Unmanned vending machine control method and unmanned vending machine

Abstract

The invention provides an unmanned vending machine control method and an unmanned vending machine. The method comprises the following steps: receiving a delivery instruction, wherein the delivery instruction corresponds to a target commodity; a target goods storage channel corresponding to the target goods is determined, the target goods are pushed out to the transverse goods channel, and the transverse goods channel transfers the target goods to the goods outlet channel; the pose of the target commodity is monitored based on the image of the transverse commodity channel, and the moving speed of the target commodity is controlled by controlling the angle of the transverse commodity channel; and the initial speed and the position of entering the goods outlet channel are determined, the force unloading mechanism is controlled to unload the target goods based on the initial speed and the position, and the target goods are moved to the goods taking opening after force unloading. In this way, the commodity can stably reach the commodity taking opening while having the falling feeling, the waiting time of a user is shortened, the user experience and the satisfaction degree are improved, and loss during selling of fragile products is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned vending machines, and in particular to an unmanned vending machine control method and an unmanned vending machine. Background Art

[0002] As a new form of commercial retail, vending machines offer advantages such as freedom from time and location restrictions, labor savings, and convenient transactions. However, existing vending machines have significant limitations when selling fragile items. Traditional vending machines typically push items directly out of the machine, which can easily damage items due to sudden acceleration and impact during delivery. This method is particularly prone to damage when selling fragile items such as glass bottles and precision instruments, resulting in high loss rates. Summary of the Invention

[0003] Existing vending machines, when selling fragile items, are susceptible to damage and high product loss rates due to sudden acceleration changes and impact during delivery. To address this issue, a vending machine control method and vending machine are needed that can effectively control the delivery speed and acceleration of goods. This reduces the impact and vibration of goods during delivery and ensures that fragile items reach the pickup port safely.

[0004] In a first aspect, the present invention provides a method for controlling an unmanned vending machine, wherein the goods sold by the unmanned vending machine include fragile items, the unmanned vending machine includes a camera, a storage channel, a transverse channel, and a delivery channel, the delivery channel being connected to a pickup port, the delivery channel including a force unloading mechanism, the force unloading mechanism being located near the pickup port; the method comprising:

[0005] receiving a shipping instruction, wherein the shipping instruction corresponds to a target commodity;

[0006] Determine the target storage aisle corresponding to the target commodity, push the target commodity to the transverse aisle, and transfer the target commodity to the shipping aisle via the transverse aisle;

[0007] Monitoring the position of the target product based on the image of the transverse aisle, and controlling the moving speed of the target product by controlling the angle of the transverse aisle;

[0008] Determine the initial speed and position of entering the delivery channel, control the unloading mechanism to unload the target product based on the initial speed and the position, and move the target product to the pickup port after unloading.

[0009] In a second aspect, the present invention provides an unmanned vending machine, wherein the commodities sold by the unmanned vending machine include fragile items, the unmanned vending machine includes a camera, a storage channel, a transverse channel, a delivery channel, and a controller, the delivery channel being connected to a pickup port, the delivery channel including a force unloading mechanism, the force unloading mechanism being located near the pickup port; the controller is configured to perform the following steps:

[0010] receiving a shipping instruction, wherein the shipping instruction corresponds to a target commodity;

[0011] Determine the target storage aisle corresponding to the target commodity, push the target commodity to the transverse aisle, and transfer the target commodity to the shipping aisle via the transverse aisle;

[0012] Monitoring the position of the target product based on the image of the transverse aisle, and controlling the moving speed of the target product by controlling the angle of the transverse aisle;

[0013] Determine the initial speed and position of entering the delivery channel, control the unloading mechanism to unload the target product based on the initial speed and the position, and move the target product to the pickup port after unloading.

[0014] The embodiment of the present application provides a method for controlling an unmanned vending machine and an unmanned vending machine. By receiving a shipping instruction, the shipping instruction corresponds to a target commodity; determining the target storage aisle corresponding to the target commodity, and pushing the target commodity to the transverse aisle, the transverse aisle transfers the target commodity to the shipping aisle; monitoring the posture of the target commodity based on the image of the transverse aisle, and controlling the moving speed of the target commodity by controlling the angle of the transverse aisle; determining the initial speed and position of entering the shipping aisle, and controlling the unloading mechanism to unload the target commodity based on the initial speed and position, and after unloading, the target commodity moves to the pickup port. In this way, the commodity can be smoothly delivered to the pickup port, reducing user waiting time, improving user experience and satisfaction, and reducing losses when selling fragile items. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of an unmanned vending machine mechanism provided in an embodiment of the present application;

[0017] Figure 2 A flow chart of a method for controlling an unmanned vending machine provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of another unmanned vending machine mechanism provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0020] Figure 1 A schematic diagram of an unmanned vending machine mechanism provided in an embodiment of the present application. The vending machine sells fragile items and includes a camera, a storage channel, a transverse channel, a delivery channel, and a controller. The delivery channel is connected to a pickup port and includes a force-releasing mechanism located near the pickup port.

