CN113724446A - Control system for unmanned milky tea machine - Google Patents
Control system for unmanned milky tea machine Download PDFInfo
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- CN113724446A CN113724446A CN202111023087.0A CN202111023087A CN113724446A CN 113724446 A CN113724446 A CN 113724446A CN 202111023087 A CN202111023087 A CN 202111023087A CN 113724446 A CN113724446 A CN 113724446A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
- G07F13/06—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
- G07F13/065—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof for drink preparation
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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
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- A47J31/4403—Constructional details
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- G06Q30/00—Commerce
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- G06Q30/0601—Electronic shopping [e-shopping]
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- G06Q30/0635—Processing of requisition or of purchase orders
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- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
- G07F13/10—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with associated dispensing of containers, e.g. cups or other articles
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Abstract
The invention discloses a control system for an unmanned milky tea machine, which belongs to the technical field of milky tea automation equipment control and comprises an order processing system, a robot motion control system, an IO control system and a human-computer interaction system, wherein the order processing system comprises an order acquisition system and an order analysis system; the robot motion control system firstly teaches and stores position information of different point positions of the robot into the robot controller, the order processing system analyzes and completes an order and controls the robot to perform joint motion or linear motion through the upper computer to reach a specified position to wait or take materials, and the milk tea making process is completed; the IO control system is used for controlling the cup falling control mechanism, the fructose quantitative discharging control mechanism, the ice discharging quantitative control mechanism, the solid-liquid separation control mechanism, the liquid quantitative discharging mechanisms and the milk tea discharging port opening and closing mechanism; the device can control the quantitative discharge amount of various raw materials of milk tea, and can freely add the addition amount and the addition sequence of the raw materials by matching with a robot.
Description
Technical Field
The invention belongs to the technical field of control of automatic milk tea equipment, and particularly relates to a control system for an unmanned milk tea machine.
Background
With the upgrading of the consumption of the milk tea industry, the prices of the milk tea are increasing from the instant milk tea added with the non-dairy creamer to the instant milk tea prepared by milk in a core commercial area. The proportion of labor cost and investment of rent in stores to the operation cost of the milk tea store is gradually increased compared with the investment of equipment purchase, and the fact that the unit price of the instant milk tea is higher and higher is better explained. The demand for automatic equipment capable of imitating the milk tea on site is also increasing.
The milk tea automation equipment disclosed at present is simple in module of an existing unmanned milk tea machine control system, a corresponding material discharging position is conveyed to a milk tea cup by a conveying belt, a corresponding material adding mechanism adds corresponding materials to the milk tea cup, the milk tea automatic equipment is limited in ingredient types of milk tea, the milk tea types which can be made are simple, and only selectable sweetness, temperature and selectable types of milk tea are few. In the process of making milk tea, if pearl or coconut granules are directly dug from a pearl supply cylinder or a coconut supply cylinder, wherein the pearl or coconut granules contain liquid, the addition amount of the pearl or coconut granules is not accurate, and the liquid in the pearl supply cylinder or the coconut supply cylinder enters a milk tea cup along with the pearl or coconut granules, so that the proportioning of the milk tea is not accurate, and the taste and the quality control of the milk tea are seriously influenced.
In addition, the existing automatic milk tea manufacturing process depends too much on corresponding quantitative feeding systems, such as an adjustable quantitative fructose feeding machine, an adjustable quantitative ice discharging machine and some solid quantitative discharging mechanisms, such as a spiral pushing type, a swing digging type, a gear pushing type and a quantitative volumetric type, which are all calculated by different metering modes of a plurality of feeding mechanisms, so that a uniform metering mode does not exist, the component proportion of milk tea is not accurate enough, and the quality control of milk tea is uneven.
Disclosure of Invention
Aiming at the technical problems, the control system for the unmanned milky tea machine is provided, the control system can control the quantitative discharge amount of various raw materials of milky tea, and can freely add the addition amount and the addition sequence of the raw materials by matching with a robot.
