CN116935532A - Get goods positioner and little super sales counter of intelligence - Google Patents

Abstract

The invention provides a goods taking and positioning device which comprises positioning holes, movable positioning inductors, a plurality of motors, a movement control part and a goods channel position acquisition part, wherein the positioning holes are arranged at the goods channel openings of all goods channels, the motors are used for driving the positioning inductors to move along a plurality of different directions, so that the positioning inductors can move to all the goods channels along a preset track under the control of the movement control part and sense and identify the positioning holes, and the goods channel openings of all the goods channels are identified. As described above, the goods taking and positioning device can automatically acquire the position information of each goods channel in the sales counter, thereby achieving the effect of self-learning and self-adaption.

Description

Get goods positioner and little super sales counter of intelligence

Technical Field

The invention belongs to the technical field of intelligent vending machines, and particularly relates to a goods taking and positioning device and an intelligent micro-super vending cabinet adopting the same.

Background

In a conventional vending machine, goods are placed in each goods channel in the vending machine in advance, after a customer purchases the goods, the goods in the goods channel are pushed out of the goods channel forward by a push-out mechanism in the corresponding goods channel, and the goods drop to the lowest goods taking port for the customer to take. This vending machine with the goods taking mode has various problems: the fragile goods of follow eminence push away, the uncontrolled condition such as block can appear when the goods drops, influence customer's shopping experience.

Accordingly, with the development of technology, a pickup device capable of moving to each of the ports to pick up the goods has been developed, and the above problems can be solved. However, along with the change of customer's demand and shopping habit, more and more vending machines are set up to sell multiple different goods, and sell the goods kind and also change comparatively frequently, and correspondingly, each goods way in the vending machine needs to be set up to different width, and the width of each goods way needs to change comparatively frequently, among the prior art, all need the manual work to reenter, adjust the position of getting goods that each pick up device got after the goods way is reset every time, waste time and energy, and goods way quantity is many, need to input, the positional information of adjustment is numerous, the manual mode easily produces the mistake and leaks, and then the shopping experience that leads to the customer receives the influence.

Disclosure of Invention

The invention aims to solve the problems, and aims to provide a goods taking and positioning device capable of automatically acquiring the position information of each goods channel in a sales counter and a corresponding intelligent micro-super sales counter, which adopts the following technical scheme:

the invention provides a goods taking and positioning device which is arranged in an intelligent micro-super sales counter with a plurality of goods channels, and is characterized by comprising the following components: the positioning pieces are respectively arranged at the goods passage openings of the goods passages, and each positioning piece is provided with a positioning hole; the positioning sensor is used for sensing the positioning hole; a plurality of motors for driving the positioning sensor to move in a plurality of directions, respectively, each motor including a pulse output unit for outputting a corresponding pulse when the motor rotates; a movement control part for controlling the motor so as to drive the positioning sensor to move along a predetermined track; and a lane position acquisition unit configured to acquire the number of pulses output from each of the pulse output units when the positioning sensor senses the positioning hole, thereby acquiring position information of each of the positioning holes as position information of the lane.

The pickup positioning device provided by the invention can be further characterized in that the lane position acquisition part calculates and obtains the displacement of the positioning sensor along each direction based on a preset displacement precision and the number of the pulses output by the pulse output unit, wherein the displacement precision is the distance of the movement of the positioning sensor between two adjacent pulses.

The goods taking and positioning device provided by the invention can be further characterized in that the displacement precision is obtained according to Zhou Mai pulses generated by one rotation of the motor and a circumferential movement distance capable of driving the positioning sensor to move by one rotation, and the number of the circumferential pulses is obtained according to a reduction ratio of the motor.

The goods taking and positioning device provided by the invention can also have the technical characteristics that a plurality of goods passage openings are positioned on a unified plane, the number of the motors is two, the motors are respectively used for driving the positioning sensor to move along a first direction and a second direction which are mutually perpendicular, and the first direction and the second direction are parallel to the plane.

