CN107032036A - Control the method and automatic vending warehouse in automatic vending warehouse - Google Patents

Abstract

The invention relates to a method for controlling an automatic vending warehouse and the automatic vending warehouse. It is used for controlling an automatic vending warehouse with multiple rows of shelves, which increases the types of placed items and facilitates picking up goods from the multiple rows of shelves. The method includes: receiving an input selection instruction for an item; acquiring the position information of the item; sending the position information to the manipulator so that the manipulator moves to a position corresponding to the position information; when the manipulator moves to the When the position information corresponds to the position, a fetching instruction is sent to the manipulator, so that the manipulator picks up the item.

Description

Method for controlling automatic vending warehouse and automatic vending warehouse

technical field

The invention relates to the field of automation, in particular to a method for controlling an automatic vending warehouse and the automatic vending warehouse.

Background technique

With the improvement of social automation, some daily behaviors in people's daily life are being replaced by electronics and mechanical equipment, such as automatic vending warehouses. When people buy the items they need, they don't need to go to the store or supermarket to communicate face-to-face with the salesperson. They can directly select the items they need on the automatic vending warehouse, and get all the items they need by swiping cards, inserting coins, and transferring money. It reduces the manpower required for sales, improves the efficiency of sales, and makes it convenient for users to obtain the required items.

At present, the existing automatic vending warehouse is equipped with a display window facing the delivery port. There is only a row of containers in the automatic vending warehouse to place items. Users can press buttons to select items in the display window according to their needs. After the baffle is lowered, the items will naturally slide down and fall out of the delivery port.

The inventor found the following problems in the prior art: there is only one row of containers for storing items, which reduces the types of items for sale and cannot meet the needs of more users.

Contents of the invention

In order to overcome the problems in the related technologies, the present invention provides a method for controlling an automatic vending warehouse and the automatic vending warehouse. It is used to control a kind of automatic vending warehouse with multiple rows of shelves, which increases the types of placed items and facilitates picking up goods from multiple rows of shelves.

According to a first aspect of an embodiment of the present invention, a method for controlling an automatic vending warehouse is provided, including:

receiving an input selection instruction for an item;

obtain location information of the item;

Send the position information to the manipulator, so that the manipulator moves to the position corresponding to the position information;

When the manipulator moves to a position corresponding to the position information, a picking instruction is sent to the manipulator, so that the manipulator picks up the item.

By installing the manipulator in the automatic sales warehouse and sending the position information of the items to be picked up to the manipulator, the manipulator picks up the required items according to the position information of the items, realizing the purpose of automatically selling items to users in multi-row shelves , increasing the types of items placed in the multi-row shelves to meet the needs of users to select the items they need.

The method also includes:

According to the location information, determine the shelf where the item is located;

When the shelf is a preset shelf, a first moving instruction is sent to the movable shelf, so that the movable shelf moves to a designated position.

By sending movement instructions to the movable shelf, the movable shelf can be moved, so that items can be stored in places that are not frequently used on the shelf, and when necessary, the shelf can be moved to pick up the items, thereby further increasing the variety of placed items , to further meet the needs of users to select desired items.

The method also includes:

When starting the automatic vending warehouse, obtain the current position information of the shelf;

judging whether the shelf is located at the initial position of the shelf according to the current position information of the shelf;

When the rack is not at the initial position of the rack, a first reset command is sent to the rack to move the rack to the initial position of the rack.

When starting the automatic vending warehouse, judge whether the current position of the shelf is the initial position, if the current position is not the initial position, then send the first reset command to the shelf to move the shelf to the initial position. When the shelf is at the initial position, it is convenient for the automatic sales warehouse to move the shelf from the initial position to when the user selects the item, so that the manipulator can take the item from the corresponding shelf.

The method also includes:

When starting the automatic vending warehouse, obtain the position information of the manipulator;

According to the position information of the manipulator, it is judged whether the position information of the manipulator is at the initial position of the shelf;

When the manipulator is not at the initial position of the manipulator, a second reset command is sent to the manipulator to move the manipulator to the initial position of the manipulator.