The technical scheme adopted by the invention is as follows: a control system for an unmanned milky tea machine comprises an order processing system, a robot motion control system, an IO control system and a man-machine interaction system, wherein the order processing system comprises an order acquisition system and an order analysis system; the robot motion control system firstly teaches and stores position information of different point positions of the robot into the robot controller, the order processing system analyzes and completes an order and controls the robot to perform joint motion or linear motion through the upper computer to reach a specified position to wait or take materials, and the milk tea making process is completed; the IO control system is used for controlling the cup falling control mechanism, the fructose quantitative discharging control mechanism, the ice discharging quantitative control mechanism, the solid-liquid separation control mechanism, the liquid quantitative discharging mechanisms and the milk tea discharging port opening and closing mechanism; the cup falling control mechanism is used for controlling the cup discharging device to fall a single milk tea cup from the cup discharging device to the clamping mechanism of the robot; the fructose quantitative discharging control mechanism is used for controlling the fructose machine to automatically discharge quantitatively, and the volume of single discharge can be adjusted; the ice discharging quantitative control mechanism is used for controlling the ice discharging machine to automatically discharge quantitatively, and the volume of single discharge can be adjusted; the solid-liquid separation control mechanism is used for fishing out solid coconuts or pearls from the coconut feeding cylinder or the pearl feeding cylinder and draining liquid in the coconuts or pearls; the liquid quantitative discharging mechanisms are respectively used for controlling the tea water, the milk, the cream, the hot water and the normal temperature water to be quantitatively added into the milk tea cup, and the volume of single discharging can be adjusted.
Furthermore, the IO control system also comprises a cup taking detection mechanism, the cup taking detection mechanism is positioned at the milk tea finished product placing position and is used for detecting whether a customer takes the milk tea finished product away; the milk tea discharge port further comprises a grating detection mechanism for detecting whether the hands of the customer completely exit, and when the grating detection mechanism detects that the hands of the customer completely exit, the safety door of the milk tea discharge port is automatically closed.
Furthermore, the IO control system also comprises a gravity sensing control mechanism, the gravity sensing control mechanism comprises a gravity sensor arranged at the tail end of the robot, and the gravity sensor is used for feeding back whether the robot falls into a cup or not, the addition amount of fructose, the addition amount of ice cubes, the addition amount of pearls, the addition amount of coconut and the addition amount of various liquids.
Further, the order acquisition system continuously polls orders of the order screen client, the WeChat small program, the takeout and the like from the cloud database; all the interfaces adopt http protocols and JSON interactive formats, the order analysis system analyzes orders acquired by the order acquisition system and converts the orders in the JSON format into control commands so as to control the motion and IO of the robot.
Further, the order analyzing system analyzes the order acquired by the order acquiring system and converts the JSON-format order into a control command, wherein the analyzed items comprise milk tea type, milk tea cup size, whether ice needs to be added and the ice adding amount, and whether sugar needs to be added and the sugar adding amount; selecting a corresponding milk tea formula according to the detailed information of the order obtained by analysis, and performing robot motion control and IO control according to the milk tea type.
Further, still include IO control system and still include a plurality of solid ration ejection of compact control mechanism, a plurality of solid ration ejection of compact control mechanism are used for controlling the garrulous ration ejection of compact of multiple nut, the garrulous ration of biscuit respectively.
Further, IO control system still includes lacks material detecting system, lacks material detecting system including lacking cup detection mechanism and a plurality of liquid level monitoring mechanism that are used for the ware that falls cup, and a plurality of liquid level monitoring mechanism are used for tea-urn liquid level detection, milk bucket liquid level detection and milk oil barrel liquid level detection respectively.
Furthermore, the cup shortage detection mechanism comprises opposite photoelectric sensors positioned on two sides below the cup dropping device, when the cup dropping device is detected to take the milk tea cups from the milk tea cup warehouse and place the milk tea cups on the cup dropping device, and when the number of the milk tea cups in the milk tea cup warehouse reaches a shortage threshold value, the shortage detection system informs maintenance personnel to replenish the milk tea cups.
Further, the liquid level monitoring mechanism is used for detecting whether the liquid level reaches the starved material threshold value, and when the liquid level reaches the starved material threshold value, the starved material detection system informs maintenance personnel to replenish materials for the corresponding container.
