CN110292307A - A kind of task execution system - Google Patents
A kind of task execution system Download PDFInfo
- Publication number
- CN110292307A CN110292307A CN201810236222.1A CN201810236222A CN110292307A CN 110292307 A CN110292307 A CN 110292307A CN 201810236222 A CN201810236222 A CN 201810236222A CN 110292307 A CN110292307 A CN 110292307A
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- CN
- China
- Prior art keywords
- mechanical arm
- task
- coffee
- milk
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/60—Cleaning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The embodiment of the invention provides a kind of task execution systems, and the system comprises multiple mechanical arms, control equipment and at least one task execution device with the communication connection of multiple mechanical arms；Task includes multiple subtasks, and each subtask includes at least one movement, in which: control equipment is used for the corresponding execution time of the movement according to included by multiple subtasks, sends corresponding control instruction to multiple mechanical arms；Multiple mechanical arms are for receiving corresponding control instruction, and the action message that control instruction carries based on the received executes corresponding actions, include the operation at least one task execution device in the movement that at least one mechanical arm executes；At least one task execution device is for responding the operation.Since multiple mechanical arms can complete the corresponding multiple subtasks executed with repetition time section in the time of included movement, therefore, it is possible to reduce execute the time-consuming of task process, improve task execution efficiency according to control instruction.
Description
Technical field
The present invention relates to task processing technology fields, more particularly to a kind of task execution system.
Background technique
With the rapid development of artificial intelligence technology, the execution of current some tasks can be completed by mechanical arm, for example,
Pass through mechanical arm handling goods etc..Executing task by mechanical arm can use manpower and material resources sparingly, and improve task execution efficiency.
For example, it for making coffee task, can be completed by coffee machine, but existing coffee machine is making
Manual operation is needed during coffee, such as presses switch, the crawl operation such as coffee cup, it is therefore desirable to fixed StoreFront and solid
Fixed staff also can only provide a user coffee beverage in the fixed business hours, and limitation is larger.
And coffee making task is executed by robotic arm manipulation coffee machine, then it can break above-mentioned limitation, may not need solid
Fixed StoreFront and fixed staff can also provide a user coffee beverage in the time that any user needs.But mesh
It is all that coffee making task is executed by Single Mechanical arm when the preceding execution coffee making task by robotic arm manipulation coffee machine,
It is exactly that coffee making task is executed by a mechanical arm.
Obviously, in such task execution mode, since mechanical arm each moment can only carry out a movement, no
Multiple movements can be completed at the same time, so time-consuming for task execution process, task execution efficiency is lower.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of task execution system, to reduce the time-consuming of execution task process,
Improve task execution efficiency.Specific technical solution is as follows:
The embodiment of the invention provides a kind of task execution system, the system comprises multiple mechanical arms, with it is the multiple
The control equipment and at least one task execution device of mechanical arm communication connection；The task includes multiple subtasks, every height
Task includes at least one movement, in which:
The control equipment sends phase for the corresponding execution time of the movement according to included by the multiple subtask
Answer control instruction to the multiple mechanical arm, wherein the control instruction carries action message, included by the multiple subtask
The movement corresponding execution time in have the repetition time section；
The multiple mechanical arm, for receiving corresponding control instruction, and based on the received control instruction carry it is dynamic
Make information and execute corresponding actions, wherein includes at least one described task execution in the movement that at least one mechanical arm executes
The operation of equipment；
At least one described task execution device, for responding the operation.
Optionally, the system also includes at least one visual sensor, the visual sensor is installed on the multiple
The end of mechanical arm, and/or it is installed on predeterminated position in environment；
The visual sensor is sent to the control equipment for acquiring ambient image, and by the ambient image；
The control equipment, is also used to receive the ambient image, determines the action message according to the ambient image
And/or environmental aspect.
Optionally, the control equipment, is also used to when determining that abnormal conditions occurs in the environmental aspect, output abnormality mentions
Show information.
Optionally, the control equipment, is also used to receive user instructions, and determines the corresponding task institute of the user instruction
Including multiple subtasks.
Optionally, the task is coffee making task；The multiple mechanical arm includes that first mechanical arm and second are mechanical
Arm；At least one described task execution device includes automatic coffee machine；
The control equipment, specifically for include according to the coffee making task subtask included by movement it is corresponding
The execution time, send corresponding control instruction to the first mechanical arm and the second mechanical arm；
The first mechanical arm and the second mechanical arm, are specifically used for receiving corresponding control instruction, and according to being received
The action message that the control instruction arrived carries executes corresponding actions, wherein includes pair in the movement that at least one mechanical arm executes
The operation of the automatic coffee machine；
The automatic coffee machine, for responding the operation.
