dispensing position, that is, the target meal has been pushed to the last section. In this embodiment, the second photoelectric sensor can detect whether there is an object on the side of the meal-picking platform away from the meal-dispensing position, thereby judging the pushing progress of the target meal.

[0080] like Figure 5A As shown, in the prior art, the transmitting end and the receiving end of the photoelectric sensor are arranged at diagonal positions of the meal-taking platform, such as Figure 5B As shown, the embodiment of the present invention provides two horizontal photoelectric sensors for detecting whether the food is pushed into place.

[0081] In one embodiment, the target food is leveled by controlling the cargo aisle and / or the food pickup platform until the inclination degree of the target food meets the requirements and the target food is pushed into place, including: when the target food is at a second inclination degree, controlling the food pickup platform to move a preset distance in a preset direction or in the opposite direction of the preset direction, wherein the preset direction is perpendicular to the depth direction of the cargo aisle; and then returning to execute the step of detecting the inclination degree of the target food.

[0082] The preset distance may be set according to actual conditions, and the value of the preset distance may be relatively small, for example, the preset distance may be set to 1 cm.

[0083] In the present embodiment, when the target meal is at the second inclination degree, the target meal is tilted relative to the meal picking platform by moving the meal picking platform, and the inclination degree is continued to be detected until the inclination degree of the target meal meets the requirement and the target meal is pushed into place. This can avoid the situation where the meal is placed vertically as much as possible and ensure normal meal picking.

[0084] Furthermore, after controlling the meal-taking platform to move a preset distance in a preset placement direction, it also includes: if the meal-taking platform moves continuously in the same direction for a preset number of times, but the target meal is still at the second tilt level, a fault prompt message is output. The preset number of times can be set according to actual conditions, for example, the preset number of times is set to 3 times. In this embodiment, if the target meal cannot be leveled after the meal-taking platform is moved multiple times, the meal-taking platform will not be moved further to avoid sheet metal interference caused by excessive movement causing the target meal to shift. At this time, a fault prompt message is output to promptly remind the operation and maintenance personnel to handle it.

[0085] Taking into account that the operators may not be able to place the meals flat, after the operators have delivered all the meals, the meals in the cabinet may have various degrees of tilt. In one embodiment, before responding to the meal pickup instruction, it may also include: receiving an automatic leveling instruction; controlling the reversal of all cargo aisles to perform preliminary leveling of all the meals placed in the cabinet.

[0086] Specifically, the operator can click or press a preset automatic leveling button to issue an automatic leveling instruction. For example, the operator clicks the automatic leveling button on the screen of the meal delivery cabinet. At this time, all aisles are reversed. Since there is a limit at the deepest part of the sales cabinet, the push plate is stuck in the deepest part of the cabinet, and the conveyor belt continues to reverse with the food, and all the food is leveled as much as possible before picking up the food.

[0087] In this implementation mode, after the operator completes the meal delivery, the cargo aisle can be reversed to ensure that all meals are as level as possible, thereby achieving automatic preliminary leveling of the meals.

[0088] Example 2

[0089] The above-mentioned meal serving control method is described below in conjunction with a specific embodiment. However, it is worth noting that this specific embodiment is only for better illustrating the present application and does not constitute an improper limitation on the present application. The explanation of terms that are the same or corresponding to the above-mentioned embodiment will not be repeated in this embodiment.

[0090] like Figure 6 As shown, it is a meal delivery control flow chart, which includes the following steps:

[0091] S601, distribution is completed.

[0092] S602, cargo lane reversal.

[0093] When the operator has delivered all the food, the inclination of the food is also different. The operator can click the automatic leveling button on the screen, and all the aisles will be reversed. Since there is a limit at the deepest part of the vending cabinet, all the food can be leveled as much as possible before picking up the food.

[0094] S603, the order to pick up the food is issued. When the food is picked up, the user can scan the code to purchase the food, and the display screen sends the order to pick up the food to the control panel.

[0095] S604, the cantilever moves to move the meal pickup platform to the corresponding meal delivery position (i.e., the aisle where the target meal purchased by the user is located).

[0096] S605, the two aisles and the push plate of the food delivery position move toward the food pickup platform, and the rollers on the food pickup platform also move to push the target food on the aisle to the food pickup platform.

[0097] S606, determine whether the first photoelectric sensor is disconnected, if so, proceed to S607, if not, return to S605.

[0098] S607, determine whether the weight difference between the two sides of the meal pickup platform is greater than a preset threshold, if so, proceed to S609, if not, proceed to S608.

[0099] S608, roller movement.

[0100] S609, determine whether the left side weight is greater than the right side weight, if so, proceed to S611, if not, proceed to S610.

[0101] S610, left side push plate and cargo channel movement.

