Vending machines

Abstract

To acquire information for reliably determining completion of a predetermined event related to movement of commodities such as receiving the commodities in a bucket.SOLUTION: An automatic vending machine 1 comprises: a box-shaped cabinet 4 that has therein, a plurality of shelves 4f which is separated in a vertical direction; a commodity take-out port 4d that is provided in a lower part of a front panel 4b of the cabinet 4; commodity conveying devices 5 that are provided on the shelves 4f in the cabinet 4 and convey commodities P placed thereon frontward; and a bucket 6 that is supported movably in the vertical direction between the front panel 4b and the plurality of shelves 4f and receives the commodities P conveyed from the commodity conveying devices 5, and the automatic vending machine moves the bucket 6 having received the commodities P to the commodity take-out port 4d. The automatic vending machine 1 includes an imaging unit 10 that is provided on the bucket 6 and picks up an image including a placement surface 6a on which the commodities P received in the bucket 6 are placed.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vending machine capable of dispensing a plurality of items of various shapes and sizes. [Background technology]

[0002] A vending machine of this type is known from Patent Document 1. The vending machine described in Patent Document 1 includes a box-shaped cabinet having multiple shelves therein spaced apart from each other in the vertical direction, a product outlet provided at the bottom front of the cabinet, a product discharge device provided on each shelf of the cabinet for discharging products placed thereon forward, and a bucket supported in front of the multiple shelves so as to be movable in the vertical direction, for receiving products discharged from the product discharge device. In this vending machine, the bucket that has received the products is moved (transported) to the product outlet by an actuator for moving the bucket, and a user such as a purchaser of the products can take out the products received in the bucket from the product outlet. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-35323 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a vending machine with a moving bucket, in which a bucket containing merchandise is moved to a merchandise outlet, such as the vending machine disclosed in Patent Document 1, it is important for executing control including subsequent bucket movement control that the merchandise is received reliably in the bucket. For this reason, for example, a photoelectric sensor having a light projecting unit and a light receiving unit facing each other may be provided on the part of the bucket on the side of the merchandise discharge device, and by detecting that the merchandise discharged from the merchandise discharge device passes between the light projecting unit and the light receiving unit, it may be assumed that the receiving of the merchandise into the bucket has been completed.

[0005] However, the information obtained by the above-mentioned photoelectric sensor can only be used as information for estimating the completion of receiving the products into the bucket. Therefore, in a vending machine with a moving bucket, the information obtained by the above-mentioned photoelectric sensor is insufficient to reliably determine whether or not receiving the products into the bucket (i.e., moving or discharging the products from the product discharging device into the bucket) is completed, and some ingenuity is required.

[0006] Furthermore, in a vending machine with a moving bucket, after the products in the bucket have been removed from the bucket through the product removal port, for example, when control of the vending machine for standby is required, it is important to determine whether removal of the products from within the bucket through the product removal port has been completed in order to execute subsequent control. However, the information obtained by the photoelectric sensor disposed on the part of the bucket on the product discharge device side described above does not allow for determination of whether removal of the products from within the bucket through the product removal port has been completed.

[0007] The inventors of the present application have realized that obtaining information for determining whether an event related to the movement of goods, such as receiving goods from a product discharge device into a bucket and removing goods from the bucket through a product removal port, has been completed is important in controlling a vending machine with a moving bucket.

[0008] Therefore, an object of the present invention is to provide a vending machine that can obtain information for reliably determining whether or not a predetermined event related to the movement of merchandise has been completed. [Means for solving the problem]

[0009] According to one aspect of the present invention, there is provided a vending machine comprising a box-shaped cabinet, a product outlet, a product discharge device, and a bucket, the vending machine receiving products and moving the bucket to the product outlet. The box-shaped cabinet has a plurality of shelves therein spaced apart in the vertical direction. The product outlet is provided at a lower part of a front panel of the cabinet. The product discharge device is provided on each shelf of the cabinet and discharges products placed on it forward. The bucket is supported between the front panel and the plurality of shelves so as to be movable in the vertical direction, and receives the products discharged from the product discharge device. The vending machine further includes an imaging unit provided in the bucket for capturing an image including a placement surface on which the received products in the bucket are placed. Effect of the Invention

[0010] In the vending machine, the imaging unit provided in the bucket captures an image including a placement surface on which the received product is placed in the bucket. Therefore, for example, when the product is normally received in the bucket (in other words, when the product is normally discharged from the product discharge device), the product received in the bucket is reflected in the image captured by the imaging unit. Therefore, by using the data (i.e., information) of the image acquired by the imaging unit, it is possible to reliably determine whether or not a predetermined event related to the movement of the product, such as receiving the product into the bucket, has been completed.

[0011] In this manner, according to the one aspect of the present invention, a vending machine can be provided that can obtain information for reliably determining whether or not a specified event related to the movement of goods has been completed. [Brief description of the drawings]

[0012] [Figure 1] 1 is a front view of a vending machine according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic vertical cross-sectional view for explaining an internal structure of the vending machine. [Diagram 3] 2 is a block diagram showing a schematic configuration of a control system of the vending machine. FIG. [Figure 4] FIG. 2 is a perspective view of the bucket of the vending machine, seen from the rear, obliquely from above, front. [Diagram 5] FIG. [Figure 6] FIG. 4 is a right side view of the bucket. [Figure 7] FIG. 4 is a partially enlarged side view of the bucket. [Figure 8] FIG. 2 is a partially enlarged perspective view of the bucket. [Figure 9] 9 is a partial enlarged view including a main part of a product moving device of the bucket, as viewed from a direction A shown in FIG. 8. [Figure 10] 4 is a flow diagram including a first determination by a completion determination unit in a control unit of the vending machine. [Figure 11] 11 is a flow chart including a second determination by a completion determination unit in the control unit. FIG. [Figure 12] 13 is a flowchart including a third determination by a completion determination unit in the control unit. FIG. [Figure 13] 13 is a flowchart including a fourth determination by a completion determination unit in the control unit. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0014] FIG. 1 is a front view of a vending machine 1 according to this embodiment, and FIG. 2 is a schematic vertical cross-sectional view for explaining the internal structure of the vending machine 1 (specifically, the main unit 3 described below). FIG. 3 is a block diagram showing a schematic configuration of a control system of the vending machine 1. For ease of explanation, the front-rear, left-right, and up-down directions are appropriately shown in the drawings. The left-right directions are shown as viewed from the user side facing the front of the vending machine 1 at the front of the vending machine 1. With regard to the front-rear directions, the direction toward the user side of the vending machine 1 is defined as the front side.

[0015] 1 and 2, the vending machine 1 includes an operation unit 2 operated by a user or the like, and a main unit 3 that stores products P. The vending machine 1 stores a plurality of various products P each in an appropriate bag or container.

[0016] The operation unit 2 is formed in a vertically long box shape, and is disposed adjacent to the side of the main unit 3. On the front surface of the operation unit 2, for example, a bill insertion section 2a, a coin insertion section 2b, a non-contact type card reader section 2c for making payments with electronic money, an amount display section 2d, a coin return slot 2e, and a touch panel type product selection section 2f are provided. When a fee is paid with bills, coins, or electronic money, the operation unit 2 is configured to transmit (output) a sales command (sales operation start command) for the product P selected by the user via the product selection section 2f to the main unit 3.

[0017] In this embodiment, the product selection section 2f in the operation unit 2 is configured to be able to select multiple products P at once, regardless of whether the products P are the same or different types. The operation unit 2 is configured to transmit sales commands for the selected multiple products P collectively to the main unit 3 when the user pays the fees for the selected multiple products P. In this way, the vending machine 1 is configured to be able to execute a billing process capable of handling the bulk purchase of multiple products P, and the user can buy multiple products P collectively by making a single payment operation. Of course, the user can also purchase only one product P by selecting only one product P and making a payment operation for that product P, that is, make a single purchase.

[0018] The main unit 3 includes a cabinet 4 which is a box-shaped housing, a product discharge device 5, a bucket 6, a bucket moving device 7, and a control unit 8 (see FIG. 3).

