CN107032036A - Control the method and automatic vending warehouse in automatic vending warehouse - Google Patents
Control the method and automatic vending warehouse in automatic vending warehouse Download PDFInfo
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- CN107032036A CN107032036A CN201710354170.3A CN201710354170A CN107032036A CN 107032036 A CN107032036 A CN 107032036A CN 201710354170 A CN201710354170 A CN 201710354170A CN 107032036 A CN107032036 A CN 107032036A
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- manipulator
- shelf
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- moved
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vending Machines For Individual Products (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
The present invention is the method and automatic vending warehouse on a kind of control automatic vending warehouse, for controlling a kind of automatic vending warehouse of multiple rows of shelf, adds the species for placing article, convenient from picking on multiple rows of shelf.Methods described includes：The selection for article for receiving input is instructed；Obtain the positional information of the article；The positional information is sent to manipulator, manipulator is moved to the positional information corresponding position；When the manipulator is moved to the positional information corresponding position, sends and take instruction to manipulator, manipulator is taken the article.
Description
Technical field
The present invention relates to the method and automatic vending warehouse of automatic field, more particularly to control automatic vending warehouse.
Background technology
With the raising of social automaticity, some daily behaviors in people's daily life are by electronics, machinery
Equipment etc. is substituted, such as：Automatic vending warehouse.People in article needed for purchase, be not required to going shopping, supermarket by with shop-assistant
Aspectant exchange, can be directly on automatic vending warehouse, and the article needed for selecting passes through the side such as swipe the card, insert coins, transfer accounts
Formula, you can the article needed for obtaining, is reduced when selling goods, required manpower, also improves efficiency when selling goods, and can be with
User is facilitated to obtain required article.
At present, existing automatic vending warehouse is to be provided with displaying window towards outlet position, only in automatic vending warehouse
Inside it is provided with row's counter and places article, user can selects the article in displaying window, the article chosen as desired by button
After preceding baffle plate is put down, article slides naturally, drops out outlet.
Inventor has found to there is problems with the prior art：The counter for placing article only has a row, reduces sale
The species of article, it is impossible to meet the demand of more users.
The content of the invention
To overcome problem present in correlation technique, the present invention provides a kind of method for controlling automatic vending warehouse and automatic
Sell warehouse.For controlling a kind of automatic vending warehouse of multiple rows of shelf, the species for placing article is added, it is convenient from multiple rows of goods
Picking on frame.
First aspect according to embodiments of the present invention there is provided a kind of method for controlling automatic vending warehouse, including：
The selection for article for receiving input is instructed；
Obtain the positional information of the article；
The positional information is sent to manipulator, manipulator is moved to the positional information corresponding position；
When the manipulator is moved to the positional information corresponding position, instruction of taking is sent to manipulator, makes machine
Tool hand is taken the article.
Believe by the installation manipulator in automatic vending warehouse, and to the position for the article taken required for manipulator transmission
Breath, article of the manipulator according to required for taking the positional information of article is realized in multiple rows of shelf from trend user sale
The purpose of article, adds the species of the article of placement in multiple rows of shelf, the demand of article required for meeting user's selection.
Methods described, in addition to：
According to the positional information, the shelf where the article are determined；
When the shelf are default shelf, the first move is sent to movable goods shelf, movable goods shelf is moved
To specified location.
By sending move to movable goods shelf, movable goods shelf is moved, article is stored in goods
The position being not frequently used on frame, movable goods shelf is so as to article of taking when required, so as to further increase placement
The species of article, the demand of article required for further meeting user's selection.
Methods described, in addition to：
When starting the automatic vending warehouse, the current location information of shelf is obtained；
According to the shelf current location information, judge whether the shelf are located at the initial position of the shelf；
When the shelf are not located at the initial position of the shelf, the first reset instruction is sent to the shelf, is made described
Shelf are moved to the initial position of the shelf.
When starting automatic vending warehouse, whether the current location for judging shelf is initial position, if current location is not
When being initial position, then the first reset instruction is sent to shelf, shelf is moved to initial position.When shelf are in initial position
When, facilitate automatic vending warehouse by shelf from initial position be moved to user choose article when moving goods rack, facilitate manipulator from
Taken on corresponding shelf article.
