Vending machine control method and vending machine

Abstract

The application provides a vending machine control method and a vending machine. By receiving a delivery instruction, the delivery instruction corresponds to a target commodity; determining the target commodity corresponding to the target storage channel, and pushing the target commodity out of the horizontal channel, and transferring the target commodity to the delivery channel by the horizontal channel; based on the image of the horizontal channel, the pose of the target commodity is monitored, and the moving speed of the target commodity is controlled by controlling the angle of the horizontal channel; determine the initial speed and position entering the delivery channel, control the unloading mechanism to unload the target commodity based on the initial speed and the position, and after unloading, the target commodity moves to the pickup port. In this way, the commodity can have a falling feeling while smoothly reaching the pickup port, reducing user waiting time, improving user experience and satisfaction, and reducing loss when selling fragile products.

Description

Technical Field

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

[0002] Vending machines, as a new form of commercial retail, offer advantages such as being unrestricted by time and location, saving manpower, and facilitating transactions. However, existing vending machines have significant limitations when selling fragile items. Traditional vending machines typically use a direct ejection method, which is prone to damage due to sudden acceleration and impact during dispensing, especially when selling fragile items such as glass bottles and precision instruments, resulting in a high loss rate. Summary of the Invention

[0003] Existing vending machines suffer from high loss rates when selling fragile items due to sudden acceleration changes and impacts during dispensing. To address this issue, a vending machine control method and a vending machine itself are needed to effectively control the dispensing speed and acceleration of goods, thereby reducing impact and vibration during dispensing and ensuring that fragile items safely reach the dispensing slot.

[0004] In a first aspect, the present invention provides a control method for an unmanned vending machine, wherein the unmanned vending machine sells fragile items, the unmanned vending machine includes a camera, a storage channel, a horizontal storage channel, and a dispensing channel, the dispensing channel being connected to a dispensing port, and the dispensing channel including a stress-relieving mechanism located near the dispensing port; the method includes:

[0005] Receive a shipping instruction, which corresponds to a target product;

[0006] Determine the target storage lane corresponding to the target product, and push the target product to the horizontal storage lane, from which the horizontal storage lane transfers the target product to the discharge lane;

[0007] The pose of the target product is monitored based on the image of the transverse channel, and the moving speed of the target product is controlled by controlling the angle of the transverse channel.

[0008] The initial speed and position of the goods entering the outlet are determined. Based on the initial speed and position, the unloading mechanism is controlled to unload the target goods. After unloading, the target goods move to the picking port.

[0009] Secondly, the present invention provides an unmanned vending machine, wherein the unmanned vending machine sells fragile items, the unmanned vending machine includes a camera, a storage channel, a horizontal storage channel, a dispensing channel, and a controller, the dispensing channel is connected to a dispensing port, the dispensing channel includes a pressure-relieving mechanism, the pressure-relieving mechanism being close to the dispensing port; the controller is used to perform the following steps:

[0010] Receive a shipping instruction, which corresponds to a target product;

[0011] Determine the target storage lane corresponding to the target product, and push the target product to the horizontal storage lane, from which the horizontal storage lane transfers the target product to the discharge lane;

[0012] The pose of the target product is monitored based on the image of the transverse channel, and the moving speed of the target product is controlled by controlling the angle of the transverse channel.

[0013] The initial speed and position of the goods entering the outlet are determined. Based on the initial speed and position, the unloading mechanism is controlled to unload the target goods. After unloading, the target goods move to the picking port.

[0014] This application provides a method for controlling an unmanned vending machine and an unmanned vending machine. The method involves receiving a dispensing instruction corresponding to a target product; determining the target storage channel corresponding to the target product and pushing the target product into the horizontal storage channel, where it is transferred to the dispensing channel; monitoring the pose of the target product based on an image of the horizontal storage channel and controlling the moving speed of the target product by controlling the angle of the horizontal storage channel; determining the initial speed and position upon entering the dispensing channel; and controlling a force-relieving mechanism to unload the target product based on the initial speed and position, after which the target product moves to the dispensing slot. This allows products to arrive at the dispensing slot smoothly, reducing user waiting time, improving user experience and satisfaction, and reducing losses when selling fragile items. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of an unmanned vending machine mechanism is provided for an embodiment of this application;

[0017] Figure 2 This application provides a schematic flowchart of a vending machine control method.