Optionally, the coffee making task includes production concentrated coffee subtask, connects milk subtask, milk making lake times
Business and mixed coffee milk foam subtask；At least one described task execution device further includes milk cabinet；At least one described machinery
It further include the operation to the milk cabinet in the movement that arm executes；
The automatic coffee machine completes the production concentrated coffee subtask and foaming for responding the operation
Subtask；
The milk cabinet, for responding the operation, completion connects milk subtask.
Optionally, the coffee making task further includes cleaning milk foam pipe task and cleaning milk mug task；It is described extremely
A few task execution device further includes milk foam pipe cleaning equipment and cup cleaner；In the movement that at least one described mechanical arm executes
It further include the operation to the milk foam pipe cleaning equipment and cup cleaner；
The milk foam pipe cleaning equipment completes cleaning milk foam pipe task for responding the operation；
The cup cleaner completes cleaning milk mug task for responding the operation.
Optionally, the system also includes the cup drawing devices for storing coffee cup.
Optionally, the system also includes equipment of ordering, order equipment and the control equipment communication connections；
The equipment of ordering is ordered instruction for receiving user, and the coffee species that instruction carries of ordering are identified
It is sent to the control equipment；
The control equipment is also used to receive the coffee species mark, and is identified according to the coffee species, determines institute
State the movement that production concentrated coffee subtask includes and the movement corresponding execution time that foaming subtask includes.
Optionally, the system also includes stations；
The automatic coffee machine is installed on the station, and the installation site of the automatic coffee machine is in institute
Within the scope of the crawl for stating first mechanical arm and second mechanical arm；
The crawl range of the first mechanical arm crawl range and the second mechanical arm has overlapping region；
The milk cabinet is installed on above or below the station.
In scheme provided by the embodiment of the present invention, task execution system includes that multiple mechanical arms and multiple mechanical arms are logical
Believe that the control equipment and at least one task execution device of connection, task include multiple subtasks, each subtask includes at least
One movement, in which: control equipment is used for the corresponding execution time of the movement according to included by multiple subtasks, sends corresponding control
System instruction is to the multiple mechanical arm, and for receiving corresponding control instruction, and based on the received, control refers to multiple mechanical arms
It enables the action message carried execute corresponding actions, includes at least one task execution in the movement that at least one mechanical arm executes
The operation of equipment, at least one task execution device for responding the operation, movement included by multiple subtasks is corresponding
Executing in the time has repetition time section.Since multiple mechanical arms it is corresponding can to complete included movement according to control instruction
Execute the time in the repetition time section multiple subtasks, therefore, it is possible to reduce execute task process time-consuming, improve appoint
Business execution efficiency.
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
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of task execution system provided by the embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram for executing the task execution system of coffee making task；
Fig. 3 is a kind of top view of mounting means of equipment in task execution system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to shorten the time-consuming of task execution process, task execution efficiency is improved, the embodiment of the invention provides one kind to appoint
Business execution system.A kind of task execution system is provided for the embodiments of the invention below to be introduced.
As shown in Figure 1, a kind of task execution system, the system comprises multiple mechanical arms 101 and the multiple mechanical arms
The control equipment 102 and at least one task execution device 103 of 101 communication connections；The task includes multiple subtasks, each
Subtask includes at least one movement, in which:
The control equipment 102 is sent for the corresponding execution time of the movement according to included by the multiple subtask
Corresponding control instruction is to the multiple mechanical arm 101；
Wherein, the control instruction carries action message, when the corresponding execution of movement included by the multiple subtask
Between in have the repetition time section.
The multiple mechanical arm 101, for receiving corresponding control instruction, and based on the received control instruction carry
Action message executes corresponding actions；
It wherein, include at least one described task execution device 103 in the movement that at least one mechanical arm 101 executes
Operate
At least one described task execution device 103, for responding the operation.
As it can be seen that task execution system includes multiple mechanical arms and multiple machinery in scheme provided by the embodiment of the present invention
The control equipment and at least one task execution device, task of arm communication connection include multiple subtasks, and each subtask includes
At least one movement, in which: control equipment is used for the corresponding execution time of the movement according to included by multiple subtasks, sends phase
Answer control instruction to the multiple mechanical arm, multiple mechanical arms are controlled based on the received for receiving corresponding control instruction
The action message that system instruction carries executes corresponding actions, includes at least one task in the movement that at least one mechanical arm executes
The operation of equipment is executed, at least one task execution device is for responding the operation, movement pair included by multiple subtasks
There is repetition time section in the execution time answered.Since multiple mechanical arms can complete included movement according to control instruction
The corresponding multiple subtasks executed with repetition time section in the time, therefore, it is possible to reduce the time-consuming for executing task process mentions
High task execution efficiency.