The milk tea maker comprises a low-temperature box, a robot, a pearl feeding cylinder, a sugar supplying machine, a water heating machine, an ice making machine, a normal-temperature water supplying machine, a tea barrel, a cup discharging mechanism, a cup sealing machine and a plurality of discharging water taps, wherein the low-temperature box, the pearl feeding cylinder, the sugar supplying machine, the water heating machine, the ice making machine, the normal-temperature water supplying machine, the tea barrel, the cup discharging mechanism and the cup sealing machine are arranged around the robot and are positioned in the main frame, the pearl feeding cylinder and the milk feeding cylinder are both arranged in the low-temperature box, the discharging water taps are used for supplying liquid raw materials to the milk tea cups, the bottoms of the discharging water taps are sequentially connected with the water heating machine, the tea barrel, the normal-temperature water supplying machine and the milk feeding cylinder through water inlet pipes, the solid-liquid separating mechanism is used for taking out mixed liquid of pearl and sweet water from the pearl feeding cylinder and draining the sweet water, and then putting pearl particles into the milk tea cups clamped by the robot.
Further, the processing flow of the order obtaining system includes the following steps: A. setting a request head; B. encrypting the request header; C. splicing a request header; D. setting a request body; E. sending a POST request; F. returning order data for analysis; G. checking the order number for duplicate; H. storing the new order into an unfinished order database; I. the robot polls the new order; J. entering a new order into a queuing system; K. the robot starts to make a new order; l, completing order state conversion; m, completing order state conversion; n, storing the new order into a completed order database; and O, calling a human-computer interaction system to notify the client to take the order.
The beneficial effect of this scheme: compared with the existing automatic milk tea vending equipment, the control system is provided with the robot motion control system, and the flexibility and the integration of the robot are utilized, so that the occupied space of the equipment is greatly reduced; on the other hand, the matched control system of the multiple milk tea raw material feeding mechanisms greatly enriches the grades of milk tea; compared with the traditional single-line output, the provided gravity sensing control mechanism and the material shortage detection system are additionally provided with a feedback mechanism, so that the proportioning of the milk tea ingredients is accurately controlled.
Drawings
FIG. 1 is a schematic diagram of the control system of the present invention.
Fig. 2 is a perspective view of the whole structure of the unmanned milky tea maker.
FIG. 3 is a flow chart of the steps of the order processing system in the control system of the present invention.
In the figure: 1. a main frame; 2. a cup discharging mechanism; 3. a sugar supply machine; 4. an ice maker; 5. a tea barrel; 6. a solid discharge mechanism; 7. a solid-liquid separation mechanism; 8. a cup sealing machine; 9. placing the milk tea finished product; 10. a robot.
Detailed Description
As shown in fig. 1-2, a control system for an unmanned milky tea maker comprises an order processing system, a robot motion control system, an IO control system and a human-computer interaction system, wherein the order processing system comprises an order acquisition system and an order analysis system; the robot motion control system firstly teaches and stores position information of different point positions of the robot 10 into a robot 10 controller, and the order processing system analyzes and completes an order and controls the robot 10 to perform joint motion or linear motion to reach a specified position through an upper computer to wait or take materials, so that a milk tea making process is completed; the IO control system is used for controlling the cup falling control mechanism, the fructose quantitative discharging control mechanism, the ice discharging quantitative control mechanism, the solid-liquid separation control mechanism, the liquid quantitative discharging mechanisms and the milk tea discharging port opening and closing mechanism; the cup dropping control mechanism is used for controlling the cup discharger to drop a single milk tea cup from the cup discharger to the clamping mechanism of the robot 10; the fructose quantitative discharging control mechanism is used for controlling the fructose machine to automatically discharge quantitatively, and the volume of single discharge can be adjusted; the ice discharging quantitative control mechanism is used for controlling the ice discharging machine to automatically discharge quantitatively, and the volume of single discharge can be adjusted; the solid-liquid separation control mechanism is used for fishing out solid coconuts or pearls from the coconut feeding cylinder or the pearl feeding cylinder and draining liquid in the coconuts or pearls; the liquid quantitative discharging mechanisms are respectively used for controlling the tea water, the milk, the cream, the hot water and the normal temperature water to be quantitatively added into the milk tea cup, and the volume of single discharging can be adjusted.
