WO2021121316A1 - 食品自动贩卖机 - Google Patents
食品自动贩卖机 Download PDFInfo
- Publication number
- WO2021121316A1 WO2021121316A1 PCT/CN2020/137179 CN2020137179W WO2021121316A1 WO 2021121316 A1 WO2021121316 A1 WO 2021121316A1 CN 2020137179 W CN2020137179 W CN 2020137179W WO 2021121316 A1 WO2021121316 A1 WO 2021121316A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- food
- unit
- vending machine
- flower tube
- machine according
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F11/00—Coin-freed apparatus for dispensing, or the like, discrete articles
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/0064—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for processing of food articles
- G07F17/0071—Food articles which need to be processed for dispensing in a cold condition, e.g. ice and ice cream
Definitions
- the invention relates to food production and sales machinery, in particular to a system device for automatically making and selling ice cream.
- the staff When selling ice cream in a traditional dessert shop, the staff communicate with consumers the taste and quantity they need to buy. Then the staff takes the ice cream cone, puts the cone under the dispensing opening of the ice cream machine, and presses the ice cream machine manually. The pressing handle makes the ice cream flow out of the dispensing opening. When the ice cream flows into the flower tube, rotate the flower tube to make the ice cream form a specific shape on the flower tube. After the ice cream is made, it is delivered to the customer manually.
- the above method has many drawbacks. For example, due to the low degree of standardization of manual operations, the quality of manufactured products varies. For another example, manual operations need to rely on manpower to complete all production processes. The labor intensity is high, and it is easy to be fatigued during a large number of operations. Moreover, during non-business peak periods, the work is slow for a long time and the efficiency is low. In addition, manual operations are easily affected by the hygiene habits of employees, and may easily cause safety hazards such as food contamination during the production process.
- the present invention provides a food vending machine, which includes:
- the ordering unit is configured to receive food orders from consumers
- a food preparation unit configured to automatically prepare and complete the food according to the order received by the ordering unit
- a food inspection unit configured to perform computer vision recognition on the food completed by the food production unit to determine whether the food is qualified
- the serving unit is configured to provide the food to the consumer when the food inspection unit determines that the food meets the qualified conditions.
- the ordering unit includes a display screen communicatively connected with the food preparation unit, and the display screen has a graphical user interface through which consumers can select food and pay for the goods.
- the graphical user interface is also configured to display the food preparation process, product introduction or purchase instructions.
- the ordering unit includes a two-dimensional code. After the consumer recognizes the two-dimensional code through the smart communication device, the consumer can select food and pay for the goods in the smart communication device.
- the food is ice cream
- the food production unit includes: a flower tube storage unit, which stores a plurality of flower tubes for making ice cream; a food raw material storage tank, which stores at least one kind of food for making the food When a flower tube is located below its distribution opening, it distributes a quantitative amount of raw material to the flower tube; the robotic arm is configured to grab a flower tube from the flower tube storage unit and move the flower tube to below the distribution opening of the food material storage tank, To receive quantitative raw materials.
- the robot arm is configured to move the flower tube below the dispensing opening of the food material storage tank to move according to a predetermined trajectory to adjust the position of the flower tube, so that the received raw materials form the desired shape in the flower tube. Appearance modeling.
- it also includes a sound unit; wherein the mechanical arm is configured to perform a predetermined dance action when the sound unit plays music.
- the food detection unit includes: an image acquisition module, which is configured to acquire image information of the food after the order food is made; a food characteristic value module, which is configured to determine the food in the image information Characteristic value; an eligibility determination module configured to determine whether the food meets the qualified conditions based on the food characteristic value; and a signal output module configured to send a signal when the food is determined to meet the qualified conditions
- the customer serving unit is controlled to provide the food to the consumer, or when the food is judged to be unqualified, it sends a signal to control the robotic arm to discard the food and re-make the food.
- the invention can automatically complete a series of functions such as order receiving, payment, production, product control, qualified product delivery, and non-qualified product recovery under unmanned conditions, thereby greatly saving labor costs and improving operating efficiency.
- all operations of the vending machine according to the present invention can be realized as digital operations, and can provide all-digital analysis and statistics of relevant operating data, and provide strong support for the decision-making and judgment of operators.
