CN109887175A - Automatically a glass method, control device and storage medium are taken - Google Patents
Automatically a glass method, control device and storage medium are taken Download PDFInfo
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- CN109887175A CN109887175A CN201910173362.3A CN201910173362A CN109887175A CN 109887175 A CN109887175 A CN 109887175A CN 201910173362 A CN201910173362 A CN 201910173362A CN 109887175 A CN109887175 A CN 109887175A
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- 238000000034 method Methods 0.000 title claims abstract description 49
- 239000011521 glass Substances 0.000 title abstract 8
- 230000008569 process Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241001122767 Theaceae Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000015243 ice cream Nutrition 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The present invention provides one kind and takes a glass method, control device and storage medium automatically, this method comprises: control takes a glass tool to be moved to predeterminated position, the top of cup is fixed by automatic cup falling device, the floor projection of cup, which is fallen into, takes glass tool within the scope of the floor projection in predeterminated position, and the vertical range of the bottom of predeterminated position and cup is less than or equal to the position of preset value；It controls automatic cup falling device and unclamps cup, to complete to take cup, the aperture of glass tool is taken to be less than the upper edge hole diameter of cup.Since cup is before being released, the lower part of cup has been positioned at or close to taking in the aperture of glass tool, therefore, it after cup is released, is automatically corrected by cup itself taper, can accurately fall into and take a glass tool, a glass probability of failure is taken so as to reduce, improves user experience.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to an automatic cup taking method, a control device and a storage medium.
Background
In recent years, with the popularization of automation control technology and mobile payment, food and beverage automation devices such as automatic coffee vending machines, automatic milk tea vending machines or automatic ice cream vending machines are more and more common and are used by users. These devices require the use of cups to hold the food items during the process of vending the food items.
In the prior art, the automatic cup taking process comprises: after falling down from the automatic cup falling device, the cup is stopped to a cup hanging device, and the gripper or the clamp is driven by an executing mechanism such as a mechanical arm to take the cup from the cup hanging device.
However, the cup is taken through the automatic cup taking process, and the probability of cup taking failure is high, wherein the reasons for the cup taking failure include that the cup is inclined, the cup directly falls on the ground, and the like.
Disclosure of Invention
The invention provides an automatic cup taking method, a control device and a storage medium, which are used for reducing the failure probability of cup taking and improving the user experience.
In a first aspect, the present invention provides an automatic cup taking method, including:
controlling the cup taking tool to move to a preset position, fixing the upper part of the cup by an automatic cup falling device, enabling the ground projection of the cup to fall within the ground projection range of the cup taking tool at the preset position, and enabling the vertical distance between the preset position and the bottom of the cup to be smaller than or equal to a preset value;
and controlling the automatic cup dropping device to loosen the cup so as to finish taking the cup, wherein the aperture of the cup taking tool is smaller than the caliber of the upper edge of the cup.
In a possible embodiment, the controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the lower part of the cup; and controlling the cup taking tool to move to a preset position along the direction vertical to the ground.
In a possible embodiment, the controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the side position of the cup, wherein the side position and the preset position are in the same horizontal line; and controlling the cup taking tool to move to the preset position from the side position to the preset position.
In a possible embodiment, the controlling the cup taking tool to move to the preset position may include: and controlling the cup taking tool to move to a preset position along a preset track, wherein the preset track is the shortest track between the initial position and the preset position of the cup taking tool.
In one possible embodiment, the aperture of the cup taking tool may be a closed aperture or a non-closed aperture.
In one possible embodiment, the diameter of the lower rim of the cup is smaller than the diameter of the upper rim of the cup.
In a possible embodiment, the upper portion of the cup is fixed by an automatic cup dropping device, comprising: the upper edge of the cup is clamped by the automatic cup dropping device.
In one possible embodiment, the cup taking tool may include, but is not limited to, at least one of the following: robotic arms, grippers, clamps, and the like.
In a second aspect, the present invention provides a control apparatus comprising:
the first control module is used for controlling the cup taking tool to move to a preset position, the upper part of the cup is fixed by the automatic cup falling device, the ground projection of the cup falls into the ground projection range of the cup taking tool at the preset position, and the vertical distance between the preset position and the bottom of the cup is smaller than or equal to the position of the preset value;
and the second control module is used for controlling the automatic cup dropping device to loosen the cup so as to finish cup taking, and the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup.
In a possible implementation, the first control module may be specifically configured to: controlling the cup taking tool to move to the lower part of the cup; and controlling the cup taking tool to move to a preset position along the direction vertical to the ground.
