CN114890093A - Automatic in-and-out device for beverage making equipment - Google Patents
Automatic in-and-out device for beverage making equipment Download PDFInfo
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- CN114890093A CN114890093A CN202210522485.5A CN202210522485A CN114890093A CN 114890093 A CN114890093 A CN 114890093A CN 202210522485 A CN202210522485 A CN 202210522485A CN 114890093 A CN114890093 A CN 114890093A
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- bearing mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses an automatic in-and-out device for a beverage making device, comprising: the bearing mechanism is used for bearing and conveying the container; the conveying mechanism is used for providing moving power and a moving path of the bearing mechanism and conveying the bearing mechanism to and fro between a manual operation station and a mechanical operation station of the manufacturing equipment; the detection module is used for detecting whether the bearing mechanism meets the transportation standard; the control module is used for controlling the bearing mechanism and the conveying mechanism to work according to the detection result of the detection module. The automatic container conveying device can automatically convey containers from the manual operation station to the mechanical operation station, potential safety hazards caused by the fact that the containers are directly placed at the mechanical operation station by manual work are avoided, the conveying condition of the bearing mechanism is detected through the detection module before conveying, the detection module is matched with the control module to realize intelligent control over the conveying mechanism and the bearing mechanism, the problems of cost and safety of automatic operation of manual operation steering equipment are solved, and the automatic equipment which is convenient and fast to use and saves manpower is formed.
Description
Technical Field
The invention relates to the technical field of beverage making, in particular to an automatic in-and-out device for beverage making equipment.
Background
At present, shops with milk tea and various beverages are located in streets and alleys, in order to meet the requirements of most people, the tastes and the types of milk tea beverages are more and more increased, and therefore devices for making beverages are added, such as a heater, a filling machine, a sealing machine, a tea making machine and the like. There is therefore a need for an automatic access device for a beverage making apparatus that at least partially solves the problems of the prior art.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problem, the present invention provides an automatic access device for a beverage making apparatus, comprising: the container conveying device comprises a bearing mechanism, a conveying mechanism, a detection module and a control module, wherein the bearing mechanism is arranged on the conveying mechanism and used for bearing and conveying containers; the conveying mechanism is used for providing moving power and a moving path of the bearing mechanism and conveying the bearing mechanism to and fro between a manual operation station and a mechanical operation station of the manufacturing equipment; the detection module is used for detecting whether the bearing mechanism meets the transportation standard; the control module is used for controlling the bearing mechanism and the conveying mechanism to work according to the detection result of the detection module.
Preferably, the moving path provided by the conveying mechanism includes a horizontal conveying path and a vertical conveying path, a starting point a on the horizontal conveying path is located outside the manufacturing equipment, the manual operation station is located at the starting point a, an intersection B of the horizontal conveying path and the vertical conveying path is located inside the manufacturing equipment, an end point C on the vertical conveying path is located inside the manufacturing equipment, and the mechanical operation station is located at the end point C.
Preferably, the judging factor of whether the carrying mechanism meets the transportation standard includes: whether the container on the bearing mechanism meets the container specification of the manufacturing equipment, whether the container placement position on the bearing mechanism meets the standard, whether the time length of no manual operation on the bearing mechanism exceeds a preset time threshold, whether a non-standard object exists on the bearing mechanism and whether an obstacle exists on the conveying mechanism.
Preferably, the detection module includes: a container detection unit, a position detection unit, a time judgment unit and a safety detection unit,
the container detection unit is used for detecting whether the container placed on the bearing mechanism meets the container specification of the manufacturing equipment, if not, an alarm prompt is sent out, and if so, the bearing mechanism clamps and fixes the container;
the position detection unit is used for detecting whether the position of the container on the bearing mechanism meets the standard or not after the bearing mechanism clamps and fixes the container, if not, an alarm prompt is sent out and the position of the container is adjusted, and if so, the time judgment unit starts detection work;
the time judging unit is used for detecting the time length of no manual operation on the bearing mechanism in a first detection time period, if the time length of no manual operation is detected to exceed the preset time length, the safety detection unit starts detection work, and if the time length of no manual operation is detected in the first detection time period to not exceed the preset time length, a reminding prompt tone is sent out, and the time length of no manual operation on the bearing mechanism is detected in a second detection time period; if the time length without manual operation is detected to exceed the preset time length in the second detection time period, the safety detection unit starts detection work, and if the time length without manual operation is detected to not exceed the preset time length in the second detection time period, a standby prompt tone is sent out, and the manufacturing equipment is ready to enter a standby mode;
wherein the first detection time period is determined by the following formula:
wherein, T 1 For a first detection time period, n is the number of times that the detected time length of no manual operation does not exceed the preset time length, t max For the maximum value of the length of time without manual operation in n times of detection, t min As the minimum value of the length of time during which no manual operation is performed in n times of detection, t i Is the length of time of the ith detection of no manual operation in the n detections;
the second detection period is determined by the following formula:
T 2 ＝[1+(t min -t p )/(t max -t min )]*T 1
wherein, T 2 For a second detection period, t p Is an adjustment parameter related to the time length;
the safety detection unit is used for detecting whether a non-standard object exists on the bearing mechanism and whether an obstacle exists on the conveying mechanism, sending an alarm prompt if the non-standard object exists on the bearing mechanism or the obstacle exists on the conveying mechanism, and controlling the bearing mechanism to convey the container on the conveying mechanism through the control module if the non-standard object does not exist on the bearing mechanism and the obstacle does not exist on the conveying mechanism.