- Figure 1 shows a specific structural configuration of a food vending machine according to the present invention
- Figure 2 is a view of the food vending machine in Figure 1 from another perspective;
- Figure 3 shows a system schematic diagram of an example of a food vending machine according to the present invention
- Fig. 4 shows a control schematic diagram of an example of a food vending machine according to the present invention.
- Figures 1 and 2 show a specific structural configuration of the food vending machine according to the present invention from different angles.
- the gull-wing window 1 is suitable for being opened to maintain and maintain the system equipment.
- the gull-wing window is preferably made of a transparent material to allow customers to observe the food preparation process.
- the front glass window 2 is also preferably made of a transparent material so that customers can observe the food preparation process inside the device.
- the lift door 3 is used for customers to take meals, and is configured to rise after the food is prepared and passed the inspection, so that the customers can reach out and get the food.
- the ordering screen 4 is a touch screen with a graphical user interface that allows consumers to select food, place orders, and make payments.
- the micro-window 5 is used to add milk mixture and maintain the machine.
- the air conditioner 7 is used to cool the inside of the device.
- the pedal 8 is used to add milk mix.
- the exhaust fan 9 is used to exhaust the hot air inside the equipment and reduce the internal temperature of the equipment.
- the flower tube mechanism 10 is used to store flower tubes.
- the waste bucket 11 is used to store foods that are inspected as unqualified and need to be discarded.
- the electric box 12 is used to control the strong and weak electricity of the entire equipment.
- the pressing lever mechanism 13 is a distribution control device for ice cream ingredients such as milk syrup, and functions as a control valve. When the flower tube is located below the dispensing opening of the pressing rod mechanism, the pressing rod mechanism is controlled to dispense a fixed amount of milk mixture to the flower tube.
- the speaker 14 is used to play voice or music to remind consumers, attract customers, or play dance music in conjunction with the action of the mechanical arm.
- the progress light module 15 is used to control and display the current food preparation progress to the consumer.
- the customer service organization 16 is used for customers to take meals.
- the device label display unit 17, the six-axis robotic arm 18, the control computer 19, the code scanning point entry 20, etc. can also be seen from the figure, which will be described in detail below.
- Fig. 3 shows a system schematic diagram of an example of a food vending machine according to the present invention.
- the system includes robotic arms, mechanical structures, lower-level computers, upper-level computers, large screens, cameras, audio, central control units, self-service machines, and ice cream machines.
- the mechanical arm preferably adopts a six-axis mechanical arm, which cooperates with clamping jaws to clamp the flower tube and move the flower tube to a desired position, such as below the dispensing opening of the pressing lever mechanism in FIG. 2.
- the mechanical arm can also be configured to adjust the position of the flower tube according to the designed movement trajectory, and take the ice cream milk syrup to form the desired appearance in the flower tube.
- the robotic arm is also configured to move the product to the product quality control point, and after the quality inspection is completed, the qualified product is transported to the meal outlet, or the unqualified product is transported to the trash can for disposal. If the customer does not pick up the meal, the robotic arm will also transport the product to the trash can for disposal. Even the robotic arm can be set to match the overall requirements of the equipment to complete dance movements to provide entertainment for consumers and reduce the boredom of waiting for food.
- the mechanical structure of the system is mainly composed of the flower tube mechanism 10, the pressing rod mechanism 13 and the guest mechanism 16 in FIG. 1.
- the flower tube mechanism is used for the storage of flower tube materials. Through multiple storage bins, a large number of flower tubes can be stored. For example, a batch of 240 ice cream flower tubes can be stored.
- the flower tube mechanism can also be equipped with a flower tube position adjustment device to prepare the posture and position for the robot arm to obtain the flower tube.
- the lower computer adopts the control circuit to realize the control of the mechanical structure. Communicate between the upper computer and the lower computer, and transmit control commands.
- the large screen can realize interaction with customers, displaying the production process, customer tips, product introduction, recommendation, guidance and other functions on the large screen.
- the camera is used to collect product photos and use computer vision technology to judge whether the finished ice cream or other products are qualified.
- the speaker can complete voice prompts for consumers, or play music to attract customers, or even play dance music with the action of the robotic arm.
- the central control computer realizes the scheduling and control between the overall structure, system, software and hardware equipment.
- the self-service machine adopts a touch all-in-one machine, so that consumers can order, pay and pick up meals.
- the ice cream machine realizes the process from milk syrup to ice cream, as well as the production, disinfection and sterilization of milk syrup.
