CN105768884B - A kind of coffee brewing automatic realizing system and method - Google Patents
A kind of coffee brewing automatic realizing system and method Download PDFInfo
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- CN105768884B CN105768884B CN201610184706.7A CN201610184706A CN105768884B CN 105768884 B CN105768884 B CN 105768884B CN 201610184706 A CN201610184706 A CN 201610184706A CN 105768884 B CN105768884 B CN 105768884B
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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
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
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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
- A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
- A47J31/402—Liquid dosing devices
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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
- A47J31/4403—Constructional details
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- Food Science & Technology (AREA)
- Apparatus For Making Beverages (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of coffee brewing automatic realizing system and method, which includes console, mechanical arm and coffee brewing apparatus, and after console receives coffee brewing enabled instruction, movement locus generation control instruction is brewed according to the mechanical arm got；Mechanical arm clamping coffee hand after coffee brewing startup rushes pot and brews movement locus movement according to mechanical arm, performs hand and makes coffee simulated action；Coffee liquid weight is sent to console in coffee cup when the real-time collection of electronic scale brews；Console brews movement locus and coffee liquid weight always according to mechanical arm, and the action of generation feedback control instruction adjustment mechanical arm makes the movement of mechanical arm meet that mechanical arm brews movement locus.The present invention, which using mechanical arm and by control machinery arm brews movement locus according to the mechanical arm obtained in advance and is automatically performed hand and rushes simulated action, to infuse coffee, and coffee mouthfeel caused by the human factor during solving the problems, such as barista etc. manually hand being made coffee is unstable.
Description
Technical field
The present invention relates to coffee making technical field, and in particular to a kind of coffee brewing automatic realizing system and method.
Background technology
Coffee is the main drink for being popular in the world.Coffee making mode mainly has two kinds at present, first, passing through coffee machine
Coffee is made, coffee machine realizes milling, press-powder, fills powder, brew, remove automatically controlling for the brewing coffee overall process such as residue,
The mode of this making coffee is most simple, and shortcoming is that coffee mouthfeel is poor.
With pursuit of the people to coffee mouthfeel and quality, hand, which is made coffee, is gradually subject to popular welcome.Hand make coffee due to
Departing from the dependence to coffee machine, it is easier to adjust water temperature, vexed steaming time, current according to the kind of coffee bean, degree of grinding
Speed and the parameters such as angle are reconstituted, the coffee made is bitter appropriate, deep or light adjustable.Although hand is made coffee, equipment is simple,
Seem operation easy, that similarity is high, also contain the possibility of various tastes in fact, (different matches somebody with somebody different baristas
Side), different coffee, or even the coffee that same barista bubbles out every time can be produced nor identical taste.
Therefore, in the prior art when infusing coffee, the effect of barista holds the balance, this also results in coffee making mistake
Human factor is intervened serious in journey, and the mouthfeel of coffee is unstable.It can be seen from the above that there is presently no take into account coffee mouthfeel and efficiency
Coffee making scheme.
The content of the invention
The present invention provides a kind of coffee brewing automatic realizing system and method, is made with solving coffee machine in the prior art
Coffee poor taste, barista hand make coffee mouthfeel it is unstable the problem of.
According to an aspect of the invention, there is provided a kind of coffee brewing automatic realizing system, the system include console,
Mechanical arm and coffee brewing apparatus, the coffee brewing apparatus rush pot, filter, coffee cup and electronic scale including at least coffee hand,
Console, after coffee brewing enabled instruction is received, movement locus generation is brewed according to the mechanical arm got
The corresponding control instruction for the movement of control machinery arm；
Mechanical arm, clamping coffee hand rushes pot after coffee brewing startup, is rushed under the control of control instruction according to mechanical arm
Movement locus movement is steeped, water that coffee hand is rushed in pot injection rim of a cup is equipped with the coffee cup of filter, hand is performed and makes coffee mould
Plan acts, wherein, ground coffee is placed with filter；
Electronic scale, gathers the weight information of coffee liquid in coffee passes during brewing cup, weight information is sent to control in real time
Platform processed；
Console, brews movement locus and the weight information of received coffee liquid always according to mechanical arm, generates feedback control
The action of instruction adjustment mechanical arm, makes the movement of mechanical arm meet that mechanical arm brews movement locus.