The IO control system also comprises a cup taking detection mechanism, the cup taking detection mechanism is positioned at the milk tea finished product placing position 9 and is used for detecting whether a customer takes the milk tea finished product away; the milk tea discharge port further comprises a grating detection mechanism for detecting whether the hands of the customer completely exit, and when the grating detection mechanism detects that the hands of the customer completely exit, the safety door of the milk tea discharge port is automatically closed.
In order to accurately control the proportion of various raw materials of the milk tea, the milk tea machine also comprises a gravity sensing control mechanism, wherein the gravity sensing control mechanism comprises a gravity sensor arranged at the tail end of the robot 10, and the gravity sensor is used for feeding back whether the milk tea falls into a cup, the addition amount of fructose, the addition amount of ice cakes, the addition amount of pearls, the addition amount of coconut and the addition amount of various liquids.
The adding amount of various raw materials of the milk tea can be converted into mass, the actual adding amount of the various raw materials is fed back through a gravity sensor, the numerical value before adding is used as a reference before adding the next raw material, after the next raw material is added, the added numerical value is compared with the reference before adding to obtain the actual adding amount, the actual adding amount is compared with the adding amount preset by a system, if the absolute difference value is smaller than the allowable error of the system, if the absolute difference value is larger than the allowable error of the system, the ice making machine 4 is controlled to make ice again, and other materials are continuously taken; and stopping ice discharging until the system requirements are met, if the ice discharging amount still cannot meet the system requirements after the ice discharging commands are continuously executed for three times, executing refund operation, and simultaneously executing a fault alarm command to inform system maintenance personnel to process in time.
The order acquisition system continuously polls orders of the order screen client, the WeChat applet, the take-out and the like from the cloud database; all the interfaces adopt http protocols and JSON interactive formats, the order analysis system analyzes orders acquired by the order acquisition system and converts the orders in the JSON format into control commands so as to control the motion and IO of the robot 10. The order analysis system analyzes the orders acquired by the order acquisition system and converts the orders in the JSON format into control commands, wherein the items of analysis comprise milk tea type, milk tea cup size, whether ice needs to be added and the ice adding amount and whether sugar needs to be added and the sugar adding amount; and selecting a corresponding milk tea formula according to the detailed information of the order obtained by analysis, and performing motion control and IO (input/output) control on the robot 10 according to the milk tea formula.
In order to enrich the milk tea variety, the milk tea making machine also comprises a plurality of solid quantitative discharging control mechanisms, the solid quantitative discharging control mechanisms are respectively used for controlling a solid feeding mechanism, and the solid discharging mechanism 6 is used for providing various nut pieces and biscuit pieces.
An unmanned milk tea machine suitable for the control system comprises a low-temperature box, a robot 10, a pearl feeding cylinder, a sugar supply machine 3, a hot water machine, an ice maker 4, a normal-temperature water supply machine, a tea bucket 5, a cup discharging mechanism 2, a cup sealing machine 8 and a plurality of discharging water taps, wherein the low-temperature box, the pearl feeding cylinder, the sugar supply machine 3, the hot water machine, the ice maker 4, the normal-temperature water supply machine, the tea bucket 5, the cup discharging mechanism 2 and the cup sealing machine 8 are arranged around the robot 10 and are positioned in a main frame 1, the pearl feeding cylinder and the milk feeding cylinder are both arranged in the low-temperature box, the discharging water taps are all used for supplying liquid raw materials to milk tea cups, the bottoms of the discharging water taps are sequentially connected with the hot water machine, the tea bucket 5, the normal-temperature water supply machine and the milk feeding cylinder through water inlet pipes, a solid-liquid separation mechanism 7 is used for taking out mixed liquid of pearl and sweet water from the pearl feeding cylinder and draining the sweet water, the pearl particles are then placed into a milk cup held by the robot 10.