- Fig. 4 shows a control schematic diagram of the food vending machine according to the present invention.
- the consumer or user submits the order to the vending machine through the numeric keypad or QR code on the small screen.
- the master computer of the vending machine submits a food preparation request to the back-end server after receiving the order.
- the vending machine activates the robotic arm to automatically complete the production of the ordered food.
- the robotic arm in a vending machine obtains a flower tube from the flower tube storage mechanism, and moves the flower tube to below the dispensing opening of the lever mechanism.
- the pressing rod mechanism dispenses a quantitative amount of raw materials such as ice cream and cream into the flower tube to complete the production of ice cream.
- the back-end server obtains the image information of the ice cream. For example, take photos of ice cream through a camera or other camera.
- the content of the photos taken by the camera includes not only the ice cream, but also the entire scene of the ice cream and the robotic arm. To this end, it is necessary to properly process the photos, and then obtain the image information of the ice cream from the photos.
- the haar feature and the Adaboost algorithm can be used to train a cascaded classifier to classify each piece of the photo. If a certain rectangular area passes the cascade classifier, it is judged as an ice cream image.
- the background server After acquiring the image information of the ice cream, the background server further determines the food feature value in the image information.
- the food characteristic value includes, for example, one or more of the following: the shape, texture, diameter, and height of the flower tube, the shape, texture, diameter, and height of the milk mixture, and the like.
- the background server judges whether the food meets the qualified conditions based on the characteristic value of the food. For example, the obtained food characteristic value is compared with the preset standard value, and the single standard value is set in a legal area. If the food characteristic value falls within the standard value area, it is considered as single qualified.