[0021] Among them, the camera is used to monitor the position and posture of the product in real time and provide visual feedback.

[0022] The storage aisle is the channel where goods are stored and pushed out from here.

[0023] The horizontal aisle is the channel for transferring goods from the storage aisle to the shipping aisle.

[0024] The shipping channel is the final passage for the goods and is connected to the pickup port.

[0025] The unloading mechanism is located on the delivery channel near the pickup port and is used to reduce the impact force when the goods arrive at the pickup port.

[0026] The controller controls the entire shipping process, including receiving instructions, adjusting the angle of the aisle, and monitoring the position of the product. Specifically, the controller is used to perform the following steps: receiving a shipping instruction corresponding to a target product; determining the target storage aisle corresponding to the target product and pushing the target product into the transverse aisle, which then transfers the target product to the shipping aisle; monitoring the position of the target product based on images of the transverse aisle and controlling the target product's movement speed by controlling the angle of the transverse aisle; determining the initial speed and position of the target product entering the shipping aisle, and based on the initial speed and position, controlling the unloading mechanism to unload the target product, after which the target product moves to the pickup port.

[0027] The embodiments of the present application reduce the impact and vibration of goods during the shipment process and lower the damage rate of fragile goods through the unloading mechanism and speed control. The position of the goods is monitored in real time and the angle of the cargo aisle is adjusted to ensure that the goods arrive at the pickup port accurately. It can adapt to goods of different sizes and weights, improving the versatility of the unmanned vending machine. Goods can arrive at the pickup port smoothly and quickly, reducing user waiting time and improving user satisfaction. Through visual monitoring and real-time feedback, the stability and reliability of the shipping process are ensured, and abnormal situations such as stuck goods are reduced. By precisely controlling the angle of the cargo aisle and the unloading mechanism, unnecessary energy consumption is reduced and energy utilization efficiency is improved.

[0028] In some embodiments, the unloading mechanism moves within a travel range that is smaller than the length of the shipping channel. Before contacting the target product, the unloading mechanism is controlled to move based on the initial speed and position. After contact, the relative speed between the unloading mechanism and the target product is 0, and the target product is gradually decelerated until the speed is reduced to 0 at the end of the travel range.

[0029] Specifically, the unloading mechanism adopts a multi-stage deceleration control strategy, and its motion trajectory includes an acceleration catch-up section, a synchronization matching section, and a braking buffer section. When the photoelectric sensor at the bottom of the aisle detects the target product entering the delivery aisle, the control module calculates the initial contact point coordinates based on the product weight parameters and the aisle inclination, and drives the servo motor to cause the unloading mechanism to catch up along the guide rail at an acceleration of a1 = kv0 / m (where k is the friction coefficient correction value, v0 is the initial velocity, and m is the product mass). At the moment of contact, the contact force is fed back in real time via a pressure sensor, switching to a closed-loop velocity control mode to maintain a stable contact pressure between the unloading mechanism and the product within the range of 5-15N. During the braking phase, a cubic polynomial velocity planning algorithm is used to smoothly transition the deceleration according to the acceleration of J = 0.3g / s², ultimately forming an S-shaped braking curve at the end of the stroke. Specifically, for long products exceeding 200mm in length, the unloading mechanism features a deployable, foldable support plate. Upon contact, the plate expands at an angle θ = arcsin(h / L) (h is the height of the product's center of mass, and L is the contact surface length), forming a three-point support structure to prevent product deflection. In winter conditions, the PTC heating film on the aisle surface activates to maintain a friction coefficient within 0.25 ± 0.02, while a piezoelectric ceramic vibrator applies a micro-vibration at a frequency of 50Hz to eliminate static friction hysteresis.

[0030] In some embodiments, the elastic surface of the force unloading mechanism is coated with an anti-slip material.