Preferably, the container detecting unit includes: a data acquisition subunit, a data storage subunit and a specification judgment subunit,
the data acquisition subunit is used for acquiring specification data of the container placed on the bearing mechanism, wherein the specification data comprises an external dimension, an upper opening dimension, an internal height of the container and a volume of the container;
the data storage subunit is used for storing specification data of various containers suitable for the manufacturing equipment;
the specification judging subunit is used for comparing the container specification data acquired by the data acquiring subunit with specification data of various containers stored by the data storing subunit, if the acquired container specification data has no corresponding item in the data storing subunit, the judging result is that the container positioned on the bearing mechanism does not conform to the container specification of the manufacturing equipment, and if the acquired container specification data has a corresponding item in the data storing subunit, the judging result is that the container positioned on the bearing mechanism conforms to the container specification of the manufacturing equipment, and the type of the container is judged.
Preferably, the bearing mechanism comprises a bearing area, a positioning assembly is arranged in the bearing area, a clamping assembly used for clamping and fixing the container is arranged on the positioning assembly, the area outside the bearing area is a non-bearing area, and a plurality of marks are arranged on the bearing area and the non-bearing area.
Preferably, the position detection unit includes: a position acquisition subunit, an image processing subunit and a position judgment subunit,
the position acquisition subunit is used for acquiring a bearing area image from the upper part of the bearing mechanism;
the image processing subunit is used for extracting the bearing area frame information on the bearing area image and the opening frame information of the container positioned on the bearing area;
the position judging subunit is used for obtaining a bearing area center coordinate on the bearing area image and an opening center coordinate of the container according to the bearing area frame information and the opening frame information, judging whether the distance between the bearing area center coordinate and the opening center coordinate is within a preset distance threshold, if so, determining that the position of the container on the bearing mechanism meets the standard, and if not, determining that the position of the container on the bearing mechanism does not meet the standard.
Preferably, the security detection unit includes: a first image acquiring subunit, a removed container region acquiring subunit, an identification standard position storing subunit, an identification reference position acquiring subunit, an identification detection position acquiring subunit and a non-standard substance judging subunit,
the first image acquisition subunit is used for acquiring a bearing mechanism image from the upper part, wherein the bearing mechanism image comprises a bearing area, a non-bearing area and an image of a container above the bearing area;
the container removal region acquiring subunit is configured to remove a region where a container is located in a carrying region in the carrying mechanism image, and obtain a container removal region image;
the identification standard position storage subunit is used for storing identification standard position information of a bearing area and a non-bearing area;
the identification reference position obtaining subunit is configured to obtain a position where the identifier in the container area is removed from the standard identifier positions of the bearing area and the non-bearing area, and obtain an identification reference position where the container area is removed;
the identification detection position acquisition subunit is used for acquiring the position of the identification on the image of the removed container area to obtain the identification detection position of the removed container area;
the non-standard object judging subunit is used for judging whether the error between the identifier detection position and the identifier reference position exceeds a preset threshold value, if so, judging that a non-standard object exists on the bearing mechanism, and if not, judging that the non-standard object does not exist on the bearing mechanism.
Preferably, the security detection unit further comprises: a second image obtaining subunit, an image storing subunit and an obstacle judging subunit,
the second image acquisition subunit is used for acquiring a detection image of the conveying mechanism;
the image storage subunit is used for storing a reference image of the conveying mechanism;
the obstacle judging subunit is used for comparing the detected image with the reference image, judging whether the similarity of the detected image and the reference image meets the standard, if so, determining that no obstacle exists on the conveying mechanism, and if not, determining that an obstacle exists on the conveying mechanism.
Preferably, the device further comprises a work detection module, wherein the work detection module is used for detecting whether the bearing mechanism reaches the mechanical operation station or not when the bearing mechanism moves from the manual operation station to the mechanical operation station, if so, the control module controls the manufacturing equipment to start working, and if not, the manufacturing equipment does not start working; the work detection module detects the working condition of the mechanical operation station when the manufacturing equipment works, if the work of the mechanical operation station is detected to be finished, whether an obstacle exists on the conveying mechanism is detected through the safety detection unit, if the obstacle exists, an alarm prompt is sent, and if the obstacle does not exist, the control module controls the bearing mechanism to return to the manual operation station.