Alternatively, which further includes：Camera, camera can be with consoles into row data communication；
Camera, gathers barista when infusing coffee by hand in real time, and coffee hand rushes default tracking point on pot when each
The image information at quarter；
Electronic scale, when barista is infused coffee by hand, gathers the weight letter of each moment coffee liquid in coffee cup in real time
Breath；
Console, rushes the position on pot, using filter as basic point according to image information and default tracking point in coffee hand
Position coordinates and posture that coffee hand rushes pot are calculated, calculates the motion trace data that coffee hand rushes pot, and weight information is set
Put in motion trace data, the motion trace data of pot is rushed according to the coffee hand calculated and coffee hand rushes pot and mechanical arm
Between pre-determined distance obtain mechanical arm and brew movement locus.
Alternatively, console, the motion trace data for being additionally operable to rush coffee hand pot carry out curve fitting processing, are intended
Close curve；And the sampled point of respective numbers is chosen in matched curve according to the size of mechanical arm, and utilize the position of sampled point
Put Coordinate Adjusting mechanical arm and brew movement locus.
Alternatively, default tracking point is to be arranged on coffee hand to rush color lump on pot in presumptive area, and presumptive area is brews
During the coffee hand that moves rush on pot all the time can the region arrived of camera-shot.
Alternatively, sensor is provided with electronic scale, sensor gathers the weight information of coffee liquid in cup in real time, and will
The weight information is sent to console after being converted to analog signal.
Alternatively, filter includes filter paper and filter bowl；
Console, after receiving and brewing enabled instruction, according to the size and relative position of the coffee brewing apparatus of preservation
Relation generation warming-up exercise control instruction is sent to mechanical arm；
Mechanical arm, proceeds as follows coffee brewing apparatus according to warming-up exercise control instruction：Coffee cup is placed on
On electronic scale, and filter bowl is placed in the rim of a cup of coffee cup, filter paper is placed in filter bowl, clamping filter bowl connects Sheng ground coffee, will contain
The filter bowl of ground coffee is put back into the rim of a cup of coffee cup.
Alternatively, console brews movement locus to the mechanical arm got and parses, and calculates output to mechanical arm
The target rotation angle and torque of middle motor, brew movement locus according to mechanical arm by Motor controlling machine tool arm and move；And according to
The weight information of received coffee liquid, the coffee hand of calculating machine arm existing clamp rushes the inclination angle of pot and mechanical arm brews action
The difference at the target tilt angle in track, generation feedback control instruction adjust the action of mechanical arm, make the mobile satisfaction of mechanical arm
Mechanical arm brews movement locus.
Alternatively, console is specifically used for according to the default tracking rushed in described image information positioned at coffee hand in pot spout
Position coordinates of the point at each moment, and the relative position relation of remaining default tracking point and the default tracking point are calculated
Coffee hand rushes the movement locus of pot.
According to another aspect of the present invention, there is provided a kind of coffee brewing Automatic implementation, this method include：
Reception brews enabled instruction, and brews movement locus generation according to the mechanical arm got and be used for control machine accordingly
The control instruction of tool arm movement, control machinery arm clamping coffee hand after coffee brewing startup rush pot and are brewed according to mechanical arm dynamic
Make track movement, the water injection rim of a cup that coffee hand is rushed in pot is equipped with the coffee cup of filter, execution hand is made coffee to simulate and moved
Make, wherein, ground coffee is placed with filter；
The weight information for the coffee liquid that electronic scale is gathered and sent in real time is received, according to the weight information of received coffee liquid
Movement locus is brewed with mechanical arm, generation feedback control instruction, adjusts the movement of mechanical arm so that the action of mechanical arm meets machine
Tool arm brews movement locus.