Methods described, in addition to：
When starting the automatic vending warehouse, the positional information of the manipulator is obtained；
According to the positional information of the manipulator, judge the positional information of the manipulator whether in the initial of the shelf
Position；
When the manipulator is not located at the initial position of the manipulator, the second reset instruction is sent to the manipulator,
The manipulator is set to be moved to the initial position of the manipulator.
When starting automatic vending warehouse, whether the current location for judging manipulator is initial position, if current location
When being not initial position, then the second reset instruction is sent to manipulator, manipulator is moved to initial position.When manipulator is first
During beginning position, facilitate manipulator to be moved to user from initial position and choose at the position of article, facilitate manipulator to take article.
After the manipulator is taken to the article, methods described, in addition to：
The second move is sent to the manipulator, manipulator is moved to predeterminated position；
When the manipulator is moved to predeterminated position, shipment instruction is sent to outlet, the outlet is opened；
Advancement commands are sent to the manipulator, the manipulator is moved out the outlet.
After manipulator is taken to article, manipulator is moved to outlet position, and open outlet, facilitate user from
Outlet acquires required article.
It is described to send the second move to the manipulator, including：
Detect the current state of the manipulator；
When the manipulator current state is adsorbent article state, the second move is sent to the manipulator.
When sending the second move to manipulator, it is necessary to inspecting manipuator whether adsorbent article, if adsorbate
Product, then send the second move to manipulator, if unadsorbed article, again adsorbent article.Whether inspecting manipuator
Adsorbent article, it is that user takes the accuracy of article to improve manipulator.
It is described to send advancement commands to the manipulator, including：
Receive the shipment receipt that the outlet is sent；
When receiving the shipment receipt that the outlet is sent, advancement commands are sent to the manipulator.
After outlet is opened, outlet can send shipment receipt, there is shown goods mouthful current state is open mode, can be with
Article is removed into automatic vending warehouse, now advancement commands are sent to manipulator, article is sent out into automatic vending storehouse from outlet
Storehouse.Shipment receipt reduce due to outlet is not switched on and probability produced by mobile manipulator, further meet user couple
The demand in automatic vending warehouse.
Methods described, in addition to：
When the manipulator is moved to outside the outlet, sends and release order to the manipulator, release manipulator
Put the article；
The 3rd reset instruction is sent to the manipulator, manipulator is moved to initial position；
Out code is sent to the outlet, outlet is closed.
Releasing order makes manipulator discharge article, and reset instruction makes manipulator be moved to initial position, facilitates machine
Tool hand subsequent operation, outlet performs out code, closes outlet, automatic vending warehouse is kept seal, and protection is sold
The safety of article.
Second aspect according to embodiments of the present invention there is provided a kind of automatic vending warehouse, including：Main frame, cabinet, shelf and
Manipulator；
The main frame is installed in the cabinet；
The manipulator is installed on the side in the cabinet；
The manipulator is used for selected commodity of taking；
It is mounted side by side before and after the shelf in the side of non-installation manipulator in the cabinet；
The main frame, including：Receiving module, acquisition module, the first sending module and the second sending module,
Receiving module, the selection for article for receiving input is instructed；
First acquisition module, for the positional information for obtaining the article；
First sending module, for sending the positional information to manipulator, makes manipulator be moved to the positional information
Corresponding position；
Second sending module, for when the manipulator is moved to the positional information corresponding position, to manipulator
Transmission is taken instruction, manipulator is taken the article.
The main frame, in addition to：
Determining module, for according to the positional information, determining the shelf where the article；
3rd sending module, for when the shelf are default shelf, the first move to be sent to movable goods shelf,
Movable goods shelf is set to be moved to specified location.
The main frame, in addition to：
Second acquisition module, for starting during the automatic vending warehouse, obtains the current location information of shelf；
First judge module, for according to the shelf current location information, judging whether the shelf are located at the goods
The initial position of frame；
4th sending module, the initial position for being not located at the shelf when the shelf sends the to the shelf
One reset instruction, makes the shelf be moved to the initial position of the shelf.