When starting the automatic vending warehouse, judge whether the current position of the manipulator is the initial position, if the current position is not the initial position, then send the second reset command to the manipulator to make the manipulator move to the initial position. When the manipulator is at the initial position, it is convenient for the manipulator to move from the initial position to the position where the user selects the item, and it is convenient for the manipulator to pick up the item.

After the manipulator takes the item, the method further includes:

sending a second movement instruction to the manipulator, so that the manipulator moves to a preset position;

When the manipulator moves to a preset position, send a shipping instruction to the outlet to open the outlet;

sending a forward instruction to the manipulator, so that the manipulator moves out of the delivery port.

After the manipulator picks up the item, the manipulator is moved to the position of the outlet, and the outlet is opened, so that the user can obtain the desired item from the outlet.

The sending the second movement instruction to the manipulator includes:

detecting the current state of the manipulator;

When the current state of the manipulator is the state of absorbing objects, a second movement instruction is sent to the manipulator.

When sending the second movement command to the manipulator, it is necessary to detect whether the manipulator has adsorbed the item, if it has attracted the item, then send the second movement command to the manipulator, and if it has not attracted the item, then re-absorb the item. Detect whether the manipulator has absorbed the item, and improve the accuracy of the manipulator to pick up the item for the user.

The sending forward instruction to the manipulator includes:

Receive the shipping receipt sent by the shipping port;

When the delivery receipt sent by the delivery port is received, a forward instruction is sent to the manipulator.

When the outlet is opened, the outlet will send a delivery receipt, indicating that the current status of the outlet is open, and the item can be moved out of the automatic sales warehouse. At this time, a forward command is sent to the manipulator to send the item out of the outlet automatically. Sales warehouse. The delivery receipt reduces the probability of moving the manipulator due to the unopened delivery port, and further meets the user's needs for the automatic sales warehouse.

The method also includes:

When the manipulator moves outside the delivery port, send a release instruction to the manipulator, so that the manipulator releases the item;

Send a third reset command to the manipulator, so that the manipulator moves to the initial position;

Send a closing command to the outlet to close the outlet.

The release command makes the manipulator release the items, and the reset command makes the manipulator move to the initial position, which is convenient for the manipulator to operate next time. The export port executes the closing command, closes the export port, keeps the automatic vending warehouse airtight, and protects the safety of the sold items.

According to the second aspect of the embodiments of the present invention, there is provided an automatic vending warehouse, including: a host, a cabinet, a shelf, and a manipulator;

The host is installed in the cabinet;

The manipulator is installed on one side of the cabinet;

The manipulator is used to pick up the selected commodity;

The shelves are installed side by side in front and back on the side where the manipulator is not installed in the cabinet;

The host includes: a receiving module, an acquiring module, a first sending module and a second sending module,

A receiving module, configured to receive an input selection instruction for an item;

A first acquisition module, configured to acquire the location information of the item;

The first sending module is configured to send the position information to the manipulator, so that the manipulator moves to a position corresponding to the position information;

The second sending module is configured to send a picking instruction to the manipulator when the manipulator moves to a position corresponding to the position information, so that the manipulator picks up the item.

The host also includes:

A determining module, configured to determine the shelf where the item is located according to the location information;

The third sending module is configured to send a first moving instruction to the movable shelf when the shelf is a preset shelf, so that the movable shelf moves to a designated position.

The host also includes:

The second acquiring module is used to acquire the current position information of the shelf when starting the automatic vending warehouse;

A first judgment module, configured to judge whether the shelf is located at the initial position of the shelf according to the current position information of the shelf;

The fourth sending module is configured to send a first reset instruction to the shelf when the shelf is not at the initial position of the shelf, so that the shelf moves to the initial position of the shelf.

The host also includes:

The third obtaining module is used to obtain the position information of the manipulator when starting the automatic vending warehouse;

The second judging module is used to judge whether the position information of the manipulator is at the initial position of the shelf according to the position information of the manipulator;

The fifth sending module is configured to send a second reset instruction to the manipulator when the manipulator is not at the initial position of the manipulator, so that the manipulator moves to the initial position of the manipulator.