In above-mentioned task execution system, control equipment 102 can be arbitrarily can be to the electronics that mechanical arm is controlled
Equipment, such as computer, processor, controller etc..Controlling equipment 102 can be with multiple 101 wired connection of mechanical arm, can also nothing
Line connection is not specifically limited herein as long as multiple mechanical arms 101 can be communicated with control equipment 102.Task is held
Row equipment 103 can be the equipment for being arbitrarily able to respond the operation of mechanical arm 101, can be according to the specific of being executed for task
Content determines, for example, can be coffee machine, juice extractor, ice cream maker etc..
Above-mentioned task may include multiple subtasks, and each subtask includes at least one movement, and multiple subtasks
There is repetition time section, that is to say, that in movement included by multiple subtasks in the included movement corresponding execution time
It can be at least performed simultaneously in the presence of one.In this way, multiple mechanical arms 101 also can be performed simultaneously multiple movements at least
Two movements.
For example, task execution system includes three mechanical arms 101, task includes two subtasks, respectively A, B, and son is appointed
The A that is engaged in includes three movement a, b and c, and subtask B includes two movement d and e, wherein movement a, acts b and acts that d is corresponding to be held
There is repetition time section in the row time, then, control equipment 102 can be sent corresponding according to the movement a-e corresponding execution time
Control instruction is to three mechanical arms 101, and in turn, three mechanical arms 101 control instruction can carry based on the received
Action message executes corresponding actions, wherein execution movement a, movement b and the time for acting d have repetition time section, in this way
Time needed for task execution can be greatly shortened improves task execution efficiency.
As a kind of embodiment of the embodiment of the present invention, above-mentioned task execution system can also include at least one vision
Sensor, visual sensor can be installed on the end of multiple mechanical arms, and/or be installed on predeterminated position in environment.Vision passes
Sensor can be used for acquiring ambient image, and ambient image is sent to control equipment.
Wherein, visual sensor refers to the equipment of realization visual sensing technology based on image taking sensor.Multiple mechanical arms
In the end of a mechanical arm visual sensor can be installed, the end of several mechanical arms in multiple mechanical arms can pacify
Equipped with visual sensor, naturally it is also possible to which the end of each mechanical arm is mounted on visual sensor, in addition, visual sensor
It can be installed on predeterminated position in environment, this is all reasonable.
Visual sensor can be used for acquiring ambient image, and ambient image is sent to control equipment, and in turn, control is set
It is standby to receive the ambient image, action message and/or environmental aspect are determined according to the ambient image.
For example, visual sensor is installed on the end of the mechanical arm by taking a mechanical arm in multiple mechanical arms as an example, adopt
It include the cup that the mechanical arm needs to grab in the ambient image of collection, then the ambient image is sent to control by visual sensor
Equipment, control equipment can carry out image procossing to the ambient image, determine the position of cup, and determine and move according to the position
Make information, which can grab the corresponding fetching of cup for mechanical arm, and in turn, mechanical arm can be dynamic according to this
Make information, is moved, the final crawl realized to cup.
In another example visual sensor is installed on predeterminated position in environment, it include a milk cabinet in the ambient image of acquisition,
Milk is loaded in milk cabinet, then the ambient image is sent to control equipment by visual sensor, control equipment can be right
The ambient image carries out image procossing, determines whether milk cabinet normally goes out milk, determines whether the milk surplus in milk cabinet fills
Foot etc..
Wherein, the concrete mode that control equipment carries out image procossing to ambient image can use the phase of field of image processing
Pass technology is not specifically limited herein and says for example, can carry out the modes such as image detection using deep learning network model
It is bright.
As it can be seen that in the present embodiment, the end of multiple mechanical arms and/or it is installed on predeterminated position in environment vision can be installed
Sensor, visual sensor can acquire ambient image, and be sent to control equipment, and in turn, control equipment can be according to environment
Image determines action message and/or environmental aspect, and mechanical arm view-based access control model on the one hand can be enable to complete corresponding actions, another
Aspect can also monitor environmental aspect, guarantee going on smoothly and accurately completing for task.