[0102] S611, right side push plate and cargo channel movement.

[0103] S612, determine whether the left side weight is equal to the right side weight, if so, proceed to S613, if not, return to S609.

[0104] S613, movement of push plates, cargo lanes and rollers on both sides.

[0105] In the process of pushing the target meal to the meal pickup platform, it is first detected whether the first photoelectric sensor is disconnected.

[0106] If the first photoelectric sensor is disconnected, it means that the receiving end of the first photoelectric sensor cannot receive the signal, and there is an object between the transmitting end and the receiving end of the first photoelectric sensor, that is, part of the target meal has been pushed to the meal pickup platform. At this time, the weight of both sides of the meal pickup platform is judged. If the weight difference on both sides is not greater than the preset threshold (the preset threshold can be 1 / 3 of the weight of a single meal), it means that the inclination of the meal is small, and the meal can be pushed normally to the meal pickup platform through the movement of the roller. If the weight difference on both sides is greater than the preset threshold, it means that the inclination of the meal is large. At this time, it is determined which side has a larger weight. A large weight means that more meals are pushed out on this side. By controlling the movement of the push plate and the cargo channel on the other side, the weight on both sides is adjusted to balance, and then the meals are pushed out normally through the cargo channel, the push plate and the roller.

[0107] If the first photoelectric sensor is closed, it means that the receiving end of the first photoelectric sensor can receive the signal, and there is no object between the sending end and the receiving end of the first photoelectric sensor, that is, the target meal has not been pushed to the meal pickup platform and needs to be pushed further.

[0108] S614, determine whether the second photoelectric sensor is disconnected, if so, proceed to S615, if not, return to S613.

[0109] S615, determine whether the first photoelectric sensor is closed, if so, proceed to S619, if not, proceed to S616.

[0110] S616, the food pickup platform moves 1 cm to the right.

[0111] S617, determine whether the meal pickup platform has moved right 3 times, if so, go to S618, if not, return to S607.

[0112] S618, prompting a meal pickup failure.

[0113] S619, meal collection completed.

[0114] As the target food is pushed toward the meal pickup platform, check whether the second photoelectric sensor is disconnected. If the second photoelectric sensor is disconnected, it means that the receiving end of the second photoelectric sensor cannot receive the signal, and there is an object between the transmitting end and the receiving end of the second photoelectric sensor, that is, the target food has been pushed to the last section of the meal pickup platform. At this time, check the status of the first photoelectric sensor again. If the first photoelectric sensor is closed, it means that the target food has been pushed into place, and the meal can continue to be served normally. If the first photoelectric sensor is still disconnected, it means that the target food may be perpendicular to the line between the transmitting end and the receiving end of the photoelectric sensor. At this time, move the meal pickup platform to the right (or left, refer to Figure 3) moves 1 cm to tilt the target meal to the meal pickup platform, and returns to step S607 for leveling. If the meal pickup platform moves to the right three times and still does not recover, the meal pickup platform cannot continue to move to the right, and sheet metal interference will occur. At this time, the corresponding fault is reported, prompting the operation and maintenance personnel to solve it before continuing to pick up the meal.

[0115] In this embodiment, a gravity sensor is set on the meal pickup platform to detect the weight difference on both sides of the meal pickup platform, and the single photoelectric sensor originally set diagonally on the meal pickup platform is replaced with two horizontal photoelectric sensors to detect the progress of meal pushing. The degree of inclination of the target meal can be judged in a timely, rapid and accurate manner in combination with the pushing progress and the weight difference on both sides. Different control methods are adopted for different inclinations. For meals with large inclinations or placed vertically, position correction operations are performed through additional movements of the cargo aisle or the meal pickup platform to level the meals during the meal delivery process, ensuring that meals with different inclinations will not interfere with the sheet metal during the pushing process and can be pushed to the meal pickup port normally, thereby ensuring successful meal delivery and reducing the risk of meal pickup failure due to meal inclination, thereby improving the product quality of the meal vending cabinet and improving user experience.

[0116] Example 3

[0117] Based on the same inventive concept, this embodiment provides a meal serving control device, which is applied to a meal vending cabinet and can be used to implement the meal serving control method described in the above embodiment. The meal serving control device can be implemented by software and / or hardware.

[0118] Figure 7 is a structural block diagram of a meal serving control device provided by an embodiment of the present invention. Figure 7 As shown, the device comprises:

[0119] The first control module 71 is used to control the meal pickup platform to move to a meal delivery position corresponding to a target meal in response to a meal pickup instruction;

[0120] A detection module 72, used to detect the tilt degree of the target food during the process of pushing the target food to the food pickup platform;

[0121] The second control module 73 is used to level the target meal by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place.