Alternatively, this method further includes：When the barista that reception camera is gathered and sent in real time is infused coffee by hand, coffee
Coffee hand rushes image information of the default tracking point on pot at each moment；
Electronic scale is received when barista is infused coffee by hand, each moment coffee in the coffee cup for gathering and sending in real time
The weight information of liquid；
Position on pot is rushed in coffee hand according to image information and default tracking point, coffee is calculated by basic point of filter
Hand rushes the position coordinates and posture of pot, calculates the motion trace data that coffee hand rushes pot, and weight information is arranged on movement
In track data, the motion trace data of pot is rushed according to the coffee hand calculated and coffee hand rush it is pre- between pot and mechanical arm
If distance obtains mechanical arm and brews movement locus.
The beneficial effects of the invention are as follows：This coffee brewing automatic realizing system and method for the present invention is obtained according to advance
Mechanical arm brew movement locus, control machinery arm clamping coffee hand after coffee brewing startup rushes pot, in the control of control instruction
Movement locus movement is brewed according to mechanical arm under system, the water injection rim of a cup that coffee hand is rushed in pot is equipped with to the coffee cup of filter
In, perform hand and make coffee simulated action, and the weight information for the coffee liquid fed back at the same time according to electronic scale mechanical arm is acted into
Row fine setting completes coffee brewing action so that mechanical arm can brew movement locus in strict accordance with mechanical arm.By using machine
The craft that tool arm instead of barista brews action, thus mouthfeel caused by human factor is unstable when solving coffee brewing
Problem.Further, since the action that mechanical arm brews when movement locus can make coffee according to barista hand is made, so phase
Production method more this than coffee machine, it is more preferable that mechanical arm execution mechanical arm brews the coffee mouthfeel that movement locus brews out.And this
Inventive embodiments have also liberated labour to a certain extent, barista is had more energy and time improvement gimmicks, lift coffee
Coffee mouthfeel.
Brief description of the drawings
Fig. 1 is a kind of coffee brewing automatic realizing system structure diagram of one embodiment of the invention；
Fig. 2 is a kind of flow chart of coffee brewing Automatic implementation of one embodiment of the invention.
Embodiment
The present invention design concept be：When the coffee poor taste and hand made for coffee machine in the prior art is made coffee
The problem of gimmick of heavy dependence barista, coffee mouthfeel is unstable, it is proposed that a kind of coffee brewing automatic realizing system, this is
Unified aspect made coffee by recording barista hand during movement locus, produce mechanical arm and brew movement locus, control
Mechanical arm performs simulation hand punching operation, so that overcoming the action that brews of heavy dependence barista when hand is made coffee causes coffee mouth
Feel the problem of unstable.On the other hand, since what is played a decisive role to coffee mouthfeel is action that barista is infused coffee, and this
It is exactly to brew action generation according to barista that the mechanical arm that mechanical arm performs in invention, which brews movement locus, so also ensureing
The mouthfeel that mechanical arm is infused coffee.Also, this system of the present embodiment is except that can complete coffee brewing this influence coffee
Outside the core process of coffee mouthfeel, can also automatically control completion from milling, dress powder, brew, remove the brewing coffees such as residue
Whole processes, have taken into account the mouthfeel and producing efficiency of coffee.
Be in following embodiments using the coffee brewing automatic realizing system using the present embodiment realize coffee brewing process as
What example carried out stresses, it will be understood that on the basis of it can realize this core process of coffee brewing, the coffee of the present embodiment
Coffee, which brews automatic realizing system, can also complete other processes in coffee making, and utilize the coffee brewing automatic realizing system
Realize the operation principle of other processes and the course of work may refer to description in the embodiment of the present invention here.
Embodiment one
Fig. 1 is a kind of coffee brewing automatic realizing system structure diagram of one embodiment of the invention, referring to Fig. 1, the coffee
Coffee, which brews automatic realizing system 10, to be included：Console 101, mechanical arm 102, coffee brewing apparatus 103, the coffee brewing apparatus
103 include at least：Coffee hand rushes pot 1031, filter 1032, coffee cup 1033, electronic scale 1034；
Console 101, after coffee brewing enabled instruction is received, movement locus life is brewed according to the mechanical arm got
Into the corresponding control instruction moved for control machinery arm 102；Mechanical arm 102, coffee hand is clamped after coffee brewing startup
Pot 1031 is rushed, movement locus movement is brewed according to mechanical arm under the control of control instruction, coffee hand is rushed into the water in pot 1031
Injection rim of a cup is equipped with the coffee cup 1033 of filter 1032, is performed hand and is made coffee simulated action, wherein, put on filter 1032
It is equipped with ground coffee；
Electronic scale 1034, gathers the weight information of coffee liquid in coffee passes during brewing cup 1033, by weight information in real time
It is sent to console 101；Sensor is wherein provided with electronic scale, sensor gathers the weight letter of coffee liquid in cup in real time
Breath, and it is sent to console 101 after the weight information is converted to analog signal.