Compared with the prior art, the invention at least comprises the following beneficial effects:
the automatic in-and-out device for the beverage making equipment can convey the container from the manual operation station to the mechanical operation station by arranging the conveying mechanism and the bearing mechanism, so that potential safety hazards caused by the fact that the container is directly placed at the mechanical operation station by a person are avoided, the conveying condition of the bearing mechanism is detected by the detection module before conveying, the safety of the conveying process is guaranteed, the intelligent control over the conveying mechanism and the bearing mechanism is realized by the matching of the control module and the detection module, the problems of cost and safety of automatic operation of equipment from manual operation to manual operation are solved, and the automatic equipment which is relatively convenient, fast and labor-saving is formed.
Other advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of an automated access device for a beverage making apparatus according to the present invention;
FIG. 2 is a system control block diagram of an automated access device for a beverage making apparatus according to the present invention;
fig. 3 is a block diagram of a detection module in an automatic access device for a beverage making apparatus according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-3, the present invention provides an automated access device for a beverage making apparatus, comprising: the device comprises a bearing mechanism 2, a conveying mechanism 3, a detection module and a control module, wherein the bearing mechanism 2 is arranged on the conveying mechanism 3 and is used for bearing and conveying a container 4; the conveying mechanism 3 is used for providing moving power and a moving path of the bearing mechanism 2 and conveying the bearing mechanism 2 back and forth between a manual operation station and a mechanical operation station of the manufacturing equipment 1; the detection module is used for detecting whether the bearing mechanism 2 meets the transportation standard; the control module is used for controlling the carrying mechanism 2 and the conveying mechanism 3 to work according to the detection result of the detection module.
The working principle of the technical scheme is as follows: after the container 4 is placed on the bearing mechanism 2, the detection module starts to detect the conveying condition of the bearing mechanism 2, when the bearing mechanism 2 meets the conveying standard, the control module controls the bearing mechanism 2 to move on the conveying mechanism 3, the container 4 on the bearing mechanism 2 is conveyed to the mechanical operation station from the manual operation station, when the container 4 reaches the mechanical operation station, the manufacturing equipment 1 starts to execute work, when the work is executed, the detection module detects the conveying condition of the bearing mechanism 2 again, when the bearing mechanism 2 meets the conveying standard, the control module controls the bearing mechanism 2 to move on the conveying mechanism 3, the container 4 is conveyed to the manual operation station from the mechanical operation station, and at the moment, the container 4 is taken down from the bearing mechanism 2.
The beneficial effects of the above technical scheme are that: can transport container 4 to mechanical operation station from the manual operation station through setting up transport mechanism 3 and bearing mechanism 2, avoid the manual work directly to place container 4 in mechanical operation station department and the potential safety hazard appears, and detect bearing mechanism 2's the condition of transporting through detection module before transporting, guarantee the security of transporting the process, cooperation through control module and detection module, realize the intelligent control to transport mechanism 3 and bearing mechanism 2, the cost and the safety problem of following manual operation steering apparatus automation mechanized operation have been solved, the automation equipment who uses manpower sparingly relatively conveniently has been formed.
In one embodiment, the movement path provided by the conveying mechanism 3 includes a horizontal conveying path and a vertical conveying path, wherein a starting point a on the horizontal conveying path is located outside the production apparatus 1, the manual operation station is located at the starting point a, an intersection point B of the horizontal conveying path and the vertical conveying path is located inside the production apparatus 1, an end point C on the vertical conveying path is located inside the production apparatus 1, and the mechanical operation station is located at the end point C.
The working principle and the beneficial effects of the technical scheme are as follows: the purpose of the conveying mechanism 3 is to provide a moving power and a moving path of the carrying mechanism 2, the moving path may be specifically designed according to different manufacturing devices, and may be linear conveying or non-linear conveying, for example, may be a combination of horizontal conveying, arc conveying, vertical conveying, and the like, this embodiment provides a combination of horizontal conveying and vertical conveying, a starting point a, an intersection point B, and an end point C are set on the conveying path, the set starting point a is a manual operation station and is set outside the manufacturing device 1, so as to prevent a human limb from entering the manufacturing device 1, and the set end point C is a mechanical operation station and is set inside the device 1, so as to separate and keep away from the manual operation station for performing work of the manufacturing device 1, thereby reducing potential safety hazards.
In one embodiment, the determining factor of whether the carrying mechanism 2 meets the transportation standard includes: whether the container 4 on the bearing mechanism 2 meets the container specification of the manufacturing equipment 1, whether the placement position of the container 4 on the bearing mechanism 2 meets the standard, whether the time length of no manual operation on the bearing mechanism 2 exceeds a preset time threshold, whether non-standard objects exist on the bearing mechanism 2 and whether obstacles exist on the conveying mechanism 3.