[0018] Figure 3 This is a schematic diagram of another unmanned vending machine mechanism provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of an unmanned vending machine mechanism provided in an embodiment of this application. The unmanned vending machine sells fragile items and includes a camera, a storage channel, a horizontal channel, a dispensing channel, and a controller. The dispensing channel is connected to the dispensing port and includes a pressure-relieving mechanism located near the dispensing port.

[0021] The camera is used to monitor the position and posture of the goods in real time and provide visual feedback.

[0022] Storage channels are passageways for storing goods, from which goods are pushed out.

[0023] Lateral aisles are channels that transfer goods from storage aisles to delivery aisles.

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

[0025] The unloading mechanism is located near the pick-up point in the delivery channel and is used to reduce the impact force when the goods arrive at the pick-up point.

[0026] The controller manages the entire shipping process, including receiving instructions, adjusting the channel angle, and monitoring the product's pose. Specifically, the controller performs the following steps: receiving a shipping instruction corresponding to a target product; determining the target storage channel for the target product and pushing the target product into the transverse channel, which then transfers the target product to the shipping channel; monitoring the pose of the target product based on the image of the transverse channel and controlling the target product's movement speed by controlling the angle of the transverse channel; determining the initial speed and position upon entering the shipping channel, and controlling the unloading mechanism based on the initial speed and position to unload the target product, after which the target product moves to the picking port.

[0027] This application's embodiments reduce the impact and vibration of goods during the dispensing process through a force-relief mechanism and speed control, thereby lowering the damage rate of fragile items. Real-time monitoring of the goods' position and adjustment of the conveyor angle ensures that goods arrive at the dispensing slot accurately. It can accommodate goods of different sizes and weights, improving the versatility of the vending machine. Goods arrive at the dispensing slot smoothly and quickly, reducing user waiting time and improving user satisfaction. Visual monitoring and real-time feedback ensure the stability and reliability of the dispensing process, reducing abnormal situations such as jams. Precise control of the conveyor angle and force-relief mechanism reduces unnecessary energy consumption and improves energy efficiency.

[0028] In some embodiments, the unloading mechanism moves within a stroke range that is shorter than the length of the delivery channel. Before contacting the target product, the unloading mechanism moves based on the initial speed and position control. 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 when the stroke range ends.

[0029] Specifically, the unloading mechanism employs a multi-stage deceleration control strategy, with its motion trajectory including an acceleration catch-up phase, a synchronization matching phase, and a braking buffer phase. When the photoelectric sensor at the bottom of the conveyor detects the target product entering the conveyor, the control module calculates the initial contact point coordinates based on the product's weight parameters and the conveyor's inclination angle. It then drives the servo motor to make the unloading mechanism chase the product along the guide rail with 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 pressure sensor provides real-time feedback of the contact force, switching to a speed closed-loop control mode to maintain the contact pressure between the unloading mechanism and the product within the range of 5-15N. The braking phase uses a cubic polynomial speed programming algorithm to smoothly transition the deceleration with an acceleration of J=0.3g / s², ultimately forming an S-shaped braking curve at the end of the stroke. Specifically, for long, narrow items exceeding 200mm in length, the unloading mechanism is equipped with an expandable, foldable support plate. This support plate expands upon contact at an angle θ = arcsin(h / L) (where h is the height of the item's center of gravity and L is the length of the contact surface), forming a three-point support structure to prevent item deflection. In winter conditions, the PTC heating film on the conveyor surface is activated to maintain the coefficient of friction within the range of 0.25 ± 0.02, while a piezoelectric ceramic vibrator applies micro-amplitude vibration at a frequency of 50Hz to eliminate static friction hysteresis.