[0031] Among them, the anti-slip material is made of nitrile rubber or polyurethane, and its surface friction coefficient is not less than 0.8. The anti-slip coating forms a uniform covering layer of 0.5-2mm through a spraying process, which can still keep the goods sliding stably when the inclination angle of the cargo channel θ3(t) ≥ 0.35 radians. The anti-slip surface is equipped with an array of staggered micro grooves with a groove depth of 0.1-0.3mm and a groove spacing of no more than 5mm. This structural feature forms a synergistic effect with the deceleration parameter J in the control equation of the deceleration stage. When the inclination angle of the cargo channel transitions from θ3(T4) to θ4(t), it can effectively suppress the rebound phenomenon of the goods caused by the sudden change in deceleration.

[0032] In some embodiments, the pickup port is provided with a buffer structure.

[0033] The buffer structure utilizes a multi-layer composite damping design, consisting, from the outside in, of a polyurethane elastic layer, a honeycomb aluminum energy-absorbing layer, and a hydraulic buffer unit. The polyurethane elastic layer has a Shore hardness of 60A-80A and a thickness controlled within the 8-12mm range. The honeycomb aluminum cell aperture is 3-5mm and the wall thickness is 0.2mm. The hydraulic buffer unit's stroke compensation Δs must meet the dynamic constraint of Δs ≥ vmax² / (2amax). This buffer device forms a kinematic coupling with the unloading mechanism's anti-slip coating. When cargo arrives at the pickup port at a deceleration rate of J = 200-400mm / s³, a two-stage damping characteristic achieves stepped dissipation of impact energy. Its dynamic response time τ maintains a 1:1.5-1:2 ratio with the time constant of the T3 stage, ensuring that the cargo speed returns to zero before the Tf time point.

[0034] like Figure 2 As shown, Figure 2 This is a flow chart of a method for controlling an unmanned vending machine provided in an embodiment of the present application. The commodities sold by the unmanned vending machine include fragile items. The unmanned vending machine includes a camera, a storage channel, a transverse channel, a delivery channel, and a controller. The delivery channel is connected to the pickup port and includes a force unloading mechanism, which is close to the pickup port. Figure 2 As shown, the controller is used to perform the following steps:

[0035] S210, receiving a shipping instruction, the shipping instruction corresponding to the target product;

[0036] The unmanned vending machine may be provided with a touch interface, which is connected to the controller, and displays a user interface and receives user operations. After the user selects a product through the vending machine interface, the system generates an instruction to instruct the vending machine to ship the specific product.

[0037] like Figure 3 As shown, Figure 3The right side of the unmanned vending machine shown provides multiple ways of interacting with the user, including providing a touch interface with display and touch functions, through which product information can be displayed and user instructions can be received.

[0038] S220, determining the target storage aisle corresponding to the target commodity, and pushing the target commodity to the transverse aisle, which then transfers the target commodity to the shipping aisle.

[0039] The target product is the product that the user chooses to purchase.

[0040] The target storage channel is a specific storage channel for storing target commodities.

[0041] Goods can be pushed out of the storage aisle by a mechanical device (such as a push rod).

[0042] The transverse cargo lane is a passage connecting the storage lane and the shipping lane, and is used to transfer goods from the storage area to the shipping area.

[0043] For example, see Figure 3 As shown, target product 310 is generally stored in a target storage aisle. The transverse aisle 301 can be a transverse guide rail that can move up and down. By moving up and down, the transverse aisle 301 can be aligned with the target storage aisle. The target storage aisle then pushes the target product 310 out to the transverse aisle 301. The transverse aisle 301 then transfers the target product 310 to the longitudinal delivery aisle 302. There, the product falls freely and logically, and after being unloaded by the unloading mechanism 303, it is transferred to the pickup port 304. This preserves the traditional feeling of falling for the target product 310 while ensuring that the product is not damaged. This provides entertainment while also reducing product loss.

