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CN-121999556-A - Dongaowu vending car and control system thereof

CN121999556ACN 121999556 ACN121999556 ACN 121999556ACN-121999556-A

Abstract

The invention relates to the technical field of intelligent service and automatic control, and discloses a Dongaoning unmanned vending vehicle and a control system thereof. The moving device is provided with a first driving motor and a second driving motor in a rigid fixed connection mode, so that a low-attenuation mechanical vibration transmission path is constructed. The sensor time-sharing multiplexing control module maps the signals of the multiplexing type touch assembly into collision braking instructions or shipment starting instructions according to global state variables. The cooperative anti-jamming material recovery module controls the first driving motor and the second driving motor to execute high-frequency positive and negative rotation pulse actions when delivery is jammed, and the alternating inertia moment is utilized to assist in getting rid of poverty. The load self-adaptive cruising module dynamically adjusts the basic cruising power according to the stock quantity change. The invention solves the problem of material clamping faults by utilizing the power of the mobile device, realizes hardware multiplexing and effectively prevents the ice and snow road surface from skidding.

Inventors

  • HE YI
  • Mo Haoxin
  • ZHOU HUARONG

Assignees

  • 广州市何毅空宙科技有限公司

Dates

Publication Date
20260508
Application Date
20260120

Claims (10)