The main frame, in addition to：
3rd acquisition module, for starting during the automatic vending warehouse, obtains the positional information of the manipulator；
Second judge module, for the positional information according to the manipulator, judging the positional information of the manipulator is
The no initial position in the shelf；
5th sending module, the initial position for being not located at the manipulator when the manipulator, to the manipulator
The second reset instruction is sent, the manipulator is moved to the initial position of the manipulator.
The main frame, in addition to：
6th sending module, for after the manipulator is taken to the article, sending second to the manipulator and moving
Dynamic instruction, makes manipulator be moved to predeterminated position；
7th sending module, for when the manipulator is moved to predeterminated position, sending shipment instruction to outlet, making
The outlet is opened；
8th sending module, for sending advancement commands to the manipulator, makes the manipulator move out the shipment
Mouthful.
6th sending module, including：
Detection sub-module, the current state for detecting the manipulator；
First sending submodule, for when the manipulator current state is adsorbent article state, to the manipulator
Send the second move.
8th sending module, including：
Receiving submodule, for receiving the shipment receipt that the outlet is sent；
Second, when receiving the shipment receipt that the outlet is sent, advancement commands is sent to the manipulator.
The main frame, in addition to：
9th sending module, for when the manipulator is moved to outside the outlet, sending and releasing to the manipulator
Instruction is put, manipulator is discharged the article；
Tenth sending module, for sending the 3rd reset instruction to the manipulator, makes manipulator be moved to initial position；
11st sending module, for sending out code to the outlet, closes outlet.
It should be appreciated that the general description of the above and detailed description hereinafter are only exemplary and explanatory, not
Can the limitation present invention.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the present invention
Example, and for explaining principle of the invention together with specification.
Fig. 1 is a kind of flow chart of the method in control automatic vending warehouse according to an exemplary embodiment.
Fig. 2 is a kind of flow chart of the method in control automatic vending warehouse according to an exemplary embodiment.
Fig. 3 is a kind of automatic vending warehouse structure figure according to an exemplary embodiment.
Fig. 4 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Fig. 5 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Fig. 6 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Fig. 7 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Fig. 8 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Fig. 9 is the block diagram of the 6th sending module in a kind of automatic vending warehouse according to an exemplary embodiment.
Figure 10 is the block diagram of the 8th sending module in a kind of automatic vending warehouse according to an exemplary embodiment.
Figure 11 is a kind of block diagram in automatic vending warehouse according to an exemplary embodiment.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During accompanying drawing, unless otherwise indicated, the same numbers in different accompanying drawings represent same or analogous key element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects be described in detail in claims, the present invention.
Fig. 1 is a kind of flow chart of the method in control automatic vending warehouse according to an exemplary embodiment, such as Fig. 1
It is shown, comprise the following steps：
In a step 101, the selection for article for receiving input is instructed；
In a step 102, the positional information of article is obtained.
In step 103, positional information is sent to manipulator, manipulator is moved to positional information corresponding position.
At step 104, when manipulator is moved to positional information corresponding position, instruction of taking is sent to manipulator,
Manipulator is set to take article.
The embodiments of the invention provide a kind of method for controlling automatic vending warehouse.By being installed in automatic vending warehouse
Manipulator, and to the positional information for the article taken required for manipulator transmission, manipulator is taken according to the positional information of article
Required article, realizes the purpose for selling article from trend user in multiple rows of shelf, adds and put in multiple rows of shelf
The species for the article put, the demand of article required for meeting user's selection.
This method, in addition to：
According to positional information, the shelf where article are determined；
When shelf are default shelf, the first move is sent to movable goods shelf, movable goods shelf is moved to finger
Positioning is put.
By sending move to movable goods shelf, movable goods shelf is moved, article is stored in goods
The position being not frequently used on frame, movable goods shelf is so as to article of taking when required, so as to further increase placement
The species of article, the demand of article required for further meeting user's selection.