The goods taking and positioning device provided by the invention can be further characterized in that a plurality of laminates extending along the horizontal direction are arranged in the intelligent micro-super sales counter, a plurality of baffle mechanisms are arranged on each laminate, the laminates are separated to form a plurality of goods channels, the positioning piece is arranged on the baffle mechanisms, the first direction is the length direction of the laminate, and the second direction is the vertical direction.

The goods taking and positioning device provided by the invention can be further characterized by further comprising a goods channel size acquisition part, wherein the goods channel size acquisition part is used for calculating and obtaining the width and the height of each goods channel according to the position information acquired by the goods channel position acquisition part, the position information comprises an X-axis coordinate and a Y-axis coordinate which respectively represent the positions of the goods channels along the first direction and the second direction, the width of the goods channel between two positioning holes is calculated and obtained according to the X-axis coordinates of two adjacent positioning holes along the first direction, and the height of the goods channel between the two positioning holes is calculated and obtained according to the Y-axis coordinates of two adjacent positioning holes along the second direction.

The goods taking and positioning device provided by the invention can also have the technical characteristics that the positioning sensor is an infrared sensor.

The goods taking and positioning device provided by the invention can also have the technical characteristics that the pulse output unit is a Hall sensor.

The invention provides an intelligent micro-super sales counter, which is characterized by comprising the following components: the goods shelves are used for placing goods to be sold; and the goods taking and positioning device is at least used for positioning each goods channel, wherein the goods taking and positioning device is the goods taking and positioning device.

The actions and effects of the invention

The goods taking and positioning device comprises positioning holes, movable positioning inductors, a plurality of motors, a movement control part and a goods channel position acquisition part, wherein the positioning holes are arranged at the goods channel openings of all goods channels, the motors are used for driving the positioning inductors to move along a plurality of different directions, so that the positioning inductors can move to all the goods channels along a preset track under the control of the movement control part and sense and identify the positioning holes, and the goods channel openings of all the goods channels are identified. As described above, the goods taking and positioning device can automatically acquire the position information of each goods channel in the sales counter, achieves the effects of self-learning and self-adaption, does not need to be set and adjusted manually after changing the arrangement of the goods channels, saves a great deal of manpower and time, and can avoid mistakes caused by manual modes.

Drawings

FIG. 1 is a block diagram of an intelligent micro-super sales counter in an embodiment of the present invention;

FIG. 2 is a block diagram of a put layer in an embodiment of the invention;

FIG. 3 is a block diagram of a septum mechanism in an embodiment of the present invention;

FIG. 4 is a block diagram of a pick-and-place device in accordance with an embodiment of the present invention;

FIG. 5 is a block diagram of different angles of the pick-up positioning device in accordance with an embodiment of the present invention;

FIG. 6 is a block diagram of a bucket according to an embodiment of the present invention;

FIG. 7 is a block diagram of different angles of the bucket according to an embodiment of the present invention;

FIG. 8 is an enlarged view of the inner portion of frame B of FIG. 5;

FIG. 9 is an enlarged view of the inner portion of frame A of FIG. 2;

FIG. 10 is a schematic view of the structure of the bucket and diaphragm mechanism of the present invention in cooperation;

FIG. 11 is a block diagram of a pick-and-place device in accordance with an embodiment of the present invention;

FIG. 12 is a workflow diagram of course self-learning in accordance with an embodiment of the present invention.