In a possible implementation, the first control module may be specifically configured to: controlling the cup taking tool to move to the side position of the cup, wherein the side position and the preset position are in the same horizontal line; and controlling the cup taking tool to move to the preset position from the side position to the preset position.
In a possible implementation, the first control module may be specifically configured to: and controlling the cup taking tool to move to a preset position along a preset track, wherein the preset track is the shortest track between the initial position and the preset position of the cup taking tool.
In one possible embodiment, the aperture of the cup taking tool may be a closed aperture or a non-closed aperture.
In one possible embodiment, the diameter of the lower rim of the cup is smaller than the diameter of the upper rim of the cup.
In one possible embodiment, the cup taking tool may include, but is not limited to, at least one of the following: robotic arms, grippers, clamps, and the like.
In a possible embodiment, the upper portion of the cup is fixed by an automatic cup dropping device, comprising: the upper edge of the cup is clamped by the automatic cup dropping device.
In a third aspect, the present invention provides a control apparatus comprising: a memory, a controller, wherein:
the memory stores computer-executable instructions;
the controller executes computer-executable instructions stored by the memory, causing the controller to perform a method as set forth in any one of the first aspects.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer-executable instructions for implementing the method according to any one of the first aspect when the computer-executable instructions are executed by a controller.
The invention provides an automatic cup taking method, a control device and a storage medium, which are characterized in that firstly, a cup taking tool is controlled to move to a preset position, the upper part of a cup is fixed by an automatic cup dropping device, the ground projection of the cup falls into the ground projection range of the cup taking tool at the preset position, the vertical distance between the preset position and the bottom of the cup is smaller than or equal to the position of the preset value, then, the automatic cup dropping device is controlled to release the cup to finish cup taking, and the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup. Because the lower part of the cup is already positioned in or close to the aperture of the cup taking tool before the cup is loosened, the cup can accurately fall into the cup taking tool through automatic correction of the taper of the cup after the cup is loosened, so that the probability of cup taking failure can be reduced, and the user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the technical solutions in the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram illustrating a state of a cup before the cup is taken in a conventional automatic cup taking process;
FIG. 2 is a flowchart of an automatic cup picking method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a cup before taking the cup according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a cup status during a cup taking process according to an embodiment of the present invention;
FIG. 5 is another schematic diagram of a cup during a cup taking process according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a cup after being taken according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first", "second", and the like in the various parts of the embodiments and drawings are used for distinguishing similar objects and not necessarily for describing a particular order or sequence. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method flow diagrams of the embodiments of the invention described below are merely exemplary and do not necessarily include all of the contents and steps, nor do they necessarily have to be performed in the order described. For example, some steps may be broken down and some steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The functional blocks in the block diagrams referred to in the embodiments of the present invention described below are only functional entities and do not necessarily correspond to physically separate entities. I.e. the functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different processors and/or microcontrollers.
Fig. 1 is a schematic view illustrating a state of a cup before the cup is taken in a conventional automatic cup taking process. Referring to fig. 1, in the existing automatic cup taking process, after a cup falls from an automatic cup dropping device, the upper edge of the cup is normally hung on a cup hanging device, and then the cup is taken from the cup hanging device by an end executing mechanism such as a mechanical arm; however, the lower edge of the cup may be stuck on the cup hanging device, that is, the cup may not fall in place, and the cup may be inclined, or the cup may not stop on the cup hanging device and directly fall on the ground, and the above abnormal phenomena may all cause the failure of taking the cup.
Based on the problems, the invention provides an automatic cup taking method, a control device and a storage medium, wherein a cup hanging device is removed, the lower part of a cup is already positioned in or close to the aperture of a cup taking tool before the cup is loosened by an automatic cup dropping device, so that the cup directly falls into the cup taking tool without an intermediate fixing device of the cup hanging device after the cup is loosened, and the cup can accurately fall into the cup taking tool through automatic correction of the taper of the cup, so that the failure probability of cup taking can be reduced, and the user experience is improved.
The following describes an automatic cup taking method, a control device and a storage medium provided by embodiments of the present invention with reference to a plurality of examples.
Fig. 2 is a flowchart of an automatic cup taking method according to an embodiment of the present invention. The automatic cup taking method can be realized by control equipment.
As shown in fig. 2, the automatic cup taking method in this embodiment includes the following steps:
s201, controlling the cup taking tool to move to a preset position.
The upper part of the cup is fixed by the automatic cup falling device, the ground projection of the cup falls into the ground projection range of the cup taking tool at the preset position, and the vertical distance between the preset position and the bottom of the cup is smaller than or equal to the preset value. The specific size of the preset value can be set according to historical experience or actual requirements, and the value is not limited in the embodiment of the invention.
