CN109559435A - A kind of vision system of intelligence fruit juice vending machine - Google Patents

Abstract

A kind of vision system of intelligence fruit juice vending machine, including cabinet body, control module and robot, robot includes head shell, its ear is provided with for shooting fruit image for ear's vision module of control module detection fruit quality, its front is provided with the display screen for shooting facial image for the head vision module of control module progress Face datection and for showing fruit detection information, control module can carry out Face datection to determine whether that someone needs to buy fruit juice, and control ear's vision module obtains the detection that image carries out fruit quality after people completes payment or purchase.If being come based on present invention someone buys orange juice, come to buy fruit juice by someone known to Face datection, and fruit quality can be detected after completing payment or purchase, by carrying out fruit detection when buying fruit juice, the previous work and cost for reducing supply fruit, substantially increase customer experience and the guarantee to fruit juice material quality.

Description

A kind of vision system of intelligence fruit juice vending machine

Technical field

The present invention relates to juice extractor field more particularly to a kind of vision systems of intelligent fruit juice vending machine.

Background technique

Fruit juice in the market sells the function that equipment almost all does not have detection orange quality, this supplies fruit to machine Previous work increase biggish labor workload and cost.If neglecting the detection of fruit quality, the body of client will affect It tests, or even endangers client health.There is an urgent need to equip upper " eyes " to machine to perceive the environment of surrounding for the development of wisdom retail To make corresponding judgement.

Summary of the invention

The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, a kind of intelligent fruit juice is provided and is sold Sell the vision system of machine.

The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of vision system of intelligent fruit juice vending machine System, including cabinet body, control module and robot, the robot include head shell, the ear of the head shell is provided with For shooting fruit image for ear's vision module of control module detection fruit quality, the front of the head shell It is provided with for shooting facial image so that the control module carries out the head vision module of Face datection and for showing The display screen of fruit detection information, the control module can control head vision module to obtain image and carry out Face datection to determine Whether someone needs to buy fruit juice, and control ear's vision module acquisition image carries out fruit after people completes payment or purchase The detection of quality.

In the vision system of intelligent fruit juice vending machine of the present invention, the control module includes face detection module With fruit detection module；

Wherein, the face detection module utilizes people for controlling head vision module opening camera and reading video Face detection algorithm handles each frame image of video to detect whether face occur；

Wherein, the fruit detection module, which is used to control ear's vision module when detecting face, obtains fruit image, Area-of-interest is set for the fruit image of acquisition, is passed through in advance after carrying out binary conversion treatment to the pixel in area-of-interest The threshold value set come judge fruit quality.

In the vision system of intelligent fruit juice vending machine of the present invention, the head shell includes head dummy shell, inserts Liang Ge ear module, the revolute module at head dummy shell neck for entering ear's installing port on head dummy shell both sides, two At least one of ear's module is as ear's vision module and configured with the camera for detecting fruit quality；

The control module can issue after buyer completes payment or purchase instruction by voice or other orders Instruction turns to specified angle to robot to control head shell, to reach the position that can shine fruit of setting.

In the vision system of intelligent fruit juice vending machine of the present invention, the head dummy shell is by preceding partial shell with after Partial shell is put together, and the preceding partial shell and rear partial shell are symmetrical about split plane, the preceding partial shell peace Equipped with transparent face mask and the head vision module above preceding transparent face mask before one, peace inside the preceding partial shell The display screen for being used to show testing result for being located at preceding transparent face mask rear equipped with one, the rear partial shell and preceding transparent face mask Symmetrical position is equipped with rear cowl, is equipped with Anneta module with the symmetrical position of head vision module.

In the vision system of intelligent fruit juice vending machine of the present invention, the preceding transparent face mask is opened up by lateral location There is at least one location hole, the preceding partial shell is extended with along the direction away from surface to be matched at least one described location hole At least one positioning column, the preceding transparent face mask fastened behind the preceding partial shell so that the location hole insertion correspond to The positioning column until the preceding transparent face mask docked with the seam allowance of the preceding partial shell.

In the vision system of intelligent fruit juice vending machine of the present invention, the display screen is assembled to by being caught in Inside the preceding partial shell.

In the vision system of intelligent fruit juice vending machine of the present invention, the Anneta module includes sealing element and wears If the antenna of the sealing element, the sealing element includes two layers of planar portions and the middle interconnecting piece for connecting two layers of planar portions, institute It states sealing element and also opens up a centre bore for running through two layers of planar portions and middle interconnecting piece, the antenna wears the centre bore.

