CPC G05B 19/042 (2013.01) [B67D 1/0888 (2013.01); G06V 10/44 (2022.01); G06V 10/764 (2022.01); G06V 10/774 (2022.01); G06V 20/52 (2022.01); B67D 2001/1259 (2013.01); G05B 2219/2645 (2013.01); H04N 7/18 (2013.01)] | 19 Claims |
1. A system for dispensing a beverage into a cup, the system comprising:
dispensing hardware configured to dispense the beverage into the cup;
a vision system that captures an image of the cup within a dispensing area of the system;
a model containing data corresponding to the cup being full; and
a control system that compares the image of the cup to the model and controls the dispensing hardware to dispense the beverage into the cup based on the comparison of the image of the cup to the model;
wherein the model further includes data for a transient surface condition, and wherein the control system pauses the dispensing of the beverage when the comparison of the cup to the model identifies the transient surface condition in the cup.
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