Reference numerals:

an intelligent micro-super sales counter 10; a cabinet 20; a cabinet door 21; a pick-up port 22; an interactive display screen 23; a pick-and-place device 30; a bucket 31; a top plate 311; a bottom plate 312; a side plate 313; access opening 314; a removal opening 315; a movable shutter 316; a positioning sensor 331; a bucket drive mechanism 32; a vertical drive assembly 321; a vertical guide 3211; a vertical drive wheel 3212; a steering timing belt 3213; steering synchronizing wheel 3214; a rotation shaft 3215; a vertical synchronous belt 3216; a vertical synchronizing wheel 3217; a horizontal drive assembly 322; a synchronous drive assembly 323; a vertical driving motor 324; a horizontal driving motor 325; a movement control unit 341; a pickup control unit 342; a self-learning trajectory storage unit 343; a lane identification code acquisition unit 344; a lane position acquisition unit 345; a lane size acquisition unit 346; a lane information storage section 347; a main control unit 348; a layer 40; laminate 41; a detent hole 411; a diaphragm mechanism 42; a separator body 421; a front end plate 422; a positioning hole 4221; a push plate 423; a push plate driving gear 424; a timing belt 425; and a cargo lane 44.

Detailed Description

In order to make the technical means, creation characteristics, achievement purposes and effects of the invention easy to understand, the goods taking and positioning device and the intelligent micro-super sales counter of the invention are specifically described below with reference to the embodiments and the accompanying drawings.

In the description of the present invention, the positional or positional relationship indicated by the terms such as "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

< example >

FIG. 1 is a block diagram of an intelligent micro-super sales counter in this embodiment.

As shown in FIG. 1, the intelligent micro-super sales counter 10 includes a cabinet 20, a pick-and-place device 30, and six layers 40.

Wherein, be provided with cabinet door 21 on the cabinet body 20, get goods mouth 22 and interactive display screen 23, cabinet door 21 can open and let the person of mending goods carry out the moisturizing, or let the maintainer overhaul, and the main part of cabinet door 21 is made by transparent material, the customer of being convenient for observes, selects the inside goods of cabinet body 20. The goods taking port 22 is provided at one side of the cabinet 20, so that a customer can take the purchased goods. The interactive display screen 23 is used for customers to click on selected goods and for corresponding operation check of the grower and the maintainer.

The layer 40 is used for placing various goods to be sold.

Fig. 2 is a structural diagram of the put layer in the present embodiment.

As shown in fig. 2, the loading layer 40 has a deck 41 for supporting the goods and other structures, and nine partition mechanisms 42 provided on the deck 41, the partition mechanisms 42 partition the deck 41 to form nine lanes 44, and the plurality of lanes 44 are used for sorting the goods to be sold, and the goods are pushed out from the front end of the lanes 44, i.e., the end near the cabinet door 21. As can be seen intuitively in fig. 2, the individual lanes 44 are provided in different widths for the placement of different sizes of goods.

Fig. 3 is a structural view of the diaphragm mechanism in the present embodiment.

As shown in fig. 3, the diaphragm mechanism 42 includes a diaphragm body 421, a front end plate 422, a push plate 423, a push plate drive gear 424, a timing belt 425, and a timing pulley (not shown in the figure).

The push plate 423 is meshed with the fixed teeth of the synchronous belt 425 through the meshing piece, the synchronous belt 425 is sleeved on the push plate driving gear 424 and the synchronous belt pulley, and the push plate driving gear 424 can drive the synchronous belt 425 to rotate so as to drive the push plate 423 to move along the length direction of the partition plate mechanism 42 (namely, the extending direction of the goods channel 44), so that the goods in the goods channel 44 are pushed out.

The front end plate 422 is mounted at the front end of the partition plate body 421 (i.e., near the side of the cabinet door 21) and is used as a positioning member, the front end plate 422 extends from the front end of the partition plate body 421 further toward the cabinet door 21, and square positioning holes 4221 are formed in the front end plate 422.

The goods taking and positioning device 30 is used for positioning each goods channel 44 and moving to the front of the corresponding goods channel 44 to take the goods according to the goods selected by the customer.

Fig. 4 is a structural diagram of the pick-and-place device in this embodiment.

Fig. 5 is a block diagram of different angles of the pick-and-place device in this embodiment.

