CN207380813U - 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, control module and robot, robot includes head shell, its ear is provided with to shoot ear vision module of the fruit image for control module detection fruit quality, its forepart is provided with to shoot facial image so that control module carries out the head vision module of Face datection and display screen for showing fruit detection information, control module can carry out Face datection to determine whether that someone needs to buy fruit juice, and after people completes payment or purchase ear's vision module is controlled to obtain the detection that image carries out fruit quality.If come to buy orange juice based on the utility model someone, understand that someone comes to buy fruit juice by Face datection, and fruit quality can be detected after payment or purchase is completed, by carrying out fruit detection when fruit juice is bought, previous work and the cost of supply fruit are reduced, substantially increases 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 utility model is related to juice extractor field more particularly to a kind of vision systems of intelligent fruit juice vending machine.

Background technology

Fruit juice in the market sells the function that equipment almost all does not possess detection orange quality, this supplies fruit to machine Previous work add larger labor workload and cost.If neglecting the detection of fruit quality, the body of client can be influenced 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.

Utility model content

The technical problems to be solved in the utility model is, for the drawbacks described above of the prior art, provides a kind of intelligent fruit The vision system of juice vending machine.

Technical solution is used by the utility model solves its technical problem：Construct a kind of regarding for intelligent fruit juice vending machine Feel system, including cabinet, control module and robot, the robot includes head shell, and the ear of the head shell sets It is equipped with to shoot ear vision module of the fruit image for control module detection fruit quality, the head shell Forepart is provided with to shoot facial image so that the control module carries out the head vision module of Face datection and is used for Show the display screen of fruit detection information, the control module can control head vision module obtain image carry out Face datection with Determine whether that someone needs to buy fruit juice, and after people completes payment or purchase ear's vision module is controlled to obtain image and carried out The detection of fruit quality.

In the vision system of intelligent fruit juice vending machine described in the utility model, the head shell includes head dummy shell Body, insertion head dummy housing both sides ear's installing port Liang Ge ears module, the revolute module at head dummy housing neck, Liang Ge ears mould at least one camera that fruit quality is detected as ear's vision module and being configured in the block；

The control module can buyer by voice either other order complete payment or purchase instruction after, send It instructs to robot so that head shell to be controlled to turn to specified angle, so as to reach the position that can shine fruit of setting.

In the vision system of intelligent fruit juice vending machine described in the utility model, the head dummy housing is by preceding partial shell It is put together with rear partial shell, the preceding partial shell and rear partial shell are symmetrical on split plane, the preceding part shell Body is equipped with transparent face mask and the head vision module above preceding transparent face mask before one, in the preceding partial shell Portion be equipped with one be located at preceding transparent face mask rear for showing the display screen of testing result, it is described after partial shell with it is preceding transparent The symmetrical position of mask is equipped with rear cowl, and Anneta module is equipped with the symmetrical position of head vision module.

In the vision system of intelligent fruit juice vending machine described in the utility model, the preceding transparent face mask leans on lateral location At least one location hole is offered, the preceding partial shell is extended with and at least one location hole along the direction away from surface Matched at least one positioning column, the preceding transparent face mask fastens behind the preceding partial shell so that the location hole is inserted into The corresponding positioning column is until the preceding transparent face mask is docked with the seam allowance of the preceding partial shell.

In the vision system of intelligent fruit juice vending machine described in the utility model, the display screen is by being caught in dress It is fitted on inside the preceding partial shell.

In the vision system of intelligent fruit juice vending machine described in the utility model, the Anneta module include sealing element with And the antenna of the sealing element is worn, the sealing element includes the intermediate connection of two layers of planar portions of two layers of planar portions and connection Portion, the sealing element also open up one through two layers of planar portions and middle interconnecting piece centre bore, the antenna wear it is described in Heart hole.

In the vision system of intelligent fruit juice vending machine described in the utility model, peace is reserved in the revolute module The hole position of motor is filled, the revolute module is by two parts split group for being connected respectively with preceding partial shell and rear partial shell Into, and the small via 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 with Shoulder either trunk fix the control module can buyer pass through voice or other order complete payment or purchase After instruction, instruction is sent to robot the motor to be controlled to rotate the corresponding angle of fixed pulse number, so as to reach setting The position of fruit can be shone；

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

In the vision system of intelligent fruit juice vending machine described in the utility model, ear's vision module includes to insert Enter camera installation housing, ear's camera and pcb board, the camera goggle of head shell, the camera installation housing tool There are one and the matched window of camera goggle, the camera goggle is installed in the window, and the window covers ear The angular field of view of portion's camera, ear's camera and PCB plates are installed on the inside of the camera installation housing, and ear Portion's camera is towards the window.