For above-mentioned task execution system includes the case where at least one visual sensor, as the embodiment of the present invention
A kind of embodiment, above-mentioned control equipment can be also used for when determining that abnormal conditions occurs in environmental aspect, and output abnormality mentions
Show information.
For controlling the concrete mode of equipment output abnormality prompt information, it can use and show abnormal prompt over the display
Information, using indicator light output abnormality prompt information, using modes such as the voice modes output abnormality prompt informations such as buzzing, herein
It is not specifically limited.
Control equipment can also be communicated to connect with management equipment, in turn, when determining that abnormal conditions occurs in environmental aspect, with
Management equipment communication, is sent to management equipment for abnormal prompt information, so that administrative staff can know the abnormal prompt information,
Carry out relevant treatment.Wherein, control equipment can send abnormal prompt information to management equipment in such a way that mail, short message etc. are various.
For example, control equipment can determine that normally starting, mechanical arm do not grab the feelings such as abnormal to a certain task execution device
Output abnormality prompt information under condition, to prompt user to carry out relevant treatment.
As it can be seen that in the present embodiment, control equipment can be believed in output abnormality prompt when abnormal conditions occurs in working environment
Breath, to prompt user to carry out relevant treatment, it is ensured that task execution system smoothly completes task.
As a kind of embodiment of the embodiment of the present invention, above-mentioned control equipment can be also used for receiving user instructions, and
Determine multiple subtasks included by the corresponding task of user instruction.
Control equipment can have user instruction interface, which can be for display screen curtain, button etc., certainly
Control equipment can also be communicated with other equipment, obtain user instruction by other equipment.After control equipment receives user instructions,
It can determine multiple subtasks included by the corresponding task of the user instruction.
For example, if task performed by task execution system is production blended fruit juice, control equipment is received
User instruction is " blended fruit juice of blueberry and raspberry ", then, control equipment can determine that production is mixed according to the user instruction
Close subtask included by fruit juice task are as follows: production blueberry juice, production juice of raspberry and mixing blueberry juice and juice of raspberry.
As it can be seen that in the present embodiment, control equipment can receive user instruction, and determine corresponding according to user instructions
The included multiple subtasks of business, allow task execution system to execute the task of user's selection, and user experience is more preferable.
As a kind of embodiment of the embodiment of the present invention, as shown in Fig. 2, above-mentioned task can be coffee making task；
Above-mentioned multiple mechanical arms may include first mechanical arm 201 and second mechanical arm 202；At least one above-mentioned task execution device can
To include automatic coffee machine 203.
It is corresponding that control equipment 204 specifically can be used for movement included by the subtask for including according to coffee making task
The time is executed, sends corresponding control instruction to first mechanical arm 201 and second mechanical arm 202；First mechanical arm 201 and the second machine
Tool arm 202 specifically can be used for receiving corresponding control instruction, and the action message that control instruction carries based on the received is held
Row corresponding actions, wherein include the operation to automatic coffee machine 203 in the movement that at least one mechanical arm executes；Automatic coffee
Machine 203 processed can be used for responding the operation.
In the case where above-mentioned task is coffee making task, control equipment 204 specifically can be used for according to coffee making
The corresponding execution time of movement included by the subtask that task includes, send corresponding control instruction to first mechanical arm 201 and
Second mechanical arm 202.
For example, coffee making task may include make coffee, sugaring plus subtasks, each subtask such as milk may include
At least one movement, for example, subtask sugaring may include crawl sugar, be moved to above coffee cup, put down sugar and stirring action, that
, the corresponding execution time that control equipment can be acted according to these, send corresponding control instruction to first mechanical arm 201 and
Second mechanical arm 202.
Specifically, it is assumed that motion capture is sugared, be moved to coffee cup top, put down sugar and the execution time of stirring is respectively
2 seconds, 5 seconds, 0.5 second and 8 seconds, then control equipment can execute the time according to these, corresponding control instruction was sent to first
Mechanical arm 201 and second mechanical arm 202.For example, can according to motion capture sugar, be moved to above coffee cup, put down holding for sugar
The row time sends command adapted thereto to first mechanical arm 201, stirs the corresponding execution time according to movement, send command adapted thereto extremely
Second mechanical arm 202.
Certainly, there is repetition time section, for example, sub in the movement corresponding execution time included by above-mentioned multiple subtasks
Task sugaring and subtask add milk that can carry out simultaneously, improve the efficiency of production coffee.
First mechanical arm 201 and second mechanical arm 202 then specifically can be used for receiving corresponding control instruction, and according to being connect
The action message that the control instruction received carries executes corresponding actions.For example, control equipment is held according to movement stirring is corresponding
The row time sends stirring instruction to second mechanical arm 202, then second mechanical arm 202 can be stirred operation to coffee.