As shown in fig. 4 and 5, the pickup positioning apparatus 30 includes a pickup bucket 31 and a bucket drive mechanism 32. The goods taking hopper 31 is used for taking goods, the goods taking hopper driving mechanism 32 is used for driving the goods taking hopper 31 to move to the goods port of each goods channel 44 so as to take corresponding goods, and driving the goods taking hopper 31 to move to the goods taking port 22 so as to enable a customer to take out selected goods.

Further, as shown in fig. 1, the respective cargo layers 40 have the same interval with the cabinet door 21, so that a space for the movement of the access hopper 31 is formed between the cargo layers 40 and the cabinet door 21.

Fig. 6 is a structural view of the bucket in the present embodiment.

Fig. 7 is a view showing the structure of the bucket at different angles in the present embodiment.

As shown in fig. 6 and 7, the bucket 31 has a top plate 311, a bottom plate 312, two side plates 313, and a movable barrier 316. The space for accommodating the cargo and the front and rear openings are defined by the top plate 311, the bottom plate 312, and the two side plates 313, which are functionally referred to as the access opening 314 and the take-out opening 315, respectively, for convenience of description. The receiving opening 314 is used for receiving goods from the goods channel 44, the shape and size of the taking opening 315 are matched with those of the taking opening 22, and when the taking bucket 31 moves to the taking opening 22, the purchaser can take out the goods from the taking bucket 31 through the communicated taking opening 22 and the taking opening 315.

As shown in fig. 4 and 5, the bucket drive 32 includes a vertical drive assembly 321, two horizontal drive assemblies 322, a synchronous drive assembly 323, a vertical drive motor 324, and a horizontal drive motor 325. The structure of each transmission assembly is basically consistent with the working principle, and the vertical transmission assembly 321 is taken as an example for illustration.

Fig. 8 is an enlarged view of the inner portion of the frame B in fig. 5.

As shown in fig. 5, 6 and 8, the vertical transmission assembly 321 includes a vertical guide rail 3211, a vertical driving wheel 3212, a steering synchronous belt 3213, a steering synchronous wheel 3214, a rotating shaft 3215, a vertical synchronous belt 3216, and a vertical synchronous wheel 3217.

The vertical driving wheel 3212 is fixed at the output end of the vertical driving motor 324, the steering synchronous belt 3213 has a plurality of fixed teeth, and is respectively meshed with the vertical driving wheel 3212 and the steering synchronous wheel 3214, and the steering synchronous wheel 3214 and the vertical synchronous wheel 3217 are both fixed on the rotating shaft 3215, so that the vertical driving wheel and the steering synchronous wheel are synchronously rotated, and the vertical synchronous belt 3216 is respectively meshed with the two vertical synchronous wheels 3217.

One side of the bucket 31 is mounted on a vertical synchronous belt 3216 through a meshing piece, so that the vertical driving motor 324 drives the vertical driving wheel 3212 to rotate, the steering synchronous wheel 3214 is driven to rotate through the steering synchronous belt 3213, the vertical synchronous wheel 3217 synchronously rotates along with the rotation, and the bucket 31 is driven to move along the extending direction of the vertical guide rail 3211 through the vertical synchronous belt 3216.

The synchronous transmission assembly 323 has a synchronous rotation shaft 3231, the synchronous rotation shaft 3231 is connected to a driving gear at an output end of the horizontal driving motor 325 through a synchronous belt, and both ends of the synchronous rotation shaft 3231 are respectively connected to synchronous wheels of the two horizontal transmission assemblies 322, so that the horizontal driving motor 325 drives the synchronous rotation shaft 3231 to rotate, drives the horizontal synchronous belts of the two horizontal transmission assemblies 322 to synchronously move, further drives the vertical transmission assembly 321 fixed on the horizontal synchronous belt to horizontally move, and further drives the bucket 31 to horizontally move.