Exemplarily, fig. 3 is a schematic diagram of a state of a cup before taking the cup according to an embodiment of the present invention. As shown in fig. 3, the upper part of the cup is fixed by the automatic cup dropping device, and only the lower part of the cup, i.e. the arrow pointing part, is visible from the user. Optionally, the upper part of the cup is fixed by an automatic cup dropping device, which may be embodied as: the upper edge of the cup is clamped by the automatic cup dropping device.
During the cup taking process, the cup taking tool is controlled to move to a preset position, so that the lower part of the cup is positioned in the aperture of the cup taking tool, for example, referring to fig. 4, the preset position is positioned above the bottom of the cup. Here, the caliber of the lower part of the cup is smaller than or equal to the caliber of the cup taking tool. It will be understood that the reference herein to the lower portion of the cup being in the aperture of the cup extracting tool means that the lower portion of the cup is within the aperture of the cup extracting tool, including both cases where the lower portion of the cup is in contact with the cup extracting tool and where it is not.
Or, in the cup taking process, the cup taking tool is controlled to move to a preset position, so that the cup taking tool is positioned below the cup, namely, the bottom of the cup is close to the cup taking tool, and the cup can fall into the aperture range of the cup taking tool when falling. In this scenario, the preset position is located below the bottom of the cup.
Optionally, the cup taking tool may include, but is not limited to, at least one of: robotic arms, grippers, clamps, and the like. Wherein the aperture is, for example, the size of the opening of the clamp.
By this step, the lower portion of the cup is already in or near the aperture of the cup extraction tool prior to dropping.
It is additionally stated that the cup comprises an upper part and a lower part, wherein the bottom part is comprised in the lower part.
S202, controlling the automatic cup dropping device to release the cup so as to finish cup taking.
Wherein, the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup.
After the cup is loosened by the automatic cup falling device, the cup can accurately fall into the cup taking tool due to automatic correction of the taper of the cup, the cup taking is completed, and the problems of cup clamping, cup tilting, cup falling and the like are avoided. In addition, the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup, so that the problem of cup falling can be further avoided.
For example, fig. 5 shows the state of the cup and the cup taking tool during the cup dropping process after the cup is released, as can be seen from comparing fig. 4 and 5, the cup taking tool is relatively fixed during the cup dropping process, the cup moves downwards relative to the cup taking tool, and finally, as shown in fig. 6, the cup taking tool clamps the cup to finish the cup taking.
The automatic cup taking method provided by the embodiment comprises the steps of firstly controlling a cup taking tool to move to a preset position, fixing the upper portion of a cup by an automatic cup dropping device, enabling the ground projection of the cup to fall into the ground projection range of the cup taking tool in the preset position, enabling the vertical distance between the preset position and the bottom of the cup to be smaller than or equal to the preset value, then controlling the automatic cup dropping device to release the cup to finish cup taking, and enabling the aperture of the cup taking tool to be smaller than the upper edge aperture of the cup. Because the lower part of the cup is already positioned in or close to the aperture of the cup taking tool before the cup is loosened, the cup can accurately fall into the cup taking tool through automatic correction of the taper of the cup after the cup is loosened, so that the probability of cup taking failure can be reduced, and the user experience is improved.
On the basis of the above embodiment, optionally, S201, controlling the cup taking tool to move to the preset position, may be implemented in various ways, and the following examples are given:
in a first implementation manner, the step S201 of controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the lower part of the cup; and controlling the cup taking tool to move to a preset position along the direction vertical to the ground. In the implementation mode, the cup taking tool is controlled to move to the position below a cup to be taken, then the cup taking tool is controlled to move from bottom to top, and then the cup taking tool is controlled to move to the preset position. The horizontal line of the preset position is a first horizontal line, the horizontal line of the lower portion of the cup is a second horizontal line, and the first horizontal line is higher than the second horizontal line.
In a second implementation manner, the step S201 of controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the side position of the cup, wherein the side position and the preset position are in the same horizontal line; and controlling the cup taking tool to move to the preset position from the side position to the preset position. In the implementation mode, the cup taking tool is controlled to move to the side position of the cup to be taken, then the cup taking tool is controlled to move to the preset position after the cup taking tool is translated. The horizontal line of the preset position is a first horizontal line, the horizontal line of the lateral position of the cup is a third horizontal line, and the first horizontal line and the third horizontal line are the same in height.