This method, in addition to：
When starting automatic vending warehouse, the current location information of shelf is obtained；
According to shelf current location information, judge whether shelf are located at the initial position of shelf；
When shelf are not located at the initial position of shelf, the first reset instruction is sent to shelf, shelf is moved to shelf
Initial position.
When starting automatic vending warehouse, whether the current location for judging shelf is initial position, if current location is not
When being initial position, then the first reset instruction is sent to shelf, shelf is moved to initial position.When shelf are in initial position
When, facilitate automatic vending warehouse by shelf from initial position be moved to user choose article when moving goods rack, facilitate manipulator from
Taken on corresponding shelf article.
This method, in addition to：
When starting automatic vending warehouse, the positional information of manipulator is obtained；
According to the positional information of manipulator, judge the positional information of manipulator whether in the initial position of shelf；
When manipulator is not located at the initial position of manipulator, the second reset instruction is sent to manipulator, manipulator is moved
To the initial position of manipulator.
When starting automatic vending warehouse, whether the current location for judging manipulator is initial position, if current location
When being not initial position, then the second reset instruction is sent to manipulator, manipulator is moved to initial position.When manipulator is first
During beginning position, facilitate manipulator to be moved to user from initial position and choose at the position of article, facilitate manipulator to take article.
After manipulator is taken to article, this method, in addition to：
The second move is sent to manipulator, manipulator is moved to predeterminated position；
When manipulator is moved to predeterminated position, shipment instruction is sent to outlet, outlet is opened；
Advancement commands are sent to manipulator, manipulator is moved out outlet.
After manipulator is taken to article, manipulator is moved to outlet position, and open outlet, facilitate user from
Outlet acquires required article.
The second move is sent to manipulator, including：
The current state of inspecting manipuator；
When manipulator current state is adsorbent article state, the second move is sent to manipulator.
When sending the second move to manipulator, it is necessary to inspecting manipuator whether adsorbent article, if adsorbate
Product, then send the second move to manipulator, if unadsorbed article, again adsorbent article.Whether inspecting manipuator
Adsorbent article, it is that user takes the accuracy of article to improve manipulator.
Advancement commands are sent to manipulator, including：
Receive the shipment receipt that outlet is sent；
When receiving the shipment receipt of outlet transmission, advancement commands are sent to manipulator.
After outlet is opened, outlet can send shipment receipt, there is shown goods mouthful current state is open mode, can be with
Article is removed into automatic vending warehouse, now advancement commands are sent to manipulator, article is sent out into automatic vending storehouse from outlet
Storehouse.Shipment receipt reduce due to outlet is not switched on and probability produced by mobile manipulator, further meet user couple
The demand in automatic vending warehouse.
This method, in addition to：
When manipulator is moved to outside outlet, sends and release order to manipulator, make manipulator releasing；
The 3rd reset instruction is sent to manipulator, manipulator is moved to initial position；
Out code is sent to outlet, outlet is closed.
Releasing order makes manipulator discharge article, and reset instruction makes manipulator be moved to initial position, facilitates machine
Tool hand subsequent operation, outlet performs out code, closes outlet, automatic vending warehouse is kept seal, and protection is sold
The safety of article.
The method that a kind of control automatic vending warehouse that the present invention is provided is described below by specific embodiment.
As shown in Fig. 2 the embodiments of the invention provide a kind of method for controlling automatic vending warehouse, comprising the following steps that：
In step s 201, when starting automatic vending warehouse, the current location information of shelf is obtained；
In step S202, according to shelf current location information, judge whether shelf are located at the initial position of shelf；
In step S203, when shelf are not located at the initial position of shelf, the first reset instruction is sent to shelf, makes shelf
It is moved to the initial position of shelf.
In step S204, when starting automatic vending warehouse, the positional information of manipulator is obtained；
In step S205, according to the positional information of manipulator, judge the positional information of manipulator whether in the first of shelf
Beginning position；
In step S206, when manipulator is not located at the initial position of manipulator, the second reset instruction is sent to manipulator,
Manipulator is set to be moved to the initial position of manipulator.