In addition, the vertical driving motor 324 and the horizontal driving motor 325 both include pulse output units, that is, include hall sensors, and each time the motor rotates for one revolution, the pulse output unit generates 6 pulses, and according to the reduction ratio of the motor, the Zhou Mai pulses of one revolution of the motor can be obtained, and further according to Zhou Mai pulses, the circumferential movement distance of the motor that can drive the bucket 31 (that is, drive the positioning sensor 331) to move can be determined, so that the distance of the bucket 31 between two adjacent pulses can be obtained, and for convenience of description, the distance is referred to as displacement precision. In this embodiment, the circumferential movement distance of the vertical driving motor 324 and the horizontal driving motor 325 rotating for one circle is 96mm, and the reduction ratio is 15:1, i.e. 90 pulses per revolution, the perimeter-to-pulse ratio is about 1.066mm, i.e. the displacement accuracy is about 1.066mm.

As shown in fig. 7, a positioning sensor 331 is further disposed below one side of the bucket 31, and is configured to sense the positioning hole 4221, thereby identifying each lane 44. In this embodiment, the positioning sensor 331 is an infrared sensor, and the model number is KR864, and the sensing range is 7mm-11mm, that is, if there is shielding in the range of 7mm-11mm, the positioning sensor 331 senses shielding and outputs 1 (i.e. high level), if there is no shielding in the range, the positioning sensor 331 outputs 0 (i.e. low level), so that each positioning hole 4221 can be sensed. Specifically, the high level of the positioning sensor 331 is received twice within a predetermined time range by a software algorithm, that is, it is determined that one positioning hole 4221 is sensed.

As shown in fig. 2 and 3, the laminate 41 is provided with a plurality of clamping holes 411 for clamping and fixing the partition mechanism 42, since the front end plate 422 extends further toward the cabinet door 21 along the front end of the partition body 421, and the positioning sensor 331 can only move along the X-axis direction and the Y-axis direction in fig. 1, the distance between the positioning sensor 331 and the clamping holes 411 is far greater than 11mm, and false sensing cannot occur. In fig. 1, the X-axis direction, i.e., the longitudinal direction of each laminate 41, and the Y-axis direction, i.e., the vertical direction.

In addition, the push plate driving gear 424 extends from the front end of the partition board body 421 towards the direction of the cabinet door 21, so that the positioning sensor 331 can sense the push plate driving gear 424, but the size of teeth and gaps of the push plate driving gear 424 is obviously different from that of the positioning hole 4221, and the push plate driving gear 424 is narrower along the X direction, so that the situation sensed by the push plate driving gear 424 can be filtered and removed conveniently through a software algorithm.

Fig. 10 is an enlarged view of the inner portion of the frame a in fig. 2.

As shown in fig. 10, the positioning hole 4221 on the front end plate 422 and the detent hole 411 on the laminate 41 are located at different heights in the vertical direction, and the size of the positioning hole 4221 and the size of the detent hole 411 also have a large difference, so that the situation of false sensing is further avoided.

Fig. 10 is a schematic structural view of the cooperation of the bucket and the partition mechanism in this embodiment.

As shown in fig. 10, the pickup bucket 31 further includes a pickup gear set 3101, a gear set driving motor 3102 connected to the pickup gear set 3101, an elastic member 3103 connected to the gear set driving motor 3102, and a photoelectric switch 332.

When the bucket 31 is moved to the front end of the corresponding lane 44 by the bucket drive mechanism 32, the pick gear set 321 in the bucket 31 engages the push plate drive gear 424 in the diaphragm mechanism 42. At this time, the gear train driving motor 3102 drives the pick-up gear train 3101 to rotate, and drives the push plate driving gear 424 to synchronously rotate, so as to further drive the push plate synchronous belt 425 to synchronously move, and further drive the push plate 423 to move along the extending direction of the cargo path 44. When the push plate 423 moves to the front end of the lane 44, the load is pushed into the pick box 31. Meanwhile, when the pick gear set 3101 rotates, the photoelectric switch 332 can measure the speed of the pick gear set 321. When the goods taking hopper 31 takes the goods and leaves the goods channel 44, the elastic piece 3103 can reset the goods taking gear set 321.

Fig. 11 is a block diagram of a pick-and-place device in this embodiment.