In the vision system of intelligent fruit juice vending machine described in the utility model, the section of the camera installation housing In ear, the camera installation housing is inserted into the edge of the head shell as the circle with two trimmings, described two Trimming is oppositely arranged in parallel, after camera module is installed on head shell, two limits of two trimmings and head shell The cooperation of position side, can prevent camera module from rotating.

In the vision system of intelligent fruit juice vending machine described in the utility model, the camera goggle is from the camera shooting The surface for being internally embedded the camera installation housing of head installation housing, and the camera goggle is installed with the camera It is sealed between the chimeric gap of housing by fluid sealant.

In the vision system of intelligent fruit juice vending machine described in the utility model, the inside of the camera installation housing With more mounting posts, ear's camera and pcb board are installed on by tapping screw in the more mounting posts.

Implement the vision system of the intelligent fruit juice vending machine of the utility model, have the advantages that：Based on this practicality If new someone comes to buy orange juice, understand that someone comes to buy fruit juice by Face datection, and complete payment or purchase Video camera is carried out after buying for fruit to take pictures and carry out fruit detection, the utility model can carry out fruit when fruit juice is bought Detection reduces previous work and the cost of supply fruit, substantially increases customer experience and to fruit juice material quality Ensure；

Further, the preceding partial shell in head shell and rear partial shell are symmetrical on split plane, can be by same One mold goes out, and left and right Liang Ge ears module can also be gone out by same mold, saves die sinking 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 simultaneously passes through screw lock；Further, the installation of entire ear's module is not required any screw to be buckled, demolition and maintenance It is convenient, it is only necessary to be inserted into the corresponding ear's installing port of head shell.

Description of the drawings

It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is the embodiment of the utility model, for those of ordinary skill in the art, without creative efforts, also Other attached drawings can be obtained according to the attached drawing of offer：

Fig. 1 is robot view effect schematic diagram；

Fig. 2 is the structure diagram of a specific embodiment of head shell；

Fig. 3 is the structure diagram one of ear's vision module；

Fig. 4 is the structure diagram two of ear's vision module；

Fig. 5 is the sectional view along A-A in Fig. 4；

Fig. 6 is the structure diagram that ear's vision module is installed to after head shell；

Fig. 7 is the structure diagram of preceding partial shell；

Fig. 8 be in Fig. 7 C-C to sectional view；

Fig. 9 is comparison diagram before and after preceding partial shell assembling；

Figure 10 is the three-view diagram of rear partial shell；

Figure 11 is two kinds of assembly method comparison diagrams of head shell；

Figure 12 is the sectional view along A-A in Figure 10；

Figure 13 is the structure diagram one of sealing element；

Figure 14 is the structure diagram two of sealing element.

Specific embodiment

For the ease of understanding the utility model, the utility model is more fully retouched below with reference to relevant drawings It states.The exemplary embodiments of the utility model are given in attached drawing.But the utility model can in many different forms come in fact It is existing, however it is not limited to embodiment described herein.On the contrary, the purpose for providing these embodiments is the public affairs made to the utility model Open content more thorough and comprehensive.

It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it can be 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 of technologies and scientific terms used here by the article is led with belonging to the technology of the utility model The normally understood meaning of technical staff in domain is identical.It is simply in the term used in the description of the utility model herein The purpose of description specific embodiment, it is not intended that in limitation the utility model.

The total design of the utility model is：A kind of vision system of intelligent fruit juice vending machine is constructed, including cabinet, control mould Block and robot, the robot include head shell, the ear of the head shell be provided with to shoot fruit image with For ear's vision module of control module detection fruit quality, the forepart of the head shell is provided with to shoot face Display of the image for the head vision module of control module progress Face datection and for showing fruit detection information Screen, the control module can control head vision module to obtain image and carry out Face datection to determine whether that someone needs to buy fruit Juice, and after people completes payment or purchase ear's vision module is controlled to obtain the detection that image carries out fruit quality.

Wherein, control module and robot are arranged in cabinet.In one specific embodiment, the control module includes Host computer and the slave computer to communicate with host computer, slave computer include PLC or microcontroller, can communicate with the robot.

Preferably, fruit image reflection in real time is detected to the display screen of robot head housing, it can also be in cabinet Large screen simultaneous display.

The robot of the utility model is described in detail below.

With reference to figure 1, the head shell includes head dummy housing, and Liang Ge ears module 31 is installed by head dummy housing both sides ear, It is at least one as ear's vision module in Liang Ge ears module 31.Head dummy housing forepart is provided with a display screen 222, 222 top of display screen sets head vision module 32.Ear's vision module, head vision module use USB in the present embodiment Camera.