It include to automatic in the movement that at least one mechanical arm in first mechanical arm 201 and second mechanical arm 202 executes
The operation of coffee machine 203.For example, start automatic coffee machine, close automatic coffee machine, press production coffee button etc., in turn, from
Dynamic coffee machine 203 is started, is closed, is made then for responding the operation of first mechanical arm 201 and/or second mechanical arm 202
The movement such as coffee.
As it can be seen that in the present embodiment, task execution system can complete coffee making task, first mechanical arm and/or
Two mechanical arms, which can cooperate, completes the corresponding movement of action message that control instruction carries, and operates to automatic coffee machine etc.,
Coffee making efficiency greatly improves.
For the case where above-mentioned task is coffee making task, as a kind of embodiment of the embodiment of the present invention,
The coffee making task may include production concentrated coffee subtask, connect milk subtask, foaming subtask and mixed coffee
Milk foam subtask.
Correspondingly, at least one above-mentioned task execution device can also include milk cabinet, what at least one mechanical arm executed
It can also include the operation to milk cabinet in movement.Automatic coffee machine can be used for responding operation, complete the production concentrated coffee
Subtask and foaming subtask, milk cabinet can be used for responding operation, and completion connects milk subtask.
Since the various coffees with milk foam are the drinks of many users favor, in order to cater to user hobby and
Demand, above-mentioned coffee making task can specifically include production concentrated coffee subtask, connect milk subtask, foaming subtask
With mixed coffee milk foam subtask.
So control equipment can according to production concentrated coffee subtask, connect milk subtask, foaming subtask and
The corresponding execution time of movement included by mixed coffee milk foam subtask sends control instruction to first mechanical arm and the second machine
Tool arm.First mechanical arm and second mechanical arm receive corresponding control instruction, and the control instruction that can be received carries dynamic
Make information and execute corresponding actions, to be operated to automatic coffee machine and/or milk cabinet.
Automatic coffee machine generally has the dual function of production concentrated coffee and foaming, and automatic coffee machine goes out with coffee
Mouthful, for releasing the concentrated coffee made.Automatic coffee machine also has milk foam pipe, and the insertion of milk foam pipe is loaded with to the appearance of milk
In device, such as milk cylinder, milk foam pipe switch is opened, foaming operation can be carried out, closes milk foam pipe switch, it can stopping is beaten
Milk foam operation.The concentrated coffee made and the milk foam accomplished fluently are mixed, general fashion is to pour into milk foam in concentrated coffee, i.e.,
The production of coffee is completed, this process is referred to as garland.
Milk cabinet can store milk, and milk cabinet can have out milk switch, can be from when milk switch is turned on out
Milk pipe releases stored milk.In one embodiment, it is placed in fixed position in milk cylinder, the milk that goes out for resisting milk cabinet is opened
Guan Shi, milk switch is opened out, releases milk；When milk cylinder is moved out fixed position, the milk switch out of milk cylinder and milk cabinet
When not contacting, milk switch is closed out, and milk cabinet also just stops releasing milk.
Illustratively, concentrated coffee subtask, connect milk subtask, foaming subtask and mixed coffee milk foam subtask
Movement performed by included movement and two mechanical arms can be as shown in the table:
It should be noted that the movement that first mechanical arm and second mechanical arm execute in above table is with the repetition time
Section, for example, the movement corresponding with second mechanical arm of production coffee button is pressed in the corresponding movement of first mechanical arm picks up milk cylinder
It can carry out simultaneously；The movement corresponding with second mechanical arm of the corresponding movement supplementary tumbler milk foam pipe of first mechanical arm connects milk can
To carry out simultaneously；The corresponding movement of first mechanical arm picks up the mobile milk cylinder of coffee cup movement corresponding with second mechanical arm to coffee
Can be carried out simultaneously above cup etc..
As it can be seen that in the present embodiment, above-mentioned coffee making task may include production concentrated coffee subtask, connect autumn elaeagnus root leaf and fruit
Task, foaming subtask and mixed coffee milk foam subtask, task execution device can also include milk cabinet, in turn, first
Mechanical arm and second mechanical arm can cooperate complete the production concentrated coffee subtask, connect milk subtask, foaming subtask and
The coffee making time is shortened in certain movements in movement included by mixed coffee milk foam subtask, improves coffee making efficiency.