In the vision system of intelligent fruit juice vending machine of the present invention, installation electricity is reserved in the revolute module The hole location of machine, the revolute module are made of two parts split being separately connected with preceding partial shell and rear partial shell, and The small via hole in a both ends broad in the middle is formed after two parts split；

When requiring head shell that can swing, after motor is fixed on corresponding hole site, motor shaft by the via hole with Shoulder perhaps trunk fix the control module can buyer by voice or other order complete payment or purchase After instruction, instruction is issued to robot to control the corresponding angle of the motor rotation fixed pulse number, to reach setting The position of fruit can be shone；

When not requiring head shell to swing, in the via hole place a nut, after preceding partial shell with after part After shell fastens locking, using wearing the screw of robot shoulder or trunk through-hole below the via hole and nut lock Tightly, so that the robot head shell is fixed with robot shoulder or trunk.

In the vision system of intelligent fruit juice vending machine of the present invention, ear's vision module includes that can be inserted into head The camera of portion's shell installs shell, ear's camera and pcb board, camera goggle, and the camera installation shell has one With the matched window of camera goggle, the camera goggle is installed in the window, and window covering ear is taken the photograph As the angular field of view of head, ear's camera and pcb board are installed on the inside that the camera installs shell, and ear images Head is towards the window.

In the vision system of intelligent fruit juice vending machine of the present invention, the section of the camera installation shell is in ear Shape, the edge that the camera installation shell is inserted into the head shell is the circle with two trimmings, two trimmings It is oppositely arranged in parallel, after camera module is installed on head shell, two position-limited edges of two trimmings and head shell Cooperation, can prevent camera module from rotating.

In the vision system of intelligent fruit juice vending machine of the present invention, the camera goggle is pacified from the camera The surface for being internally embedded the camera installation shell of dress shell, and the camera goggle and the camera install shell Chimeric gap between pass through sealant seal.

In the vision system of intelligent fruit juice vending machine of the present invention, the inside of the camera installation shell has More mounting posts, ear's camera and pcb board are installed in the more mounting posts by tapping screw.

Implement the vision system of intelligent fruit juice vending machine of the invention, if had the advantages that based on the present invention Someone comes to buy orange juice, comes to buy fruit juice by someone known to Face datection, and be water after completing payment or purchase Fruit carries out video camera and takes pictures and carry out fruit detection, and the present invention can carry out fruit detection when buying fruit juice, reduce The previous work and cost for supplying fruit, substantially increase customer experience and the guarantee to fruit juice material quality；

Further, the preceding partial shell in head shell and rear partial shell are symmetrical about split plane, can be by same One mold goes out, and left and right Liang Ge ear module can also be gone out by the same mold, saves mold opening cost；It can also meet different It is required that interchangeability is strong, when requiring head that can swing, then motor is configured, if do not require to swing, it is only necessary to be packed into Nut is simultaneously locked by screw；Further, the installation of entire ear's module does not need any screw buckle, demolition and maintenance It is convenient, it is only necessary to be inserted into the corresponding ear's installing port of head shell.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis The attached drawing of offer obtains other attached drawings:

Fig. 1 fruit detection schematic diagram；

Fig. 2 Face datection result schematic diagram；

Fig. 3 is robot view effect schematic diagram；

Fig. 4 is the structural schematic diagram of a specific embodiment of head shell；

Fig. 5 is the structural schematic diagram one of ear's vision module；

Fig. 6 is the structural schematic diagram two of ear's vision module；

Fig. 7 is the sectional view along A-A in Fig. 6；

Fig. 8 is the structural schematic diagram that ear's vision module is installed to after head shell；

Fig. 9 is the structural schematic diagram of preceding partial shell；

Figure 10 be in Fig. 9 C-C to cross-sectional view；

Figure 11 is preceding partial shell assembly front and back comparison diagram；

Figure 12 is the three-view diagram of rear partial shell；

Figure 13 is two kinds of assembly method comparison diagrams of head shell；

Figure 14 is the sectional view along A-A in Figure 12；

Figure 15 is the structural schematic diagram one of sealing element；

Figure 16 is the structural schematic diagram two of sealing element.

Specific embodiment

To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing Give exemplary embodiments of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.

It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ", " right side " and similar statement are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.