- the eligibility judgment module can be configured to determine that the ice cream product is a qualified product when one or more of the characteristic values are qualified, or it can be configured to determine that the ice cream product is a non-qualified product when one or more of the characteristic values are unqualified. It can be configured to assign different weights to various eigenvalues, and only when the sum of the weight values of all eigenvalues falls within the characteristic area, the ice cream product is deemed qualified.
- the eligibility determination module may be configured to simultaneously use a plurality of the aforementioned methods to determine whether the target ice cream product is eligibility.
- the background server will send a signal to the robotic arm to request the food to be provided to the consumer.
- the background server instructs the robotic arm to discard the food and re-make the food in the consumer's order.
- the invention can automatically complete a series of functions such as order receiving, payment, production, product control, qualified product delivery, and non-qualified product recovery under unmanned conditions, thereby greatly saving labor costs and improving operating efficiency.
- all operations of the vending machine according to the present invention can be realized as digital operations, and can provide all-digital analysis and statistics of relevant operating data, and provide strong support for the decision-making and judgment of operators.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Food Science & Technology (AREA)
- Confectionery (AREA)
- Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)
Abstract
一种食品自动贩卖机，包括：点餐单元，被配置为接收消费者的食品订单；食品制作单元，被配置为根据点餐单元接收的订单，自动制作完成食品；食品检测单元，被配置为对食品制作单元完成的食品进行计算机视觉识别，确定食品是否合格；奉客单元，被配置为当食品检测单元判断食品具备合格条件时，将食品提供给消费者。
Description
本发明涉及食品生产和销售机械，尤其涉及一种用于自动制作并售卖冰淇淋的系统装置。
传统的甜品店在售卖冰淇淋时，由工作人员与消费者交流所需购买的口味和数量等需求，然后工作人员拿取冰淇淋花筒，将花筒放置于冰淇淋机的分配口下方，通过手工按压冰淇淋机的压把，使冰淇淋从分配口流出。在冰淇淋流入花筒的过程中，转动花筒，使冰淇淋在花筒上形成特定的造型。冰淇淋制作完成后，再由人工递送给顾客。
上述方法存在众多缺陷。比如由于人工操作的标准化程度低，制作产品质量参差不齐。再如，人工操作需要依赖人力完成所有制作流程，劳动强度大，大量操作时易疲劳，而且在非营业高峰期间怠工时间长，效率低下。此外，人工操作容易受员工卫生习惯的影响，在制作过程中易造成食品污染等安全隐患。
发明内容
本发明针对现有技术的上述缺陷，提供一种食品自动贩卖机，其包括：
点餐单元，其被配置为接收消费者的食品订单；
食品制作单元，其被配置为根据所述点餐单元接收的订单，自动制作完成所述食品；
食品检测单元，其被配置为对食品制作单元完成的食品进行计算机视觉识别，确定所述食品是否合格；和
奉客单元，其被配置为当所述食品检测单元判断所述食品具备合格条件时，将该食品提供给消费者。
有益的是，所述点餐单元包括与食品制作单元通信连接的显示屏，显 示屏具有图形用户界面，消费者可以借由该图形用户界面选择食品和支付货款。
有益的是，所述图形用户界面还被设置为显示食品制作过程、产品介绍或购买指引。
有益的是，所述点餐单元包括二维码，消费者通过智能通讯设备识别二维码后，能够在智能通讯设备中选择食品和支付货款。
有益的是，所述食品为冰淇淋，所述食品制作单元包括：花筒存储单元，其存储有多个用于制作冰淇淋的花筒；食品原料储罐，其存储有至少一种用于制作所述食品的原料，并且在有花筒位于其分配口下方时，分配定量的原料至花筒；机械臂，其被配置为从花筒存储单元抓取一个花筒，并移动花筒至食品原料储罐的分配口下方，以接取定量的原料。