It include system for above-mentioned coffee making task to preferably quickly provide safe and healthy coffee beverage for user
For making concentrated coffee subtask, connecing the case where milk subtask, foaming subtask and mixed coffee milk foam subtask, as
A kind of embodiment of the embodiment of the present invention, above-mentioned coffee making task can also include cleaning milk foam pipe task and cleaning milk
Mug task.
Correspondingly, at least one above-mentioned task execution device can also include milk foam pipe cleaning equipment and cup cleaner, first
Can also include in the movement that at least one mechanical arm in mechanical arm and second mechanical arm executes to milk foam pipe cleaning equipment and
The operation of cup cleaner.Milk foam pipe cleaning equipment can be used for responding the operation of mechanical arm, complete cleaning milk foam pipe task.Wash cup
Device can be used for responding robotic arm manipulation, complete cleaning milk mug task.
After a cup of Java that completes, in order to guarantee the cleaning of coffee making apparatus, guarantee the health of coffee beverage, one
As need to clean milk foam pipe and milk cylinder, therefore above-mentioned coffee making task can also include cleaning milk foam pipe task and cleaning milk
Mug task.Wherein, the equipment that milk foam pipe cleaning equipment can arbitrarily clean milk foam pipe for spray nozzle type cleaning equipment etc.,
This is not specifically limited.Cup cleaner can clean the cup cleaner of milk cylinder with any type, also be not specifically limited herein.
At least one above-mentioned task execution device can include milk foam pipe cleaning equipment and cup cleaner.It is needing to milk foam
When pipe is cleaned, control equipment can be sent according to the movement corresponding execution time included by milk foam pipe task is cleaned
Corresponding control instruction is to first mechanical arm and/or second mechanical arm, and in turn, first mechanical arm and/or second mechanical arm can
Corresponding control instruction is received, and the action message that control instruction carries based on the received grasps milk foam pipe cleaning equipment
Make, milk foam pipe cleaning equipment can respond the operation of mechanical arm, complete cleaning milk foam pipe task.
When needing to clean milk cylinder, control equipment can be corresponding according to movement included by milk mug task is cleaned
The execution time, send corresponding control instruction to first mechanical arm and/or second mechanical arm, in turn, first mechanical arm and/or
Two mechanical arms can receive corresponding control instruction, and the action message that control instruction carries based on the received is to cup cleaner
It is operated, cup cleaner can respond the operation of mechanical arm, complete cleaning milk mug task.
As it can be seen that can also include milk foam pipe cleaning equipment and cup cleaner in task execution system, need in the present embodiment
When cleaning to milk foam pipe and/or milk cylinder, control equipment can control mechanical arm to milk foam pipe cleaning equipment and/or cup cleaner
It is operated, completes cleaning milk foam pipe task and cleaning milk mug task, can guarantee quickly to provide for user in this way
The coffee beverage of safety.
For the case where above-mentioned task is production coffee task, as a kind of embodiment of the embodiment of the present invention,
Above system can also include the cup drawing device for storing coffee cup.
In one embodiment, for convenience of operating, simplify cleaning procedure, coffee cup can be not necessarily to for disposable paper cup etc.
The container of cleaning, cup drawing device can be stacked in wherein for the cup drawing device of storage disposable paper cup in the related technology, coffee cup, in this way
Space occupied by storage coffee cup can be saved.Certainly, cup drawing device may be receptacle stand, and coffee cup is put thereon, this
It is all reasonable.
When needing to grab coffee cup, mechanical arm can be according to the action message carried in control instruction, from cup drawing device
Middle crawl coffee cup, to contain the concentrated coffee of automatic coffee machine production.
As it can be seen that in the present embodiment, above-mentioned task execution system can also include the cup drawing device for storing coffee cup, side
Just crawl of the mechanical arm to coffee cup, conducive to smoothly completing for coffee making task.
Since there are many type of coffee, the coffee species that each user is liked may be different, therefore in order to meet difference
The demand of user, as a kind of embodiment of the embodiment of the present invention, above system can also include equipment of ordering, equipment of ordering
It is communicated to connect with above-mentioned control equipment.Equipment of ordering can be used for receiving user and order instruction, and the coffee that instruction of ordering is carried
Coffee category identities are sent to control equipment.
Correspondingly, control equipment can be also used for receiving coffee species mark, and identified according to coffee species, determines production
The movement corresponding execution time that the movement and foaming subtask that concentrated coffee subtask includes include.