The total design of the present invention is: construct a kind of vision system of intelligent fruit juice vending machine, including cabinet body, control module and Robot, the robot include head shell, and the ear of the head shell is provided with for shooting fruit image for institute Ear's vision module of control module detection fruit quality is stated, the front of the head shell is provided with for shooting facial image Display screen for the head vision module of control module progress Face datection and for showing fruit detection information, institute Stating control module can control head vision module to obtain image progress Face datection to determine whether that someone needs to buy fruit juice, and Control ear's vision module obtains the detection that image carries out fruit quality after people completes payment or purchase.

Wherein, control module and robot are arranged in cabinet body.

Preferably, detection fruit image reflects in real time on the display screen of robot head shell, can also be in cabinet body Large screen simultaneous display.

Control module of the invention is illustrated first.

In one specific embodiment, on hardware, the control module includes host computer and the slave computer that communicates with host computer, Slave computer includes PLC or single-chip microcontroller, can be communicated with the robot.On software, the control module includes face inspection Module and fruit detection module are surveyed, face detection module and fruit detection module are specially to run on host computer or slave computer Software program.Such as it can use orange surface defect inspection needed for Opencv computer vision library exploitation fruit detection module Ranging sequence, face detection module can realize detection face using JDA human face detection tech.

Specifically, the defect on general orange surface has scar, mouldy, situations such as becoming mildewed, so the feature on its surface is become reconciled Orange be different.For this purpose, fruit detection module controls ear's vision mould when the face detection module detects face Block obtains fruit image, determines that orange falls the pixel coordinate in the position of pallet, Jin Ershe by the fruit image of crawl Set region of interest ROI, to the pixel in region of interest ROI carry out after binary conversion treatment by the threshold value that pre-sets come Judge that (this can judge the size of defect to fruit quality by the thresholding functions Threshold () inside Opencv Degree), need to control robot head housing into rotation certain angle if testing result is badly to shoot other fruit photos. With reference to Fig. 1, peripheral box represents region of interest ROI, and internal box represents the binarization result of orange scar.

Wherein, Face datection uses the JDA algorithm of current comparative maturity, and the algorithm speed is very fast, and the present invention utilizes choosing The hardware processor of good camera and carrying can achieve 30FPS, can achieve requirement substantially.Specifically, Face datection Module can use Opencv VideoCapture class and open camera and read video, handle the every of video with jdaDetect One frame image, the Face datection score in the available image of jdaDetect function, by giving a comparison threshold value, if Score meets threshold condition and then thinks face occur, this can by the last one parameter setting threshold value of jdaDetect function, Such as jdaDetect (cascador, gray.data, img.cols, img.rows, 1.25,0.1,24, -1, -0.8), then It indicates that threshold value is -0.8, thinks to detect face if score is more than this threshold value, as shown in Fig. 2, numerical value expression in figure Face datection score as in image.

Robot of the invention is described in detail below.

With reference to Fig. 3, the head shell includes head dummy shell, and Liang Ge ear module 31 is installed by head dummy shell both sides ear, At least one of Liang Ge ear module 31 is used as ear's vision module.Head dummy shell front is provided with a display screen 222, Head vision module 32 is set above display screen 222.Ear's vision module, head vision module are all made of USB in the present embodiment Camera.

Preferably, ear's camera uses LI-OV560-USB-FF-PA camera, 5,000,000 pixels point in the present embodiment Resolution is adjustable, in view of causing camera that can not take complete orange surface, phase due to the error of mechanism member in the present embodiment The width and Gao Butong of machine, so the field angle in horizontal and vertical direction is different, the fixed form of general camera is to guarantee left and right Wide viewing angle, and camera is turned into 90 ° of installations to guarantee wide viewing angle up and down in the present embodiment, such very good solution visual field is not Enough problems.

With reference to Fig. 4, in a specific embodiment, head dummy shell is by front and back symmetrically preceding partial shell 22 and rear partial shell 21 about being put together.Ear's installing port is made of two parts groove of preceding partial shell 22 and rear partial shell 21, practical to pacify When dress, before being first inserted into Liang Ge ear module 31 after partial shell 22/ in the arc ear groove of partial shell 21, then will Preceding partial shell 22, rear partial shell 21 are fastened, and are locked with tapping screw.

It should be noted that Liang Ge ear module 31 can configure camera simultaneously to provide Liang Ge ear vision module； It is also possible to a configuration camera in Liang Ge ear module 31 to provide ear's vision module, another plays decoration Effect.