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

[0031] The anti-slip material is made of nitrile rubber or polyurethane, with a surface friction coefficient of not less than 0.8. This anti-slip coating is applied using a spraying process to form a uniform 0.5-2mm layer, maintaining stable cargo sliding even when the lane inclination angle θ3(t) ≥ 0.35 radians. The anti-slip surface features 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 works synergistically with the deceleration parameter J in the deceleration phase control equation, effectively suppressing the rebound phenomenon caused by the sudden change in deceleration when the lane inclination angle transitions from θ3(T4) to θ4(t).

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

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

[0034] like Figure 2 As shown, Figure 2 This is a schematic flowchart illustrating a control method for an unmanned vending machine provided in an embodiment of this application. The vending machine sells fragile items and includes a camera, a storage channel, a horizontal storage channel, a dispensing channel, and a controller. The dispensing channel is connected to the dispensing port and includes a pressure-relief mechanism located near the dispensing port. Figure 2 As shown, the controller is used to perform the following steps:

[0035] S210 receives a shipping instruction, which corresponds to a target product.

[0036] The vending machine features a touchscreen interface connected to a controller. This interface displays the user interface and receives user input. After the user selects a product through the interface, the system generates instructions to dispense that specific product.

[0037] like Figure 3 As shown, Figure 3The right side of the vending machine shown offers multiple interaction methods for users, including a touch interface with display and touch functions. This touch interface can display product information and receive user commands.

[0038] S220: Determine the target storage lane corresponding to the target product, and push the target product to the horizontal storage lane, from which the horizontal storage lane transfers the target product to the shipping lane.

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

[0040] A target storage channel is a specific storage channel for storing a target product.

[0041] Goods can be pushed out of the storage lane using mechanical devices (such as push rods).

[0042] This transverse aisle connects the storage aisle and the shipping aisle, and is used to transfer goods from the storage area to the shipping area.

[0043] For example, see Figure 3 As shown, the target product 310 is generally stored in the target storage channel. The horizontal channel 301 can be a horizontal guide rail that can move up and down. By moving up and down, the horizontal channel 301 can be aligned with the target storage channel. Then, the target storage channel pushes the target product 310 out to the horizontal channel 301. The horizontal channel 301 transfers the target product 310 to the vertical discharge channel 302, where it falls freely. After being unloaded by the unloading mechanism 303, it is transferred to the retrieval port 304. In this way, the target product 310 retains the feeling of falling like traditional goods while ensuring that the product is not damaged, thus providing entertainment while reducing product loss.

[0044] For example, in another embodiment, the transverse cargo channel 301 can adopt a pneumatically driven chain plate structure with an adjustable spacing of 5-20cm between chain plate units to accommodate the transfer of goods of different sizes. The buffer structure of the outlet channel 302 can also be configured as a 45-degree inclined slide with an air cushion device. This slide has a built-in micro blower to form an adjustable air pressure layer of 0.5-3kPa, reducing the falling speed of the target goods 310 to 0.8m / s. Another embodiment of the unloading mechanism 303 adopts an electromagnetic buffer system. The Hall sensor detects the falling kinetic energy of the target goods 310 in real time and dynamically adjusts the electromagnet current intensity within the range of 0.5-5A to precisely control the buffer distance within 10±2cm. The detection device of the picking port 304 can be expanded to include a capacitive proximity sensor array. This array has 32 sets of sensing units arranged at 5mm intervals. When the detected displacement deviation of the goods exceeds a preset threshold, the controller automatically activates the cargo channel correction mechanism and synchronously displays a three-dimensional positioning calibration animation on the touch interface.

[0045] S230 monitors the pose of the target product based on the image of the transverse channel and controls the moving speed of the target product by controlling the angle of the transverse channel.

[0046] Among them, visual information of goods on the horizontal aisle can be captured by a camera.

