The smart unmanned vending machine using machine vision technology suffers from the sharp decrease of detection accuracy due to the incomplete image collection of items by monocular camera in complex environment, and the lack of obvious features in dense stacking of items. In this paper, a binocular camera system is designed to effectively solve the problems of distortion and coverage caused by monocular camera. Besides, an image-stitching algorithm is developed to splice the images captured by the camera, which reliefs the burden of computation for back-end recognition processing brought by the binocular camera. A new model YOLOv3-TinyE is proposed based on YOLOv3-tiny model. Based on the data set of 21, 000 images captured in real scenarios that containing 20 different type of beverages, the comparison experimental results show that YOLOv3-TinyE model achieves the mean average precision of 99.15%, and the inference speed is 2.91 times faster than that of YOLOv3 model, and the detection accuracy of YOLOv3-TinyE model based on binocular vision is higher than that based on monocular vision. The results suggest that the designed method achieves the goal in terms of inference speed and average precision, that is, it is able to satisfy the requirements for real-world applications.