[0019] The cabinet 4 has a cabinet main body 4a with an opening at the front and a door-type front panel 4b that can be opened and closed to cover the front opening of the cabinet main body 4a. Most of the upper part of the front panel 4b is made of a transparent plate 4c, and a user can see inside the main unit 3 through the transparent plate 4c. A product outlet 4d through which a user can take out a product P is provided at the lower part of the front panel 4b. The opening of the product outlet 4d is opened and closed by a rectangular product outlet door 4e. The product outlet door 4e is supported on the upper edge of the product outlet 4d on the rear side of the front panel 4b so as to be rotatable in the front-rear direction, and is configured to open the product outlet 4d by being pushed backward from the front side.

[0020] In this embodiment, the cabinet 4 has a door detection unit 4e1 (see FIG. 3) that detects the open / closed state of the product take-out door 4e. That is, the door detection unit 4e1 detects whether the product take-out door 4e is in a closed state (closed state) or an open state (open state), and is configured to output the detection result to the control unit 8, and is made of, for example, an optical sensor. Although not shown, the front panel 4b is provided with, for example, an electric door lock unit that locks and unlocks the product take-out door 4e. The product take-out door 4e is locked by the door lock unit in the initial state (standby state) and while the device is in operation, which prevents, for example, tampering with the inside of the device via the product take-out opening 4d.

[0021] The cabinet 4 has a plurality of shelves 4f (six in this example) therein, which are spaced apart in the vertical direction. Each end of the shelves 4f in the width direction (left and right direction) is fixed to a predetermined position in the vertical direction on the side wall constituting the cabinet 4. The interior of the cabinet 4 is divided into an upper region and a lower region by a partition wall 4g, and the main elements constituting the main unit 3 are arranged in the upper region. The partition wall 4g has a shelf lower portion 4g1 located rearward of the front end of the shelf 4f and below the shelf 4f, an overhanging portion 4g2 overhanging forward of the front end of the shelf 4f and located below the shelf lower portion 4g1, and a connecting portion 4g3 connecting the front end of the shelf lower portion 4g1 and the rear end of the overhanging portion 4g2. Each shelf 4f is disposed close to the rear side of the cabinet 4, and a bucket movement space S for the movement of the bucket 6 is provided between the front end of each shelf 4f and the front panel 4b and between the connecting portion 4g3 of the partition wall 4g and the front panel 4b.

[0022] In the cabinet 4, the area below the partition wall 4g constitutes a machine room. A duct D is provided in the cabinet 4 so as to go around the shelf 4f, and cool air is appropriately circulated through the duct D to cool the inside of the cabinet 4. Although not shown in the figure, a cooling unit for generating cool air is provided in the machine room and the duct D.

[0023] The product discharge devices 5 are provided on each shelf 4f of the cabinet 4, and are devices that discharge (dispense) the products P placed thereon forward. In this embodiment, a plurality of product discharge devices 5 (six in the figure) are provided on each shelf 4f in parallel in the width direction of the shelf 4f.

[0024] The product discharge device 5 has a discharge mechanism (not shown) that discharges the product P forward, and a product discharge motor M1 (see FIG. 3) that operates the discharge mechanism. As the discharge mechanism, for example, a spiral mechanism that rotates a spirally wound metal rod, a belt conveyor mechanism, or any other suitable driving mechanism can be used.

[0025] A plurality of products P are placed in a row in the front-rear direction on the product discharge device 5. The product discharge motor M1 of the product discharge device 5 is driven based on a discharge command from the control unit 8 so as to discharge the products P in front of the product discharge device 5 in order starting from the product P in the front row.

[0026] The bucket 6 is supported between the front panel 4b and the multiple shelves 4f so as to be movable in the vertical direction, and receives the products P discharged from the product discharge device 5. The bucket 6 has a generally rectangular shape that is long in the left-right direction of the vending machine 1 in a plan view seen from above.

[0027] The bucket 6 has a placement surface 6a on which the products P received therein are placed. Other structures of the bucket 6 will be described in detail later.

[0028] The bucket moving device 7 is a device that moves the bucket 6 up and down in the bucket movement space S, and is configured to move (transport) the bucket 6 that has received the product P to a position opposite the product take-out opening 4d.

[0029] The bucket moving device 7 has a bucket placement section 71 on which the bucket 6 is placed, the bucket placement section 71 having a width in the left-right direction approximately equal to the width of the shelf 4f, a support plate 72 for horizontally supporting the bucket placement section 71, and a lifting actuator 73 for moving the support plate 72 in the up-down direction. The lifting actuator 73 has, for example, a pair of upper and lower pulleys (not shown), a pulley belt (not shown) wound around the pair of upper and lower pulleys, and a bucket moving motor M2 (see FIG. 3) for driving the pulleys to rotate. An end of the support plate 72 is fixed to a predetermined position in the circumferential direction of the pulley belt. The bucket moving device 7 moves (raises and lowers) the bucket 6 up and down by driving the pulleys to rotate with the bucket moving motor M2.

[0030] In this embodiment, the bucket moving device 7 drives the bucket moving motor M2 based on a bucket movement command from the control unit 8 so as to move the bucket 6 to a position facing the front end of each shelf 4f and a position facing the product take-out opening 4d. Specifically, the driving of the bucket moving motor M2 is controlled by the control unit 8 so that, when the bucket 6 is in a position facing the front end of the shelf 4f, the rear end of the placement surface 6a of the bucket 6 is located at a height position slightly lower than the placement surface of the product P in the product discharge device 5 arranged on the shelf 4f. In addition, the position where the bucket 6 faces the product take-out opening 4d is located lower than the lowest shelf 4f, and this position is the standby position of the bucket 6 and also the take-out position of the product P. In the standby position and the take-out position, the product take-out opening 4d is located in front of the bucket 6, and when the door lock unit is driven in the unlocking direction, a user or the like can open the product take-out door 4e and put his / her hand into the bucket 6.

[0031] In this way, by moving the bucket 6, the bucket moving device 7 is able to transfer the products P between the product discharge device 5 and the product outlet 4d. Note that the bucket moving device 7 described here is merely one example, and mechanisms of various configurations that can move the bucket 6 up and down can be used.

[0032] The control unit 8 is composed of a CPU, an I / O (information input / output unit), a ROM, a RAM, etc., and controls the operation of at least the product discharge device 5 and the bucket moving device 7. The control unit 8 comprehensively controls the operation of various devices such as the product discharge device 5 and the bucket moving device 7, for example, based on a sales command from the operation unit 2. The detailed configuration of the control unit 8 will be described later.

[0033] Next, bucket 6 will be described in detail.

[0034] Figures 4 to 8 are diagrams for explaining the main parts of the vending machine 1 including the bucket 6. Figure 4 is a perspective view of the bucket 6 as seen diagonally from above the rear front, Figure 5 is a front view of the bucket 6 as seen from the front, Figure 6 is a right side view of the bucket 6, Figure 7 is a partially enlarged side view of the bucket 6, and Figure 8 is a partially enlarged perspective view of the bucket 6. Note that in Figures 6 to 8, a unit including a right side plate 61, which will be described later, has been removed from the bucket 6, and in Figure 8, a rear lower plate 65, which will be described later, has also been removed from the bucket 6.

[0035] In this embodiment, the bucket 6 has a width that matches the width of the shelf 4f in a plan view seen from above. Here, the "width that matches the width of the shelf" is not limited to being strictly the same as the width (width in the left-right direction) of the shelf 4f, and may be slightly different from the width of the shelf 4f. In other words, the width of the bucket 6 only needs to be approximately the same as the width of the shelf 4f. The placement surface 6a extends over the entire width of the bucket 6, and has a width that is approximately the same as that of the shelf 4f.

[0036] As shown in Figures 4 and 5, the bucket 6 has a pair of side plates 61 on the left and right, a bottom plate 62 connecting the lower ends of the left and right side plates 61, a top plate 63 supported on the side plates 61 via a support unit 61a, a front lower plate 64, and a rear lower plate 65.

[0037] The side plate 61 is a generally rectangular plate member extending in the vertical direction. The bottom plate 62, the top plate 63, the front lower plate 64, and the rear lower plate 65 are each formed in a generally rectangular shape having a width approximately equal to the width of the shelf 4f in a plan view and elongated in the left-right direction. The support unit 61a is attached to the front end of the side plate 61, and its upper part protrudes upward from the upper end of the side plate 61. Both ends in the width direction of the front end of the top plate 63 are connected to the upper end of the support unit 61a. The front lower plate 64 extends from the lower end part of the front end of the left side plate 61 to the lower end part of the front end of the right side plate 61, and forms a stopper part for the product P. The rear lower plate 65 extends from the lower end part of the rear end of the left side plate 61 to the lower end part of the rear end of the right side plate 61.