IO control system still includes lacks material detecting system, material detecting system contains lacks cup detection mechanism and a plurality of liquid level monitoring mechanism that are used for the ware that falls the cup, and a plurality of liquid level monitoring mechanism are used for 5 liquid level detection of tea-urn, milk bucket liquid level detection and milk oil barrel liquid level detection respectively. The cup shortage detection mechanism comprises opposite photoelectric sensors positioned on two sides below the cup dropping device, when the cup dropping device is detected to take milk tea cups from the milk tea cup warehouse and place the milk tea cups on the cup dropping device, and when the number of the milk tea cups in the milk tea cup warehouse reaches a shortage threshold value, the shortage detection system informs maintenance personnel to replenish the milk tea cups.
The liquid level monitoring mechanism is used for detecting whether the liquid level reaches a material shortage threshold value, and when the liquid level reaches the material shortage threshold value, the material shortage detection system informs maintenance personnel to replenish materials for the corresponding container.
The cup taking detection mechanism comprises a gravity sensor, the gravity sensor is located at a milk tea finished product placing position 9, and when the gravity sensor detects that milk tea exists at the milk tea finished product placing position 9, the robot 10 suspends placing the milk tea finished product on the milk tea finished product placing position 9.
The grating detection mechanism comprises safety gratings symmetrically arranged on two sides of a milk tea discharge port, the safety door is arranged on one side of the milk tea discharge port, after the safety door is opened, when a hand of a customer stretches into the safety door, the safety grating is triggered, the safety door is kept in an opened state, and after the safety gratings detect that the hand of the customer is pushed out, the safety door is closed.
A human-computer interaction system: the human-computer interaction system comprises human-computer interaction with consumers and human-computer interaction with machine workers; human-computer interaction with consumers is achieved by displaying the milk tea types before ordering, selecting the size of a cup, the temperature and the sweetness of the milk tea and adding materials during ordering, prompting payment after selection, reminding when making an order, and the like; the interaction with the machine staff mainly comprises machine state information, order making abnormity, system material shortage reminding and the like.
The order request adopts an HTTP (Hyper Text Transfer Protocol), requests a client to pay an unformed order from an API (Application Programming Interface) of a payment system in a form submitted by a form through a POST request mode, and the processing flow of the order acquisition system comprises the following steps: A. setting a request head; B. encrypting the request header; C. splicing a request header; D. setting a request body; E. sending a POST request; F. returning order data for analysis; G. checking the order number for duplicate; H. storing the new order into an unfinished order database; I. the robot polls the new order; J. entering a new order into a queuing system; K. the robot starts to make a new order; l, completing order state conversion; m, completing order state conversion; n, storing the new order into a completed order database; and O, calling a human-computer interaction system to notify the client to take the order.
The process of setting the request header is as follows: setting a requested URL (Uniform Resource locator), namely an address which needs to be input when the order acquisition system requests an order from the server side, wherein the address comprises a domain name, a port number, a store Resource path and a store identifier of each store; the shop resource path is used for quickly positioning the resource needing to be accessed at the position of the server, and is similar to a hierarchical file system path; the store identifier is used to quickly locate the requested order at a particular equipment terminal. Setting content-type as JSON (Java Script Object Notification), adopting text format completely independent of programming language to store and represent data, simultaneously being beneficial to machine analysis and generation, and effectively improving network transmission efficiency; and setting an accept-encoding (receiving content encoding format), namely informing the server side of the requested encoding format supported by the client side.
The process of encrypting the request header is as follows: the system adopts a digital signature method that an application key is spliced with a request body firstly, and is encrypted and converted into a 32-bit digital and English letter mixed verification code through an MD5 (MD 5 Message-Digest Algorithm full name MD5 information abstract Algorithm), and all letters in the verification code are converted into capital English letters so as to ensure the security of the request. In the process of setting the request body: the adopted request body comprises an application key and a dynamic time stamp, the application key is used as security verification of each device, the dynamic time stamp can avoid repeated requests of the system to return the same order in a short time, and meanwhile, the real-time performance of the digital signature is guaranteed to protect the request security.