As shown in fig. 11, the pickup positioning apparatus 30 further includes a movement control unit 341, a pickup control unit 342, a self-learning track storage unit 343, a lane identification code acquisition unit 344, a lane position acquisition unit 345, a lane size acquisition unit 346, a lane information storage unit 347, and a total control unit 348.

The movement control unit 341 controls the horizontal drive motor 325 and the vertical drive motor 324 based on the inputted position information, and thereby drives the bucket 31 to move.

The pickup control section 342 is for controlling the gear train driving motor 3102 so as to pick up the corresponding cargo in the cargo lane 44.

The self-learning track storage unit 343 stores a predetermined movement track, and the movement control unit 341 can drive the bucket 31 to move according to the movement track, and drive the positioning sensor 331 to move along the track, thereby performing self-learning of each lane position. Specifically, the first predetermined distance is moved along the Y axis from the predetermined origin position to perform layer recognition, and the second predetermined distance is moved along the X axis to perform column recognition after moving to each layer in the vertical direction, thereby obtaining the X axis and Y bearing coordinates of each lane 44 as the position information thereof. Wherein the first predetermined distance corresponds to the total height of the plurality of layers 40 and the second predetermined distance corresponds to the width of the layers 40, in this embodiment, the first predetermined distance is set to 1090 pulses and the second predetermined distance is set to 950 pulses.

In this embodiment, the predetermined origin position is set to a position corresponding to the positioning hole 4221 of the first lane 44 on the right of the first floor below, that is, a position shown in B1 in fig. 1, where two travel switches (not shown) are mounted, corresponding to the X axis and the Y axis, respectively, and it can be known whether the bucket 31 reaches the predetermined origin position in the X axis direction or in the Y axis direction by sensing of the corresponding travel switches.

The lane identification code obtaining part 344 is configured to generate a lane identification code of each lane 44 during self-learning, and when the positioning sensor 331 senses the positioning hole 4221 and performs layer identification along the track, the lane identification code obtaining part 63 counts once to obtain a layer identification code of each layer, and when the positioning sensor 331 senses the positioning hole 4221 and performs row identification along the track, the lane identification code obtaining part 63 counts once to obtain a column identification code of each lane 44, and the layer identification code and the column identification code are combined to obtain a lane identification code of one lane 44.

The lane position acquiring unit 345 acquires the position information of each lane 44 during the self-learning process. When the positioning sensor 331 senses the positioning hole 4221 while the bucket 31 moves along the trajectory, the lane position acquisition unit 345 acquires the number of pulses output from the pulse output units of the two driving motors at this time as the X-axis and Y-axis coordinates of one lane 44 with respect to the origin position, that is, the position information of the lane 44, and stores the lane identification code in the lane information table in correspondence with the position information.

The lane size acquisition unit 346 is configured to calculate size information of each lane 44, including the width and height (i.e., the distance between the two deck boards 41) of the lane 44, based on the position information acquired by the lane position acquisition unit 345. For example, lane identification HD01-01, representing the first lane of the first row, corresponds to Y-axis coordinate 0, and HD02-01, representing the first lane of the second row, corresponds to Y-axis coordinate 180, the distance between two layers 40 is calculated to be 180 pulses, i.e., about 192mm. Calculation of the width of the freight channel can be analogized in sequence and will not be repeated.

The lane information storage 347 is configured to store a lane information table.

Table 1 goods way information table

As shown in table 1, the lane information table stores lane identification codes, lane position information, and lane size information of each lane 44, the lane identification codes HD01-01 representing the first lane of the first layer from the origin position in the current cabinet, the lane position information including X-axis coordinates and Y-axis coordinates in terms of pulse number, and the lane size information including height and width of the lane in terms of mm.

The main control unit 348 performs coordinated control of the operations of the above-described units.

Fig. 12 is a flowchart of the course self-learning operation in the present embodiment.