[0038] The bucket 6 is formed so that its interior can be accessed from both the front and rear openings. A front plate 66 is provided at the front opening of the bucket 6 so as to be able to swing. The front plate 66 is supported by the top plate 63 so as to be able to swing in the front-rear direction between the left and right support units 61a with the front end of the top plate 63 as the swing center. Movement of the front plate 66 forward of the front surface of the bucket 6 is prevented by stopper plates 67 (see FIG. 5) provided on the left and right side plates 61, respectively.

[0039] In this embodiment, the bucket 6 has a belt conveyor type product moving device 9 that moves the products P in the width direction of the bucket 6 itself (the bucket 6).

[0040] As shown in Figs. 6 to 8, the product moving device 9 includes an endless belt 91 wound around a pair of left and right cylindrical pulleys 91a, a belt driving mechanism 92, and a product moving motor M3.

[0041] The rotating shaft 91b of each pulley 91a extends in the front-rear direction in a plan view seen from above, and is inclined downward toward the front so as to approach the bottom plate 62 as it approaches the front side in a plan view seen from the side. The front end of each pulley 91a is rotatably supported on the lower end side of the front lower plate 64 via a front bracket 91c (see FIG. 7), and the rear end of the rotating shaft 91b of each pulley 91a is rotatably supported on the upper end side of the rear lower plate 65 via a rear bracket 91d (see FIG. 7).

[0042] As described above, the belt 91 is wound around a pair of left and right pulleys 91a that are inclined downward at the front, and therefore can travel in the width direction of the bucket 6 in a downward-at-front posture. The product P received from the product discharge device 5 into the bucket 6 slides forward along the upper surface of the belt 91, that is, along the upper surface of the upper running portion Va of the belt 91, and is placed on the upper surface of the belt 91. Therefore, the upper surface of the upper running portion Va of the belt 91 forms the placement surface 6a on which the product P is placed in the bucket 6. The upper running portion Va of the belt 91 is a portion between a portion of the belt 91 wound around an upper portion of one pulley 91a and a portion of the belt 91 wound around an upper portion of the other pulley 91a. The lower running portion Vb of the belt 91 is a portion between a portion of the belt 91 wound around a lower portion of one pulley 91a and a portion of the belt 91 wound around a lower portion of the other pulley 91a.

[0043] The belt drive mechanism 92 is a mechanism that drives (runs) the belt 91 using the product moving motor M3 as a power source. The mechanism of the belt drive mechanism 92 is not particularly limited, but here, a linear actuator type mechanism that converts rotational motion into linear motion is adopted. The belt drive mechanism 92 is disposed in a narrow area below the belt 91, specifically, in an area surrounded by the belt 91, the bottom plate 62, and the rear lower plate 65. Therefore, the area below the belt 91 created by inclining the belt 91 is effectively utilized.

[0044] 6 to 9, the linear actuator type belt drive mechanism 92 specifically includes a spiral shaft 92a, a mover 92b, a belt engagement portion 92c, and a guide rail 92d. Fig. 9 is a partially enlarged view including the mover 92b as viewed from the direction A shown in Fig. 8.

[0045] The spiral shaft 92a is a shaft that extends in one direction and has an outer circumferential surface on which a spiral screw portion is formed. The spiral shaft 92a is disposed so as to extend in the running direction (conveying direction) of the belt 91, that is, in the width direction of the bucket 6, and both ends of the spiral shaft 92a are rotatably supported by a pair of left and right shaft support portions 92e fixed to the bottom plate 62. The mover 92b has a semispherical protrusion therein that screws into the screw portion of the spiral shaft 92a, and is screwed into the spiral shaft 92a and engaged with the lower running portion Vb of the belt 91 via the belt engaging portion 92c. The belt engaging portion 92c is fixed to the lower running portion Vb of the belt 91, and a part of it protrudes downward from the lower surface of the lower running portion Vb. The part of the belt engaging portion 92c that protrudes downward from the lower surface of the lower running portion Vb is fitted into a recess 92b1 formed in the mover 92b, and is sandwiched from both sides in the running direction of the belt 91. The guide rail 92d is provided below the spiral shaft 92a and guides the lower part of the mover 92b so as to be movable in the extending direction of the spiral shaft 92a (the running direction of the belt 91).

[0046] The movable element 92b is screwed to the spiral shaft 92a and its rotation around the spiral shaft 92a is restricted via a guide rail 92d. As a result, the rotational motion of the spiral shaft 92a is converted into a linear motion in the extension direction of the spiral shaft 92a. Therefore, when the spiral shaft 92a rotates, the movable element 92b moves in the extension direction of the spiral shaft 92a, and as a result, the lower running portion Vb of the belt 91 runs (moves) in one direction in the width direction of the bucket 6, and the upper running portion Va of the belt 91 runs (moves) in the opposite direction to the lower running portion Vb. Note that the belt drive mechanism 92 is not limited to a linear actuator type mechanism, and may be a pulley drive type mechanism that drives one of a pair of left and right pulleys 91a.

[0047] The product moving motor M3 rotates the spiral shaft 92a and can switch the rotation direction between forward and reverse. The product moving motor M3 is connected to an end of the spiral shaft 92a via, for example, a gear train 92f. The product moving device 9 causes the upper running part Va of the belt 91 to run in the width direction of the bucket 6 by rotating the spiral shaft 92a using the product moving motor M3, thereby moving the product P placed on the upper surface (placing surface 6a) of the upper running part Va in the width direction of the bucket 6.

[0048] The product moving device 9 is capable of selectively moving the product P in the bucket 6 to one side or the other in the width direction of the bucket 6 by switching the rotation direction of the product moving motor M3. The product moving device 9 drives the product moving motor M3 based on a product movement command from the control unit 8 so that the upper running part Va of the belt 91 moves in a movement direction according to the selected position of the product P and in the width direction of the bucket 6 by a target feed amount (movement amount).

[0049] Here, the vending machine 1 (main unit 3) includes an imaging unit 10 and a bucket lighting unit 11 in addition to the above-mentioned elements (4 to 9).

[0050] The imaging unit 10 is provided in the bucket 6 and captures an image including the placement surface 6a on which the received product P is placed in the bucket 6. The imaging unit 10 is, for example, a color or monochrome camera having a resin camera case, an imaging element and an imaging circuit unit (not shown) housed in the camera case, and an optical system. The imaging element is, for example, a general element such as a CMOS sensor or a CCD sensor. The imaging circuit unit outputs an imaging command to the imaging element based on an imaging command from the control unit 8 and outputs data of the captured image to the control unit 8. The image data output to the control unit 8 is stored (memorized) in the memory M so that the timing of capturing the image can be identified. The color of the inner wall surfaces of the pair of left and right side panels 61, the top panel 63, the front lower panel 64, and the front panel 66 in the bucket 6 is black, and the color of the placement surface 6a (i.e., the belt 91) is green. Therefore, the inner surface of the bucket 6 is black except for the mounting surface 6a, which prevents unnecessary shadows from being cast on the mounting surface 6a and the product P imaged by the imaging unit 10, which may affect the image quality, and the mounting surface 6a and the product P are imaged with good image quality.

[0051] In this embodiment, the imaging units 10 are provided on both sides in the width direction of the bucket 6. Specifically, the imaging units 10 are attached to the upper end portions of the pair of left and right side plates 61, respectively. More specifically, the imaging units 10 are attached to the upper end portions of the inner wall surfaces of the pair of left and right side plates 61, respectively, so as to look down on the placement surface 6a from diagonally above from one side to the other in the width direction of the bucket 6. Each imaging unit 10 is capable of capturing an image of almost the entire width direction of the bucket 6, except for the area directly below it on the placement surface 6a.

[0052] The bucket lighting unit 11 is provided on the bucket 6 and illuminates the placement surface 6a of the bucket 6. In this embodiment, the bucket lighting unit 11 is provided at a predetermined position on the front panel 4b side of the bucket 6 in a position facing the placement surface 6a. Specifically, the bucket lighting unit 11 is provided on the upper end portion of the back surface of the front lower plate 64 of the bucket 6.