[0122] Optionally, the detection module 72 includes:

[0123] A first detection unit, used to detect the push progress of the target meal;

[0124] A second detection unit is used to detect a weight difference between a first part and a second part of the meal picking platform, wherein a central axis is set along a direction in which the target meal is pushed to the meal picking platform, and the central axis divides the meal picking platform into the first part and the second part;

[0125] The first determining unit is used to determine the tilt degree of the target meal according to the pushing progress and the weight difference.

[0126] Optionally, the first determining unit is specifically configured to:

[0127] When the pushing progress indicates that part of the target meal has been pushed to the meal pickup platform, determining whether the weight difference is greater than a preset threshold;

[0128] If the weight difference is greater than the preset threshold, it is determined that the target meal is at the first tilt level and does not meet the requirement;

[0129] If the weight difference is less than or equal to the preset threshold, it is determined that the inclination degree of the target meal meets the requirement, and the target meal continues to be pushed to the meal pickup platform.

[0130] Optionally, a first photoelectric sensor is provided on a side of the food pickup platform close to the food delivery position, and a transmitting end and a receiving end of the first photoelectric sensor are symmetrically arranged. When the receiving end of the first photoelectric sensor receives a signal, it is determined that a portion of the target food has been pushed to the food pickup platform.

[0131] Optionally, a first gravity sensor is disposed on the first part of the meal picking platform to detect the weight of items placed on the first part; and a second gravity sensor is disposed on the second part of the meal picking platform to detect the weight of items placed on the second part.

[0132] Optionally, each food serving position in the meal vending cabinet is provided with a parallel first aisle and second aisle, a portion of any meal is located on the first aisle and a portion is located on the second aisle, the first aisle corresponds to a first part of the meal pickup platform, and the second aisle corresponds to a second part of the meal pickup platform.

[0133] The second control module 73 includes:

[0134] A second determining unit is used to determine a portion with a smaller weight between the first portion and the second portion of the meal taking platform when the target meal is at a first tilt degree;

[0135] The first control unit is used to control the cargo lane corresponding to the light-weight part to move toward the meal pickup platform until the weight difference between the first part and the second part of the meal pickup platform is less than or equal to a preset threshold, and continue to push the target meal to the meal pickup platform.

[0136] Optionally, the first determining unit is specifically configured to:

[0137] When the pushing progress is that an object is detected on the side of the meal pickup platform away from the meal delivery position, and an object is also detected on the side of the meal pickup platform close to the meal delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the target meal is at the second tilt degree and does not meet the requirement;

[0138] When the pushing progress is that an object is detected on the side of the food pickup platform away from the food delivery position, and no object is detected on the side of the food pickup platform close to the food delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the inclination degree of the target meal meets the requirement and the target meal is pushed into place.

[0139] Optionally, a second photoelectric sensor is arranged on the side of the food pickup platform away from the food delivery position, and the transmitting end and the receiving end of the second photoelectric sensor are symmetrically arranged. When the receiving end of the second photoelectric sensor receives a signal, it is determined that there are items on the side of the food pickup platform away from the food delivery position.

[0140] Optionally, the second control module 73 includes:

[0141] A second control unit is used to control the food pickup platform to move a preset distance in a preset direction or in the opposite direction of the preset direction when the target food is at a second tilt degree, wherein the preset direction is perpendicular to the depth direction of the aisle; and then return to execute the step of detecting the tilt degree of the target food.

[0142] Optionally, the above-mentioned food delivery control device also includes: an output module, which is used to output a fault prompt message if the food delivery platform moves continuously in the same direction for a preset number of times but the target food is still at the second tilt degree after controlling the food delivery platform to move a preset distance toward the preset placement direction.

[0143] Optionally, the above-mentioned meal delivery control device further includes:

[0144] A receiving module, used for receiving an automatic leveling instruction before responding to a meal pickup instruction;

[0145] The reversal control module is used to control the reversal of all cargo aisles to perform preliminary leveling of all meals placed in the cabinet.

[0146] The above-mentioned meal delivery control device can execute the meal delivery control method provided in the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the meal delivery control method provided in the embodiment of the present invention.

[0147] The device embodiments described above are merely illustrative, wherein 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] Example 4

[0149] This embodiment provides a meal vending cabinet, comprising: the meal serving control device described in the above embodiment.

[0150] Example 5

[0151] This embodiment provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in the above embodiment when executing the computer program.

[0152] Example 6

[0153] This embodiment provides a non-volatile computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the above embodiment are implemented.

[0154] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A meal serving control method, applied to a meal vending cabinet, characterized in that: include: In response to the meal pickup instruction, the meal pickup platform is controlled to move to a meal delivery position corresponding to the target meal; In the process of pushing the target food to the food pickup platform, detecting the tilt degree of the target food; The target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place.