As shown in fig. 12, based on the above-mentioned intelligent micro-super sales counter 10, in this embodiment, after the width of the goods lanes 44 and/or the distance between the laminate plates 41 are adjusted, the process of self-learning the goods lanes is started through the interactive display screen 23, and the workflow of self-learning the position information and the size information of each goods lane 44 by the goods fetching positioning device 30 specifically includes the following steps:

step S1, moving the goods taking bucket 31 to a preset origin position;

step S2, moving the goods taking bucket 31 to 950 pulses along the X-axis direction;

step S3, moving the goods taking hopper 31 to 1090 pulse positions along the Y-axis direction, and acquiring the pulse number output by the vertical driving motor 324 at the moment when sensing the positioning holes 4221 each time, so as to obtain the position information of N goods placing layers 40;

step S4, moving the goods taking bucket 31 to a preset origin position;

step S4a, setting k=1, i.e. designating the first layer 40;

step S5, moving the goods taking hopper 31 to the height of the kth goods placing layer 40 along the Y-axis direction;

step S6, moving the bucket 31 to 950 pulses along the X-axis direction, and acquiring the pulse number output by the horizontal driving motor 325 at the moment when sensing the positioning hole 4221 each time, so as to obtain the position information of M cargo lanes 44 of the layer;

step S7, moving the goods taking bucket 31 back to the origin of the X axis along the X axis direction;

step S8, determining whether k=n, that is, whether all the layers 40 have completed self-learning, entering step S8a when no, and entering an end state when yes;

in step S8a, k=k+1 is set, i.e. the next layer 40 is designated.

After the completion of the self-learning, the pick-up positioning device 30 stores the position information of all the lanes 44 in the lane information table thereof, further calculates the height and width of each lane 44 according to the position information of each lane 44, and also stores the height and width in the lane information table. Then, when the customer completes the purchase and needs to take the goods, the goods taking positioning device 30 moves the goods taking bucket 31 to the corresponding goods way 44 according to the position information stored in the goods way information table to take the goods.

In addition, in the present embodiment, the intelligent micro-super sales counter 10 further stores the cargo identification codes and the cargo sizes of various cargoes, so that after the self-learning is completed, the kinds of the cargoes that each cargo lane 44 should be placed can be indicated to the operator through the interactive display screen 23 according to the cargo lane sizes and the cargo sizes of each cargo lane 44.

Example operation and Effect

According to the goods taking and positioning device and the intelligent micro-super sales counter adopting the same, the intelligent micro-super sales counter comprises positioning pieces (namely front end plates of baffle mechanisms) provided with positioning holes and arranged at the goods ports of all goods channels, movable positioning inductors, a plurality of motors driving the positioning inductors to move along a plurality of different directions, a movement control part and a goods channel position acquisition part, therefore, the positioning inductors can move to all the goods channels along a preset track under the control of the movement control part and sense and identify the positioning holes, thereby identifying the goods ports of all the goods channels, and as a plurality of motors comprise pulse output units, the pulse numbers of the positioning inductors in all directions can be obtained, so that corresponding displacement amounts are obtained, and when one positioning hole is identified, the corresponding displacement in all directions is obtained, so that the position information of the corresponding positioning hole is obtained, namely the position information of all the goods channels can be obtained. As described above, the goods taking and positioning device can automatically acquire the position information of each goods channel in the sales counter, achieves the effects of self-learning and self-adaption, does not need to be set and adjusted manually after changing the arrangement of the goods channels, saves a great deal of manpower and time, and can avoid mistakes caused by manual modes.

In the embodiment, after changing the goods way setting, the person of going up can start the goods way self-learning process through interactive display screen, get goods positioner drive and get the goods fill and remove along vertical direction earlier and carry out layer discernment, after discernment each put goods layer, remove in proper order and carry out the line discernment to every put goods layer along the length direction removal of putting goods layer, thereby discern each goods way, through the goods way identification code of count generation each goods way, and obtain the position information of each goods way through the pulse number that obtains two driving motor, thereby accomplish the self-learning process of goods way, further, still calculate the size of each goods way according to position information, and can instruct the position that each goods should be placed to the person of going up according to goods way size and the size of prestored goods, thereby further saved the time of going up the person.