Splicing request heads: and after the basic parameters of the request head and the encrypted digital signature are set, splicing all the parameters of the request head.
The process of setting the request body is as follows: the system adopts a request body which comprises an application key and a dynamic time stamp, wherein the application key is used for safety verification of each device, the dynamic time stamp can avoid repeated requests of the system to return the same order in a short time, and meanwhile, the real-time performance of the digital signature is also ensured to protect the request safety.
Sending a POST request: after the request head and the request body are set, the POST request can be carried out to obtain a newly added order of the system.
And (3) returning order data analysis: returning a character string in a JSON format, wherein the character string comprises a request state (success/failure) and a message body, and the message body comprises all the information of the unforeseen orders; all detailed information of the order details is in a message body returned by the post, but the returned message body is in a JSON format, the robot cannot directly identify the information, the message body needs to be analyzed, and the detailed information of the order creation time, the order number, the milk tea name, the milk tea temperature, the sweetness and other added materials is extracted and rebinding into a format which can be directly identified by the robot.
The process of checking the order number is as follows: after the order is requested from the server and analyzed, the newly added order needs to be stored in the local database, and before the newly added order is stored in the local database, the local database needs to be checked for duplication, so that repeated machine manufacturing and resource waste caused by repeated order writing are avoided. The order duplication checking is generally carried out according to order numbers, and an unfinished order database is inquired by using a database structured inquiry language. If repeated orders are inquired, the newly added orders are not recorded into an unfinished order database; if the incomplete order database does not have the newly added order, the next step is performed.
The process of storing the new order into the unfinished order database comprises the following steps: after the order is checked and returned, and no new order is added repeatedly, the new order needs to be written into an unfinished order database, the content written into the database comprises information such as order creation time, milk tea name, temperature, sweetness, materials needing to be added, order number, order source and the like, and the information is written by using a structured Query language syntax of a Sql (structured Query language) database.
And (3) polling a new order by the robot: the robot needs to poll the local unfinished order database in real time and read all the unfinished orders.
The process of entering a queuing system for a new order is as follows: and when the order processing system reads that the unfinished orders exist, all the unfinished orders are brought into the order queuing system according to the time sequence of order creation, and the order processing system starts to wait for making.
The process for the robot to start making a new order is as follows: and the order processing system is sequentially manufactured according to the order queuing system sequence, and simultaneously the robot motion control system is called to control the robot and the IO control system to manufacture the milk tea.
The process of making the completed order state transition is as follows: after the milk tea is manufactured, the order processing system needs to convert the state of the order, and firstly, the state of the order in the local unfinished order database is converted into a finished state.
The process of storing the new order into the completed order database is as follows: after the new order state conversion is completed, the new order state conversion needs to delete the new order from the local unfinished order database and the server-side database, and write the new order into the finished order database.
The process of calling the human-computer interaction system to inform the client to take the order is as follows: after the newly added order is made and the state conversion is completed, a man-machine interaction system needs to be called to inform a customer of taking the order.