[0053] In this embodiment, the bucket lighting unit 11 has a plurality of light sources 11a (see FIGS. 6 and 7) arranged in a row across the entire width of the bucket 6. As the light sources 11a, for example, light emitting diodes (LEDs) are used.

[0054] Next, returning to FIG. 3, the control unit 8 will be described in detail.

[0055] In addition to the memory M, the control unit 8 includes a transport control unit 81, an imaging illumination control unit 82, and a completion determination unit 83.

[0056] When a sales command is input for multiple products P that are staggered vertically (i.e., multiple products P at different vertical positions), the conveying control unit 81 controls the drive of the bucket moving motor M2 and the product discharge motor M1 so that the product P on the upper level among the multiple products P is given priority and discharged first, and if there are products P on the same level among the multiple products P, the product P on one side of a predetermined width direction (for example, the right side) is given priority and discharged first.

[0057] In addition, when a sales command is input for multiple products P in the same row (i.e. multiple products P that are in the same widthwise position on the shelf 4f but have different vertical positions) or multiple products P placed on the same product discharge device 5, the conveying control unit 81 controls the drive of the product moving motor M3 to move the preceding product P that was received first in the bucket 6 a target feed amount (for example, the installation spacing on the shelf 4f for the multiple product discharge devices 5, or a width slightly wider than the width of a single product P) in the width direction of the bucket 6 so as not to interfere (collide) with the following product P that is received later in the bucket 6.

[0058] Specifically, the conveying control unit 81 executes (1) bucket movement control, which outputs a bucket movement command to the bucket moving motor M2 of the bucket moving device 7 to drive the bucket moving motor M2, (2) discharge control, which outputs a product P discharge command to the product discharge motor M1 of the product discharge device 5 to drive the product discharge motor M1, and (3) product movement control, which outputs a product movement command to the product movement motor M3 of the product moving device 9 to drive the product movement motor M3.

[0059] Regarding the bucket movement control, for example, an optical shelf detection sensor S2a for detecting the shelf 4f is provided at the end of the bucket 6 on the shelf 4f side (more specifically, at the upper end portion at the rear end of each side plate 61) (see Figs. 3, 4 and 6). The shelf detection sensor S2a has a light projecting element for projecting a light beam and a light receiving element, and detects the presence or absence of an object (shelf 4f) by receiving reflected light from the detection object with the light receiving element. In addition, the bucket moving device 7 is provided with a lower end limit sensor S2b (see Fig. 3). The lower end limit sensor S2b is a sensor for detecting whether the bucket 6 is positioned at the standby position (i.e., the position facing the product take-out port 4d). A signal from the shelf detection sensor S2a and a signal from the lower end limit sensor S2b are input to the control unit 8 (transport control unit 81). The control unit 8 outputs a bucket movement command to the bucket movement motor M2 via the transport control unit 81 to drive the bucket movement motor M2 every time the bucket 6 is raised from the standby position to the first target shelf 4f in response to the sales command, the bucket 6 is lowered to the next target shelf 4f, or the bucket 6 is returned to the standby position. When the number of shelf detections from the start of one bucket movement operation based on the bucket movement command reaches the number of shelves up to the target shelf 4f, the transport control unit 81 stops driving the bucket movement motor M2. As a result, the bucket 6 is positioned at a position opposite to the front end of the target shelf 4f. In addition, when the bucket 6 is moved to the standby position (a position opposite to the product take-out opening 4d), the transport control unit 81 stops driving the bucket movement motor M2 at the timing when a signal from the lower end limit sensor S2b is input. As a result, the bucket 6 is positioned (returns) to the standby position and the take-out position (a position opposite to the product take-out opening 4d).

[0060] Regarding the discharge control, for example, the product discharge device 5 is provided with a first encoder S1 (see FIG. 3) that detects the total number of rotations of the rotating shaft of the product discharge motor M1 during the discharge operation. A signal from the first encoder S1 is input to the control unit 8 (transport control unit 81). The control unit 8 outputs a command to discharge the product P via the transport control unit 81 to the product discharge motor M1 of the product discharge device 5 on which the product P corresponding to the sales command from the operation unit 2 is placed, thereby driving the product discharge motor M1. When the total number of rotations from the start of driving the product discharge motor M1 reaches a total number of rotations corresponding to a predetermined feed amount for one product (for example, one turn of a spiral metal rod in the case of a spiral type), the transport control unit 81 stops driving the product discharge motor M1. As a result, the multiple products P are all moved forward by the length of one product, and only the product P in the front row is discharged forward of the product discharge device 5.

[0061] Regarding the product movement control, for example, the product moving device 9 is provided with a second encoder S3 that detects the total number of rotations of the rotating shaft of the product moving motor M3 during the product moving operation. The signal from the second encoder S3 is input to the control unit 8 (conveyor control unit 81). As described above, when there are multiple products P that may collide with each other when receiving multiple products P into the bucket 6, the conveyor control unit 81 drives the product moving motor M3 in a rotation direction required to avoid collision between the reception of the preceding product P into the bucket 6 and the start of the carry-out operation of the product discharge device 5 for the following product P. Then, when the total number of rotations from the start of driving the product moving motor M3 reaches the total number of rotations corresponding to the target feed amount required to avoid collision, the conveyor control unit 81 stops driving the product moving motor M3. As a result, the product P on the placement surface 6a moves in the width direction of the bucket 6 by the target feed amount.

[0062] The imaging lighting control unit 82 has a function of controlling the imaging timing of the imaging unit 10 so as to capture images at multiple preset timings during a series of sales operation processes for the product P in the main unit 3, and a function of controlling the lighting timing of the bucket lighting unit 11.

[0063] Specifically, the imaging lighting control unit 82 executes (1) imaging control for outputting an imaging command to the imaging circuit unit of the imaging unit 10 at each predetermined timing to cause the imaging unit 10 to capture an image, and (2) lighting control for outputting a lighting command to the bucket lighting unit 11 to turn on the light source 11a of the bucket lighting unit 11 at least during a predetermined period during which an image can be captured by the imaging unit 10.

[0064] Regarding the imaging control, the imaging lighting control unit 82 outputs an imaging command to the imaging unit 10 at each timing before and after a predetermined event among a plurality of events related to the movement of the commodity P. Each time an imaging command is input from the imaging lighting control unit 82, the imaging unit 10 captures an image of the placement surface 6a and outputs data of the captured image to the control unit 8, and the output image data is stored in the memory M in a manner that allows the timing of imaging to be identified. The plurality of events related to the movement of the commodity P are events that occur in the vending machine 1 (mainly the bucket 6).

[0065] Furthermore, when the control unit 8 detects, for example, based on a signal from the lower end limit sensor S2b, that the bucket 6 has completed returning to the standby position and the removal position (the position opposite the product removal opening 4d), it outputs an unlock command to the door lock unit and drives the door lock unit in the unlocking direction. This makes the product removal door 4e openable and closable, allowing the user to remove the products P from the bucket 6.

[0066] In this embodiment, the multiple events related to the movement of the product P include a first event which is the receipt of the product P into the bucket 6, a second event which is the movement of the product P in the bucket 6 by the product moving device 9, a third event which is the transfer of the product P via the movement of the bucket 6 by the bucket moving device 7, and a fourth event which is the removal of the product P from the bucket 6 through the product removal opening 4d. The third event is, in detail, the transfer of the product P to a position opposite the product removal opening 4d via the movement of the bucket 6 by the bucket moving device 7, and is product transfer without any relative movement with respect to the bucket 6 during the movement (lowering) of the bucket 6. In other words, the first event is the receipt of the product into the bucket 6, the second event is the evacuation of the product to avoid a collision, the third event is product transfer in a normal posture without any relative movement with respect to the bucket 6 (product lowering), and the fourth event is the removal of the product from the bucket 6. Moreover, the first event, the second event, and the fourth event are events related to the movement of the product P, which is premised on the existence of relative movement between the bucket 6 and the product P, and which consider the existence of the relative movement to be normal. The third event, in this embodiment, is an event related to the movement of the product P descending together with the bucket 6, which is premised on the absence of relative movement between the bucket 6 and the product P, and which considers the absence of relative movement to be normal.

[0067] In this embodiment, the imaging lighting control unit 82 outputs imaging commands to the imaging unit 10 at timings before and after the first event, before and after the second event, before and after the third event, and before and after the fourth event.