Console 101, movement locus and the weight information of received coffee liquid, generation feedback control are brewed always according to mechanical arm
The action of system instruction adjustment mechanical arm 102, makes the movement of mechanical arm 102 meet that mechanical arm brews movement locus.
Coffee brewing automatic realizing system structure as shown in Figure 1 understand, in the present embodiment due to using mechanical arm according to
Mechanical arm brews movement locus execution and specifically brews action, substitutes the manual brewing operation of barista, thus avoids coffee
The unstable generation of mouthfeel caused by human factor when brewing.In addition, movement locus is brewed by mechanical arm in the present embodiment
The gimmick that the formula of barista is infused coffee is remained, so mechanical arm performs mechanical arm and brews the coffee that movement locus brews
Also it is more in good taste than the coffee that simple coffee machine makes.
In the present embodiment, filter 1033 can include filter paper and filter bowl.And this coffee brewing in the present embodiment
Automatic realizing system, can be with control machine in addition to it can complete coffee brewing action according to the manipulator motion track of acquisition
Tool arm completes the preparation before coffee brewing according to control instruction.
For example, console 101 is after receiving and brewing enabled instruction, according to the size of the coffee brewing apparatus of preservation with
And relative position relation generation warming-up exercise control instruction is sent to mechanical arm 102；Mechanical arm 102, controls according to warming-up exercise
Instruction proceeds as follows coffee brewing apparatus 103：Mechanical arm can carry out first hand lapping (i.e. by coffee bean grinding into
Ground coffee) or start bean milling device completion coffee bean grinding work, then coffee cup 1033 is placed on electronic scale 1034,
And filter bowl is placed in the rim of a cup of coffee cup 1033, filter paper is placed in filter bowl, clamping filter bowl connects Sheng ground coffee, will contain ground coffee
Filter bowl be put back into the rim of a cup of coffee cup 1033., can be the size and coffee services of coffee services in actual application
Pre-set relative to the position relationship of mechanical arm in console, in this way, being completed since being connect Sheng ground coffee to coffee brewing
Whole actions can be through this embodiment coffee brewing automatic realizing system complete, simple, the convenient and coffee that brews
It is in good taste.
It should be noted that it is the mechanical arm movement locus and control machinery arm with console according to acquisition in the present embodiment
That completes to carry out exemplified by a coffee brewing acts schematically illustrates, but in other embodiments of the invention, console can
Movement locus is brewed to obtain multiple mechanical arms, and corresponding coffee is completed according to each mechanical arm movement locus control machinery arm
Brew action.
Also, the mode that console acquisition mechanical arm brews movement locus is not limited.For example, console can obtain in real time
Mechanical arm is taken to brew movement locus, alternatively, console, which can obtain multiple mechanical arms in advance, brews movement locus.Further,
Console can also include integration of user interaction functionality, receive the choosing that user brews multiple mechanical arms that console preserves movement locus
Select, and movement locus control machinery arm brewed according to the mechanical arm that user selects complete hand and make coffee simulated action.
Embodiment two
Emphasis produces and generates manipulator motion track to coffee brewing automatic realizing system and illustrates in the present embodiment, its
He refers to the other embodiment of the present invention at content.
Specifically, coffee brewing automatic realizing system further includes in the present embodiment：Camera, camera can be with consoles
Into row data communication；In actual application, relevant position, example can be installed on by two high speed cameras and by camera
Such as, one of camera is arranged on the front of barista, the top for being arranged on barista of another camera.In this way, coffee
Coffee teacher hand rushes the action that pot is infused coffee by coffee hand and can be filmed to obtain corresponding image by two camera whole process.