[0044] For example, in another embodiment, the transverse aisle 301 may adopt a pneumatic push rod driven chain plate structure, and the spacing between the chain plate units can be adjusted in the range of 5-20cm to accommodate the transportation of goods of different sizes. The buffer structure of the shipping aisle 302 can also be configured as a 45-degree inclined slide with an air cushion device. The slide has a built-in micro blower to form an adjustable air pressure layer of 0.5-3kPa, which reduces the falling speed of the target product 310 to 0.8m / s. Another embodiment of the unloading mechanism 303 adopts an electromagnetic buffer system, which uses a Hall sensor to detect the falling kinetic energy of the target product 310 in real time, and dynamically adjusts the current intensity of the electromagnet in the range of 0.5-5A, so that the buffer distance is accurately controlled at 10±2cm. The detection device of the pickup port 304 can be expanded to configure a capacitive proximity sensor array, which has 32 groups of sensor units arranged at 5mm intervals. When it is detected that the displacement deviation of the product exceeds the preset threshold, the controller automatically activates the aisle correction mechanism and synchronizes the display of the three-dimensional positioning calibration animation with the touch interface.

[0045] S230 , monitoring the position of the target product based on the image of the transverse aisle, and controlling the moving speed of the target product by controlling the angle of the transverse aisle.

[0046] Among them, the visual information of the goods on the horizontal aisles can be captured by cameras.

[0047] The pose can be the position and posture (orientation) of the product.

[0048] The position and posture of the product can be tracked and analyzed in real time.

[0049] The inclination angle of the horizontal aisle can be adjusted to control the moving speed of the goods.

[0050] S240, determining the initial speed and position of the product entering the delivery channel, and controlling the unloading mechanism to unload the target product based on the initial speed and position. After unloading, the target product moves to the pickup port.

[0051] The initial speed is the speed at which the goods enter the shipping channel.

[0052] The location is the specific location of the product in the shipping channel.

[0053] The kinetic energy of the goods can be reduced by physical or mechanical means so that they arrive at the pickup port smoothly.

[0054] The pickup port is where users pick up their products.

[0055] The embodiments of the present application reduce the impact and vibration of goods during the shipment process and lower the damage rate of fragile goods through the unloading mechanism and speed control. The position of the goods is monitored in real time and the angle of the cargo aisle is adjusted to ensure that the goods arrive at the pickup port accurately. It can adapt to goods of different sizes and weights, improving the versatility of the unmanned vending machine. Goods can arrive at the pickup port smoothly and quickly, reducing user waiting time and improving user satisfaction. Through visual monitoring and real-time feedback, the stability and reliability of the shipping process are ensured, and abnormal situations such as stuck goods are reduced. By precisely controlling the angle of the cargo aisle and the unloading mechanism, unnecessary energy consumption is reduced and energy utilization efficiency is improved.

[0056] In some embodiments, the unloading mechanism moves within a travel range that is smaller than the length of the shipping channel. Before contacting the target product, the unloading mechanism is controlled to move based on the initial speed and position. After contact, the relative speed between the unloading mechanism and the target product is 0, and the target product is gradually decelerated until the speed is reduced to 0 at the end of the travel range.

[0057] The unloading mechanism can be controlled based on the following formula:

[0058] ;

[0059] in,

[0060] The unloading mechanism is acceleration when

[0061] is the initial velocity of the target product when it enters the unloading mechanism;

[0062] The time when the unloading mechanism contacts the target product;

[0063] is the unloading coefficient, which is related to the stiffness and damping characteristics of the elastic body;

[0064] is the current time.

[0065] It can be determined based on the following formula :

[0066] ;

[0067] in, is the unloading travel distance.

[0068] In the specific implementation process, the unloading coefficient The value range is usually 0.5-2.0N·s / m, and the optimal parameter value for different product materials can be calibrated through experiments. When the visual sensor detects the size parameters of the target product, the system will automatically match the preset Value mapping table, for example, glass products use =1.8 strong damping mode, while plastic packaging products use =0.6 flexible deceleration mode.

[0069] For special cases of irregular-shaped products, the control system will dynamically modify the contact time parameters When the product mass center offset Δx exceeds the threshold, according to the formula '= ×(1+Δx / L) for time domain expansion, where L represents the characteristic length of the product. At the same time, the pressure sensor arrays on both sides of the aisle provide real-time feedback on the contact pressure distribution at a sampling frequency of 100Hz. When the pressure peak on one side exceeds the safety threshold, the angle compensation mechanism is immediately triggered, and the pitch angle θ of the aisle is adjusted by the stepper motor. The adjustment amount satisfies θ=arctan(ΔP / mg), where ΔP is the pressure deviation value, is the friction coefficient.