[0068] The timing before and after the first event is the timing before and after the output of a carry-out command from the control unit 8 (transport control unit 81) to the product carry-out device 5. The timing before and after the second event is the timing before and after the output of a product movement command from the control unit 8 (transport control unit 81) to the product moving device 9. The timing before and after the third event is the timing immediately before the output of a bucket movement command from the control unit 8 (transport control unit 81) to the bucket moving device 7 to a position opposite the product take-out outlet 4d and the timing immediately after the bucket 6 that has received the product P has been moved by the bucket moving device 7 to a position opposite the product take-out outlet 4d. The timing before and after the fourth event is, for example, a predetermined timing after a sales command for the product P is input to the control unit 8 (in this embodiment, the timing immediately after the bucket lighting unit 11 is turned on) and a timing after the product take-out door 4e is opened and closed to move from the open position to the closed position in a state in which the bucket 6 that has received the product P has been moved by the bucket moving device 7 to a position opposite the product take-out outlet 4d, causing the door detection unit 4e1 to detect the closed state of the product take-out door 4e. In other words, when the bucket 6 that has received the product P is moved by the bucket moving device 7 to a position facing the product take-out opening 4d, the door lock unit is driven in the unlocking direction, and in this state, when the product take-out door 4e is opened by, for example, a user and then closed again, the door detection unit 4e1 redetects that the product take-out door 4e is in the closed state. The timing after the redetection of the closed state is the later timing before or after the fourth event.

[0069] In this embodiment, with regard to the lighting control, the imaging lighting control unit 82 (control unit 8) outputs a lighting command to the bucket lighting unit 11 (light source 11a) to turn on the bucket lighting unit 11 immediately after a command to sell a product P is input, and then turns off the bucket lighting unit 11 immediately after the completion determination unit 83 determines that removal of the product P from inside the bucket 6 through the product removal opening 4d (i.e., the fourth event) has been completed, as described below. In other words, in this embodiment, the placement surface 6a is illuminated by the bucket lighting unit 11 from immediately after the start of the selling operation until the sale is completed. Then, after the sale is completed, the vending machine 1 turns off the bucket lighting unit 11 and enters a standby state.

[0070] The completion determination unit 83 determines whether a predetermined event among multiple events related to the movement of product P that occur in the vending machine 1 has been completed based on the comparison results of two image data captured by the imaging unit 10 at timings before and after the predetermined event.

[0071] The comparison of the data of the two images is performed, for example, by the completion determination unit 83. That is, in this embodiment, the completion determination unit 83 has a data comparison function and an event completion determination function. The data comparison is performed immediately after the latter of the two images to be compared is captured. Then, the event completion determination is performed immediately after the data comparison is completed. Note that, in the following, the completion determination unit 83 is described as having the data comparison function, but this is not limiting, and a data comparison unit having the data comparison function may be provided separately in the control unit 8.

[0072] In this embodiment, the completion determination unit 83 reads out the data of the two images to be compared from the memory M, and performs binarization (preprocessing) on ​​the read image data, for example, dividing each pixel into two colors, black and white. Then, the completion determination unit 83 calculates a difference value for each pixel between the preprocessed data of the two images as a comparison result. The larger this difference value, the larger the difference between the two images, and the smaller the difference value, the smaller the difference between the two images. In other words, if an event (the first event, the second event, and the fourth event in this embodiment) related to the movement of the product P, which is considered to be normal when there is a relative movement with respect to the bucket 6 between the capture of one image and the capture of the other image, occurs, the difference value is large, and if these events do not occur, the difference value is zero or significantly small. Therefore, the completion determination unit 83 is configured to determine that the first event, the second event, and the fourth event have been completed when the calculated difference value for each pixel is greater than a predetermined threshold value, and to determine that these events have not been completed when the calculated difference value for each pixel is smaller than the threshold value. In this embodiment, the third event is an event related to the movement of the product P, which is considered normal when there is no relative movement with respect to the bucket 6 between the capture of one image and the capture of the other image, and when this third event has occurred, the difference value is zero or extremely small, and when the third event has not occurred (that is, when the bag of the product P protrudes outside the bucket 6 during the lowering of the product and gets caught on the front end of the shelf 4f, etc., causing the product P to move within the bucket 6 and not be transferred in a normal posture), the difference value is large. Therefore, in this embodiment, the completion determination unit 83 is configured to determine that the third event has been completed when the calculated difference value for each pixel is smaller than each predetermined threshold value, and to determine that the third event has not been completed when the calculated difference value for each pixel is larger than each threshold value.

[0073] In this embodiment, the completion determination unit 83 can execute a completion determination for each of the first event, the second event, the third event, and the fourth event. Then, when there is a next control to be executed following each event, the control unit 8 sets the determination of each event as being completed by the completion determination unit 83 as a start condition for executing the next control following the event.

[0074] Regarding the first event (product reception), the completion determination unit 83 executes a first determination to determine whether the first event is completed or not based on a comparison result between two pieces of image data captured by the imaging unit 10 at respective timings before and after the control unit 8 (transport control unit 81) outputs a carry-out command to the product discharge device 5. The timing before the output of the carry-out command to the product discharge device 5 is, for example, the timing immediately before the output of the carry-out command from the control unit 8 to the product discharge device 5. However, for example, in the case of a single purchase or the reception of the first product of a bulk purchase, the timing before the output of the carry-out command to the product discharge device 5 in the first determination is not limited to this, and may be, for example, the timing immediately after the operation unit 2 inputs a sales command for the product P to the control unit 8 and then the bucket illumination unit 11 is turned on. At this timing, the bucket 6 is empty and located at the standby position, and the placement surface 6a is illuminated. In addition, the timing after the control unit 8 (conveying control unit 81) outputs an ejection command to the product discharge device 5 in the first judgment is, for example, the timing at which it is detected based on a signal from the first encoder S1 that the total number of rotations from the start of driving of the product discharge motor M1 of the product discharge device 5 has reached the total number of rotations corresponding to the predetermined feed amount of one product.

[0075] 10 is an example of a flow diagram including a first determination by the completion determination unit 83 in the control unit 8. The control unit 8, for example, outputs an imaging command to the imaging unit 10 at a timing immediately before outputting a carry-out command to the product discharge device 5, thereby causing the imaging unit 10 to capture an image before the first event (step S11), and then outputs a carry-out command to the product discharge device 5 (step S12). When the control unit 8 detects that the sending of one product has been completed based on a signal from the first encoder S1 (step S13: Yes), it outputs an imaging command to the imaging unit 10 to cause the imaging unit 10 to capture an image after the first event (step S14). On the other hand, when the sending of one product has not been completed (step S13: No), it does not output an imaging command to the imaging unit 10, and enters an imaging waiting state. Immediately after capturing an image after the first event, the completion determination unit 83 of the control unit 8 executes the data comparison (calculation of the difference value) between the data of the two images before and after the first event (step S15), and determines whether or not the first event has been completed based on the comparison result (the difference value) (step S16). If the difference value is greater than the threshold and the completion determination unit 83 determines that the first event has been completed (step S16: Yes), the control unit 8 proceeds to the subsequent control. On the other hand, if the difference value is less than the threshold and the completion determination unit 83 does not determine that the first event has been completed (step S16: Yes), the control unit 8 proceeds to a predetermined error process.

[0076] Subsequent controls after the completion of the first event include bucket movement control, which drives the bucket moving device 7, in the case of a single item purchase, and in the case of a bulk purchase, there is carry-out control, product movement control and bucket movement control for the transport of the next product P, etc., and the drive of the product carry-out device 5, bucket moving device 7 and product moving device 9 is controlled as necessary.

[0077] Regarding the second event (product evacuation), the completion determination unit 83 executes a second determination to determine whether or not the second event has been completed based on a comparison result between data of two images captured by the imaging unit 10 at the timings before and after the control unit 8 (transport control unit 81) outputs a product movement command to the product moving device 9. In the case of bulk purchases, the completion determination unit 83 executes the second determination when it is necessary to drive the product moving device 9 to evacuate the preceding product P to avoid product collisions. The timing before the output of the product movement command to the product moving device 9 may be any timing between the time after it is determined that the preceding product P has been received into the bucket 6 and the time when the product movement command is output to the product moving device 9, and is, for example, the timing immediately before the control unit 8 outputs the product movement command to the product moving device 9. In addition, the timing after the control unit 8 (conveying control unit 81) outputs a product movement command to the product moving device 9 in the second judgment is, for example, the timing at which it is detected based on a signal from the second encoder S3 that the total number of rotations from the start of driving of the product moving motor M3 of the product moving device 9 has reached a total number of rotations corresponding to a predetermined target feed amount required to avoid a collision.