In a third implementation manner, S201, controlling the cup taking tool to move to the preset position may include: and controlling the cup taking tool to move to a preset position along a preset track, wherein the preset track is the shortest track between the initial position and the preset position of the cup taking tool.
It should be noted that, in any embodiment of the present invention, the aperture of the cup taking tool may be a closed aperture or a non-closed aperture. Illustratively, the aperture of the cup taking tool shown in fig. 6 is an unclosed aperture.
In addition, the aperture size of the cup taking tool can be fixed, at the moment, the aperture of the cup taking tool is larger than the aperture of the lower edge of the cup, and the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup; alternatively, the aperture size of the cup taking tool can be adjustable, where adjustable means that the aperture size of the cup taking tool can be adjusted for cups of different sizes, and the aperture size of the cup taking tool can be relatively fixed for cups of the same size.
Optionally, the diameter of the lower rim of the cup is smaller than the diameter of the upper rim of the cup.
The following is an embodiment of the apparatus of the present invention, which can be used to implement the above-mentioned embodiment of the method of the present invention, and the implementation principle and technical effects are similar.
Fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present invention. The control means may be implemented in software and/or hardware.
As shown in fig. 7, the control device 70 of the present embodiment includes: a first control module 71 and a second control module 72. Wherein,
and the first control module 71 is used for controlling the cup taking tool to move to a preset position. The upper part of the cup is fixed by the automatic cup falling device, the ground projection of the cup falls into the ground projection range of the cup taking tool at the preset position, and the vertical distance between the preset position and the bottom of the cup is smaller than or equal to the preset value.
And the second control module 72 is used for controlling the automatic cup dropping device to release the cup so as to finish taking the cup. Wherein, the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup.
Optionally, the first control module 71 may be specifically configured to: controlling the cup taking tool to move to the lower part of the cup; and controlling the cup taking tool to move to a preset position along the direction vertical to the ground.
Alternatively, the first control module 71 may be specifically configured to: controlling the cup taking tool to move to the side position of the cup, wherein the side position and the preset position are in the same horizontal line; and controlling the cup taking tool to move to the preset position from the side position to the preset position.
Alternatively, the first control module 71 may be specifically configured to: and controlling the cup taking tool to move to a preset position along a preset track, wherein the preset track is the shortest track between the initial position and the preset position of the cup taking tool.
Further, the aperture of the cup taking tool can be a closed aperture or a non-closed aperture.
In some embodiments, the lower rim aperture of the cup may be smaller than the upper rim aperture of the cup.
Optionally, the cup taking tool may include, but is not limited to, at least one of: robotic arms, grippers, clamps, and the like.
Optionally, the upper portion of the cup is held by an automatic cup dropping device comprising: the upper edge of the cup is clamped by the automatic cup dropping device.
Fig. 8 is a schematic structural diagram of a control device according to an embodiment of the present invention. As shown in fig. 8, the control device 80 of the present embodiment includes: a memory 81 and a controller 82. The memory 81 is connected to the controller 82. Specifically, the method comprises the following steps:
the memory 81 stores computer-executable instructions;
the controller 82 executes computer-executable instructions stored by the memory 81, causing the controller 82 to perform the steps of:
controlling the cup taking tool to move to a preset position, fixing the upper part of the cup by an automatic cup falling device, enabling the ground projection of the cup to fall into the ground projection range of the cup taking tool at the preset position, and enabling the vertical distance between the preset position and the bottom of the cup to be smaller than or equal to the preset value;
and controlling the automatic cup dropping device to loosen the cup so as to finish taking the cup, wherein the aperture of the cup taking tool is smaller than the caliber of the upper edge of the cup.
Optionally, the controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the lower part of the cup; and controlling the cup taking tool to move to a preset position along the direction vertical to the ground.
Alternatively, in some embodiments, the controlling the cup taking tool to move to the preset position may include: controlling the cup taking tool to move to the side position of the cup, wherein the side position and the preset position are in the same horizontal line; and controlling the cup taking tool to move to the preset position from the side position to the preset position.
Alternatively, in some embodiments, the controlling the cup taking tool to move to the preset position may include: and controlling the cup taking tool to move to a preset position along a preset track, wherein the preset track is the shortest track between the initial position and the preset position of the cup taking tool.
Alternatively, the aperture of the cup removal tool may be a closed aperture or a non-closed aperture.
Optionally, the diameter of the lower rim of the cup is smaller than the diameter of the upper rim of the cup.
Optionally, the cup taking tool may include, but is not limited to, at least one of: robotic arms, grippers, clamps, and the like.