有益的是，所述机械臂被配置为在将花筒移动至食品原料储罐的分配口下方时，按照预定的轨迹运动以调整花筒体位，从而使所接取的原料在花筒中形成所需的外观造型。
有益的是，还包括音响单元；其中，所述机械臂被配置为，在音响单元播放音乐时，机械臂完成预定的舞蹈动作。
有益的是，所述食品检测单元包括：图像获取模块，其被配置为在制作完成订单食品后，获取该食品的图像信息；食品特征值模块，其被配置为确定所述图像信息中的食品特征值；合格判断模块，其被配置为基于所述食品特征值，判断所述食品是否具备合格条件；以及信号输出模块，其被配置为在所述食品被判断为具备合格条件时，发出信号控制奉客单元将该食品提供给消费者，或者在所述食品被判断为不具备合格条件时，发出信号控制机械臂对该食品做废弃处理并重新制作所述食品。
本发明可以实现在无人条件下自动完成接单、支付、制作、产品控制、合格品交付、不合格品回收等一系列功能，从而大量节省人工成本，提升运营效能。此外，根据本发明的贩卖机的所有操作可以实现为数字化运行，进而能够提供有关运营数据的全数字化分析统计，为经营者决策判断提供强力支撑。
以下将参照附图进一步详细描述本发明的其他细节，其中：
图1示出了根据本发明的食品自动贩卖机的一种具体结构配置；
图2为图1中的食品自动贩卖机在另一个视角的视图；
图3示出了根据本发明的食品自动贩卖机的一种实例的系统示意图；
图4示出了根据本发明的食品自动贩卖机的一种实例的控制示意图。
上述附图所示出的内容仅为举例和示意，而并不严格按照比例予以绘制，也并未完整地绘制出具体使用环境下相关的全部部件或细节。本领域技术人员在明了本发明的原理和构思之后，将能想到在特定的使用环境下为具体实施本发明而需要加入的本领域公知的相关技术内容。
图1和图2从不同角度示出了根据本发明的食品自动贩卖机的一种具体结构配置。
从图1可见，鸥翼窗1适于被掀开以对系统设备进行维护和保养。鸥翼窗优选由透明材料制成，以允许顾客观察食品的制作过程。前玻璃窗2同样地优选由透明材料制成，以便顾客观察设备内部的食品制作过程。升降门3用于顾客取餐，其被配置为在食品制作完成并检验合格后升起，以便顾客伸手获取食品。点餐屏幕4为触摸屏，其具有图形用户界面，允许消费者选择食品、下单和付款。微护窗5用于添加奶浆和维护机器。空调7用于设备内部降温。踏板8用于添加奶浆。
继续参见图2，排风扇9用于排出设备内部的热风热气，降低设备内部温度。花筒机构10用于存放花筒。废弃桶11用作存放被检验为不合格而需要废弃的食品。电箱12用于控制设备整体的强电和弱电。压杆机构13为冰淇淋原料比如奶浆的分配控制装置，起着控制阀的功能。在有花筒位于压杆机构的分配口下方时，压杆机构被控制为分配定量的奶浆至花筒。音响14用于播放语音或者音乐，以提示消费者，招徕顾客，或者配合机械 臂动作播放舞蹈音乐等。进度灯模块15用于控制并向消费者显示当的前食品制作进度。奉客机构16用于顾客取餐。此外，从图中还可见设备标签显示单元17、六轴机械臂18、控制电脑19和扫码点单入口20等，下文将对此做具体描述。
图3示出了根据本发明的食品自动贩卖机的一种实例的系统示意图。总体而言，该系统包括机械臂、机械结构、下位机、上位机、大屏幕、摄像机、音响、中控机、自助机、冰淇淋机。
机械臂优选采用六轴机械臂，其配合夹爪来夹取花筒并将花筒运动到所需位置，比如图2中的压杆机构的分配口下方。机械臂还可以被配置为按照设计的运动轨迹，调整花筒体位，接取冰淇淋奶浆，使其在花筒中形成所需的外观造型。机械臂还被配置为将产品运动到产品质量控制点位，完成质量检测后将质量合格的产品运送到出餐口，或者将质量不合格的产品运送到垃圾桶废弃。顾客如未取餐，机械臂还将产品运送到垃圾桶废弃。甚至，机械臂还可以被设置为配合设备整体要求，完成舞蹈动作，以为消费者提供娱乐，减少等待食品的无聊。
系统的机械结构主要由图1中的花筒机构10、压杆机构13和奉客机构16组成。花筒机构用于花筒材料的存储，其通过多个存储仓，实现大批量的花筒盛放，如一批次可以存放240个冰淇淋花筒。花筒机构还可设置花筒位置调正装置，为机械臂获取花筒准备好姿态和点位。
下位机采用控制电路，实现对机械结构的控制。上位机与下位机之间进行通讯，传输控制指令。大屏幕可以实现与顾客交互，在大屏幕上显示制作过程、顾客提示、产品介绍、推荐、指引等功能。摄像机用来采集产品照片，通过计算机视觉技术来判断所制作完成的冰淇淋或者其他产品是否合格。音响可以完成语音提示消费者，或者播放音乐吸引招徕顾客，甚至配合机械臂动作播放舞蹈音乐等。中控机实现整体结构、系统、软硬件设备之间的调度和控制。自助机采用触控一体机，以便消费者自助点单、支付、取餐。冰淇淋机实现从奶浆制作为冰淇淋的过程，以及奶浆的制作、消毒、灭菌等。
图4示出了根据本发明的食品自动贩卖机的一种控制示意图。首先，消费者或者用户通过小屏幕上的数字键盘或者二维码将订单提交至贩卖机。贩卖机的主控机在接收订单后向后台服务器提交食品制作请求。之后，贩卖机启动机械臂，自动完成订单食品的制作。比如，贩卖机中的机械臂从花筒存储机构获取一个花筒，并移动花筒至压杆机构的分配口下方。压杆机构在监测到花筒位于合适位置后，分配定量的冰淇淋、奶油等原料至花筒中，从而完成冰淇淋的制作。
在制作完成冰淇淋后，后台服务器获取该冰淇淋的图像信息。比如，通过摄像头或者其他拍摄装置拍摄冰淇淋的照片。拍摄装置所拍摄的照片内容不仅仅包括冰淇淋，还包含冰淇淋的整个场景和机械臂。为此，需要对照片做合适的处理，然后从照片中获取冰淇淋的图像信息。比如可以采用haar特征和Adaboost算法训练级联分类器对照片中的每一块进行分类。如果某一矩形区域通过了级联分类器，则被判别为冰淇淋图像。
在获取冰淇淋的图像信息之后，后台服务器进一步确定所述图像信息中的食品特征值。所述食品特征值比如包括以下中的一种或多种：花筒的外形、纹理、直径和高度、奶浆的外形、纹理、直径和高度等。