[0078] 11 is an example of a flow diagram including a second determination by the completion determination unit 83 in the control unit 8. The control unit 8, for example, outputs an imaging command to the imaging unit 10 at a timing immediately before outputting a product movement command to the product movement device 9, thereby causing the imaging unit 10 to capture an image before the second event (step S21), and then outputs a product movement command to the product movement device 9 (step S22). When the control unit 8 detects that the collision avoidance sending has been completed based on a signal from the second encoder S3 (step S23: Yes), it outputs an imaging command to the imaging unit 10 to cause the imaging unit 10 to capture an image after the second event (step S24). On the other hand, when the collision avoidance sending has not been completed (step S23: No), it does not output an imaging command to the imaging unit 10, and enters an imaging waiting state. Immediately after capturing an image after the second event, the completion determination unit 83 of the control unit 8 executes the data comparison (calculation of the difference value) between the data of the two images before and after the second event (step S25), and determines whether or not the second event has been completed based on the comparison result (the difference value) (step S26). If the difference value is greater than the threshold and the completion determination unit 83 determines that the second event has been completed (step S26: Yes), the control unit 8 proceeds to the subsequent control. On the other hand, if the difference value is less than the threshold and the completion determination unit 83 does not determine that the second event has been completed (step S26: No), the control unit 8 proceeds to a predetermined error process.

[0079] Subsequent controls after the second event is completed include bucket movement control, which drives the bucket moving device 7, if no subsequent product P is being accepted, and if a subsequent product P is being accepted, there is discharge control, product movement control and bucket movement control for the discharge of the next product P, etc., and the drive of the product discharge device 5, bucket moving device 7 and product moving device 9 is controlled as necessary.

[0080] In this embodiment, with regard to the third event (transfer of a commodity in a normal posture without any relative movement with respect to the bucket 6), the completion determination unit 83 executes a third determination to determine whether the third event is completed or not, based on a comparison result between data of two images captured by the imaging unit 10 at a timing immediately before the control unit 8 (transport control unit 81) outputs a bucket movement command to the bucket moving device 7 to a position opposite the commodity take-out port 4d, and at a timing immediately after the bucket 6 that has received the commodity P has been moved by the bucket moving device 7 to a position opposite the commodity take-out port 4d. The timing immediately before the output of a bucket movement command to the bucket moving device 7 to a position opposite the commodity take-out port 4d is, for example, the timing immediately after it is determined that the receiving of the commodity P into the bucket 6 has been completed in the case of single-item purchase, and is the timing immediately after it is determined that the receiving of the last commodity P into the bucket 6 has been completed in the case of bulk purchase. In addition, the timing immediately after the bucket 6 that has received the product P in the third judgment is moved by the bucket moving device 7 to a position opposite the product removal opening 4d is, for example, the timing immediately after it is detected based on a signal from the lower end limit sensor S2b that the bucket 6 has returned to the waiting position and the removal position.

[0081] 12 is an example of a flow diagram including a third determination by the completion determination unit 83 in the control unit 8. The control unit 8 outputs an imaging command to the imaging unit 10 at a timing immediately before outputting a bucket movement command to the bucket moving device 7 to a position opposite the product take-out port 4d, thereby causing the imaging unit 10 to capture an image before the third event (step S31), and then outputs a bucket movement command to the bucket moving device 7 (step S32). Thereafter, when the control unit 8 detects based on a signal from the lower end limit sensor S2b that the return of the bucket 6 to the waiting position and the take-out position has been completed (step S33: Yes), it outputs an imaging command to the imaging unit 10 to cause the imaging unit 10 to capture an image after the third event (step S34). On the other hand, if the return of the bucket 6 has not been completed (step S33: No), it does not output an imaging command to the imaging unit 10 and enters an imaging waiting state. Immediately after capturing an image after the third event, the completion determination unit 83 of the control unit 8 executes the data comparison (calculation of the difference value) between the data of the two images before and after the third event (step S35), and determines whether or not the third event has been completed based on the comparison result (the difference value) (step S36). If the difference value is smaller than the threshold and the completion determination unit 83 determines that the third event has been completed (step S36: Yes), the control unit 8 proceeds to the subsequent control. On the other hand, if the difference value is larger than the threshold and the completion determination unit 83 does not determine that the third event has been completed (step S36: No), the control unit 8 proceeds to a predetermined error process.

[0082] Subsequent control after the completion of the third event includes, for example, imaging and calculation for determining the fourth event.

[0083] Regarding the fourth event (product removal), the completion determination unit 83 executes a fourth determination to determine whether the fourth event is completed based on a comparison result between an initial image captured by the imaging unit 10 when no product P is placed on the placement surface 6a and an image captured by the imaging unit 10 at a timing after the door detection unit 4e1 detects the closed state of the product removal door 4e by opening and closing the product removal door 4e and moving it from the open position to the closed position when the bucket 6 that received the product P is moved by the bucket moving device 7 to a position opposite the product removal opening 4d. In this embodiment, the initial image is an image captured by the imaging unit 10 at a timing immediately after the bucket illumination unit 11 is turned on. In other words, this image is an image captured after a sales command for the product P is input to the control unit 8 and immediately after the bucket illumination unit 11 is turned on, and is an image of an empty state in which no product P is placed on the placement surface 6a. The timing after the bucket 6 that has received the product P in the fourth judgment has been moved by the bucket moving device 7 to a position corresponding to the product removal outlet 4d, and the product removal door 4e has been opened and closed to move from the open position to the closed position, so that the door detection unit 4e1 detects the closed state of the product removal door 4e, is, for example, the timing after it is detected based on a signal from the lower end limit sensor S2b that the bucket 6 has returned to the waiting position and the removal position, and after it is re-detected based on a signal from the door detection unit 4e1 that the product removal door 4e is in a closed state.

[0084] 13 is an example of a flow diagram including a fourth determination by the completion determination unit 83 in the control unit 8. When a vending command is not input to the control unit 8 and the bucket illumination unit 11 is not turned on (step S41: No), an initial image is not captured and the bucket 6 having the imaging unit 10 and the bucket illumination unit 11 is kept waiting at the standby position. On the other hand, when a vending command is input to the control unit 8 and the bucket illumination unit 11 is turned on (step S41: Yes), the control unit 8 outputs an imaging command to the imaging unit 10 immediately thereafter to cause the imaging unit 10 to capture an image before the fourth event (initial image) (step S42). Thereafter, when the control unit 8 detects that the return of the bucket 6 to the waiting position and the take-out position is completed based on a signal from the lower end limit sensor S2b, and when the closed state of the product take-out door 4e is detected again by opening and closing the product take-out door 4e from the open position to the closed position (step S43: Yes), it outputs an image capture command to the imaging unit 10 to capture an image after the fourth event (step S44), but when the return of the bucket 6 is not completed or the closed state of the product take-out door 4e is not detected (step S43: No), it does not output an image capture command to the imaging unit 10 and enters an image capture waiting state. Immediately after capturing the image after the fourth event, the completion determination unit 83 of the control unit 8 executes the data comparison (calculation of the difference value) between the data of the two images before and after the fourth event (step S45), and determines whether or not the fourth event is completed based on the comparison result (the difference value) (step S46). When the difference value is greater than the threshold value and the completion determination unit 83 determines that the fourth event has been completed (step S46: Yes), the control unit 8 proceeds to subsequent control. On the other hand, when the difference value is less than the threshold value and the completion determination unit 83 does not determine that the fourth event has been completed (step S46: No), the control unit 8 notifies the user by voice, display, or the like that a product P has not been taken out (including, in this embodiment, that some of the multiple products P have not been taken out) (step S47).In this case (step S46: No), the re-capture of the image after the fourth event (step S44), the data comparison (step S45), and the determination of the completion of the fourth event are repeated until it is determined that the fourth event is completed (in the case of bulk buying, all products P in bucket 6 have been removed) (step S46: Yes).