The host also includes:

A sixth sending module, configured to send a second movement instruction to the manipulator after the manipulator has picked up the item, so that the manipulator moves to a preset position;

The seventh sending module is used to send a shipping instruction to the delivery port to open the delivery port when the manipulator moves to a preset position;

The eighth sending module is configured to send a forward instruction to the manipulator, so that the manipulator moves out of the delivery port.

The sixth sending module includes:

A detection submodule is used to detect the current state of the manipulator;

The first sending sub-module is configured to send a second movement instruction to the manipulator when the current state of the manipulator is the state of absorbing objects.

The eighth sending module includes:

The receiving sub-module is used to receive the shipping receipt sent by the shipping port;

Second, when receiving the delivery receipt sent by the delivery port, send a forward instruction to the manipulator.

The host also includes:

A ninth sending module, configured to send a release instruction to the manipulator when the manipulator moves outside the delivery port, so that the manipulator releases the item;

The tenth sending module is used to send a third reset instruction to the manipulator, so that the manipulator moves to the initial position;

The eleventh sending module is configured to send a closing instruction to the outlet to close the outlet.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a flowchart showing a method for controlling an automatic vending warehouse according to an exemplary embodiment.

Fig. 2 is a flowchart showing a method for controlling an automatic vending warehouse according to an exemplary embodiment.

Fig. 3 is a structural diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 4 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 5 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 6 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 7 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 8 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

Fig. 9 is a block diagram of a sixth sending module in an automatic vending warehouse according to an exemplary embodiment.

Fig. 10 is a block diagram of an eighth sending module in an automatic vending warehouse according to an exemplary embodiment.

Fig. 11 is a block diagram of an automatic vending warehouse according to an exemplary embodiment.

detailed description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

Fig. 1 is a flow chart of a method for controlling an automatic vending warehouse according to an exemplary embodiment. As shown in Fig. 1 , it includes the following steps:

In step 101, an input selection instruction for an item is received;

In step 102, the location information of the item is acquired.

In step 103, the position information is sent to the manipulator, so that the manipulator moves to a position corresponding to the position information.

In step 104, when the manipulator moves to the position corresponding to the position information, a picking instruction is sent to the manipulator, so that the manipulator picks up the item.

An embodiment of the present invention provides a method for controlling an automatic vending warehouse. By installing the manipulator in the automatic sales warehouse and sending the position information of the items to be picked up to the manipulator, the manipulator picks up the required items according to the position information of the items, realizing the purpose of automatically selling items to users in multi-row shelves , increasing the types of items placed in the multi-row shelves to meet the needs of users to select the items they need.

The method also includes:

According to the location information, determine the shelf where the item is located;

When the shelf is a preset shelf, a first moving instruction is sent to the movable shelf, so that the movable shelf moves to a designated position.

By sending movement instructions to the movable shelf, the movable shelf can be moved, so that items can be stored in places that are not frequently used on the shelf, and when necessary, the shelf can be moved to pick up the items, thereby further increasing the variety of placed items , to further meet the needs of users to select desired items.

The method also includes:

When starting the automatic vending warehouse, obtain the current location information of the shelf;

According to the current position information of the shelf, it is judged whether the shelf is in the initial position of the shelf;

When the shelf is not at the initial position of the shelf, a first reset command is sent to the shelf to move the shelf to the initial position of the shelf.

When starting the automatic vending warehouse, judge whether the current position of the shelf is the initial position, if the current position is not the initial position, then send the first reset command to the shelf to move the shelf to the initial position. When the shelf is at the initial position, it is convenient for the automatic sales warehouse to move the shelf from the initial position to when the user selects the item, so that the manipulator can take the item from the corresponding shelf.

The method also includes:

Obtain the position information of the manipulator when starting the automatic vending warehouse;

According to the position information of the manipulator, judge whether the position information of the manipulator is in the initial position of the shelf;

When the manipulator is not at the initial position of the manipulator, a second reset instruction is sent to the manipulator, so that the manipulator moves to the initial position of the manipulator.

When starting the automatic vending warehouse, judge whether the current position of the manipulator is the initial position, if the current position is not the initial position, then send the second reset command to the manipulator to make the manipulator move to the initial position. When the manipulator is at the initial position, it is convenient for the manipulator to move from the initial position to the position where the user selects the item, and it is convenient for the manipulator to pick up the item.