The working principle and the beneficial effects of the technical scheme are as follows: for different manufacturing apparatuses 1, the container specifications may also differ, for example, data such as material and size of the container need to be set according to the different manufacturing apparatuses 1, and if a container 4 that does not conform to the manufacturing apparatus 1 is placed on the carrying mechanism 2, damage or other failures of the manufacturing apparatus 1 may be caused; whether the placement position of the container 4 on the bearing mechanism 2 meets the standard or not is to avoid the phenomena of skew, toppling and the like of the container 4 and further ensure the stability of transportation; the detection that whether the time length of the manual operation on the bearing mechanism 2 exceeds a preset time threshold value or not prevents the container 4 from being conveyed when the operation of an operator on a manual operation station is not finished, so that the safety of the operator is ensured while the beverage making process is ensured; the detection of the presence of non-standard objects on the carrying mechanism 2 and the presence of obstacles on the conveying mechanism 3 can be carried out simultaneously and cooperatively with the detection of the length of time without manual operation, and if one of the non-standard objects is not satisfactory, the carrying mechanism 2 does not meet the transportation standard; when the carrying mechanism 2 conveys the container 4 from the manual operation station to the mechanical operation station, the judgment factors of whether the container 4 meets the conveying standard adopt all the judgment factors, and when the carrying mechanism 2 conveys the container 4 from the mechanical operation station to the mechanical operation station, the judgment factors of whether the container meets the conveying standard adopt whether an obstacle exists on the conveying mechanism 3, so that the normal movement of the carrying mechanism 2 on the conveying mechanism 3 is ensured.
In one embodiment, the detection module comprises: a container detection unit, a position detection unit, a time judgment unit and a safety detection unit,
the container detection unit is used for detecting whether the container 4 placed on the bearing mechanism 2 meets the container specification of the manufacturing equipment 1, if not, an alarm prompt is sent, and if so, the bearing mechanism 2 clamps and fixes the container 4;
the position detection unit is used for detecting whether the position of the container 4 on the bearing mechanism 2 meets the standard or not after the bearing mechanism 2 clamps and fixes the container 4, sending an alarm prompt and adjusting the position of the container 4 if the position of the container 4 on the bearing mechanism 2 does not meet the standard, and starting detection work by the time judgment unit if the position of the container 4 on the bearing mechanism meets the standard;
the time judging unit is used for detecting the time length of no manual operation on the bearing mechanism 2 in a first detection time period, if the time length of no manual operation is detected to exceed the preset time length, the safety detection unit starts detection work, and if the time length of no manual operation is detected to not exceed the preset time length in the first detection time period, a reminding prompt tone is sent out, and the time length of no manual operation on the bearing mechanism 2 is detected in a second detection time period; if the time length without manual operation is detected to exceed the preset time length in the second detection time period, the safety detection unit starts detection work, and if the time length without manual operation is detected to not exceed the preset time length in the second detection time period, a standby prompt tone is sent out, and the manufacturing equipment 1 is ready to enter a standby mode;
wherein the first detection time period is determined by the following formula:
wherein, T 1 For a first detection time period, n is the number of times that the detected time length of no manual operation does not exceed the preset time length, t max For the maximum value of the length of time without manual operation in n times of detection, t min As the minimum value of the length of time during which no manual operation is performed in n times of detection, t i Is the length of time of the ith detection of no manual operation in the n detections;
the second detection period is determined by the following formula:
T 2 ＝[1+(t min -t p )/(t max -t min )]*T 1
wherein, T 2 For a second detection period, t p Is an adjustment parameter related to the time length;
the safety detection unit is used for detecting whether a non-standard object exists on the bearing mechanism 2 or not and whether an obstacle exists on the conveying mechanism 3 or not, if the non-standard object exists on the bearing mechanism 2 or the obstacle exists on the conveying mechanism 3, an alarm prompt is sent out, if the non-standard object does not exist on the bearing mechanism 2 and the obstacle does not exist on the conveying mechanism 3, the detection result is safe, and the bearing mechanism 2 is controlled by the control module to convey the container 4 on the conveying mechanism 3.