[0085] When it is detected that the bucket 6 has returned to the standby position and the take-out position, as described above, the door lock unit is driven in the unlocking direction, the product take-out door 4e becomes openable and closable, and the user is able to take out the products P in the bucket 6. When taking out the products P, a user who buys in bulk may, for example, take out multiple products P from the product take-out opening 4d in a single action with the product take-out door 4e open, or may take out the products P in multiple separate actions by opening and closing the product take-out door 4e multiple times. Even in the latter case, the image after the fourth event is re-imaged (step S44) at a timing after the door detection unit 4e1 detects (re-detects) the closed state of the product take-out door 4e as described above, so that the completion of the take-out of the products P is correctly determined.

[0086] Subsequent control after the completion of the fourth event includes standby control for putting the vending machine 1 into a standby state. For example, when the completion determination unit 83 determines that the fourth event (product removal) is completed, the control unit 8 controls the imaging illumination control unit 82 to turn off the bucket illumination unit 11. This puts the vending machine 1 into a standby state.

[0087] The standby control may include not only turning off the bucket lighting unit 11 but also other controls. For example, in the case where an electric door lock unit that locks and unlocks the product removal door 4e is provided as in this embodiment, the standby control may include control to relock this door lock unit. Specifically, when the products P (all the products P in the case of bulk purchases) in the bucket 6 are removed and the completion determination unit 83 determines that the fourth event is completed, the control unit 8 outputs a lock command to the door lock unit and drives the door lock unit in the locking direction, whereby the product removal door 4e returns to a locked standby state.

[0088] Next, an example of the operation of the vending machine 1 will be briefly described.

[0089] The following describes an example in which a user selects, via the product selection section 2f of the operation unit 2, one each of the following products to be purchased (i.e., a bulk purchase): product P (hereinafter referred to as the first product P1) placed on the right-most product output device 5 on the top shelf 4f (sixth from the bottom), product P (hereinafter referred to as the second product P2) placed on the product output device 5 directly below the first product P1, and product P (hereinafter referred to as the third product P3) placed on the second-from-the-left product output device 5 on the second shelf from the bottom 4f, as shown in FIG. 1.

[0090] It is assumed that (1) the manager of the vending machine 1 replenishes the products P in the product discharge device 5 in an appropriate position without missing any (missed) refills (for example, in the case of a spiral-type product discharge device 5, products P of an appropriate size that can be discharged are replenished in an appropriate position that can be discharged to all of the placement locations of one turn of the spiral metal rod), (2) the manager correctly inputs the number of products placed (replenished) in each product discharge device 5 via the product selection unit 2f and the information input / output unit of the control unit 8, (3) various devices of the vending machine 1 such as the product discharge device 5, bucket moving device 7, and product moving device 9 are operating normally without any malfunctions, and (4) the bag of the products P does not protrude outside the bucket 6 during the descent of the products. In other words, the following describes an example of the operation of the vending machine 1 in the case of bulk buying, where there is no mistake in refilling the products P (mistakes including missing refills), no mistake in inputting information about the products P, and no malfunction of the devices.

[0091] When the fees corresponding to the three products P selected via the product selection unit 2f are paid, the operation unit 2 transmits a sales command for these products P to the main unit 3 (control unit 8). When the sales command from the operation unit 2 is input to the control unit 8, the control unit 8 turns on the bucket lighting unit 11 (light source 11a).

[0092] The control unit 8 controls the operations of the product discharge device 5, the bucket moving device 7, and the product moving device 9 so that the products P are received into the bucket 6 in the order of the first product P1, the second product P2, and the third product P3.

[0093] The second product P2 is located directly below the first product P1. Therefore, if the second product P2 is received into the bucket 6 without driving the product moving device 9 after the first product P1 is received into the bucket 6, the second product P2 may be discharged onto the first product P1 and may damage the first product P1. In this regard, in this embodiment, the control unit 8, for example, drives the bucket moving device 7 to move the preceding product P (first product P1) to the left by a target feed amount that does not interfere with the following product P (second product P2) after the product discharge device 5 discharges the first product P1. As a result, the first product P1 on the placement surface 6a is moved to the left by a target feed amount that does not interfere with the second product P2. In this state, the second product P2 is received into the bucket 6, thereby preventing the first product P1 from being damaged, etc.

[0094] Then, after controlling the operation for receiving the third product P3 into the bucket 6, the control unit 8 drives the bucket moving device 7 to move the bucket 6 that has received the three products P to a position opposite the product outlet 4d (the removal position and the standby position). In this state, the user can remove the three products P (P1, P2, P3) through the product outlet 4d.

[0095] Here, in the above example of the operation, there is no problem such as a replenishment error of the product P, an input error of information about the product P, and a breakdown of the equipment. However, for example, even if the equipment is operating normally, there may be a replenishment error or an input error. In this case, even if the product discharge device 5 normally performs the discharge operation of the product P, there is a possibility that an empty operation is performed in a state where the product P is not present. In the case of such an empty operation, the product P is not actually discharged, and the product P is not received in the bucket 6 after the discharge operation of the product discharge device 5. In other words, after the empty operation, a series of control operations such as the operation of the bucket moving device 7 and the product discharge device 5 may be executed as is. In contrast, in this embodiment, the control unit 8 is configured to transition to the next subsequent control when it is determined that the first event (product reception) is completed by the completion determination unit 83 (see step S16: Yes shown in FIG. 10), and transition to the subsequent control in an abnormal state is prevented.

[0096] Furthermore, even if the product moving device 9 operates normally, for example, depending on the shape of the product P, the product P may get caught on the lower front plate 64 of the bucket 6 or the like, and may not move in the width direction of the bucket 6 by the target feed amount. In this regard, in this embodiment, when the completion determination unit 83 determines that the second event (product evacuation) has been completed (see step S26: Yes in FIG. 11), the control unit 8 transitions to the next subsequent control, thereby preventing transition to the subsequent control in an abnormal state.

[0097] In the above example of the operation, the bag of the product P does not protrude outside the bucket 6 during the product descent. However, depending on the size and shape of the bag of the product P, the product P may protrude outside the bucket 6 and may descend together with the bucket 6 toward a position opposite the product outlet 4d even if the device is operating normally. In this case, for example, the bag of the product P may get caught on the front end of the shelf 4f during the product descent, causing the product P to move in the bucket 6, and depending on the degree of the catch, the bag of the product P may be damaged. In this state, the subsequent control operation may be executed as is. In contrast, in this embodiment, the control unit 8 transitions to the next subsequent control when the completion determination unit 83 determines that the third event (in this embodiment, the product transfer in a normal posture without relative movement with respect to the bucket 6) has been completed (see step S36: Yes shown in FIG. 12), and transition to the subsequent control may be prevented in an abnormal state (for example, a state in which the bag is damaged).

[0098] Furthermore, even if each device operates normally and the bucket 6 that has received the product P in response to a vending command is moved by the bucket moving device 7 to a position opposite the product removal port 4d, there may be cases where the product P is not removed from the bucket 6 for some reason. In addition, in cases where standby control of the vending machine 1 (for example, control of the bucket lighting unit 11 or the door lock unit) is required, if the product P is not removed from the bucket 6, the standby control or the like cannot be executed. In this regard, in the present embodiment, when the completion determination unit 83 determines that the fourth event (product removal) is completed (see step S46: Yes shown in FIG. 13), the control unit 8 transitions to the next subsequent control, and transition to the subsequent control (standby control) in an abnormal state is prevented.

[0099] According to the vending machine 1 of this embodiment, the imaging unit 10 provided in the bucket 6 captures an image including the placement surface 6a on which the received product P in the bucket 6 is placed. Therefore, when the product P is normally received in the bucket 6 (in other words, when the product P is normally discharged from the product discharge device 5), the product P received in the bucket 6 is reflected in the image captured by the imaging unit 10. Therefore, using the data (information) of the image acquired by the imaging unit 10, it is possible to reliably determine whether or not the receipt of the product P in the bucket 6 (first event) has been completed. Similarly, it is also possible to reliably determine whether or not the second event (product evacuation), third event (product transfer), or fourth event (product removal) has been completed.

[0100] In this way, a vending machine 1 can be provided that can obtain information to reliably determine whether or not a specified event related to the movement of product P occurring in the vending machine 1, such as a first event, a second event, a third event, or a fourth event, has been completed.