  1. 1. The winter-austenite unmanned vending vehicle is characterized by comprising a moving device (1), wherein the moving device (1) comprises a vehicle frame (11), a commodity storage and vending device (2) is arranged at the top of the vehicle frame (11), a sensor interaction module (3) is arranged at the outer side of the vehicle frame (11), and a central controller (4) is fixedly connected to the top of the vehicle frame (11); The commodity storage and vending device (2) comprises a constant temperature storage box (23) fixedly connected to the top of a frame (11), a delivery motor (21) is arranged above the frame (11), a delivery mechanism (24) is arranged at the bottom of the constant temperature storage box (23), the output end of the delivery motor (21) is connected with the delivery mechanism (24), delivery monitoring modules (22) are fixedly connected to two sides of the delivery mechanism (24), and a delivery outlet (25) is formed in the top of the frame (11); The sensor interaction module (3) comprises a multiplexing type touch assembly (31) arranged at the forefront end of the frame (11) and a payment detection sensor (32) arranged at the outer side of the frame (11), a first driving motor (12) and a second driving motor (13) are fixedly connected inside the frame (11) respectively, and the output ends of the first driving motor (12) and the second driving motor (13) are fixedly connected with a left walking wheel set (14) and a right walking wheel set (15) respectively.
  2. 2. The Don't sell vehicle according to claim 1, wherein the multiplexing type touch assembly (31) comprises a physical striking plate (311) arranged at the forefront position of the frame (11), the forefront position of the frame (11) is fixedly connected with a linear guide mechanism (312), a return spring (313) is arranged in the linear guide mechanism (312), and the forefront position of the frame (11) is fixedly connected with a touch switch sensor (314).
  3. 3. The Don't-you-go vending machine as claimed in claim 2, wherein the payment detection sensor (32) is a visual identification camera or a near field communication reader, two sides of the physical impact plate (311) are slidably connected inside a linear guide mechanism (312), one end of the return spring (313) is fixedly connected to an inner wall surface of the linear guide mechanism (312), and the other end of the return spring (313) is fixedly connected to a side surface of the physical impact plate (311) close to the frame (11); The central controller (4) is respectively and electrically connected with the first driving motor (12), the second driving motor (13), the shipment motor (21), the shipment monitoring module (22) and the touch switch sensor (314).
  4. 4. A control system for a Don't-your own vending vehicle for carrying out any one of claims 1-3, comprising: The state machine management module is used for receiving a payment state signal generated by the payment detection sensor (32) when the payment credential characteristics are captured, updating and outputting a global state variable according to the payment state signal, wherein the global state variable is used for defining that the Dongao unmanned vending vehicle is in a cruising mode or a vending mode; The sensor time-sharing multiplexing control module is used for synchronously reading the global state variable and a touch state signal generated by a touch switch sensor (314) in each clock period and generating a collision braking instruction or a shipment starting instruction according to the current value of the global state variable; The power execution driving module is used for receiving a collision braking instruction or a shipment starting instruction from the sensor time-sharing multiplexing control module and sending a voltage control instruction to the first driving motor (12), the second driving motor (13) or the shipment motor (21); The cooperative anti-jamming recovery module is used for continuously sampling blanking feedback signals output by the shipment monitoring module (22) when passing of a physical object is detected in a timing process, and sending synchronous control instructions to the first driving motor (12) and the second driving motor (13) when jamming faults are judged to occur, so that the first driving motor 12 and the second driving motor 13 are controlled to perform rapid forward rotation and reverse rotation switching in situ; The load self-adaptive cruising module is used for updating an inventory quantity counting variable according to the blanking feedback signal, calculating the current total physical mass according to the inventory quantity counting variable, generating a target cruising power value according to the current total physical mass and sending the target cruising power value to the power execution driving module.
  5. 5. The control system of the Dongaoning vending machine of claim 4, the state machine management module is characterized by comprising: When the payment detection sensor (32) generates the payment state signal, the state machine management module forcibly sets the global state variable to a numerical value defining a vending mode, so that the Dongao unmanned vending vehicle is one-way jumped from the cruising mode to the vending mode, and the vending mode is maintained until a vending process is finished; after the vending process is completed, the state machine management module resets the global state variable to a value defining the cruise mode.
  6. 6. The control system of the Dongaoning unmanned vending vehicle of claim 4, wherein the sensor time-sharing multiplexing control module is provided with an anti-collision obstacle avoidance logic channel and an interactive confirmation logic channel; When the global state variable is defined to be in a cruising mode, the sensor time-sharing multiplexing control module activates the anti-collision obstacle avoidance logic channel, defines the touch state signal as a physical collision alarm, generates the collision braking instruction and sends the collision braking instruction to the power execution driving module, and the power execution driving module drives the first driving motor (12) and the second driving motor (13) to execute emergency braking and reverse rotation actions; When the global state variable is defined as a selling mode, the sensor time-sharing multiplexing control module activates the interactive confirmation logic channel, the touch state signal is defined as a user purchase confirmation instruction, the shipment start instruction is generated and sent to the power execution driving module, and the power execution driving module drives the shipment motor (21) to execute commodity dropping actions.
  7. 7. The control system of claim 4, wherein the cooperative anti-jamming recovery module comprises: when the current timing value of the hardware timer exceeds a shipment timeout threshold and the blanking feedback signal output by the shipment monitoring module (22) indicates that the object is not detected to pass, the cooperative anti-jamming recovery module judges that jamming fault occurs and activates a vibration recovery subprogram; The vibration recovery subprogram is used for sending the synchronous control instruction to the power execution driving module, driving the first driving motor (12) and the second driving motor (13) to execute forward rotation and reverse rotation switching, generating alternating inertia moment and transmitting the alternating inertia moment to the constant-temperature storage box (23); the shipment timeout threshold is a normal upper time limit required for goods from the start of shipment to the successful drop.
  8. 8. The control system of a Dongaone vending machine of claim 7, wherein the cooperative anti-seize material recovery module again queries the blanking feedback signal of the shipment monitoring module (22) in the gap of executing the shock recovery subroutine; if the commodity is detected to drop, the cooperative anti-jamming material recovery module terminates the vibration recovery subroutine and marks that the transaction is successful; And if the preset maximum retry times are reached and the commodity is not dropped, stopping the first driving motor (12) and the second driving motor (13) by the cooperative anti-jamming recovery module and marking equipment faults.
  9. 9. The control system of an Dongaoning unmanned vending vehicle of claim 4, wherein the load adaptive cruise module pre-stores an empty load quality parameter and a standard quality parameter for a single commodity; when receiving the blanking feedback signal, the load self-adaptive cruising module executes a subtracting operation on the stock quantity counting variable, and calculates the current total physical quality in real time according to the updated stock quantity counting variable; the power execution driving module adopts a linear proportion adjustment mechanism to ensure that the output torque of the first driving motor (12) and the output torque of the second driving motor (13) are matched with the current total physical mass.
  10. 10. The control system of claim 4, wherein the load adaptive cruise module calculates the target cruise power value by: As the inventory count variable is gradually decreased, the load adaptive cruise module automatically decreases the value of the target cruise power value sent to the power-take-off drive module, causing the tangential force output by the first drive motor (12) and the second drive motor (13) to decrease.