With reference to Fig. 5-6, entire ear's vision module is the integrated design, and whole moulding is similar to an ear, such as Fig. 7 institute Show.Entire ear vision module mainly includes following three parts: can be inserted into the camera peace in ear's installing port of head shell Fill shell 311, ear's camera and pcb board 312 (the ear's module 31 played role in decoration does not have this structure then), camera shield Mirror 313.Wherein, ear's installing port is formed by the arc ear groove split of preceding partial shell 22 and rear partial shell 21, installation When first entire ear's vision module is inserted in one of in the arc ear groove of shell, then by another shell fastening be It can.

Specifically, the section of the camera installation shell 311 is in ear shaped, the camera installation shell 311 is inserted into institute The edge for stating head shell is the circle with two trimmings 3111, and two trimmings 3111 are oppositely arranged in parallel, such as Fig. 8, After ear's vision module is installed on head shell, two trimmings 3111 and two position-limited edges 3121 of head shell are matched It closes, can prevent camera module from rotating.

As it can be seen that ear's vision module only needs to be inserted into corresponding head shell, due to the limit of head shell lower edges Side 3121 can prevent the rotation of entire ear's vision module.The installation of entire ear vision module does not need any screw card Button, demolition and maintenance are convenient, it is only necessary to be inserted into the corresponding arc ear groove of shell, then fasten another shell, recycle Tapping screw locks two shells.

Wherein, the approximate centre position of the camera installation shell 311 has one and the camera goggle 313 The window matched, the camera goggle 313 are installed in the window, the angular field of view of window covering ear's camera, Ear's camera and pcb board 312 are installed on the inside of the camera installation shell 311, and ear's camera court To the window.

Specifically, the camera goggle 313 is internally embedded the camera peace from camera installation shell 311 The surface of shell 311 is filled, and is passed through between the camera goggle 313 and the chimeric gap of camera installation shell 311 Sealant sealing.Camera goggle therein plays the role of protecting camera and seals waterproof.

Specifically, the inside of the camera installation shell 311 has 4 mounting posts, ear's camera and pcb board 312 are installed in 4 mounting posts by tapping screw.

With reference to Fig. 9, before the preceding partial shell 22 is equipped with one transparent face mask 223 and be located at preceding transparent face mask 223 on The head vision module 32 of side.Wherein, preceding transparent face mask 223 is fixed by positioning column, with specific reference to Figure 10, the preceding transparent side Cover 223 offers at least one location hole 2230 by lateral location, and the preceding partial shell 22 extends along the direction away from surface There is the positioning column 224 at least one at least one matched plastic material of location hole 2230, the length of position column 224 is higher than The rear surface of preceding transparent face mask 223, the preceding transparent face mask 223 fasten behind the preceding partial shell 22, make location hole The 2230 corresponding positioning columns 224 of insertion are until the preceding transparent face mask 223 is docked with the seam allowance of the preceding partial shell 22, such as In Figure 10, preceding transparent face mask 223 and the seam allowance of the preceding partial shell 22 are stepped.Then appropriate sealing is painted into gap Glue, and after location hole 2230 is inserted into positioning column 224 in place, the positioning column 224 of protrusion heats, by plastic hot melt, so that it is pushed up Portion is greater than root, also acts the effect of fastening except the function of positioning, and have preferable leakproofness.

With reference to Figure 11, a display screen 222 for being located at preceding 223 rear of transparent face mask, tool are installed inside preceding partial shell 22 Body, the preceding 22 inside left and right sides of partial shell is respectively arranged with buckle 221, passes through buckle 221 at left and right sides of display screen 222 It is caught in assembly, is not required to any screw, facilitates installation.

With reference to Figure 12, due to preceding partial shell 22 with rear partial shell 21 be it is symmetrical, rear partial shell 21 is with before The symmetrical position of transparent face mask 223 is equipped with rear cowl 211, is equipped with antenna mould with the symmetrical position of head vision module 32 Block.It needs, Anneta module can also be expanded only as decoration as signal receiving device.

Wherein, rear cowl 211 and preceding transparent face mask 223 are that a mould is left, and only material is different, install fixation side Formula is same, is equally to have positioning column, and top heats to become larger and be blocked, and plays fastening effect.

As it can be seen that preceding partial shell 22 and rear partial shell 21, ear's module 31 of left and right is symmetrical, preceding 223 He of transparent face mask Rear cowl 211 is symmetrical, and head vision module 32 and Anneta module are symmetrical, and die cost has been saved in design symmetrical in this way.

With reference to Figure 13, a revolute module 4 is set at head dummy shell neck, control module can buyer by voice or After payment or purchase instruction are completed in other orders of person, instruction is issued to robot and turns to specified angle to control head shell Degree, to reach the position that can shine fruit of setting.