[0101] According to the vending machine 1 of this embodiment, the imaging unit 10 provided in the bucket 6 captures an image including the placement surface 6a on which the received products P are placed in the bucket 6. Then, the completion determination unit 83 of the control unit 8 determines whether or not a predetermined event has been completed based on a comparison result between data of two images captured by the imaging unit 10 at timings before and after a predetermined event among a plurality of events related to the movement of the products P. Therefore, the completion determination unit 83 can reliably determine whether or not the event has been completed based on actual images of the inside of the bucket 6 captured at timings before and after the predetermined event.

[0102] In this way, it is possible to provide a vending machine 1 that can reliably determine whether or not a predetermined event related to the movement of goods has been completed.

[0103] Here, for example, in the case of bulk buying, when a following product P smaller than the preceding product P is received in the bucket 6 near a relatively large product P received in advance in the bucket 6, there is a risk that the following product P will be hidden behind the preceding product P by one imaging unit 10 and unable to image the following product P. In this regard, in this embodiment, the imaging units 10 are provided on both sides in the width direction of the bucket 6, so that the following product P can be reliably imaged by either one of the imaging units 10, and it is possible to eliminate blind spots where the following product P cannot be imaged because it is hidden behind the preceding product P.

[0104] In this embodiment, the bucket 6 has a width that matches the width of the shelf 4f. This provides a bucket 6 that is suitable for bulk buying, in which multiple products P need to be received at once.

[0105] In this embodiment, a plurality of product discharge devices 5 are provided on each shelf 4f in parallel in the width direction of the shelf 4f. The bucket 6 has a belt conveyor-type product moving device 9 that moves the products P in its width direction, and the upper surface of the upper running part Va of the belt 91 of the product moving device 9 forms the placement surface 6a. This prevents the products P from colliding with each other even in the case of bulk purchases. For example, this is effective when a plurality of products P placed on the same product discharge device 5 or a plurality of products P placed on product discharge devices 5 that are installed at the same position in the width direction of the shelf 4f are selected.

[0106] In this embodiment, the bucket lighting unit 11 that illuminates the placement surface 6a is provided at a predetermined position on the front panel 4b side of the bucket 6 in a position facing the placement surface 6a. This allows the placement surface 6a, which is the imaging area of ​​the imaging unit 10, to be illuminated and a clear image to be captured without causing a user standing in front of the front panel 4b to feel dazzled. The bucket lighting unit 11 also has multiple light sources 11a arranged in a row across the entire width of the bucket 6. This allows the entire placement surface 6a to be illuminated uniformly and a clearer image to be captured.

[0107] In this embodiment, the third event is the transfer of the product P to a position relative to the product outlet 4d via movement of the bucket 6 by the bucket moving device 7, without any relative movement with respect to the bucket 6 while the bucket 6 is moving, but the third event is not limited to this and may simply be the transfer of the product P to a position relative to the product outlet 4d via movement of the bucket 6 by the bucket moving device 7. In other words, the third event may be an event that is intended to confirm not only that the bucket 6 has simply reached a position relative to the product outlet 4d, but also that the bucket 6 with the product P placed thereon has reached a position relative to the product outlet 4d. In this case, the completion determination unit 83 uses an initial image (more specifically, the same image as the initial image used to determine the completion of the fourth event) captured by the imaging unit 10 when the product P is not placed on the placement surface 6a as an image before the third event, and executes a third determination to determine whether the third event is completed or not based on a comparison result between the data of this initial image and two images captured by the imaging unit 10 at a timing immediately after the bucket 6 that received the product P is moved by the bucket moving device 7 to a position opposite the product take-out opening 4d. In this case, in step S36, the completion determination unit 83 determines that the third event is completed when the difference value is greater than the threshold value, and determines that the third event is completed when the difference value is smaller than the threshold value. This makes it easy to confirm that the bucket 6 has reached a position opposite the product take-out opening 4d with the product P placed thereon through the determination of the completion of the third event.

[0108] In addition, the initial image before the fourth event (including the initial image used as the image before the third event) is an image captured by the imaging unit 10 immediately after the bucket lighting unit 11 is turned on, but this is not limiting and may be an image captured by the imaging unit 10 immediately after a sales command for the product P is input to the control unit 8. In this embodiment, the initial image before the fourth event (including the initial image used as the image before the third event) is an image captured every time a sales command is input, but this is not limiting and may be, for example, an image captured in advance by the imaging unit 10 and stored in memory M at the time of initial setup at an assembly plant for the vending machine 1 or at the installation site of the vending machine 1.

[0109] In addition, in this embodiment, the operation assuming a bulk purchase has been described as an example, but when only one product P is selected (i.e., when a single product is purchased), the vending machine 1 only needs to execute a series of sales operations including a charging process for this single product P, a carry-out operation by the product discharge device 5, and a moving operation by the bucket moving device 7. Also, the vending machine 1 does not need to be capable of handling both bulk purchases and single product purchases, and may only be capable of handling single product purchases. In this case, the vending machine 1 only needs to execute a series of sales operations including a charging process, a carry-out operation by the product discharge device 5, and a moving operation by the bucket moving device 7 for each product P. Also, in the case of a vending machine 1 that is only compatible with single product purchases, one imaging unit 10 may be provided, and the product moving device 9 may not be provided.

[0110] In this embodiment, multiple product discharge devices 5 are provided in parallel on each shelf 4f, but this is not limiting, and for example, one product discharge device 5 may be provided on each shelf 4f so as to be lined up vertically in a row. In this case as well, if the imaging units 10 are provided on both sides in the width direction of the bucket 6, the product moving devices 9 are provided, and the bucket 6 is formed wide to match the width of the shelf 4f, it is suitable for bulk purchases.

[0111] Although the embodiments and modifications of the present invention have been described above, the present invention is not limited to the above-described embodiments and modifications, and it goes without saying that further modifications and changes are possible based on the technical concept of the present invention. [Explanation of symbols]

[0112] 1...vending machine, 4...cabinet, 4b...front panel, 4d...product removal port, 4e...product removal door, 4e1...door detection unit, 4f...shelf, 5...product discharge device, 6...bucket, 6a...loading surface, 7...bucket moving device, 8...control unit, 83...completion determination unit, 9...product moving device, 91...belt, 10...imaging unit, 11...bucket lighting unit, 11a...light source, P...product, Va...upper running unit

Claims

1. a box-shaped cabinet having a plurality of shelves therein spaced apart in a vertical direction; a product outlet provided at a lower portion of a front panel of the cabinet; a product discharge device provided on each shelf of the cabinet and configured to discharge products placed thereon forward; a bucket supported between the front panel and the plurality of shelves so as to be movable in the vertical direction and for receiving the products discharged from the product discharge device; and moving the bucket that has received the product to the product outlet. an imaging unit provided in the bucket for capturing an image including a placement surface on which the received product is placed in the bucket; The imaging units are provided on both sides of the bucket in the width direction, Vending machine.

2. The vending machine of claim 1 , wherein the bucket has a width that matches a width of the shelf.

3. The product discharge device is provided in a plurality on each shelf so as to be aligned in a width direction of the shelf, The bucket has a belt conveyor type product moving device that moves the products in the width direction of the bucket, 3. The vending machine according to claim 2, wherein an upper surface of an upper running portion of the belt of the product moving device forms the placement surface.

4. The vending machine according to any one of claims 1 to 3, further comprising a bucket illumination unit provided at a predetermined position on a front panel side of the bucket in a position facing a placement surface, for illuminating the placement surface.

5. 5. The vending machine of claim 4, wherein the bucket illumination section comprises a plurality of light sources arranged in a row across the entire width of the bucket.

6. A box-shaped cabinet having a plurality of shelves therein spaced apart in the vertical direction; a product outlet provided at a lower portion of a front panel of the cabinet; a product discharge device provided on each shelf of the cabinet and configured to discharge products placed thereon forward; a bucket supported between the front panel and the plurality of shelves so as to be movable in the vertical direction and for receiving the products discharged from the product discharge device; and moving the bucket that has received the product to the product outlet. an imaging unit provided in the bucket and configured to capture an image including a placement surface on which the received products are placed in the bucket; a bucket lighting unit provided at a predetermined portion of a front panel side of the bucket in a position facing a placement surface and illuminating the placement surface; Including, vending machines.

Images