The milk tea making process of the unmanned milk tea machine comprises the following making steps: A. the robot 10 continuously polls the form of the order to be made from the database until a new order is obtained; the robot 10 acquires a new order and starts to move from an initial position to a corresponding cup taking point through a joint, the robot 10 clamps the tail end clamping jaw and simultaneously sends a cup falling signal to control the cup falling device to start cup falling until a travel switch is triggered, a cup falling signal is turned off, and the cup falling device stops cup falling; B. after the robot 10 clamps the cup, whether solid needs to be added or not is judged according to the details of the order, if so, the robot 10 is controlled to move to a corresponding solid discharging position, a solid quantitative discharging control mechanism controls corresponding material discharging, blanking is closed after a certain time delay, and the robot 10 starts to judge the next action when moving to a transition point; if the solid is not needed, the robot 10 directly moves to a transition point to judge the next action; C. after the robot 10 reaches an ice taking transition point, judging whether ice blocks need to be added and the ice adding amount according to the details of the order, if the ice needs to be added, controlling the robot 10 to move to the ice taking point, controlling the ice outlet quantitative control mechanism to control the ice maker 4 to discharge ice, judging the ice amount by a gravity sensor at the tail end of the robot 10, closing the ice outlet after the target weight is reached, and starting to judge the next action when a manipulator moves to the ice adding transition point; if the ice does not need to be added, directly moving to a sugar adding transition point to judge the next action; D. after the robot 10 reaches the sugaring transition point, judging whether the sugaring is needed or not and the sugaring amount according to the details of the order; if the sugar needs to be added, the robot 10 is controlled to move to a sugar taking point, the fructose quantitative discharging control mechanism controls and selects the sugar amount according to the details of the order, and the sugar is moved to a tea taking point after the sugar is discharged to wait for tea discharge; if the sugar is not needed, directly moving to a tea taking point to wait for tea to be taken out; E. after the robot 10 moves to a tea taking point, the liquid quantitative discharging mechanism controls the tea water feeding cylinder to flow out tea water, and after the tea water is added, the robot moves to a milk taking point to wait for milk to be discharged; F. the robot 10 moves to a milk taking point, the liquid quantitative discharging mechanism controls the milk feeding cylinder to flow out of milk, and after the milk is added, the robot moves to a cream taking point to wait for taking cream; G. the robot 10 moves to a milk oil taking point, the liquid quantitative discharging mechanism controls the milk oil feeding cylinder to flow out the milk oil, the milk oil moves to a hot water taking/direct drinking water point to take water after being added, the amount of hot water or cold water and water is determined according to the details of an order and a milk tea formula, and the robot 10 moves to a sealing point to wait for sealing after taking water; h: and C, after the robot 10 finishes taking water, moving to a sealing point, controlling a sealing machine to start sealing, after the sealing, taking out milk tea by the robot 10, moving to a milk tea placing point, informing a customer to take the milk tea, simultaneously, moving the robot 10 to return to a starting point, and repeating the steps A to G.
An order processing system suitable for the unmanned milky tea machine comprises the following processing steps: A. the order processing system is used for acquiring orders placed by a user from a WeChat order applet or other terminal equipment, processing the orders into an order information format universal for the robot 10 through order analysis, and transferring the order information format to a database; B. the robot 10 control system polls from the database continuously whether a new order is generated, and when a new order is generated, the robot 10 is controlled to carry out a milk tea making program; C. the robot 10 completes the manufacturing, returns the database information, converts the order state, and converts the new unfinished order into the finished state; D. and after the order process is completed once, polling the database again to determine whether a new order is generated, and repeating the steps.
The invention and its embodiments have been described above schematically, without limitation, and the illustrations shown in the drawings are only one embodiment of the invention, and the actual construction may be varied in many ways. Without departing from the spirit of the invention, the invention also falls into the protection scope of the invention without creatively designing the similar structural mode and implementation example to the technical proposal.
Claims (10)
1. A control system for an unmanned milky tea machine is characterized by comprising an order processing system, a robot motion control system, an IO control system and a human-computer interaction system, wherein the order processing system comprises an order acquisition system and an order analysis system; the robot motion control system firstly teaches and stores position information of different point positions of the robot (10) into a robot (10) controller, an order processing system analyzes and completes the order and controls the robot (10) to perform joint motion or linear motion to reach a specified position through an upper computer to wait or take materials, and the milk tea making process is completed; the IO control system is used for controlling the cup falling control mechanism, the fructose quantitative discharging control mechanism, the ice discharging quantitative control mechanism, the solid-liquid separation control mechanism, the liquid quantitative discharging mechanisms and the milk tea discharging port opening and closing mechanism;
the cup falling control mechanism is used for controlling the cup outlet device to fall a single milk tea cup from the cup outlet device to a clamping mechanism of the robot (10); the fructose quantitative discharging control mechanism is used for controlling the fructose machine to automatically discharge in a quantitative manner, and the volume of single output can be adjusted; the ice discharging quantitative control mechanism is used for controlling the ice discharging machine to automatically discharge quantitatively, and the volume of single discharge can be adjusted; the solid-liquid separation control mechanism is used for fishing out solid coconuts or pearls from the coconut feeding cylinder or the pearl feeding cylinder and draining liquid in the coconuts or pearls; the liquid quantitative discharging mechanisms are respectively used for controlling the tea water, the milk, the cream, the hot water and the normal-temperature water to be quantitatively added into the milk tea cup, and the volume of single discharging can be adjusted.