Wherein, equipment of ordering can be the electronic equipments such as computer, tablet computer, mobile phone, order as long as can receive user
Instruction.The coffee species mark that instruction of ordering carries can be sent to by equipment of ordering with control equipment communication connection
Equipment is controlled, equipment of ordering can also can be wireless, be not specifically limited herein with control equipment wired connection.
Equipment of ordering can obtain the instruction of ordering of user by touching the modes such as screen, button, and instruction of ordering can be taken
Band coffee species identify, and it such as can be number, word that coffee species mark, which can be that arbitrarily can be identified for that the mark of coffee,
The forms such as female, symbol or combinations thereof, are not specifically limited herein.For example, for latte, Mocha coffee, Cappuccino coffee
Coffee, corresponding coffee species mark can be respectively C1, C2 and C3, can also be respectively x, y, z, can also be * a, * b, *
c。
In turn, control equipment can receive coffee species mark, and be identified according to coffee species, determine production concentrated coffee
The movement corresponding execution time that the movement and foaming subtask that subtask includes include.For example, it is assumed that latte, mocha
Coffee species mark respectively C1, C2 and C3 of coffee, cappuccino, if the coffee species mark that control equipment receives
Knowing is C1, then illustrate required for user for latte, then control equipment can be according to being concentrated coffee in latte
The ratio of coffee and milk foam determines that the movement that production concentrated coffee subtask includes and the movement that foaming subtask includes are corresponding
Execute the time.
In turn, control equipment can according to the identified execution time, send corresponding control instruction to first mechanical arm and
Second mechanical arm, first mechanical arm and second mechanical arm can cooperating, automatic coffee machine and milk cabinet are operated,
To complete the production of one cup of latte, it is supplied to user and drinks.
As it can be seen that in the present embodiment, task execution system can also include equipment of ordering, equipment of ordering can receive user
It orders instruction, and the coffee species mark that the instruction that will order carries is sent to control equipment, in turn, control equipment can receive coffee
Coffee category identities, and identified according to the coffee species, determine the movement and milk making lake times that production concentrated coffee subtask includes
The movement that business the includes corresponding execution time.The different types of coffee liked can be made for user according to the user's choice,
Meet the different demands of user, user experience is more preferable.
As a kind of embodiment of the embodiment of the present invention, above-mentioned task execution system can also include station.Automatically
Coffee machine can be installed on station, also, the installation site of automatic coffee machine is in first mechanical arm and the second machine
Within the scope of the crawl of tool arm.
Operation for convenience of mechanical arm to equipment such as automatic coffee machines, above-mentioned task execution system can also include operation
Platform, automatic coffee machine can be installed on station, to facilitate the operation of mechanical arm.Due in coffee making procedure, first
Mechanical arm and second mechanical arm are required to operate automatic coffee machine, so the installation site needs of automatic coffee machine are in
Within the scope of the crawl of first mechanical arm and second mechanical arm.
Since in coffee making procedure, first mechanical arm and second mechanical arm need to cooperate and complete certain operations, such as
Mixed coffee and milk foam guarantee so the crawl range of first mechanical arm crawl range and second mechanical arm has overlapping region
First mechanical arm and second mechanical arm, which need to cooperate, completes corresponding operating.
It for the installation site of milk cabinet, can be determined according to factors such as the sizes of actual operating condition, milk cabinet can be with
It is installed on above station, the lower section of station can also be installed on, do not influence the execution of coffee making task.
It is illustrated in figure 3 a kind of top view of mounting means, automatic coffee machine 301 and milk cabinet 302 are respectively mounted in Fig. 3
In the top of station 303, the installation site of automatic coffee machine 301 is in the crawl range 304a and of first mechanical arm 304
In the crawl range 305a of two mechanical arms 305, and the crawl range 304a of first mechanical arm 304 and grabbing for second mechanical arm 305
Take range 305a that there is overlapping region.
As it can be seen that in the present embodiment, task execution system can also include station, automatic coffee machine can be installed on
On station, milk cabinet can be installed on above or below the station.The installation site of automatic coffee machine is in first
Within the scope of the crawl of mechanical arm and second mechanical arm, first mechanical arm, which grabs range and the crawl range of second mechanical arm, has weight
Close region, in this way, can operation in order to first mechanical arm and second mechanical arm to automatic coffee machine, milk cabinet can be installed on
When below station, installation space can also be saved.