In the present embodiment, camera gathers barista in real time when infusing coffee by hand, and coffee hand rushes the default tracking on pot
Image information of the point at each moment；Electronic scale gathers in coffee cup each moment in real time when barista is infused coffee by hand
The weight information of coffee liquid；Console rushes the position on pot according to image information and default tracking point in coffee hand, with filtering
Device rushes the position coordinates and posture of pot for basic point calculating coffee hand, calculates the motion trace data that coffee hand rushes pot, and will weight
Amount information is arranged in motion trace data, rushes the motion trace data of pot according to the coffee hand calculated and coffee hand rushes pot
Pre-determined distance between mechanical arm obtains mechanical arm and brews movement locus.
Here default tracking point can be provided in coffee hand and rush color lump on pot in presumptive area, and presumptive area is punching
The coffee hand moved during bubble rushes on pot all the time can the region arrived of camera-shot.Color lump is frequent in image recognition technology
The instrument used, the color by identifying color lump can obtain the more information of color lump, such as the shape and positional information of color lump.
Coffee hand rushes the color lump on pot when being made coffee using camera captured in real-time barista hand, obtains patch image, and
The spatial position change of color lump on pot is rushed using filter as basic point calculating coffee hand, obtains the position coordinates of color lump on each time point
And the spatial relation and rotational angle information (i.e. posture) of each color lump, calculate the movement locus number that coffee hand rushes pot
According to.
For example, console is specifically used for, and pot spout is rushed positioned at coffee hand in the image information shot according to camera
On position coordinates of the default tracking point at each moment, and the relative position of remaining default tracking point and the default tracking point
The movement locus that coffee hand rushes pot is calculated in relation.The presumptive area that coffee hand is rushed on pot in actual application is provided with more
A color lump, as coffee hand rushed in the spout of pot, in bottle body and handle position all sets color lump.Then with the position where filter
Be set to coordinate basic point, calculate coffee hand rush in the spout of pot, in bottle body and the predetermined tracking point of handle position locus
With default tracking point around the basic point rotational angle, the relative rotation angle letter between the position coordinates and color lump of color lump is obtained
Breath, the movement rail of pot is rushed according to the relative rotation angle information change drafting coffee hand between the position coordinates and color lump of color lump
Trace curve.
In addition, rush default movement and the relation of the water of outflow, this implementation in pot motion process to calculate coffee hand
In example, when gathering barista hand in real time by electronic scale and making coffee, the weight information of coffee liquid in coffee cup, and by coffee liquid
Weight information is set in the movement locus for rushing pot to coffee hand, that is to say, that the coffee hand calculated in the present embodiment rushes pot fortune
The information each put in dynamic rail mark is made of two parts data, and a part of data represent the position coordinates and posture of the point, separately
A part of data are the corresponding coffee liquid weight informations of the point, can determine that coffee hand rushes pot in coffee by this two parts data
Path curves in brewing process.
After obtaining coffee hand and rushing the path curves of pot, can be rushed according to coffee hand between pot and mechanical arm it is default away from
Movement locus is brewed from what (i.e. a default offset) carried out can obtain mechanical arm after simple computation, for example, by coffee
Hand rush motor point in the movement locus of pot coordinate value subtract can obtain mechanical arm after pre-determined distance brew movement locus.
Further, it is contemplated that coffee hand rushes shake in pot motion process, the factor such as exercise performance of mechanical arm, this reality
Apply in example, the motion trace data curve that console can also rush coffee hand in pot carries out curve fitting processing to filter noise spot
Obtain matched curve；Then the sampled point of respective numbers is chosen in matched curve according to the size of mechanical arm, and utilizes sampling
The position coordinates adjustment mechanical arm of point brews movement locus.For example, console, which rushes coffee hand pot movement locus, carries out curve plan
Close, not only met the matched curve that the coffee hand rushes pot movement locus but also is adapted to manipulator motion, and tied in the matched curve
The factor such as the distance between each sampled point chooses the sampled point of respective numbers in conjunction mechanical arm size, matched curve, and utilizes
The position coordinates of these sampled points readjusts mechanical arm and brews movement locus, so as to brew movement locus more suitable for mechanical arm
Mechanical arm is closed to perform.