In step S207, the selection for article for receiving input is instructed；
In step S208, the positional information of article is obtained；
In step S209, according to positional information, the shelf where article are determined；
In step S210, when shelf are default shelf, the first move is sent to movable goods shelf, makes may move
Shelf are moved to specified location.
In step S211, positional information is sent to manipulator, manipulator is moved to positional information corresponding position；
In step S212, when manipulator is moved to positional information corresponding position, instruction of taking is sent to manipulator,
Manipulator is set to take article.
In step S213, after manipulator is taken to article, the current state of inspecting manipuator；
In step S214, when manipulator current state is adsorbent article state, sends the second movement to manipulator and refer to
Order, makes manipulator be moved to predeterminated position；
In step S215, when manipulator is moved to predeterminated position, shipment instruction is sent to outlet, outlet is beaten
Open；
In step S216, the shipment receipt that outlet is sent is received；
In step S217, when receiving the shipment receipt of outlet transmission, advancement commands are sent to manipulator；Make machine
Tool hand moves out outlet.
In step S218, when manipulator is moved to outside outlet, sends and release order to manipulator, release manipulator
Put article；
In step S219, the 3rd reset instruction is sent to manipulator, manipulator is moved to initial position；
In step S220, out code is sent to outlet, outlet is closed.
The invention provides a kind of method for controlling automatic vending warehouse, taken by mobile manipulator and counter on counter
Article, and pass out automatic vending warehouse from outlet by article, realize the purpose to user's automatic vending article.And due to
Shelf can be moved in automatic vending warehouse, then multiple shelf can be set to set article, add and put in multiple rows of shelf
The species for the article put, the demand of article required for meeting user's selection.
By the implementation process described above for having understood control automatic vending warehouse, the process is real by automatic vending warehouse
Existing, the internal structure and function for automatic vending warehouse are introduced separately below.
Fig. 3 is a kind of automatic vending warehouse structure figure according to an exemplary embodiment.Reference picture 3, the device bag
Include：
Main frame, cabinet 301, shelf 302 and manipulator 303；
The main frame is installed in cabinet 301；
Manipulator 303 is installed on the side in cabinet 301；
Manipulator 303 is used for selected commodity of taking；
It is mounted side by side before and after shelf 302 in the side of non-installation manipulator 303 in cabinet 301；
As shown in figure 4, the main frame, including：Receiving module 401, acquisition module 402, the first sending module 403 and the second hair
Module 404 is sent,
Receiving module 401, the selection for article for receiving input is instructed；
First acquisition module 402, the positional information for obtaining article；
First sending module 403, for sending positional information to manipulator, makes manipulator be moved to positional information correspondence position
Put place；
Second sending module 404, for when manipulator is moved to positional information corresponding position, sending and taking to manipulator
Instruction fetch, makes manipulator take article.
As shown in figure 5, the main frame, in addition to：
Determining module 501, for according to positional information, determining the shelf where article；
3rd sending module 502, for when shelf are default shelf, the first move to be sent to movable goods shelf,
Movable goods shelf is set to be moved to specified location.
As shown in fig. 6, the main frame, in addition to：
Second acquisition module 601, for starting during automatic vending warehouse, obtains the current location information of shelf；
First judge module 602, for according to shelf current location information, judging whether shelf are located at the initial bit of shelf
Put；
4th sending module 603, the initial position for being not located at shelf when shelf sends the first reset to shelf and referred to
Order, makes shelf be moved to the initial position of shelf.
As shown in fig. 7, the main frame, in addition to：
3rd acquisition module 701, for starting during automatic vending warehouse, obtains the positional information of manipulator；
Whether the second judge module 702, for the positional information according to manipulator, judge the positional information of manipulator in goods
The initial position of frame；
5th sending module 703, the initial position for being not located at manipulator when manipulator sends second to manipulator and answered
Bit instruction, makes manipulator be moved to the initial position of manipulator.
As shown in figure 8, the main frame, in addition to：
6th sending module 801, for after manipulator is taken to article, sending the second move to manipulator, making
Manipulator is moved to predeterminated position；
7th sending module 802, for when manipulator is moved to predeterminated position, sending shipment instruction to outlet, making
Outlet is opened；
8th sending module 803, for sending advancement commands to manipulator, makes manipulator move out outlet.