Preferably, ear's camera uses LI-OV560-USB-FF-PA cameras, 5,000,000 pixels point in the present embodiment Resolution is adjustable, considers to cause camera that can not take complete orange surface, phase due to the error of mechanism member in the present embodiment The width of machine is different with height, so horizontally and vertically the field angle in direction is different, the fixed form of general camera is to ensure left and right Wide viewing angle, and camera is turned into 90 ° of installations to ensure wide viewing angle up and down in the present embodiment, so solve the visual field well not The problem of enough.

With reference to figure 2, in a specific embodiment, head dummy housing is by front and rear symmetrical preceding partial shell 22 and rear partial shell 21 on being put together.Ear's installing port is made of two parts groove of preceding partial shell 22 and rear partial shell 21, actual to pacify During dress, before first Liang Ge ears module 31 is inserted into 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 locked with tapping screw.

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

With reference to figure 3-6, entire ear's vision module is the integrated design, and whole moulding is similar to an ear, such as Fig. 5 institutes Show.Entire ear vision module mainly includes following three parts：It can be inserted into the camera peace in ear's installing port of head shell Fill housing 311, ear's camera and pcb board 312 (the ear's module 31 played role in decoration does not possess 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 housing, then by another housing fastening be It can.

Specifically, the section of the camera installation housing 311, in ear, the camera installation housing 311 is inserted into institute The edge of head shell is stated as the circle with two trimmings 3111, two trimmings 3111 are oppositely arranged in parallel, such as Fig. 6, After ear's vision module is installed on head shell, two trimmings 3111 and two position-limited edges 3121 of head shell are matched somebody with somebody 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 /V of head shell lower edges Side 3121 can prevent the rotation of entire ear's vision module.Any screw card is not required in the installation of entire ear vision module Button, demolition and maintenance are convenient, it is only necessary to be inserted into the corresponding arc ear groove of housing, then fasten another housing, recycle Tapping screw locks two housings.

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

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

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

With reference to figure 7, transparent face mask 223 and on preceding transparent face mask 223 before the preceding partial shell 22 is equipped with one The head vision module 32 of side.Wherein, preceding transparent face mask 223 is fixed by positioning column, with specific reference to Fig. 8, the preceding transparent area Cover 223 offers at least one location hole 2230 by lateral location, and the preceding partial shell 22 extends along away from the direction on surface There is the positioning column 224 at least one matched at least one 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 Fig. 8, 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 location hole 2230 be inserted into positioning column 224 in place after, the positioning column 224 of protrusion heats, and passes through plastic hot melt so that its push up Portion is more than root, also acts the effect of fastening outside the function of positioning, and has preferable leakproofness.

With reference to figure 9, a display screen 222 for being located at preceding 223 rear of transparent face mask is installed, specifically inside preceding partial shell 22 , the preceding 22 inside left and right sides of partial shell is respectively arranged with buckle 221, and 222 left and right sides of display screen passes through 221 card of buckle Enter assembling, be not required to any screw, facilitate installation.

With reference to figure 10, due to preceding partial shell 22 with rear partial shell 21 be it is symmetrical, rear partial shell 21 is with before 223 symmetrical position of transparent face mask is equipped with rear cowl 211, and antenna mould is equipped with 32 symmetrical position of head vision module 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 simply material is different, install fixation side Formula is same, is equally to have positioning column, and top hot melt change is blocked greatly, 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 so symmetrical design.

With reference to figure 11, a revolute module 4 is set at head dummy housing neck, control module can buyer by voice or After payment or purchase instruction are completed in other orders of person, instruction is sent to robot so that head shell to be controlled to turn to specified angle Degree, so as to reach the position that can shine fruit of setting.

Specifically, revolute module 4 is by two parts split for being connected respectively with preceding partial shell 22 and rear partial shell 21 Composition, and the small via in a both ends broad in the middle is formed after two parts split.Specifically, the both ends of the via after split are round Hole, and the centre of the via after split is a through hole 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 hexagonals can be placed in the via Nut, partial shell 22 is after partial shell 21 fastens locking with after before, using wearing robot shoulder or trunk through hole Coarse plain thread screw locked with nut 6 below the via so that the robot head housing and robot shoulder Or trunk is fixed.

In order to meet different requirements, it (is usually miniature stepping electricity that installation motor 5 is reserved in the revolute module 4 Machine) hole position.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 with shoulder or trunk.The control module can buyer by voice or other ordered Instruction is sent to robot so that motor 5 to be controlled to rotate fixed pulse by PLC or microcontroller after into payment either purchase instruction The corresponding angle of number, so as to reach the position that can shine fruit of setting.

As it can be seen that the present embodiment can meet 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 nut 6 is packed into, in the position lock 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 12-14, 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 more than it The torque that body gravity generates, then can prevent antenna 212 from rotating, while be locked below with screw, /V.In addition silica gel ring is in itself Frictional force, that is, reached the function of being positioned at fastening, and had good sealing effect.Ensure that electric components can be normal It uses.