[0047] Pose can refer to the position and orientation (direction) of a product.

[0048] It can track and analyze the position and posture of goods in real time.

[0049] The tilt angle of the horizontal cargo channel can be adjusted to control the speed at which goods move.

[0050] S240 determines the initial speed and position of the goods entering the discharge channel, and controls the unloading mechanism to unload the target goods based on the initial speed and position. After unloading, the target goods move to the picking port.

[0051] The initial speed is the speed at which the goods enter the delivery lane.

[0052] Location refers to the specific position of the goods in the shipping lane.

[0053] The kinetic energy of goods can be reduced through physical or mechanical means, allowing them to reach the pickup point smoothly.

[0054] The pickup point is where users pick up their goods.

[0055] This application's embodiments reduce the impact and vibration of goods during the dispensing process through a force-relief mechanism and speed control, thereby lowering the damage rate of fragile items. Real-time monitoring of the goods' position and adjustment of the conveyor angle ensures that goods arrive at the dispensing slot accurately. It can accommodate goods of different sizes and weights, improving the versatility of the vending machine. Goods arrive at the dispensing slot smoothly and quickly, reducing user waiting time and improving user satisfaction. Visual monitoring and real-time feedback ensure the stability and reliability of the dispensing process, reducing abnormal situations such as jams. Precise control of the conveyor angle and force-relief mechanism reduces unnecessary energy consumption and improves energy efficiency.

[0056] In some embodiments, the unloading mechanism moves within a stroke range that is shorter than the length of the delivery channel. Before contacting the target product, the unloading mechanism moves based on the initial speed and position control. 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 when the stroke range ends.

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

[0058] ;

[0059] in,

[0060] For the unloading mechanism in time acceleration at time;

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

[0062] The time during which the unloading mechanism comes into contact with the target product;

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

[0064] This is the current time.

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

[0066] ;

[0067] in, This refers to the unloading stroke distance.

[0068] In the specific implementation process, the unloading coefficient The value range is typically 0.5-2.0 N·s / m, and the optimal parameter value for different product materials can be determined experimentally. When the vision sensor detects the size parameters of the target product, the system will automatically match the preset... Value mapping tables, for example, those used for glass products =1.8 strong damping mode, while plastic packaged goods use =0.6 flexible deceleration mode.

[0069] For irregularly shaped goods, the control system will dynamically adjust the contact time parameters. When the centroid offset Δx of the product exceeds the threshold, according to the formula... '= The time domain extension is calculated as ×(1+Δx / L), where L represents the length of the product feature. Simultaneously, pressure sensor arrays on both sides of the conveyor provide real-time feedback on the contact pressure distribution at a sampling frequency of 100Hz. When a single-sided pressure peak exceeds the safety threshold, an angle compensation mechanism is immediately triggered, adjusting the conveyor pitch angle θ via a stepper motor. The adjustment amount satisfies θ=arctan(ΔP / L). mg), where ΔP is the pressure deviation value. is the coefficient of friction.

[0070] The deceleration process is divided into three stages: in the initial contact phase (0 <t<0.2 Linear acceleration control is used, with a mid-term acceleration of 0.2. <t<0.8 It switches to an exponential decay mode, with the final stage (t>0.8) If the mass m exceeds the set value, the system will automatically activate a constant deceleration until the product comes to a stop. This segmented control strategy ensures that the deceleration gradient of the product does not exceed 15 m / s³, effectively avoiding sliding displacement caused by sudden stops. When the product mass m exceeds the set value, the system automatically activates the dual unloading mechanism cooperative working mode, where the acceleration commands of the two mechanisms meet the requirements. / = / The torque balance relationship, in which , These represent the distances from the center of mass of the product to the lever arms of the two unloading mechanisms.