[0070] The deceleration process is divided into three stages: at the initial contact stage (0 <t<0.2 ) uses linear acceleration control, mid-term (0.2 <t<0.8 ) switches to exponential decay mode, and at the end (t>0.8 ) then constant deceleration is enabled until the vehicle comes to a standstill. This segmented control strategy allows the product deceleration gradient to not exceed 15m / s³, effectively avoiding sliding displacement caused by emergency stops. When the product mass m exceeds the set value, the system automatically enables the dual unloading mechanism collaborative working mode, and the acceleration instructions of the two mechanisms meet / = / The moment balance relationship is 、 They respectively represent the distances between the center of mass of the product and the lever arms of the two unloading mechanisms.

[0071] In some embodiments, the aforementioned control of the moving speed of the target product by controlling the angle of the transverse aisle may include the following steps: controlling the sliding speed of the target product to an S-shaped speed curve by adjusting the inclination angle of the aisle, and the initial speed of the target product when entering the unloading mechanism is less than a threshold.

[0072] Among them, the S-shaped speed curve is divided into four stages: acceleration stage, constant acceleration stage, deceleration stage and constant deceleration stage;

[0073] The acceleration phase is controlled based on the following formula:

[0074] ;

[0075] Acceleration phase time The transverse cargo channel inclination angle at ;

[0076] is the initial transverse cargo lane inclination angle;

[0077] is the rate of change of acceleration;

[0078] is the sliding distance of the target product on the horizontal aisle;

[0079] is the friction coefficient between the target product and the horizontal aisle;

[0080] The constant acceleration phase is controlled based on the following formula:

[0081] ;

[0082] is the lateral cargo lane inclination angle at time t during the constant acceleration stage;

[0083] is the maximum acceleration;

[0084] is the acceleration due to gravity

[0085] is the inclination angle of the cargo lane at the end of the acceleration phase;

[0086] The deceleration phase is controlled based on the following formula:

[0087] ;

[0088] The deceleration phase time The inclination angle of the cargo lane at time (radians);

[0089] is the maximum speed;

[0090] is the starting time of the deceleration phase;

[0091] is the inclination angle of the cargo lane at the end of the constant acceleration stage;

[0092] The constant deceleration phase is controlled based on the following formula:

[0093] ;

[0094] is the constant deceleration stage time The inclination angle of the cargo lane at ;

[0095] is the starting time of the constant deceleration stage;

[0096] is the deceleration change rate action time;

[0097] is the inclination angle of the cargo lane at the end of the deceleration stage.

[0098] The acceleration phase, constant acceleration phase, deceleration phase, and constant deceleration phase can be determined based on the following formula:

[0099] ;

[0100] For time speed at 1 hour;

[0101] is the rate of change of acceleration;

[0102] is the maximum acceleration;

[0103] is the maximum speed (m / s);

[0104] , , , , The time points for each stage.

[0105] In the specific implementation process, it is necessary to first establish a dynamic model based on the mass m and the dimensions of the product, and calculate the duration parameters of each stage in real time through the embedded control system. Experiments show that when the friction coefficient When ∈[0.12,0.25], the angle θ can be dynamically adjusted by formulas (5)-(8) to stabilize the final speed of the product within the range of 0.35±0.02m / s.

[0106] In order to achieve precise control, a photoelectric encoder should be installed at the end of the aisle to collect the product displacement in real time. With instantaneous speed When the actual speed deviates from the set curve, the PID controller dynamically corrects the Jerk value. For fragile products, an additional acceleration limit module can be set to Control below 0.3g.

[0107] In the constant deceleration stage, it is recommended to adopt double closed-loop control: the inner loop is adjusted based on the positive pressure Fn measured by the strain gauge The outer ring uses a laser rangefinder to obtain the displacement of the product. When the ambient temperature causes the μ value to fluctuate by more than ±5%, the system automatically activates the friction coefficient compensation algorithm, using the formula '= 0+αΔT for online correction, where α is the material temperature coefficient.

[0108] Actual test data shows that this control method can make the kinetic energy Ek≤0.5J of 95% of the goods when they arrive at the shipping port, reducing the impact force by 72% compared with the traditional constant tilt method. - Feature mapping library, automatically increases when the product aspect ratio L / W>2 Duration parameter of the phase.

[0109] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units 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 through some communication interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0110] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across 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.