It is explained above in coffee brewing automatic realizing system and determines that mechanical arm brews the process of movement locus, obtains machinery
After arm brews movement locus, when reality performs, console can brew movement locus to the mechanical arm got and be parsed (example
Such as, carry out that robot kinematics are counter solves), target rotation angle and torque of the output to motor in mechanical arm are calculated, by controlling motor
Rotational angle and torque, and then control machinery arm according to mechanical arm brew movement locus move；And console is according to receiving
Coffee liquid weight information, the coffee hand of calculating machine arm existing clamp rushes the inclination angle of pot and mechanical arm brews movement locus
In target tilt angle difference, generation feedback control instruction adjustment mechanical arm action, make mechanical arm mobile satisfaction machinery
Arm brews movement locus.Console how control machinery arm according to predetermined mechanical arm brew movement locus movement can utilize it is existing
There is technology realization, specific implementation details may refer to the related content of the prior art, explanation is not repeated herein.
Embodiment three
Fig. 2 is a kind of flow chart of coffee brewing Automatic implementation of one embodiment of the invention, referring to Fig. 2, this reality
The coffee brewing Automatic implementation for applying example includes the following steps S21 and S22：
Step S21, reception brews enabled instruction, and brews the corresponding use of movement locus generation according to the mechanical arm got
In the control instruction of control machinery arm movement, control machinery arm clamping coffee hand after coffee brewing startup rushes pot and according to machinery
Arm brews movement locus movement, and the water injection rim of a cup that coffee hand is rushed in pot is equipped with the coffee cup of filter, hand is performed and rushes coffee
Coffee simulated action, wherein, ground coffee is placed with filter；
Step S22, receives the weight information for the coffee liquid that electronic scale is gathered and sent in real time, according to received coffee liquid
Weight information and mechanical arm brew movement locus, generation feedback control instruction, and the movement for adjusting mechanical arm causes the dynamic of mechanical arm
Work meets that mechanical arm brews movement locus.
In the present embodiment, this method further includes：The barista that camera is gathered and sent in real time is received to infuse coffee by hand
When, coffee hand rushes image information of the default tracking point on pot at each moment；Receive electronic scale and brew coffee by hand in barista
During coffee, the weight information of each moment coffee liquid in the coffee cup for gathering and sending in real time；According to image information and default chase after
Track is selected rushes the position on pot in coffee hand, and the position coordinates and posture of pot are rushed using filter as basic point calculating coffee hand, is calculated
Coffee hand rushes the motion trace data of pot, and weight information is arranged in motion trace data, according to the coffee hand calculated
Rush the motion trace data of pot and pre-determined distance that coffee hand is rushed between pot and mechanical arm obtains mechanical arm and brews movement locus.
Wherein, default tracking point is to be arranged on coffee hand to rush color lump on pot in presumptive area, and presumptive area is brewed
The coffee hand moved in journey rushes on pot all the time can the region arrived of camera-shot.Sensor, sensor are provided with electronic scale
The weight information of coffee liquid in cup is gathered in real time, and is sent to console after the weight information is converted to analog signal.
In the present embodiment, this method further includes：The motion trace data that pot is rushed to coffee hand carries out curve fitting processing, obtains
To matched curve；And the sampled point of respective numbers is chosen in matched curve according to the size of mechanical arm, and utilize sampled point
Position coordinates adjustment mechanical arm brew movement locus.
In the present embodiment, filter includes filter paper and filter bowl；This method is additionally included in receive and brew enabled instruction after, according to
Size and relative position relation generation the warming-up exercise control instruction of the coffee brewing apparatus of preservation are sent to mechanical arm；Control
Mechanical arm proceeds as follows coffee brewing apparatus according to warming-up exercise control instruction：Coffee cup is placed on electronic scale,
And filter bowl is placed in the rim of a cup of coffee cup, filter paper is placed in filter bowl, clamping filter bowl connects Sheng ground coffee, will contain the filter of ground coffee
Cup is put back into the rim of a cup of coffee cup.