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

[0072] The S-shaped velocity 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] To accelerate the phase time The lateral channel inclination angle at that time;

[0076] This is the initial lateral channel inclination angle;

[0077] The rate of change of acceleration;

[0078] The sliding distance of the target product on the transverse aisle;

[0079] The coefficient of friction between the target product and the transverse cargo channel;

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

[0081] ;

[0082] The lateral lane inclination angle during the constant acceleration phase at time t;

[0083] This is the maximum acceleration;

[0084] acceleration due to gravity

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

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

[0087] ;

[0088] For the deceleration phase time The angle (in radians) of the cargo channel at that time;

[0089] Maximum speed;

[0090] This is the start time of the deceleration phase;

[0091] The lane inclination angle at the end of the constant acceleration phase;

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

[0093] ;

[0094] For the constant deceleration phase time The angle of inclination of the cargo channel at that time;

[0095] This is the start time of the constant deceleration phase;

[0096] The time of application of the rate of change of deceleration;

[0097] This is the lane inclination angle at the end of the deceleration phase.

[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 The speed at that time;

[0101] The rate of change of acceleration;

[0102] This is the maximum acceleration;

[0103] Maximum speed (m / s);

[0104] , , , , These are the time points for each stage.

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

[0106] To achieve precise control, a photoelectric encoder should be installed at the end of the cargo aisle to collect real-time data on the displacement of the goods. With instantaneous speed When the actual speed deviates from the set curve, the Jerk value is dynamically corrected via a PID controller. For fragile goods, an additional acceleration limit module can be set to... Keep it below 0.3g.

[0107] During the constant deceleration phase, a dual closed-loop control is recommended: the inner loop is adjusted based on the normal pressure Fn measured by strain gauges. The outer ring uses a laser rangefinder to measure the displacement of the goods. 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 is used for online correction, where α is the material temperature coefficient.

[0108] Actual test data shows that this control method can ensure that the kinetic energy Ek of 95% of goods arriving at the outlet is ≤0.5J, reducing impact force by 72% compared to the traditional constant tilt angle method. For different packaging forms, machine learning can be used to establish... - The feature mapping library automatically adds features when the aspect ratio (L / W) of the product is greater than 2. The duration parameter of the phase.

[0109] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0110] Furthermore, the units described as separate components may or may not be physically separate. 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 can be selected to achieve the purpose of this embodiment according to actual needs.

[0111] Furthermore, the functional modules in the various embodiments of this 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 as a software functional 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 this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0113] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0114] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A vending machine control method, characterized by, The vending machine sells goods including fragile goods, and the vending machine comprises a camera, a storage channel, a horizontal channel, and a delivery channel, the delivery channel is in communication with a goods outlet, the delivery channel comprises a force-releasing mechanism, and the force-releasing mechanism is close to the goods outlet; the method comprises the following steps: receiving a delivery instruction corresponding to a target product; determining a target storage channel corresponding to the target product, and pushing the target product out to the horizontal channel, and transferring the target product from the horizontal channel to the delivery channel; monitoring the pose of the target product based on the image of the horizontal channel, and controlling the moving speed of the target product by controlling the angle of the horizontal channel; determining the initial speed and position of the target product entering the delivery channel, and controlling the force-releasing mechanism to release the force of the target product based on the initial speed and position, and after releasing the force, the target product moves to the goods outlet; controlling the moving speed of the target product by controlling the angle of the horizontal channel comprises: controlling the sliding speed of the target product to be an S-shaped speed curve by adjusting the inclination angle of the channel, and the initial speed of the target product when entering the force-releasing mechanism is less than a threshold value; the S-shaped speed curve is divided into four stages: an acceleration stage, a constant acceleration stage, a deceleration stage, and a constant deceleration stage; wherein the acceleration stage is controlled based on the following formula: ； to accelerate phase time transverse aisle pitch at time initial transverse aisle inclination; J is the acceleration change rate; a sliding distance of the target commodity on the lateral goods shelf; coefficient of friction between the target item and the cross aisle; the constant acceleration stage is controlled based on the following formula: ； for constant acceleration phase time lateral aisle inclination at time for maximum acceleration; g is the gravitational acceleration; To accelerate the end-of-phase ramp angle of the aisle; the deceleration stage is controlled based on the following formula: ； to reduce the time of the deceleration phase the angle of the goods passage at the time For maximum speed; to the start of the deceleration phase; is the angle of inclination of the goods aisle at the end of the constant acceleration phase; the constant deceleration stage is controlled based on the following formula: ； for constant deceleration phase time shelf angle at time t0 is the start time of the constant deceleration phase; deceleration change rate action time; To reduce the angle of the chute at the end of the deceleration phase.