It should be noted that, in this document, be such as used merely to an entity with second or the like relational terms or
Person's operation is distinguished with another entity or operation, is appointed without necessarily requiring or implying existing between these entities or operation
What this actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, system, article or the equipment that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, system, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in process, system, article or the equipment of element that there is also other identical elements.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of task execution system, which is characterized in that communicated the system comprises multiple mechanical arms, with the multiple mechanical arm
The control equipment and at least one task execution device of connection；The task includes multiple subtasks, and each subtask includes extremely
A few movement, in which:
The control equipment sends corresponding control for the corresponding execution time of the movement according to included by the multiple subtask
System is instructed to the multiple mechanical arm, wherein the control instruction carries action message, moves included by the multiple subtask
Make that there is repetition time section in the corresponding execution time；
The multiple mechanical arm, for receiving corresponding control instruction, and the movement letter that control instruction carries based on the received
Breath executes corresponding actions, wherein includes at least one described task execution device in the movement that at least one mechanical arm executes
Operation；
At least one described task execution device, for responding the operation.
2. the system as claimed in claim 1, which is characterized in that described the system also includes at least one visual sensor
Visual sensor is installed on the end of the multiple mechanical arm, and/or is installed on predeterminated position in environment；
The visual sensor is sent to the control equipment for acquiring ambient image, and by the ambient image；
The control equipment, is also used to receive the ambient image, according to the ambient image determine the action message and/or
Environmental aspect.
3. system as claimed in claim 2, which is characterized in that the control equipment is also used to determining the environmental aspect
When there are abnormal conditions, output abnormality prompt information.
4. the system as claimed in claim 1, which is characterized in that the control equipment is also used to receive user instructions, and determines
Multiple subtasks included by the corresponding task of the user instruction.
5. system according to any one of claims 1-4, which is characterized in that the task is coffee making task；It is described more
A mechanical arm includes first mechanical arm and second mechanical arm；At least one described task execution device includes automatic coffee machine；
The control equipment, specifically for include according to the coffee making task subtask included by movement is corresponding holds
The row time sends corresponding control instruction to the first mechanical arm and the second mechanical arm；
The first mechanical arm and the second mechanical arm are specifically used for receiving corresponding control instruction, and based on the received
The action message that control instruction carries executes corresponding actions, wherein includes to described in the movement that at least one mechanical arm executes
The operation of automatic coffee machine；
The automatic coffee machine, for responding the operation.
6. system as claimed in claim 5, which is characterized in that the coffee making task includes that production concentrated coffee is appointed
It is engaged in, connects milk subtask, foaming subtask and mixed coffee milk foam subtask；At least one described task execution device also wraps
Include milk cabinet；It further include the operation to the milk cabinet in the movement that at least one described mechanical arm executes；
The automatic coffee machine completes the production concentrated coffee subtask and milk making lake is appointed for responding the operation
Business；
The milk cabinet, for responding the operation, completion connects milk subtask.
7. system as claimed in claim 6, which is characterized in that the coffee making task further includes cleaning milk foam pipe task
With cleaning milk mug task；At least one described task execution device further includes milk foam pipe cleaning equipment and cup cleaner；It is described extremely
It further include the operation to the milk foam pipe cleaning equipment and cup cleaner in the movement that a few mechanical arm executes；
The milk foam pipe cleaning equipment completes cleaning milk foam pipe task for responding the operation；
The cup cleaner completes cleaning milk mug task for responding the operation.
8. system as claimed in claim 5, which is characterized in that the system also includes the cup drawing devices for storing coffee cup.
9. system as claimed in claim 6, which is characterized in that the system also includes equipment of ordering, it is described order equipment with
The control equipment communication connection；
The equipment of ordering is ordered instruction for receiving user, and the coffee species mark that the instruction of ordering carries is sent
To the control equipment；
The control equipment is also used to receive the coffee species mark, and is identified according to the coffee species, determines the system
Make the movement that concentrated coffee subtask includes and the movement corresponding execution time that foaming subtask includes.
10. system as claimed in claim 6, which is characterized in that the system also includes stations；
The automatic coffee machine is installed on the station, and the installation site of the automatic coffee machine is in described the
Within the scope of the crawl of one mechanical arm and second mechanical arm；
The crawl range of the first mechanical arm crawl range and the second mechanical arm has overlapping region；
The milk cabinet is installed on above or below the station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236222.1A CN110292307A (en) | 2018-03-21 | 2018-03-21 | A kind of task execution system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810236222.1A CN110292307A (en) | 2018-03-21 | 2018-03-21 | A kind of task execution system |
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|---|---|
| CN110292307A true CN110292307A (en) | 2019-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810236222.1A Pending CN110292307A (en) | 2018-03-21 | 2018-03-21 | A kind of task execution system |
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Application publication date: 20191001 |