进一步地，后台服务器基于所述食品特征值，判断所述食品是否具备合格条件。比如，将所获取的食品特征值与预设的标准值相比较，并且单项标准值被设置在一个合法区域，如果食品特征值落于标准值区域内则认定为单项合格。合格判断模块可以配置为所述特征值中的一种或多种均合格时才认定冰淇淋产品为合格产品，也可以配置为一种或多种不合格时则认定冰淇淋产品为不合格产品，也可以配置为赋予各种特征值不同的权重，只有当所有的特征值的权重值的总和落于特征区域内才认定冰淇淋产品为合格。或者，合格判断模块可以配置为同时使用多种所述方式在判断目标冰淇淋产品是否合格。
如果在所述食品被判断符合合格条件时，后台服务器将对机械臂发出信号，请求将该食品提供给消费者。在所述食品被判断不具备合格条件时，后台服务器指示机械臂对该食品做废弃处理，并重新制作所述消费者订单 中的食品。
本发明可以实现在无人条件下自动完成接单、支付、制作、产品控制、合格品交付、不合格品回收等一系列功能，从而大量节省人工成本，提升运营效能。此外，根据本发明的贩卖机的所有操作可以实现为数字化运行，进而能够提供有关运营数据的全数字化分析统计，为经营者决策判断提供强力支撑。
上文描述的仅仅是有关本发明的精神和原理的示例性实施方式。本领域技术人员可以明白，在不背离所述精神和原理的前提下，可以对所描述的示例做出各种变化，这些变化及其各种等同方式均被本发明人所预想到，并落入由本发明的权利要求所限定的范围内。
Claims (8)
- 一种食品自动贩卖机，其特征在于，包括：点餐单元，其被配置为接收消费者的食品订单；食品制作单元，其被配置为根据所述点餐单元接收的订单，自动制作完成所述食品；食品检测单元，其被配置为对食品制作单元完成的食品进行计算机视觉识别，确定所述食品是否合格；和奉客单元，其被配置为当所述食品检测单元判断所述食品具备合格条件时，将该食品提供给消费者。
- 根据权利要求1所述的食品自动贩卖机，其特征在于，所述点餐单元包括与食品制作单元通信连接的显示屏，显示屏具有图形用户界面，消费者可以借由该图形用户界面选择食品和支付货款。
- 根据权利要求2所述的食品自动贩卖机，其特征在于，所述图形用户界面还被设置为显示食品制作过程、产品介绍或购买指引。
- 根据权利要求1所述的食品自动贩卖机，其特征在于，所述点餐单元包括二维码，消费者通过智能通讯设备识别二维码后，能够在智能通讯设备中选择食品和支付货款。
- 根据权利要求1所述的食品自动贩卖机，其特征在于，所述食品为冰淇淋，所述食品制作单元包括：花筒存储单元，其存储有多个用于制作冰淇淋的花筒；食品原料储罐，其存储有至少一种用于制作所述食品的原料，并且在有花筒位于其分配口下方时，分配定量的原料至花筒；机械臂，其被配置为从花筒存储单元抓取一个花筒，并移动花筒至食 品原料储罐的分配口下方，以接取定量的原料。
- 根据权利要求5所述的食品自动贩卖机，其特征在于，所述机械臂被配置为在将花筒移动至食品原料储罐的分配口下方时，按照预定的轨迹运动以调整花筒体位，从而使所接取的原料在花筒中形成所需的外观造型。
- 根据权利要求6所述的食品自动贩卖机，其特征在于，还包括音响单元；其中，所述机械臂被配置为，在音响单元播放音乐时，机械臂完成预定的舞蹈动作。
- 根据权利要求1所述的食品自动贩卖机，其特征在于，所述食品检测单元包括：图像获取模块，其被配置为在制作完成订单食品后，获取该食品的图像信息；食品特征值模块，其被配置为确定所述图像信息中的食品特征值；合格判断模块，其被配置为基于所述食品特征值，判断所述食品是否具备合格条件；以及信号输出模块，其被配置为在所述食品被判断为具备合格条件时，发出信号控制奉客单元将该食品提供给消费者，或者在所述食品被判断为不具备合格条件时，发出信号控制机械臂对该食品做废弃处理并重新制作所述食品。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911306942.1A CN111063103A (zh) | 2019-12-19 | 2019-12-19 | 食品自动贩卖机 |
| CN201911306942.1 | 2019-12-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021121316A1 true WO2021121316A1 (zh) | 2021-06-24 |
Family
ID=70302255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2020/137179 WO2021121316A1 (zh) | 2019-12-19 | 2020-12-17 | 食品自动贩卖机 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111063103A (zh) |
| WO (1) | WO2021121316A1 (zh) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111063103A (zh) * | 2019-12-19 | 2020-04-24 | 百胜（中国）投资有限公司 | 食品自动贩卖机 |
| CN112207818A (zh) * | 2020-08-28 | 2021-01-12 | 扬州哈工科创机器人研究院有限公司 | 一种六轴机械臂控制方法及系统 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251270A1 (en) * | 2003-06-16 | 2004-12-16 | Sunshine Ice Cream | Ice cream vending machine |