2. The method according to claim 1, characterized in that Detecting the tilt degree of the target food includes: Detecting the push progress of the target meal; Detecting a weight difference between a first portion and a second portion of the meal-taking platform, wherein a central axis is set along a direction in which the target meal is pushed to the meal-taking platform, and the central axis divides the meal-taking platform into the first portion and the second portion; The tilt degree of the target meal is determined according to the pushing progress and the weight difference.

3. The method according to claim 2, characterized in that Determining the tilt degree of the target meal according to the pushing progress and the weight difference includes: When the pushing progress indicates that part of the target meal has been pushed to the meal pickup platform, determining whether the weight difference is greater than a preset threshold; If the weight difference is greater than the preset threshold, it is determined that the target meal is at the first tilt level and does not meet the requirement; If the weight difference is less than or equal to the preset threshold, it is determined that the inclination degree of the target meal meets the requirement, and the target meal continues to be pushed to the meal pickup platform.

4. The method according to claim 2, characterized in that: A first photoelectric sensor is arranged on one side of the meal pickup platform close to the meal delivery position, and a transmitting end and a receiving end of the first photoelectric sensor are symmetrically arranged. When the receiving end of the first photoelectric sensor receives a signal, it is determined that a portion of the target meal has been pushed to the meal pickup platform.

5. The method according to claim 2, characterized in that: A first gravity sensor is disposed on the first part of the meal taking platform, for detecting the weight of items placed on the first part; The second part of the meal taking platform is provided with a second gravity sensor for detecting the weight of items placed on the second part.

6. The method according to claim 1, characterized in that Each food serving position in the meal vending cabinet is provided with a first aisle and a second aisle in parallel, a portion of any meal is located on the first aisle and a portion is located on the second aisle, the first aisle corresponds to the first portion of the meal pickup platform, and the second aisle corresponds to the second portion of the meal pickup platform; The target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place, including: When the target food is at a first tilt degree, determining a portion with a smaller weight in the first portion and the second portion of the food taking platform; The cargo lane corresponding to the light-weight portion is controlled to move toward the meal pickup platform until the weight difference between the first portion and the second portion of the meal pickup platform is less than or equal to a preset threshold, and the target meal continues to be pushed to the meal pickup platform.

7. The method according to claim 2, characterized in that Determining the tilt degree of the target meal according to the pushing progress and the weight difference includes: When the pushing progress is that an object is detected on the side of the meal pickup platform far from the meal delivery position, and an object is also detected on the side of the meal pickup platform close to the meal delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the target meal is at the second tilt degree and does not meet the requirement; When the pushing progress is that an object is detected on the side of the food pickup platform away from the food delivery position, and no object is detected on the side of the food pickup platform close to the food delivery position, and the weight difference is less than or equal to a preset threshold, it is determined that the inclination degree of the target meal meets the requirement and the target meal is pushed into place.

8. The method according to claim 7, characterized in that A second photoelectric sensor is arranged on a side of the food pickup platform away from the food delivery position, and a transmitting end and a receiving end of the second photoelectric sensor are symmetrically arranged. When the receiving end of the second photoelectric sensor receives a signal, it is determined that there is an item on the side of the food pickup platform away from the food delivery position.

9. The method according to claim 1, characterized in that: The target meal is leveled by controlling the cargo channel and / or the meal pickup platform until the inclination of the target meal meets the requirement and the target meal is pushed into place, including: When the target food is at a second tilt degree, controlling the food pickup platform to move a preset distance in a preset direction or in a direction opposite to the preset direction, wherein the preset direction is perpendicular to the depth direction of the cargo aisle; Then, the process returns to the step of detecting the tilt degree of the target food.

10. The method according to claim 9, characterized in that After controlling the food taking platform to move a preset distance toward the preset placement direction, the method further includes: If the meal-taking platform moves continuously in the same direction for a preset number of times, but the target meal is still at the second tilt level, a fault prompt message is output.

11. The method according to any one of claims 1 to 10, characterized in that Before responding to a pickup order, this also includes: Receive automatic leveling instructions; Control the reversal of all aisles to perform preliminary leveling of all food items placed in the cabinet.

12. A meal serving control device, applied to a meal vending cabinet, characterized in that: include: A first control module, for controlling the meal pickup platform to move to a meal delivery position corresponding to a target meal in response to a meal pickup instruction; A detection module, used to detect the tilt degree of the target meal when the target meal is pushed to the meal pickup platform; The second control module is used to level the target meal by controlling the cargo channel and / or the meal pickup platform until the inclination degree of the target meal meets the requirement and the target meal is pushed into place.

13. A meal vending cabinet, characterized in that: include: The meal serving control device as claimed in claim 12.

14. A non-volatile computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.

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