The working principle and the beneficial effects of the technical scheme are as follows: the container detection unit, the position detection unit, the time judgment unit and the safety detection unit are respectively used for detecting and judging various judgment factors for judging whether the bearing mechanism 2 meets the transportation standard;
the container detection unit is mainly used for detecting whether the specification of the container 4 meets the container specification of the manufacturing equipment 1, if not, an alarm prompt or a voice prompt is sent out to remind people of replacing the container 4, and if the container 4 meets the container specification of the manufacturing equipment 1, the bearing mechanism 2 clamps and fixes the container 4, and then the next detection is carried out;
the position detection unit carries out detection work after the container detection unit, and sends out an alarm prompt or a voice prompt when the detection result does not meet the standard, so as to prompt that the placement position of the container 4 needs to be adjusted;
the time judging unit is mainly used for detecting the time length of no manual operation on the bearing mechanism 2, when the result of the position detecting unit meets the standard, the time judging unit starts to enter a first detection time period for detection, the preset time length is smaller than the length of the first detection time period, when the manual operation is detected when the preset time length is not reached in the detection process, the detection time length is recorded and stored, the detection time length and the superposition times are added on the original record, and when the time length of no manual operation in the detection process reaches the preset time length, the detection time length information is not recorded, and the safety detecting unit starts to detect; when time is judged, two detection time periods are adopted, and the two detection time periods are updated in real time along with the increase of the detection times, if the time length of no manual operation detected in the first detection time period does not exceed the preset time length, a prompt tone is sent out, the prompt tone needs to leave the carrying mechanism 2 in order to prompt the operator to ensure the safety, some operators are prevented from forgetting the operation rule, the time length of no manual operation on the carrying mechanism 2 is detected in the second detection time period, if the time length of no manual operation detected in the second detection time period does not exceed the preset time length, a standby prompt tone is sent out, the making equipment 1 is ready to enter a standby mode, in this case, the situation is that the operator does not make beverages or perform other operations in a manual operation station, in order to save the power consumption of the manufacturing equipment, the manufacturing equipment and related functions can enter a standby mode, the preset time length is shorter than a second detection time period, the second detection time period is longer than the first detection time period, and the detection is determined according to the detection times, so that the accuracy of time judgment is guaranteed, the detection time is reduced as much as possible, and the detection efficiency is improved; the safety detection unit and the time judgment unit can carry out detection simultaneously, so that the detection time is saved.
In one embodiment, the container detection unit includes: a data acquisition subunit, a data storage subunit and a specification judgment subunit,
the data acquisition subunit is used for acquiring specification data of the container 4 placed on the bearing mechanism 2, wherein the specification data comprises an external dimension, an upper opening dimension, an internal height of the container 4 and a volume of the container 4;
the data storage subunit is used for storing specification data of various containers 4 suitable for the manufacturing equipment 1;
the specification judging subunit is used for comparing the container specification data acquired by the data acquiring subunit with the specification data of the multiple types of containers 4 stored in the data storing subunit, if the acquired container specification data has no corresponding item in the data storing subunit, the judging result is that the container 4 on the bearing mechanism 2 does not conform to the container specification of the manufacturing equipment 1, and if the acquired container specification data has a corresponding item in the data storing subunit, the judging result is that the container 4 on the bearing mechanism 2 conforms to the container specification of the manufacturing equipment 1, and the type of the container 4 is judged.
The working principle and the beneficial effects of the technical scheme are as follows: when the container 4 is set, the containers 4 of different specifications can be designed for distinction according to different manufacturing devices 1, only basic dimensions such as the outer dimension of the container, the upper opening dimension, the inner height of the container 4, the volume of the container 4 and the like can be detected without detecting materials, and container specification data suitable for the manufacturing device 1 is stored in advance in the different manufacturing devices 1, so that the data is retrieved for comparison and judgment at the time of detection, and after the type of the container 4 is judged at the same time, the corresponding manufacturing device 1 can use different dimensions of the container 4 as reference at the time of executing work.
In one embodiment, the carrying mechanism 2 includes a carrying area, a positioning assembly is disposed in the carrying area, a clamping assembly for clamping the fixed container 4 is disposed on the positioning assembly, an area outside the carrying area is a non-carrying area, and a plurality of marks are disposed on both the carrying area and the non-carrying area.
The working principle and the beneficial effects of the technical scheme are as follows: the offset of the container 4 on the horizontal plane can be adjusted by the positioning component, when the container 4 is conveyed to a mechanical operation station of the manufacturing equipment 1, some manufacturing equipment 1 needs to be centrally positioned to ensure the normal operation of the execution work, and the position of the container 4 can be adjusted by the positioning component; the clamping assembly is used for clamping the container 4 to ensure the stability of transportation; the upper surface of the bearing mechanism 2 is provided with a plurality of marks, the marks are distributed in a non-bearing area and a bearing area and can be acquired from the upper part, and the marks can be raised, depressed or any marks capable of being identified through images, namely when the bearing mechanism 2 is overlooked, the marks are uniformly distributed on the upper surface of the bearing mechanism 2 and are matched with the detection work of the detection module.
In one embodiment, the position detection unit includes: a position acquisition subunit, an image processing subunit and a position judgment subunit,
the position acquisition subunit is used for acquiring a bearing area image from the upper part of the bearing mechanism 2;
the image processing subunit is configured to extract carrying area frame information on the carrying area image and opening frame information of the container 4 located on the carrying area;
the position judging subunit is configured to obtain a bearing area center coordinate on the bearing area image and an opening center coordinate of the container 4 according to the bearing area frame information and the opening frame information, and judge whether a distance between the bearing area center coordinate and the opening center coordinate is within a preset distance threshold, if so, consider that the position of the container 4 on the bearing mechanism 2 meets the standard, and if not, consider that the position of the container 4 on the bearing mechanism 2 does not meet the standard.