2. The method of claim 1, wherein, the force-releasing mechanism moves within a stroke interval, and the stroke interval is less than the length of the delivery channel; before contacting the target product, the force-releasing mechanism is first controlled to move based on the initial speed and position, and after contacting the target product, the relative speed between the force-releasing 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 stroke interval.

3. The method of claim 2, wherein, the force-releasing mechanism is controlled based on the following formula: ； wherein, acceleration of the force relief mechanism at time t; V0 is the initial velocity of the target product as it enters the force relief mechanism; the time the force relief mechanism is in contact with the target item; For the force relief coefficient, the stiffness and damping characteristics of the elastomer are relevant; current_time is the current time.

4. The method of claim 3, wherein, is determined based on the following equation : ； wherein is the unloading travel distance.

5. The method of claim 1, wherein, the acceleration stage, the constant acceleration stage, the deceleration stage, and the constant deceleration stage are determined based on the following formula: ； time speed at time J is the acceleration change rate; for maximum acceleration; Maximum speed (m / s); , , , , are time points for the respective stages.

6. The method of claim 1, wherein, the elastic body surface of the force-releasing mechanism is coated with a non-slip material.

7. The method of claim 1, wherein, The goods outlet is provided with a buffer structure.

8. A vending machine, characterized by The vending machine sells goods including fragile goods, and the vending machine comprises a camera, a storage channel, a horizontal channel, and a delivery channel, the delivery channel is in communication with a goods outlet, the delivery channel comprises a force-releasing mechanism, and the force-releasing mechanism is close to the goods outlet; the control device is used to perform the following steps: receiving a delivery instruction corresponding to a target product; determining a target storage channel corresponding to the target product, and pushing the target product out to the horizontal channel, and transferring the target product from the horizontal channel to the delivery channel; monitoring the pose of the target product based on the image of the horizontal channel, and controlling the moving speed of the target product by controlling the angle of the horizontal channel; Determine the initial speed and position of entering the delivery channel, control the force unloading mechanism to unload the target goods based on the initial speed and the position, and move the target goods to the delivery port after unloading; The control of the moving speed of the target goods by controlling the angle of the transverse channel includes: controlling the sliding speed of the target goods as an S-shaped speed curve by adjusting the channel inclination angle, and the initial speed of the target goods entering the force unloading mechanism is less than a threshold value; The S-shaped speed curve is divided into four stages: an acceleration stage, a constant acceleration stage, a deceleration stage and a constant deceleration stage; Wherein, the acceleration stage is controlled based on the following formula: ； to accelerate phase time transverse aisle pitch at time for the initial transverse aisle inclination; J is the acceleration change rate; a sliding distance of the target commodity on the lateral goods shelf; coefficient of friction between the target item and the cross aisle; The constant acceleration stage is controlled based on the following formula: ； for constant acceleration phase time lateral aisle inclination at time for maximum acceleration; g is the gravitational acceleration; To accelerate the end-of-phase end-of-aisle tilt; The deceleration stage is controlled based on the following formula: ； to reduce the time of the deceleration phase the angle of the goods passage at the time For maximum speed; to the start of the deceleration phase; is the angle of inclination of the goods aisle at the end of the constant acceleration phase; The constant deceleration stage is controlled based on the following formula: ； for constant deceleration phase time shelf angle at time t0 is the start time of the constant deceleration phase; deceleration change rate action time; To reduce the angle of the lane at the end of the deceleration phase.

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