2. The control system for the unmanned milky tea maker as claimed in claim 1, wherein the IO control system further comprises a cup taking detection mechanism, the cup taking detection mechanism is located at the milky tea finished product placing position (9), and the cup taking detection mechanism is used for detecting whether a customer takes the milky tea finished product away; the milk tea discharge port further comprises a grating detection mechanism for detecting whether the hands of the customer completely exit, and when the grating detection mechanism detects that the hands of the customer completely exit, the safety door of the milk tea discharge port is automatically closed.
3. The control system for the unmanned milky tea maker as claimed in claim 1, wherein the IO control system further comprises a gravity sensing control mechanism, the gravity sensing control mechanism comprises a gravity sensor disposed at the end of the robot (10), and the gravity sensor is used for feeding back whether to drop the cup, the addition amount of fructose, the addition amount of ice cubes, the addition amount of pearls, the addition amount of coconut and the addition amount of various liquids.
4. The control system for the unmanned milky tea maker as claimed in claim 1, wherein the order acquisition system continuously polls orders of a single-screen client, a WeChat applet, a take-out and the like from a cloud database; all the interfaces adopt http protocols and JSON interactive formats, the order analysis system analyzes orders acquired by the order acquisition system and converts the orders in the JSON format into control commands so as to control the motion and IO of the robot (10).
5. The control system for the unmanned milky tea maker as claimed in claim 1, wherein the order parsing system parses the order obtained by the order obtaining system, and converts the JSON format order into a control command, and the parsed items include milk tea type, milk tea cup size, whether ice and ice amount are needed and whether sugar and sugar amount are needed; selecting a corresponding milk tea formula according to the detailed information of the order obtained by analysis, and performing robot (10) motion control and IO control according to the milk tea type.
6. The control system for the unmanned milky tea maker as claimed in claim 1, further comprising an IO control system and a plurality of solid quantitative discharging control mechanisms, wherein the plurality of solid quantitative discharging control mechanisms are respectively used for controlling quantitative discharging of a plurality of nut pieces and biscuit pieces.
7. The control system for the unmanned milky tea maker as claimed in claim 1, wherein the IO control system further comprises an out-of-stock detection system, the out-of-stock detection system comprises an out-of-cup detection mechanism for a cup falling device and a plurality of liquid level monitoring mechanisms, and the plurality of liquid level monitoring mechanisms are respectively used for tea barrel (5) liquid level detection, milk barrel liquid level detection and milk oil barrel liquid level detection.
8. The control system of the unmanned milk tea machine of claim 7, wherein the missing cup detection mechanism comprises a correlation photoelectric sensor positioned at two sides below the cup dropping device, when the cup dropping device is detected to take milk tea cups from the milk tea cup warehouse and place the milk tea cups in the cup dropping device, and when the number of the milk tea cups in the milk tea cup warehouse reaches a shortage threshold value, the missing cup detection system informs a maintenance person to replenish the milk tea cups.
9. The control system of the unmanned milk tea machine according to claim 1, wherein the liquid level monitoring mechanism is configured to detect whether a liquid level reaches a starved threshold, and when the liquid level reaches the starved threshold, the starved detection system notifies a maintenance person to replenish the material of the corresponding container.
10. The control system of the unmanned milk tea machine according to claim 1, wherein the processing flow of the order obtaining system comprises the following steps: A. setting a request head; B. encrypting the request header; C. splicing a request header; D. setting a request body; E. sending a POST request; F. returning order data for analysis; G. checking the order number for duplicate; H. storing the new order into an unfinished order database; I. the robot polls the new order; J. entering a new order into a queuing system; K. the robot starts to make a new order; l, completing order state conversion; m, completing order state conversion; n, storing the new order into a completed order database; and O, calling a human-computer interaction system to notify the client to take the order.
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