With reference to figure 13-14, the sealing element 2120 is included 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, 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 coordinate with flange tensioner.

In conclusion implementing the vision system of the intelligent fruit juice vending machine of the utility model, have the advantages that：Base If coming to buy orange juice in the utility model someone, understand that someone comes to buy fruit juice by Face datection, and complete to pay Video camera is carried out after money or purchase for fruit to take pictures and carry out fruit detection, the utility model can be when fruit juice be bought Fruit detection is carried out, previous work and the cost of supply fruit is reduced, substantially increases customer experience and to fruit juice former material The guarantee of item matter.Further, the preceding partial shell in head shell and rear partial shell are symmetrical on split plane, can be with Gone out by same mold, left and right Liang Ge ears module can also be gone out by same mold, save die sinking cost；It can also meet not Same requirement, interchangeability is strong, when requiring head that can swing, then configures motor, if do not require to swing, it is only necessary to It is packed into nut and passes through screw lock；Further, the installation of entire ear's module is not required any screw to be buckled, dismounting It is easy to maintain, it is only necessary to be inserted into the corresponding ear's installing port of head shell.

The embodiment of the utility model is described above in conjunction with attached drawing, but the utility model is not limited to The specific embodiment stated, above-mentioned specific embodiment is only schematical rather than restricted, this field it is common Technical staff is not departing from the utility model aims and scope of the claimed protection situation under the enlightenment of the utility model Under, many forms can be also made, these are belonged within the protection of the utility model.

Claims (10)

1. a kind of vision system of intelligence fruit juice vending machine, which is characterized in that described including cabinet, control module and robot Robot includes head shell, and the ear of the head shell is provided with to shoot fruit image so that the control module is examined Ear's vision module of fruit quality is surveyed, the forepart of the head shell is provided with to shoot 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 ear's vision module is controlled to obtain 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 head shell includes Head dummy housing, the Liang Ge ears module of ear's installing port on insertion head dummy housing both sides, the rotation at head dummy housing neck Secondary module, Liang Ge ears mould is in the block at least one as ear's vision module and being configured with to detect fruit quality Camera；

The control module can buyer by voice either other order complete payment or purchase instruction after, send instruction To robot head shell to be controlled to turn to specified angle, so as to reach the position that can shine fruit of setting.

3. the vision system of intelligence fruit juice vending machine according to claim 2, which is characterized in that the head dummy housing is by preceding Partial shell and rear partial shell are put together, and the preceding partial shell and rear partial shell are symmetrical on split plane, described Preceding partial shell is equipped with transparent face mask and the head vision module above preceding transparent face mask, the forepart before 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.

4. the vision system of intelligence fruit juice vending machine according to claim 3, 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 A matched at least one positioning column of location hole, the preceding transparent face mask are fastened 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.

5. the vision system of intelligence fruit juice vending machine according to claim 3, which is characterized in that the Anneta module includes Sealing element and the antenna for wearing the sealing element, the sealing element are included in two layers of planar portions of two layers of planar portions and connection Between connecting portion, the sealing element also open up one through two layers of planar portions and middle interconnecting piece centre bore, the antenna wears The centre bore.

6. the vision system of intelligence fruit juice vending machine according to claim 3, which is characterized in that in the revolute module The hole position of installation motor is reserved with, the revolute module is by two parts for being connected respectively with preceding partial shell and rear partial shell Split forms, and the small via 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 and shoulder Either trunk, which fixes the control module, to complete payment or purchase instruction by voice or other orders in buyer Afterwards, instruction is sent to robot the motor to be controlled to rotate the corresponding angle of fixed pulse number, it can be with so as to reach setting Shine the position of fruit；

When head shell is not required to swing, in the via 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 and nut check, So that the robot head housing is fixed with robot shoulder or trunk.

7. the vision system of intelligence fruit juice vending machine according to claim 1, which is characterized in that ear's vision module Camera installation housing, ear's camera and pcb board, camera goggle including can be inserted into head shell, the camera peace Filling housing 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 camera, ear's camera and pcb board are installed on the interior of the camera installation housing Portion, and ear's camera is towards the window.

8. the vision system of intelligence fruit juice vending machine according to claim 7, which is characterized in that the camera mounting shell The section of body is in ear, and the camera installation housing is inserted into the edge of the head shell as 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.

9. the vision system of intelligence fruit juice vending machine according to claim 8, which is characterized in that the camera goggle from The surface for being internally embedded the camera installation housing of the camera installation housing, and the camera goggle is taken the photograph with described As head installation housing chimeric gap between sealed by fluid sealant.

10. the vision system of intelligence fruit juice vending machine according to claim 8, which is characterized in that the camera installation There is more mounting posts, ear's camera and pcb board to be installed on the more installations by tapping screw for the inside of housing On column.