After the manipulator picks up the item, the method also includes:

Send a second movement command to the manipulator to move the manipulator to a preset position;

When the manipulator moves to the preset position, it sends a shipping command to the outlet to open the outlet;

Send a forward command to the manipulator to make the manipulator move out of the delivery port.

After the manipulator picks up the item, the manipulator is moved to the position of the outlet, and the outlet is opened, so that the user can obtain the desired item from the outlet.

Send the second movement command to the manipulator, including:

Detect the current state of the manipulator;

When the current state of the manipulator is the state of absorbing objects, a second movement instruction is sent to the manipulator.

When sending the second movement command to the manipulator, it is necessary to detect whether the manipulator has adsorbed the item, if it has attracted the item, then send the second movement command to the manipulator, and if it has not attracted the item, then re-absorb the item. Detect whether the manipulator has absorbed the item, and improve the accuracy of the manipulator to pick up the item for the user.

Send forward commands to the manipulator, including:

Receive the shipping receipt sent by the shipping port;

When the delivery receipt sent by the delivery port is received, a forward instruction is sent to the manipulator.

When the outlet is opened, the outlet will send a delivery receipt, indicating that the current status of the outlet is open, and the item can be moved out of the automatic sales warehouse. At this time, a forward command is sent to the manipulator to send the item out of the outlet automatically. Sales warehouse. The delivery receipt reduces the probability of moving the manipulator due to the unopened delivery port, and further meets the user's needs for the automatic sales warehouse.

The method also includes:

When the manipulator moves out of the delivery port, send a release command to the manipulator to make the manipulator release the item;

Send the third reset command to the manipulator to make the manipulator move to the initial position;

Send a closing command to the outlet to close the outlet.

The release command makes the manipulator release the items, and the reset command makes the manipulator move to the initial position, which is convenient for the manipulator to operate next time. The export port executes the closing command, closes the export port, keeps the automatic vending warehouse airtight, and protects the safety of the sold items.

The following describes a method for controlling an automatic vending warehouse provided by the present invention through specific embodiments.

As shown in Figure 2, the embodiment of the present invention provides a method for controlling an automatic vending warehouse, and the specific steps are as follows:

In step S201, when the automatic vending warehouse is started, the current position information of the shelf is acquired;

In step S202, according to the current position information of the shelf, it is judged whether the shelf is located at the initial position of the shelf;

In step S203, when the rack is not at the initial position of the rack, a first reset command is sent to the rack to move the rack to the initial position of the rack.

In step S204, when the automatic vending warehouse is started, the position information of the manipulator is obtained;

In step S205, according to the position information of the manipulator, it is judged whether the position information of the manipulator is at the initial position of the shelf;

In step S206, when the manipulator is not at the initial position of the manipulator, a second reset instruction is sent to the manipulator, so that the manipulator moves to the initial position of the manipulator.

In step S207, an input selection instruction for an item is received;

In step S208, the location information of the item is obtained;

In step S209, determine the shelf where the item is located according to the location information;

In step S210, when the shelf is a preset shelf, a first movement instruction is sent to the movable shelf, so that the movable shelf moves to a designated position.

In step S211, send the position information to the manipulator, so that the manipulator moves to the position corresponding to the position information;

In step S212, when the manipulator moves to a position corresponding to the position information, a picking instruction is sent to the manipulator, so that the manipulator picks up the item.

In step S213, after the manipulator takes the item, detect the current state of the manipulator;

In step S214, when the current state of the manipulator is the state of absorbing objects, a second movement instruction is sent to the manipulator to move the manipulator to a preset position;

In step S215, when the manipulator moves to a preset position, a shipping instruction is sent to the shipping port to open the shipping port;

In step S216, receive the shipping receipt sent by the shipping port;

In step S217, when the delivery receipt sent by the delivery port is received, a forward instruction is sent to the manipulator; the manipulator is moved out of the delivery port.

In step S218, when the manipulator moves outside the delivery port, a release instruction is sent to the manipulator, so that the manipulator releases the article;

In step S219, a third reset command is sent to the manipulator to move the manipulator to the initial position;

In step S220, a closing command is sent to the delivery port to close the delivery port.