The above examples are only for illustrating the specific embodiments of the present invention, and the present invention is not limited to the description scope of the above examples.

In the above-described embodiments, the arrangement of each of the stock levels is the same, and in the alternative, the number of lanes on each stock level and the width of the lanes may also be arranged differently.

In the above embodiment, the plurality of cargo lanes extend in the same horizontal direction, and the cargo gate openings of the plurality of cargo lanes are all located on a uniform vertical plane, in the alternative, the plurality of cargo lanes may also extend in other same directions, and the plurality of cargo gate openings are located on a uniform plane, which may be a horizontal, vertical or inclined plane, and accordingly, two motors are configured to drive the positioning sensor to move along the plane, so that the technical effect of the present invention can also be achieved.

Claims (9)

1. A pick-up location device disposed in an intelligent micro-super sales counter having a plurality of lanes, comprising:

the positioning pieces are respectively arranged at the goods passage openings of the goods passages, and each positioning piece is provided with a positioning hole;

the positioning sensor is used for sensing the positioning hole;

a plurality of motors for driving the positioning sensor to move in a plurality of directions, respectively, each motor including a pulse output unit for outputting a corresponding pulse when the motor rotates;

a movement control part for controlling the motor so as to drive the positioning sensor to move along a predetermined track; and

and the goods channel position acquisition part is used for acquiring the pulse number output by each pulse output unit when the positioning sensor senses the positioning hole, so that the position information of each positioning hole is obtained and used as the position information of the goods channel.

2. The pick-and-place device of claim 1, wherein:

wherein the lane position acquisition unit calculates the displacement of the positioning sensor in each direction based on a predetermined displacement accuracy and the number of pulses output from the pulse output unit,

the displacement accuracy is the distance that the positioning sensor moves between two adjacent pulses.

3. The pick-and-place device of claim 1, wherein:

wherein the displacement accuracy is obtained according to Zhou Mai impulse generated by one rotation of the motor and the circumferential movement distance which can drive the positioning sensor to move by one rotation,

the cycle number is obtained according to the reduction ratio of the motor.

4. The pick-and-place device of claim 1, wherein:

wherein a plurality of the goods crossing are positioned on a unified plane,

the number of the motors is two, the motors are respectively used for driving the positioning sensor to move along a first direction and a second direction which are mutually perpendicular,

the first direction and the second direction are both parallel to the plane.

5. The pick-and-place device of claim 4, wherein:

wherein a plurality of laminates extending along the horizontal direction are arranged in the intelligent micro-super sales counter, a plurality of baffle mechanisms are arranged on each laminate, the laminates are separated to form a plurality of goods passages, the positioning piece is arranged on the baffle mechanisms,

the first direction is the length direction of the laminate,

the second direction is a vertical direction.

6. The pick-and-place device of claim 5, further comprising:

a lane size acquiring unit for calculating a width and a height of each lane based on the position information acquired by the lane position acquiring unit,

wherein the position information includes X-axis coordinates and Y-axis coordinates, respectively representing positions of the lane in the first direction and the second direction,

calculating the width of the goods channel between the two positioning holes according to the X-axis coordinates of the two adjacent positioning holes along the first direction,

and calculating the height of the goods channel between the two positioning holes according to the Y-axis coordinates of the two adjacent positioning holes along the second direction.

7. The pick-and-place device of claim 1, wherein:

wherein, the location inductor is infrared inductor.

8. The pick-and-place device of claim 1, wherein:

the pulse output unit is a Hall sensor.

9. An intelligent micro-super sales counter, comprising:

the goods shelves are used for placing goods to be sold; and

the goods taking and positioning device is at least used for positioning each goods channel,

wherein the pick-up location device is a pick-up location device according to any one of claims 1-9.