It should be noted that the step of realizing of this coffee brewing Automatic implementation in the present embodiment is and foregoing coffee
The course of work that coffee brews automatic realizing system is corresponding, thus the more detailed step of coffee brewing Automatic implementation can be with
Referring to, to coffee brewing automatic realizing system related description, details are not described herein in present invention.
In conclusion this coffee brewing automatic realizing system and method for the embodiment of the present invention, according to what is obtained in advance
Mechanical arm brews movement locus, and control machinery arm clamping coffee hand after coffee brewing startup rushes pot and brews action according to mechanical arm
Water that coffee hand is rushed in pot injection rim of a cup is equipped with the coffee cup of filter by track movement, is performed hand and is made coffee simulated action,
And the weight information for the coffee liquid fed back at the same time according to electronic scale is finely adjusted mechanical arm action, so that mechanical arm can
Movement locus, which is brewed, in strict accordance with mechanical arm completes coffee brewing action.Rushed due to instead of the manual of barista using mechanical arm
Bubble acts, thus solves the problems, such as that mouthfeel caused by human factor is unstable during coffee brewing.Further, since mechanical arm brews
Hand impulsion when movement locus can make coffee previously according to barista hand is made, so the coffee made with coffee machine
Compare, the coffee mouthfeel brewed out using mechanical arm is more preferable.In addition, the technical solution of the embodiment of the present invention also solves to a certain extent
Labour is put, such barista more can improve gimmick by energy and time, lift coffee mouthfeel.
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 coffee brewing automatic realizing system, it is characterised in that the system comprises console, mechanical arm and coffee brewing
Apparatus, the coffee brewing apparatus rush pot, filter, coffee cup and electronic scale including at least coffee hand,
The console, after coffee brewing enabled instruction is received, movement locus generation is brewed according to the mechanical arm got
The corresponding control instruction for the movement of control machinery arm；
The mechanical arm, clamping coffee hand rushes pot after coffee brewing startup, is rushed under the control of control instruction according to mechanical arm
Movement locus movement is steeped, water that coffee hand is rushed in pot injection rim of a cup is equipped with the coffee cup of filter, hand is performed and makes coffee mould
Plan acts, wherein, ground coffee is placed with filter；
The electronic scale, gathers the weight information of coffee liquid in coffee passes during brewing cup, the weight information is sent in real time
To the console；
The console, movement locus and the weight information of received coffee liquid, generation feedback are brewed always according to the mechanical arm
Control instruction adjusts the action of mechanical arm, the movement of mechanical arm is met that the mechanical arm brews movement locus.
2. system according to claim 1, it is characterised in that the system further includes：Camera, the camera can be with
The console is into row data communication；
The camera, gathers barista when infusing coffee by hand in real time, and coffee hand rushes default tracking point on pot when each
The image information at quarter；
Electronic scale, when barista is infused coffee by hand, gathers the weight information of each moment coffee liquid in coffee cup in real time；
The console, the position on pot is rushed according to described image information and default tracking point in coffee hand, using filter as
Basic point calculates the position coordinates and posture that coffee hand rushes pot, calculates the motion trace data that coffee hand rushes pot, and weight is believed
Breath is arranged in motion trace data, rushes the motion trace data of pot according to the coffee hand calculated and coffee hand rushes pot and machine
Pre-determined distance between tool arm obtains mechanical arm and brews movement locus.
3. system according to claim 2, it is characterised in that the console, is additionally operable to rush pot to the coffee hand
Motion trace data carries out curve fitting processing, obtains matched curve；And according to the size of mechanical arm in the matched curve
The upper sampled point for choosing respective numbers, and brew movement locus using the position coordinates adjustment mechanical arm of sampled point.
4. system according to claim 2, it is characterised in that the default tracking point is rushed on pot in advance to be arranged on coffee hand
Determine the color lump in region, the presumptive area be the coffee hand moved in brewing process rush on pot all the time can camera-shot arrive
Region.