The invention provides a method for controlling an automatic vending warehouse, which uses a mobile manipulator and a container to pick up items on the container, and delivers the items out of the automatic vending warehouse from a delivery port, so as to realize the purpose of automatically vending items to users. And because the shelves can be moved in the automatic vending warehouse, multiple shelves can be set to set items, and the types of items placed in the multi-row shelves are increased to meet the needs of users to select the required items.

Through the above introduction, we understand the implementation process of controlling the automatic vending warehouse. This process is realized by the automatic vending warehouse. The following introduces the internal structure and functions of the automatic vending warehouse.

Fig. 3 is a structural diagram of an automatic vending warehouse according to an exemplary embodiment. Referring to Figure 3, the device includes:

Host, cabinet 301, shelf 302 and manipulator 303;

The host is installed in the cabinet 301;

The manipulator 303 is installed on one side of the cabinet body 301;

Manipulator 303 is used to take selected commodities;

The shelves 302 are installed side by side in front and back in the cabinet body 301 on the side where the manipulator 303 is not installed;

As shown in Figure 4, the host includes: a receiving module 401, an acquiring module 402, a first sending module 403 and a second sending module 404,

A receiving module 401, configured to receive an input selection instruction for an item;

The first obtaining module 402 is used to obtain the location information of the item;

The first sending module 403 is configured to send position information to the manipulator, so that the manipulator moves to a position corresponding to the position information;

The second sending module 404 is configured to send a picking instruction to the manipulator when the manipulator moves to a position corresponding to the position information, so that the manipulator picks up the item.

As shown in Figure 5, the host also includes:

A determining module 501, configured to determine the shelf where the item is located according to the location information;

The third sending module 502 is configured to send a first moving instruction to the movable shelf when the shelf is a preset shelf, so as to move the movable shelf to a designated position.

As shown in Figure 6, the host also includes:

The second acquisition module 601 is used to acquire the current position information of the shelf when starting the automatic vending warehouse;

The first judging module 602 is used to judge whether the shelf is located at the initial position of the shelf according to the current position information of the shelf;

The fourth sending module 603 is configured to send the first reset instruction to the shelf when the shelf is not at the initial position of the shelf, so that the shelf moves to the initial position of the shelf.

As shown in Figure 7, the host also includes:

The third acquisition module 701 is used to acquire the position information of the manipulator when starting the automatic vending warehouse;

The second judging module 702 is used to judge whether the position information of the manipulator is at the initial position of the shelf according to the position information of the manipulator;

The fifth sending module 703 is configured to send a second reset instruction to the manipulator when the manipulator is not at the initial position of the manipulator, so that the manipulator moves to the initial position of the manipulator.

As shown in Figure 8, the host also includes:

The sixth sending module 801 is used to send the second movement instruction to the manipulator after the manipulator picks up the item, so that the manipulator moves to a preset position;

The seventh sending module 802 is used to send a shipping instruction to the shipping port to open the shipping port when the manipulator moves to a preset position;

The eighth sending module 803 is configured to send a forward instruction to the manipulator, so that the manipulator moves out of the delivery port.

As shown in FIG. 9, the sixth sending module 801 includes:

Detection sub-module 901, used to detect the current state of the manipulator;

The first sending sub-module 902 is configured to send a second movement instruction to the manipulator when the current state of the manipulator is the state of absorbing objects.

As shown in Figure 10, the eighth sending module 803 includes:

The receiving sub-module 1001 is used to receive the shipping receipt sent by the shipping port;

The second sending sub-module 1002 is used for sending a forward instruction to the manipulator when receiving the shipping receipt sent by the shipping port.

As shown in Figure 11, the host also includes:

The ninth sending module 1101 is used to send a release instruction to the manipulator when the manipulator moves outside the delivery port, so that the manipulator releases the item;

The tenth sending module 1102 is configured to send a third reset instruction to the manipulator, so that the manipulator moves to the initial position;

The eleventh sending module 1103 is configured to send a closing instruction to the outlet to close the outlet.

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present invention, these modifications, uses or adaptations follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not disclosed in the present invention . The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It should be understood that the present invention is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

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.