The working principle and the beneficial effects of the technical scheme are as follows: because the center of the opening of the container 4 can inevitably deviate from the center of the bearing area if the container 4 is in the state of position deviation or deflection, the distance value between the center coordinate of the bearing area and the center coordinate of the opening of the container 4 is acquired by adopting an image detection mode, and whether the position of the container 4 on the bearing mechanism 2 meets the standard is judged by judging whether the distance value is within a preset distance threshold value, so that the position of the container 4 can be judged more accurately, the container 4 is prevented from being deflected, the process of beverage making is prevented from being influenced, and the working efficiency of the making equipment 1 is improved.
In one embodiment, the security detection unit comprises: a first image acquisition subunit, a removed container region acquisition subunit, an identification standard position storage subunit, an identification reference position acquisition subunit, an identification detection position acquisition subunit, and a non-standard object judgment subunit,
the first image acquisition subunit is used for acquiring a bearing mechanism image from the upper part, wherein the bearing mechanism image comprises a bearing area, a non-bearing area and an image of the container 4 above the bearing area;
the removed container region acquiring subunit is configured to remove a region where the container 4 is located in the carrying region in the carrying mechanism image, and obtain a removed container region image;
the identification standard position storage subunit is used for storing identification standard position information of a bearing area and a non-bearing area;
the identification reference position obtaining subunit is configured to obtain a position where the identifier in the container area is removed from the standard identifier positions of the bearing area and the non-bearing area, and obtain an identification reference position where the container area is removed;
the identification detection position acquisition subunit is used for acquiring the position of the identification on the image of the removed container area to obtain the identification detection position of the removed container area;
the non-standard object judging subunit is configured to judge whether an error between the identifier detection position and the identifier reference position exceeds a preset threshold, judge that a non-standard object exists on the bearing mechanism 2 if the error exceeds the preset error threshold, and judge that the non-standard object does not exist on the bearing mechanism 2 if the error does not exceed the preset error threshold.
The working principle and the beneficial effects of the technical scheme are as follows: the above-mentioned mainly detects whether there is the non-standard object on the bearing mechanism 2, because the bearing mechanism 2 sets up multiple labels, multiple labels are regarded as whether there is the detection basis of the non-standard object, obtain the bearing mechanism picture from above at first, because the container 4 has already been put on the bearing mechanism 2, the container 4 is the object, the container 4 shelters from some labels, remove the container 4 on the bearing mechanism picture, get and remove the regional picture of the container, store the information of the standard position of the label in advance in the storage subunit of standard position of the label, namely the position of multiple labels in the picture that is obtained when the container 4 has not been put on the bearing mechanism 2 is regarded as the standard, will label the standard position and remove the regional picture of the container and fit, obtain the position of removing the label in the regional of the label in the standard position of the label, namely remove the label sheltered from the container 4 that this time detects in the standard position of the label, obtaining an identification reference position for removing the container area, obtaining the identification reference position for this detection, then obtaining the position for removing the identification on the container area image, obtaining the identification detection position for removing the container area, comparing the error between the identification detection position and the identification reference position, setting a preset threshold as a judgment basis for the error, if the error exceeds the preset error threshold, judging that a non-standard object exists on the bearing mechanism 2, if the error does not exceed the preset error threshold, judging that the non-standard object does not exist on the bearing mechanism 2, because if the non-standard object exists, the non-standard object shields the position for removing the remaining identification on the container area image, so that the identification can cause the detection position and the identification reference position to have an error, thus, the non-standard object on the bearing mechanism 2 can be accurately detected, and the non-standard object on the bearing mechanism 2 is prevented from being conveyed to the inside of the manufacturing equipment 1 to cause equipment damage, meanwhile, the safety of transportation is also improved.
In one embodiment, the security detection unit further comprises: a second image obtaining subunit, an image storing subunit and an obstacle judging subunit,
the second image acquisition subunit is used for acquiring a detection image of the conveying mechanism 3;
the image storage subunit is used for storing a reference image of the conveying mechanism 3;
the obstacle judging subunit is configured to compare the detection image with the reference image, judge whether the similarity between the detection image and the reference image meets a standard, determine that there is no obstacle on the transport mechanism 3 if the similarity meets the standard, and determine that there is an obstacle on the transport mechanism 3 if the similarity does not meet the standard.
The working principle and the beneficial effects of the technical scheme are as follows: whether the conveying mechanism 3 is provided with the obstacles or not is mainly detected, the obstacles on the horizontal conveying path are mainly detected, the bearing mechanism 2 is prevented from moving on the conveying mechanism 3 to be blocked, and the conveying safety and stability are ensured.