Specifically, revolute module 4 is by two parts split for being separately connected with preceding partial shell 22 and rear partial shell 21 Composition, and the small via hole in a both ends broad in the middle is formed after two parts split.Specifically, the both ends of the via hole after split are round Hole, and the centre of the via hole after split is the through-hole of one with the form fit of the nut of required placement.

When client does not require head shell to swing, a nut 6, such as M3 hexagonal can be placed in the via hole Nut, after partial shell 21 fastens locking with after after preceding partial shell 22, using wearing robot shoulder or trunk through-hole Coarse plain thread screw locked with nut 6 below the via hole so that the robot head shell and robot shoulder Or trunk is fixed.

In order to meet different requirements, installation motor 5 (usually miniature stepping electricity is reserved in the revolute module 4 Machine) hole location.When customer requirement head can be swung, then motor 5 is configured, after motor 5 is fixed on corresponding hole site, motor Axis is fixed by the via hole with shoulder or trunk.The control module can pass through voice in buyer or other have been ordered Fixed pulse is rotated to control motor 5 to robot at instruction is issued by PLC or single-chip microcontroller after payment perhaps purchase instruction The corresponding angle of number, to reach the position that can shine fruit of setting.

As it can be seen that the present embodiment can satisfy different customer requirements, interchangeability is strong, when customer requirement head can be swung When, increase micro-step motor, if do not require to swing, it is only necessary to be packed into nut 6, lock in the position suitably set It is tight.

Since most of Vending Machine cabinets are all refrigerator, robot is in refrigerator, the electric components pair on head It is higher in waterproof requirement, so sealing is particularly important.With reference to Figure 14-16, in the present embodiment, the Anneta module includes close Sealing 2120 and the antenna 212 for wearing the sealing element 2120.

Specifically, the sealing element 2120 is silica gel product.The torque that the frictional force of silicone-rubber seals generates is greater than it The torque that body gravity generates can then prevent antenna 212 from rotating, while be locked below with screw, limit.In addition silica gel ring itself Frictional force, that is, reached the function of being positioned at fastening, and have good sealing effect.Ensure that electric components can be normal It uses.

With reference to Figure 15-16, the sealing element 2120 includes positioned at two layer planes of two layers of planar portions 2121,2123 and connection The middle interconnecting piece 2122 in portion 2121,2123, the sealing element 2120 also open up one through two layers of planar portions 2121,2123 and The centre bore 2124 of middle interconnecting piece 2122, antenna 212 wear the centre bore 2124.

Wherein, the position that rear partial shell 21 installs sealing element 2120 has an annular flange, and one layer of sealing element 2120 Planar portions 2123 are located at below flange, and another layer plane portion 2121 is located above flange and forms one with rear 21 surface of partial shell The plane of a completion, middle interconnecting piece 2122 and flange tensioner cooperate.

In conclusion implementing the vision system of intelligent fruit juice vending machine of the invention, have the advantages that based on this If invention someone comes to buy orange juice, come to buy fruit juice by someone known to Face datection, and complete payment or purchase It carries out video camera after buying for fruit to take pictures and carry out fruit detection, the present invention can carry out fruit inspection when buying fruit juice It surveys, reduces the previous work and cost of supply fruit, substantially increase customer experience and the guarantor to fruit juice material quality Card.Further, the preceding partial shell in head shell and rear partial shell are symmetrical about split plane, can be by the same mould Have out, left and right Liang Ge ear module can also be gone out by the same mold, save mold opening cost；Different requirements can also be met, Interchangeability is strong, when requiring head that can swing, then configures motor, if do not require to swing, it is only necessary to be packed into nut And it is locked by screw；Further, the installation of entire ear's module does not need any screw buckle, demolition and maintenance side Just, it is only necessary to be inserted into the corresponding ear's installing port of head shell.

The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much Form, all of these belong to the protection of the present invention.

Claims (10)

1. a kind of vision system of intelligence fruit juice vending machine, which is characterized in that described including cabinet body, control module and robot Robot includes head shell, and the ear of the head shell is provided with for shooting fruit image so that the control module is examined Ear's vision module of fruit quality is surveyed, the front of the head shell is provided with for shooting facial image for the control Module carries out the head vision module of Face datection and the display screen for showing fruit detection information, and the control module can Control head vision module obtains image and carries out Face datection to determine whether that someone needs to buy fruit juice, and completes to pay the bill in people Or control ear's vision module obtains the detection that image carries out fruit quality after purchase.