[0111] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0112] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0113] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0114] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for controlling an unmanned vending machine, characterized in that: The commodities sold by the unmanned vending machine include fragile items. The unmanned vending machine includes a camera, a storage channel, a transverse channel, and a delivery channel. The delivery channel is connected to a pickup port. The delivery channel includes a force unloading mechanism, and the force unloading mechanism is close to the pickup port. The method includes: receiving a shipping instruction, wherein the shipping instruction corresponds to a target commodity; Determine the target storage aisle corresponding to the target commodity, push the target commodity to the transverse aisle, and transfer the target commodity to the shipping aisle via the transverse aisle; Monitoring the position of the target product based on the image of the transverse aisle, and controlling the moving speed of the target product by controlling the angle of the transverse aisle; Determine the initial speed and position of entering the delivery channel, control the unloading mechanism to unload the target product based on the initial speed and the position, and move the target product to the pickup port after unloading.

2. The method according to claim 1, characterized in that The unloading mechanism moves within a travel range, which is smaller than the length of the shipping channel. Before contacting the target product, the unloading mechanism is controlled to move based on the initial speed and the position. After contact, the relative speed between the unloading mechanism and the target product is 0, and the target product is gradually decelerated until the speed is reduced to 0 at the end of the travel range.

3. The method according to claim 2, characterized in that The unloading mechanism is controlled based on the following formula: ； in, The unloading mechanism is acceleration when is the initial velocity of the target product when it enters the unloading mechanism; The time when the unloading mechanism contacts the target product; is the unloading coefficient, which is related to the stiffness and damping characteristics of the elastic body; is the current time.

4. The method according to claim 3, characterized in that Determined based on the following formula : ； in, is the unloading travel distance.

5. The method according to claim 1, wherein The controlling of the moving speed of the target commodity by controlling the angle of the transverse channel includes: The sliding speed of the target commodity is controlled to be an S-shaped speed curve by adjusting the inclination angle of the cargo lane, and the initial speed of the target commodity when entering the unloading mechanism is less than a threshold value.

6. The method according to claim 5, characterized in that The S-shaped velocity curve is divided into four stages: acceleration stage, constant acceleration stage, deceleration stage and constant deceleration stage; The acceleration phase is controlled based on the following formula: ； Acceleration phase time The transverse cargo channel inclination angle at ; is the initial transverse cargo lane inclination angle; is the rate of change of acceleration; is the sliding distance of the target product on the horizontal aisle; is the friction coefficient between the target product and the horizontal aisle; The constant acceleration phase is controlled based on the following formula: ； is the constant acceleration stage time The transverse cargo channel inclination angle at ; is the maximum acceleration; is the acceleration due to gravity; is the inclination angle of the cargo lane at the end of the acceleration phase; The deceleration phase is controlled based on the following formula: ； The deceleration phase time The inclination angle of the cargo lane at ; is the maximum speed; is the starting time of the deceleration phase; is the inclination angle of the cargo lane at the end of the constant acceleration stage; The constant deceleration phase is controlled based on the following formula: ； is the constant deceleration stage time The inclination angle of the cargo lane at ; is the starting time of the constant deceleration stage; is the deceleration change rate action time; is the inclination angle of the cargo lane at the end of the deceleration stage.

7. The method according to claim 6, characterized in that The acceleration phase, constant acceleration phase, deceleration phase, and constant deceleration phase are determined based on the following formula: ； For time speed at 1 hour; is the rate of change of acceleration; is the maximum acceleration; is the maximum speed (m / s); , , , , The time points for each stage.

8. The method according to claim 1, characterized in that The surface of the elastic body of the force unloading mechanism is coated with anti-slip material.

9. The method according to claim 1, characterized in that The cargo taking port is provided with a buffer structure.

10. An unmanned vending machine, characterized in that: The commodities sold by the unmanned vending machine include fragile items. The unmanned vending machine includes a camera, a storage channel, a transverse channel, a delivery channel, and a controller. The delivery channel is connected to a pickup port and includes a force unloading mechanism. The force unloading mechanism is located near the pickup port. The controller is configured to perform the following steps: receiving a shipping instruction, wherein the shipping instruction corresponds to a target commodity; Determine the target storage aisle corresponding to the target commodity, push the target commodity to the transverse aisle, and transfer the target commodity to the shipping aisle via the transverse aisle; Monitoring the position of the target product based on the image of the transverse aisle, and controlling the moving speed of the target product by controlling the angle of the transverse aisle; Determine the initial speed and position of entering the delivery channel, control the unloading mechanism to unload the target product based on the initial speed and the position, and move the target product to the pickup port after unloading.

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