Description

Dongaowu vending car and control system thereof Technical Field The invention relates to the technical field of intelligent service and automatic control, in particular to a Dongaowu vending car and a control system thereof. Background In cold ice and snow environments such as winter and Otto, the mechanical structure operation stability of unmanned service equipment faces serious challenges. When the existing automatic vending robot works outdoors at low temperature, the internal shipment mechanism or blanking channel is easy to cause mechanical clamping stagnation or freezing faults due to ice formation caused by water vapor condensation in the environment. In order to solve mechanical jamming or freezing faults, a special vibration motor or a high-power heating deicing device is additionally arranged in the vending device in the prior art. The special vibration motor or the high-power heating deicing device is additionally added, so that the hardware cost and the energy consumption of the unmanned vending vehicle are increased, and the compact internal storage space is occupied. In terms of man-machine interaction and environment perception, the existing unmanned vending vehicle adopts an independent hardware architecture to realize an obstacle avoidance function and an interaction confirmation function. Specifically, the prior art has installed an ultrasonic radar or a bumper for detecting obstacles at the periphery of a vehicle body, and additionally installed a separate physical button or touch screen for receiving a purchase confirmation instruction of a user at the surface of the vehicle body. The anti-collision detection hardware and the interactive input hardware are respectively and independently arranged, so that the complexity of the sensor system is improved, the number of connecting nodes of the wire harness is increased, and the overall reliability of the system is reduced. If the underlying logic interlocking mechanism is lacking, the accidental collision of the vehicle during running can be wrongly analyzed as the operation of the user, or the user is wrongly judged as the collision of the obstacle by the system when the confirmation button is operated, so that the emergency braking of the vehicle is caused, and the control logic is disordered. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a Dongaoning unmanned vending vehicle and a control system thereof, which solve the problems of hardware redundancy caused by independently setting an anti-collision sensor and an interactive confirmation button and confliction and conflict of control logic in a cruising mode and a vending mode. In order to achieve the above purpose, the invention is realized by the following technical scheme: The invention provides a winter-austenite-based unmanned vending vehicle, which comprises a moving device, wherein the moving device comprises a vehicle frame, the top of the vehicle frame is provided with a commodity storage and vending device, the outer side of the vehicle frame is provided with a sensor interaction module, and the top of the vehicle frame is fixedly connected with a central controller. The commodity storage and selling device comprises a constant temperature storage box fixedly connected to the top of the frame, a shipment motor is arranged above the frame, a shipment mechanism is arranged at the bottom of the constant temperature storage box, shipment monitoring modules are fixedly connected to two sides of the shipment mechanism, and a shipment taking port is formed in the top of the frame. The sensor interaction module comprises a multiplexing touch assembly arranged at the forefront end of the frame and a payment detection sensor arranged at the outer side of the frame, wherein a first driving motor and a second driving motor are fixedly connected inside the frame respectively, and the output ends of the first driving motor and the second driving motor are fixedly connected with a left walking wheel set and a right walking wheel set respectively. The multiplexing touch assembly comprises a physical impact plate arranged at the forefront position of the frame, a linear guide mechanism is fixedly connected at the forefront position of the frame relatively, a return spring is arranged in the linear guide mechanism, and a touch switch sensor is fixedly connected at the forefront position of the frame. The physical impact plate is limited by the linear guide mechanism to generate relative displacement along the longitudinal axis of the Dongaoning vending machine. The return spring supports the physical strike plate such that the physical strike plate maintains a physical gap with the touch switch sensor in an unstressed state. The multiplexing touch assembly responds to the obstacle impact pressure in the running process of the winter-austenite vending vehicle through a single physical structure, and the user presses the operation force in the static state