2. the vision system of intelligence fruit juice vending machine according to claim 1, which is characterized in that the control module includes Face detection module and fruit detection module；

Wherein, the face detection module is examined for controlling head vision module opening camera and reading video using face Method of determining and calculating handles each frame image of video to detect whether face occur；

Wherein, the fruit detection module, which is used to control ear's vision module when detecting face, obtains fruit image, for Area-of-interest is arranged in the fruit image of acquisition, presets to passing through after the pixel progress binary conversion treatment in area-of-interest Good threshold value judges fruit quality.

3. the vision system of intelligence fruit juice vending machine according to claim 1, which is characterized in that the head shell includes Head dummy shell, the Liang Ge ear module of ear's installing port on insertion head dummy shell both sides, the rotation at head dummy shell neck Secondary module, at least one of Liang Ge ear module is as ear's vision module and configured with for detecting fruit quality Camera；

The control module can issue instruction after buyer completes payment or purchase instruction by voice or other orders Specified angle is turned to control head shell to robot, to reach the position that can shine fruit of setting.

4. the vision system of intelligence fruit juice vending machine according to claim 3, which is characterized in that the head dummy shell is by preceding Partial shell and rear partial shell are put together, and the preceding partial shell and rear partial shell are symmetrical about split plane, described Transparent face mask and the head vision module above preceding transparent face mask, the front before preceding partial shell is equipped with one One display screen for being used to show testing result for being located at preceding transparent face mask rear, the rear partial shell are installed inside housing parts Rear cowl is installed with preceding transparent face mask symmetrical position, Anneta module is installed with head vision module symmetrical position.

5. the vision system of intelligence fruit juice vending machine according to claim 4, which is characterized in that the preceding transparent face mask leans on Lateral location offers at least one location hole, and the preceding partial shell is extended with and described at least one along the direction away from surface At least one matched positioning column of a location hole, the preceding transparent face mask fasten behind the preceding partial shell so that described fixed The corresponding positioning column is inserted into position hole until the preceding transparent face mask is docked with the seam allowance of the preceding partial shell.

6. the vision system of intelligence fruit juice vending machine according to claim 4, which is characterized in that the Anneta module includes Sealing element and the antenna for wearing the sealing element, the sealing element include in two layers of planar portions of two layers of planar portions and connection Between interconnecting piece, the sealing element also opens up a centre bore through two layers of planar portions and middle interconnecting piece, and the antenna is worn The centre bore.

7. the vision system of intelligence fruit juice vending machine according to claim 3, which is characterized in that in the revolute module It is reserved with the hole location of installation motor, the revolute module is by two parts for being separately connected with preceding partial shell and rear partial shell Split composition, and the small via hole in a both ends broad in the middle is formed after two parts split；

When requiring head shell that can swing, after motor is fixed on corresponding hole site, motor shaft passes through the via hole and shoulder Perhaps trunk, which fixes the control module, to complete payment or purchase instruction by voice or other orders in buyer Afterwards, instruction is issued to robot to control the corresponding angle of motor rotation fixed pulse number, so that reach setting can be with Shine the position of fruit；

When not requiring head shell to swing, in the via hole place a nut, after preceding partial shell with after partial shell After fastening locking, using wearing the screw of robot shoulder or trunk through-hole below the via hole and nut check, So that the robot head shell is fixed with robot shoulder or trunk.

8. the vision system of intelligence fruit juice vending machine according to claim 1, which is characterized in that ear's vision module Camera installation shell, ear's camera and pcb board, camera goggle including can be inserted into head shell, the camera peace Filling shell has one and the matched window of camera goggle, and the camera goggle is installed in the window, the window The angular field of view of mouth covering ear's camera, ear's camera and pcb board are installed on the interior of the camera installation shell Portion, and ear's camera is towards the window.

9. the vision system of intelligence fruit juice vending machine according to claim 8, which is characterized in that the camera mounting shell The section of body is in ear shaped, and the edge that the camera installation shell is inserted into the head shell is the circle with two trimmings, Two trimmings are oppositely arranged in parallel, after camera module is installed on head shell, two trimmings and head shell Two position-limited edges cooperation, can prevent camera module from rotating.

10. the vision system of intelligence fruit juice vending machine according to claim 9, which is characterized in that

The camera goggle installs the surface for being internally embedded the camera installation shell of shell, and institute from the camera It states and is sealed between camera goggle and the chimeric gap of camera installation shell by sealant；

The inside of the camera installation shell has more mounting posts, and ear's camera and pcb board pass through tapping screw It is installed in the more mounting posts.