In one embodiment, the device further comprises a work detection module, wherein the work detection module is used for detecting whether the carrying mechanism 2 reaches the mechanical operation station or not when the carrying mechanism 2 moves from the manual operation station to the mechanical operation station, if so, the control module controls the manufacturing equipment 1 to start working, and if not, the manufacturing equipment 1 does not start working; the working detection module detects the working condition of the mechanical operation station when the manufacturing equipment 1 works, if the working condition of the mechanical operation station is detected to be finished, whether an obstacle exists on the conveying mechanism 3 is detected through the safety detection unit, if the obstacle exists, an alarm prompt is sent, and if the obstacle does not exist, the control module controls the bearing mechanism 2 to return to the manual operation station.
The working principle and the beneficial effects of the technical scheme are as follows: the work detection module is mainly used for detecting the execution work process of the manufacturing equipment 1 and is used for being matched with the safety detection unit to detect whether the detection accords with the transportation standard of the bearing mechanism 2 or not, the intelligent and automatic transportation of the container 4 is realized, and the labor cost is saved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. An automatic access device for a beverage making apparatus, comprising: the device comprises a bearing mechanism (2), a conveying mechanism (3), a detection module and a control module, wherein the bearing mechanism (2) is arranged on the conveying mechanism (3) and is used for bearing and conveying a container (4); the conveying mechanism (3) is used for providing moving power and a moving path of the bearing mechanism (2) and conveying the bearing mechanism (2) to and fro between a manual operation station and a mechanical operation station of the manufacturing equipment (1); the detection module is used for detecting whether the bearing mechanism (2) meets the transportation standard; the control module is used for controlling the bearing mechanism (2) and the conveying mechanism (3) to work according to the detection result of the detection module.
2. The automatic access device for a beverage making apparatus according to claim 1, wherein the movement path provided by the transport mechanism (3) comprises a horizontal transport path with a starting point a located outside the making apparatus (1), the manual operation station being located at the starting point a, an intersection point B of the horizontal transport path and the vertical transport path being located inside the making apparatus (1), an end point C on the vertical transport path being located inside the making apparatus (1), and a mechanical operation station being located at the end point C.
3. The automatic access device for beverage making apparatuses according to claim 1, wherein the factor for determining whether the carrying means (2) comply with the transportation standard comprises: whether the container (4) on the bearing mechanism (2) meets the container specification of the manufacturing equipment (1), whether the placement position of the container (4) on the bearing mechanism (2) meets the standard, whether the time length of the manual operation on the bearing mechanism (2) exceeds a preset time threshold, whether a non-standard object exists on the bearing mechanism (2), and whether an obstacle exists on the conveying mechanism (3).
4. Automatic access device for a beverage making apparatus according to claim 3, wherein said detection module comprises: a container detection unit, a position detection unit, a time judgment unit and a safety detection unit,
the container detection unit is used for detecting whether the container (4) placed on the bearing mechanism (2) meets the container specification of the manufacturing equipment (1), if not, an alarm prompt is sent out, and if so, the bearing mechanism (2) clamps and fixes the container (4);
the position detection unit is used for detecting whether the position of the container (4) on the bearing mechanism (2) meets a standard or not after the bearing mechanism (2) clamps and fixes the container (4), if not, an alarm prompt is sent out and the position of the container (4) is adjusted, and if so, the time judgment unit starts detection work;
the time judging unit is used for detecting the time length of no manual operation on the bearing mechanism (2) in a first detection time period, if the time length of no manual operation is detected to exceed the preset time length, the safety detection unit starts detection work, and if the time length of no manual operation is detected to not exceed the preset time length in the first detection time period, a reminding prompt tone is sent out, and the time length of no manual operation on the bearing mechanism (2) is detected in a second detection time period; if the time length without manual operation is detected to exceed the preset time length in the second detection time period, the safety detection unit starts detection work, and if the time length without manual operation is detected to not exceed the preset time length in the second detection time period, a standby prompt tone is sent out, and the manufacturing equipment (1) is ready to enter a standby mode;
the safety detection unit is used for detecting whether a non-standard object exists on the bearing mechanism (2) or not and whether an obstacle exists on the conveying mechanism (3) or not, if the non-standard object exists on the bearing mechanism (2) or the obstacle exists on the conveying mechanism (3), an alarm prompt is sent out, if the non-standard object does not exist on the bearing mechanism (2) and the obstacle does not exist on the conveying mechanism (3), the detection result is considered to be safe, and the bearing mechanism (2) is controlled through the control module to convey the container (4) on the conveying mechanism (3).