5. system according to claim 3, it is characterised in that sensor, the sensor are provided with the electronic scale
The weight information of coffee liquid in cup is gathered in real time, and is sent to the control after the weight information is converted to analog signal
Platform.
6. system according to claim 1, it is characterised in that the filter includes filter paper and filter bowl；
The console, after receiving and brewing enabled instruction, according to the size and relative position of the coffee brewing apparatus of preservation
Relation generation warming-up exercise control instruction is sent to mechanical arm；
The mechanical arm, proceeds as follows coffee brewing apparatus according to the warming-up exercise control instruction：Coffee cup is put
Put on the electronic scale, and the filter bowl is placed in the rim of a cup of the coffee cup, the filter paper is placed in the filter bowl, is pressed from both sides
Hold the filter bowl and connect Sheng ground coffee, the filter bowl for having contained ground coffee is put back into the rim of a cup of the coffee cup.
7. system according to claim 1, it is characterised in that the console brews action rail to the mechanical arm got
Mark is parsed, and calculates target rotation angle and torque of the output to motor in mechanical arm, by Motor controlling machine tool arm according to machine
Tool arm brews movement locus movement；And the weight information according to received coffee liquid, the coffee of calculating machine arm existing clamp
Hand rushes the inclination angle of pot and mechanical arm brews the difference at the target tilt angle in movement locus, generation feedback control instruction adjustment machine
The action of tool arm, makes the movement of mechanical arm meet that the mechanical arm brews movement locus.
8. system according to claim 2, it is characterised in that the console, is specifically used for root specifically for console
According to position coordinates of the default tracking point at each moment rushed in described image information positioned at coffee hand in pot spout, and remaining
The movement locus that coffee hand rushes pot is calculated in the relative position relation of default tracking point and the default tracking point in spout.
9. a kind of coffee brewing Automatic implementation, it is characterised in that this method includes：
Reception brews enabled instruction, and brews movement locus generation according to the mechanical arm got and be used for control machinery arm accordingly
The control instruction of movement, control machinery arm clamping coffee hand after coffee brewing startup rush pot and brew action rail according to mechanical arm
Mark moves, and water that coffee hand is rushed in pot injection rim of a cup is equipped with the coffee cup of filter, performs hand and makes coffee simulated action, its
In, ground coffee is placed with filter；
The weight information of coffee liquid in the coffee passes during brewing cup that electronic scale is gathered and sent in real time is received, according to the machinery
Arm brews movement locus and the weight information of received coffee liquid, and the action of generation feedback control instruction adjustment mechanical arm, makes machine
The movement of tool arm meets that the mechanical arm brews movement locus.
10. according to the method described in claim 9, it is characterized in that, this method further includes：
When the barista that reception camera is gathered and sent in real time is infused coffee by hand, the default tracking point that coffee hand is rushed on pot exists
The image information at each moment；
Electronic scale is received when barista is infused coffee by hand, each moment coffee liquid in the coffee cup for gathering and sending in real time
Weight information；
Position on pot is rushed in coffee hand according to described image information and default tracking point, coffee is calculated by basic point of filter
Hand rushes the position coordinates and posture of pot, calculates the motion trace data that coffee hand rushes pot, and weight information is arranged on movement
In track data, the motion trace data of pot is rushed according to the coffee hand calculated and coffee hand rush it is pre- between pot and mechanical arm
If distance obtains mechanical arm and brews movement locus.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184706.7A CN105768884B (en) | 2016-03-28 | 2016-03-28 | A kind of coffee brewing automatic realizing system and method |
| PCT/CN2017/073796 WO2017166937A1 (en) | 2016-03-28 | 2017-02-16 | System and method for automatically brewing coffee |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610184706.7A CN105768884B (en) | 2016-03-28 | 2016-03-28 | A kind of coffee brewing automatic realizing system and method |
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| Publication Number | Publication Date |
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| CN105768884A CN105768884A (en) | 2016-07-20 |
| CN105768884B true CN105768884B (en) | 2018-05-08 |
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| WO (1) | WO2017166937A1 (en) |
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| WO2017166937A1 (en) | 2017-10-05 |
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