As shown in figure 9, the 6th sending module 801, including：
Detection sub-module 901, the current state for inspecting manipuator；
First sending submodule 902, for when manipulator current state is adsorbent article state, the to be sent to manipulator
Two moves.
As shown in Figure 10, the 8th sending module 803, including：
Receiving submodule 1001, the shipment receipt for receiving outlet transmission；
Second sending submodule 1002, for second when receiving the shipment receipt of outlet transmission, sends out to manipulator
Send advancement commands.
As shown in figure 11, the main frame, in addition to：
9th sending module 1101, for when manipulator is moved to outside outlet, sending and releasing order to manipulator, make
Manipulator releasing；
Tenth sending module 1102, for sending the 3rd reset instruction to manipulator, makes manipulator be moved to initial position；
11st sending module 1103, for sending out code to outlet, closes outlet.
Those skilled in the art will readily occur to its of the present invention after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledge in the art of the invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (16)
1. a kind of method for controlling automatic vending warehouse, it is characterised in that including：
The selection for article for receiving input is instructed；
Obtain the positional information of the article；
The positional information is sent to manipulator, manipulator is moved to the positional information corresponding position；
When the manipulator is moved to the positional information corresponding position, instruction of taking is sent to manipulator, makes manipulator
Take the article.
2. the method as described in claim 1, it is characterised in that methods described, in addition to：
According to the positional information, the shelf where the article are determined；
When the shelf are default shelf, the first move is sent to movable goods shelf, movable goods shelf is moved to finger
Positioning is put.
3. the method as described in claim 1, it is characterised in that methods described, in addition to：
When starting the automatic vending warehouse, the current location information of shelf is obtained；
According to the shelf current location information, judge whether the shelf are located at the initial position of the shelf；
When the shelf are not located at the initial position of the shelf, the first reset instruction is sent to the shelf, makes the shelf
It is moved to the initial position of the shelf.
4. the method as described in claim 1, it is characterised in that methods described, in addition to：
When starting the automatic vending warehouse, the positional information of the manipulator is obtained；
According to the positional information of the manipulator, judge the positional information of the manipulator whether in the initial bit of the shelf
Put；
When the manipulator is not located at the initial position of the manipulator, the second reset instruction is sent to the manipulator, makes institute
State the initial position that manipulator is moved to the manipulator.
5. the method as described in claim 1, it is characterised in that after the manipulator is taken to the article, methods described,
Also include：
The second move is sent to the manipulator, manipulator is moved to predeterminated position；
When the manipulator is moved to predeterminated position, shipment instruction is sent to outlet, the outlet is opened；
Advancement commands are sent to the manipulator, the manipulator is moved out the outlet.
6. method as claimed in claim 5, it is characterised in that described to send the second move to the manipulator, including：
Detect the current state of the manipulator；
When the manipulator current state is adsorbent article state, the second move is sent to the manipulator.
7. method as claimed in claim 5, it is characterised in that described to send advancement commands to the manipulator, including：
Receive the shipment receipt that the outlet is sent；
When receiving the shipment receipt that the outlet is sent, advancement commands are sent to the manipulator.
8. method as claimed in claim 5, it is characterised in that methods described, in addition to：
When the manipulator is moved to outside the outlet, sends and release order to the manipulator, manipulator is discharged institute
State article；
The 3rd reset instruction is sent to the manipulator, manipulator is moved to initial position；
Out code is sent to the outlet, outlet is closed.
9. a kind of automatic vending warehouse, it is characterised in that including：Main frame, cabinet, shelf and manipulator；
The main frame is installed in the cabinet；
The manipulator is installed on the side in the cabinet；
The manipulator is used for selected commodity of taking；
It is mounted side by side before and after the shelf in the side of non-installation manipulator in the cabinet；
The main frame, including：Receiving module, acquisition module, the first sending module and the second sending module,
Receiving module, the selection for article for receiving input is instructed；
First acquisition module, for the positional information for obtaining the article；
First sending module, for sending the positional information to manipulator, makes manipulator be moved to the positional information correspondence
At position；
Second sending module, for when the manipulator is moved to the positional information corresponding position, being sent to manipulator
Take instruction, manipulator is taken the article.