Wherein, the upper portion of cup is fixed by automatic cup device that falls, includes: the upper edge of the cup is clamped by the automatic cup dropping device.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer-executable instruction is stored, and the computer-executable instruction can be executed by a controller to implement the automatic cup fetching method shown in any of the above embodiments, and specific implementation and effective effects thereof can be found in the foregoing, and are not described herein again.
Among other things, the computer-readable storage medium may include: various media capable of storing computer execution instructions, such as a usb disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The computer executable instructions may be implemented in the form of software functional units and may be sold or used as a stand-alone product, and the memory may be any form of computer readable storage medium. Based on such understanding, all or part of the technical solutions of the present invention may be embodied in the form of a software product, which includes several instructions for enabling a computer device, specifically a controller, to execute all or part of the steps of the embodiments of the present invention.
It should be noted that the division of the modules in the present invention is illustrative, and is only a logical function division, and there may be another division manner in actual implementation. Each functional module in the embodiments of the present invention may be integrated into one module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the invention to occur, in whole or in part.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic cup taking method is characterized by comprising the following steps:
controlling a cup taking tool to move to a preset position, fixing the upper part of a cup by an automatic cup dropping device, enabling the ground projection of the cup to fall into the ground projection range of the cup taking tool at the preset position, and enabling the vertical distance between the preset position and the bottom of the cup to be smaller than or equal to a preset value;
and controlling the automatic cup dropping device to loosen the cup so as to finish cup taking, wherein the aperture of the cup taking tool is smaller than the caliber of the upper edge of the cup.
2. The method of claim 1, wherein controlling the cup removing tool to move to a preset position comprises:
controlling the cup taking tool to move to the position below the cup;
and controlling the cup taking tool to move to the preset position along the direction vertical to the ground.
3. The method of claim 1, wherein controlling the cup removing tool to move to a preset position comprises:
controlling the cup taking tool to move to a lateral position of the cup, wherein the lateral position and the preset position are on the same horizontal line;
and controlling the cup taking tool to move to the preset position from the side position to the preset position.
4. The method of claim 1, wherein controlling the cup removing tool to move to a preset position comprises:
and controlling the cup taking tool to move to the preset position along a preset track, wherein the preset track is the shortest track between the initial position of the cup taking tool and the preset position.
5. The method of any one of claims 1 to 4, wherein the bore diameter of the cup removal tool is a closed bore diameter or a non-closed bore diameter.
6. A method according to any one of claims 1 to 4, wherein the diameter of the lower rim of the cup is smaller than the diameter of the upper rim of the cup.
7. A method according to any one of claims 1 to 4, wherein the upper portion of the cup is held by an automatic cup dropping device comprising: the upper edge of the cup is clamped by the automatic cup dropping device.
8. A control device, comprising:
the first control module is used for controlling the cup taking tool to move to a preset position, the upper part of the cup is fixed by the automatic cup falling device, the ground projection of the cup falls into the ground projection range of the cup taking tool at the preset position, and the vertical distance between the preset position and the bottom of the cup is smaller than or equal to the position of the preset value;
and the second control module is used for controlling the automatic cup dropping device to loosen the cup so as to finish cup taking, and the aperture of the cup taking tool is smaller than the aperture of the upper edge of the cup.
9. A control apparatus, characterized by comprising: a memory, a controller, wherein:
the memory stores computer-executable instructions;
the controller executes computer-executable instructions stored by the memory, causing the controller to perform the method of any of claims 1 to 7.
10. A computer-readable storage medium having computer-executable instructions stored thereon for implementing the method of any one of claims 1 to 7 when executed by a controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910173362.3A CN109887175A (en) | 2019-03-07 | 2019-03-07 | Automatically a glass method, control device and storage medium are taken |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910173362.3A CN109887175A (en) | 2019-03-07 | 2019-03-07 | Automatically a glass method, control device and storage medium are taken |
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| CN109887175A true CN109887175A (en) | 2019-06-14 |
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| CN201910173362.3A Pending CN109887175A (en) | 2019-03-07 | 2019-03-07 | Automatically a glass method, control device and storage medium are taken |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110930587A (en) * | 2019-10-31 | 2020-03-27 | 广东智源机器人科技有限公司 | Collet discharging device and vending machine |
| CN111067361A (en) * | 2019-12-31 | 2020-04-28 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, intelligent catering preparation system and control method |
| CN111568186A (en) * | 2020-05-09 | 2020-08-25 | 云米互联科技(广东)有限公司 | Water dispenser control method, water dispenser and computer readable storage medium |
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