| CN101028916A (zh) * | 2006-02-28 | 2007-09-05 | 艾力股份公司 | 用于生产和分配半流体食品的自动机器 |
| CN203909928U (zh) * | 2014-06-29 | 2014-10-29 | 隋勇 | 一种冰淇淋自动售卖机 |
| CN110136129A (zh) * | 2019-05-22 | 2019-08-16 | 广东工业大学 | 一种商品质量检测方法、装置及存储介质 |
| CN110214849A (zh) * | 2019-07-15 | 2019-09-10 | 广州艾玩网络科技有限公司 | 基于自助售卖机实现冰淇淋售卖的方法及自助售卖机 |
| CN111063103A (zh) * | 2019-12-19 | 2020-04-24 | 百胜（中国）投资有限公司 | 食品自动贩卖机 |
-
2019
- 2019-12-19 CN CN201911306942.1A patent/CN111063103A/zh active Pending
-
2020
- 2020-12-17 WO PCT/CN2020/137179 patent/WO2021121316A1/zh active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040251270A1 (en) * | 2003-06-16 | 2004-12-16 | Sunshine Ice Cream | Ice cream vending machine |
| CN101028916A (zh) * | 2006-02-28 | 2007-09-05 | 艾力股份公司 | 用于生产和分配半流体食品的自动机器 |
| CN203909928U (zh) * | 2014-06-29 | 2014-10-29 | 隋勇 | 一种冰淇淋自动售卖机 |
| CN110136129A (zh) * | 2019-05-22 | 2019-08-16 | 广东工业大学 | 一种商品质量检测方法、装置及存储介质 |
| CN110214849A (zh) * | 2019-07-15 | 2019-09-10 | 广州艾玩网络科技有限公司 | 基于自助售卖机实现冰淇淋售卖的方法及自助售卖机 |
| CN111063103A (zh) * | 2019-12-19 | 2020-04-24 | 百胜（中国）投资有限公司 | 食品自动贩卖机 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111063103A (zh) | 2020-04-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021121316A1 (zh) | 食品自动贩卖机 | |
| CN107833363B (zh) | 基于图像识别的自助售货机自动库存管理系统及方法 | |
| CN109146380B (zh) | 一种基于相对位置的库存分析系统 | |
| US20230165267A1 (en) | Systems, apparatuses, and methods of substance processing | |
| CN106887081B (zh) | 一种自动贩卖机 | |
| CN109064630A (zh) | 无人自动称重计价货柜系统 | |
| CN207731404U (zh) | 一种全自动刨冰售货机 | |
| CN110119915A (zh) | 对象入库处理方法、装置和系统 | |
| CN110097691A (zh) | 基于网络的分布式寄卖系统 | |
| CN206773817U (zh) | 自动服装售卖机及服装售卖系统 | |
| WO2019144332A1 (zh) | 一种智能销售导购方法及系统 | |
| CN110201909A (zh) | 一种小型mim产品的螺牙自动检测分选系统 | |
| CN210605901U (zh) | 食品自动贩卖机 | |
| CN208314905U (zh) | 一种基于图像识别的自助售货柜系统 | |
| EP3895085A1 (en) | Food waste detection method and system | |
| WO2021121314A1 (zh) | 用于食品自动贩卖机的控制装置及方法 | |
| TW201915918A (zh) | 基於自助交易之即沖式飲料販賣系統及其方法 | |
| CN208521367U (zh) | 自动售货机 | |
| CN208477625U (zh) | 一种客户评价装置 | |
| WO2021026953A1 (zh) | 一种全自动橙子冷压橙汁售卖机 | |
| CN113611041A (zh) | 一种称重无人售货柜设备及其售货方法和无人售货系统 | |
| CN211015714U (zh) | 一种线上线下相结合的一站式购衣柜 | |
| CN110443950A (zh) | 智能售货机 | |
| CN110164040A (zh) | 一种自动售货柜机及其支付方法 | |
| TWM540342U (zh) | 便當自助餐自動化點餐機裝置 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20901673 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 20901673 Country of ref document: EP Kind code of ref document: A1 |