10. automatic vending warehouse as claimed in claim 9, it is characterised in that the main frame, in addition to：
Determining module, for according to the positional information, determining the shelf where the article；
3rd sending module, for when the shelf are default shelf, sending the first move to movable goods shelf, making can
Moving goods rack is moved to specified location.
11. automatic vending warehouse as claimed in claim 9, it is characterised in that the main frame, in addition to：
Second acquisition module, for starting during the automatic vending warehouse, obtains the current location information of shelf；
First judge module, for according to the shelf current location information, judging whether the shelf are located at the shelf
Initial position；
4th sending module, the initial position for being not located at the shelf when the shelf sends first to the shelf and answered
Bit instruction, makes the shelf be moved to the initial position of the shelf.
12. automatic vending warehouse as claimed in claim 9, it is characterised in that the main frame, in addition to：
3rd acquisition module, for starting during the automatic vending warehouse, obtains the positional information of the manipulator；
Second judge module, for the positional information according to the manipulator, judge the manipulator positional information whether in
The initial position of the shelf；
5th sending module, the initial position for being not located at the manipulator when the manipulator is sent to the manipulator
Second reset instruction, makes the manipulator be moved to the initial position of the manipulator.
13. automatic vending warehouse as claimed in claim 9, it is characterised in that the main frame, in addition to：
6th sending module, for after the manipulator is taken to the article, sending the second movement to the manipulator and referring to
Order, makes manipulator be moved to predeterminated position；
7th sending module, for when the manipulator is moved to predeterminated position, shipment instruction to be sent to outlet, makes described
Outlet is opened；
8th sending module, for sending advancement commands to the manipulator, makes the manipulator move out the outlet.
14. automatic vending warehouse as claimed in claim 13, it is characterised in that the 6th sending module, including：
Detection sub-module, the current state for detecting the manipulator；
First sending submodule, for when the manipulator current state is adsorbent article state, being sent to the manipulator
Second move.
15. automatic vending warehouse as claimed in claim 13, it is characterised in that the 8th sending module, including：
Receiving submodule, for receiving the shipment receipt that the outlet is sent；
Second, when receiving the shipment receipt that the outlet is sent, advancement commands is sent to the manipulator.
16. automatic vending warehouse as claimed in claim 13, it is characterised in that the main frame, in addition to：
9th sending module, for when the manipulator is moved to outside the outlet, sending release to the manipulator and referring to
Order, makes manipulator discharge the article；
Tenth sending module, for sending the 3rd reset instruction to the manipulator, makes manipulator be moved to initial position；
11st sending module, for sending out code to the outlet, closes outlet.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710354170.3A CN107032036A (en) | 2017-05-18 | 2017-05-18 | Control the method and automatic vending warehouse in automatic vending warehouse |
| PCT/CN2018/087220 WO2018210286A1 (en) | 2017-05-18 | 2018-05-17 | Method for controlling automatic vending warehouse, and automatic vending warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710354170.3A CN107032036A (en) | 2017-05-18 | 2017-05-18 | Control the method and automatic vending warehouse in automatic vending warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107032036A true CN107032036A (en) | 2017-08-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710354170.3A Pending CN107032036A (en) | 2017-05-18 | 2017-05-18 | Control the method and automatic vending warehouse in automatic vending warehouse |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107032036A (en) |
| WO (1) | WO2018210286A1 (en) |
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| WO2018210286A1 (en) * | 2017-05-18 | 2018-11-22 | 北京华沁智联科技有限公司 | Method for controlling automatic vending warehouse, and automatic vending warehouse |
| CN109081033A (en) * | 2018-06-26 | 2018-12-25 | 北京云迹科技有限公司 | Intelligent cargo cabinet control method and system |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018210286A1 (en) | 2018-11-22 |
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