5. Automatic access device for a beverage making apparatus according to claim 4, wherein said container detection unit comprises: a data acquisition subunit, a data storage subunit and a specification judgment subunit,
the data acquisition subunit is used for acquiring specification data of the container (4) placed on the bearing mechanism (2), wherein the specification data comprises an external dimension, an upper opening dimension, an internal height of the container (4) and a volume of the container (4);
the data storage subunit is used for storing specification data of various containers (4) suitable for the manufacturing equipment (1);
the specification judging subunit is used for comparing the container specification data acquired by the data acquiring subunit with specification data of various containers (4) stored in the data storing subunit, if the acquired container specification data has no corresponding item in the data storing subunit, the judging result is that the container (4) on the bearing mechanism (2) does not conform to the container specification of the manufacturing equipment (1), and if the acquired container specification data has a corresponding item in the data storing subunit, the judging result is that the container (4) on the bearing mechanism (2) conforms to the container specification of the manufacturing equipment (1), and the type of the container (4) is judged.
6. The automatic access device for a beverage making apparatus according to claim 4, wherein the carrying mechanism (2) comprises a carrying area, a positioning assembly is arranged in the carrying area, a clamping assembly for clamping and fixing the container (4) is arranged on the positioning assembly, the area outside the carrying area is a non-carrying area, and a plurality of marks are arranged on both the carrying area and the non-carrying area.
7. Automatic access device for a beverage making apparatus according to claim 6, wherein said position detection unit comprises: a position acquisition subunit, an image processing subunit and a position judgment subunit,
the position acquisition subunit is used for acquiring a bearing area image from the upper part of the bearing mechanism (2);
the image processing subunit is used for extracting the bearing area frame information on the bearing area image and the opening frame information of the container (4) positioned on the bearing area;
the position judging subunit is used for obtaining a bearing area center coordinate on the bearing area image and an opening center coordinate of the container (4) according to the bearing area frame information and the opening frame information, judging whether the distance between the bearing area center coordinate and the opening center coordinate is within a preset distance threshold, if so, determining that the position of the container (4) on the bearing mechanism (2) meets the standard, and if not, determining that the position of the container (4) on the bearing mechanism (2) does not meet the standard.
8. Automatic access device for a beverage making apparatus according to claim 6, wherein said safety detection unit comprises: a first image acquiring subunit, a removed container region acquiring subunit, an identification standard position storing subunit, an identification reference position acquiring subunit, an identification detection position acquiring subunit and a non-standard substance judging subunit,
the first image acquisition subunit is used for acquiring a bearing mechanism image from the upper part, wherein the bearing mechanism image comprises a bearing area, a non-bearing area and an image of a container (4) above the bearing area;
the removed container region acquisition subunit is used for removing the region where the container (4) is located in the bearing region in the bearing mechanism image to obtain a removed container region image;
the identification standard position storage subunit is used for storing identification standard position information of a bearing area and a non-bearing area;
the identification reference position obtaining subunit is configured to obtain a position where the identifier in the container area is removed from the standard identifier positions of the bearing area and the non-bearing area, and obtain an identification reference position where the container area is removed;
the identification detection position acquisition subunit is used for acquiring the position of the identification on the image of the removed container area to obtain the identification detection position of the removed container area;
the non-standard object judging subunit is used for judging whether the error between the identifier detection position and the identifier reference position exceeds a preset threshold value, if so, judging that the non-standard object exists on the bearing mechanism (2), and if not, judging that the non-standard object does not exist on the bearing mechanism (2).
9. Automatic access device for a beverage making apparatus according to claim 6, wherein said safety detection unit further comprises: a second image obtaining subunit, an image storing subunit and an obstacle judging subunit,
the second image acquisition subunit is used for acquiring a detection image of the conveying mechanism (3);
the image storage subunit is used for storing a reference image of the conveying mechanism (3);
the obstacle judging subunit is used for comparing the detection image with the reference image, judging whether the similarity of the detection image and the reference image meets the standard, if the similarity meets the standard, judging that no obstacle exists on the conveying mechanism (3), and if the similarity does not meet the standard, judging that an obstacle exists on the conveying mechanism (3).
10. The automatic in-and-out device for a beverage making apparatus according to claim 4, further comprising a work detection module for detecting whether the carrying mechanism (2) reaches the mechanical operation station when the carrying mechanism (2) moves from the manual operation station to the mechanical operation station, if so, the control module controls the making apparatus (1) to start working, and if not, the making apparatus (1) does not start working; the working detection module detects the working condition of the mechanical operation station when the manufacturing equipment (1) works, if the working condition of the mechanical operation station is detected to be finished, whether an obstacle exists on the conveying mechanism (3) is detected through the safety detection unit, if the obstacle exists, an alarm prompt is sent, and if the obstacle does not exist, the control module controls the bearing mechanism (2) to return to the manual operation station.
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| CN112034838A (en) * | 2019-10-04 | 2020-12-04 | 罗匡臣 | Intelligent food delivery train system |
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| CN102393742A (en) * | 2011-08-31 | 2012-03-28 | 中国农业大学 | Wheel-type intelligent transport vehicle applied to protected agriculture |
| CN105438197A (en) * | 2015-12-23 | 2016-03-30 | 株洲时代电子技术有限公司 | Obstacle detecting trolley and operation method thereof |
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