CN116058658A - Beverage making equipment and control method and device thereof - Google Patents

Abstract

The present disclosure relates to a beverage making apparatus, a control method and a device thereof, the beverage making apparatus comprising: the system comprises a workbench, a coffee machine, an ice maker, a cup falling device, a first mechanical arm, a second mechanical arm, a control module and a management background; the management background is connected with the control module and is used for responding to the received ordering instruction and sending a drink making instruction corresponding to the ordering instruction to the control module; after receiving a drink making instruction sent by a management background, the control module controls the first mechanical arm to move to a cup falling device to execute cup taking operation and then move to a first position according to an action engineering file corresponding to the preset drink making instruction, controls the second mechanical arm to move to an ice falling port of the ice maker, controls the ice maker to fall ice, controls the second mechanical arm to move to the first position after determining that the ice falling of the ice maker is finished, controls the second mechanical arm to pour ice in an ice taking container into a cup clamped by the first mechanical arm, and controls the first mechanical arm to cooperate with the coffee maker to make drinks.

Description

Beverage making equipment and control method and device thereof

Technical Field

The disclosure relates to the technical field of robots, in particular to beverage making equipment and a control method and device thereof.

Background

At present, service robots for catering use are used as a solution for the service industry, and can replace manual service to a certain extent. For example, a coffee robot may use a robotic arm to perform a cup and coffee extraction operation. However, such robots have some drawbacks and cannot completely replace manual services.

Disclosure of Invention

To overcome the problems in the related art, embodiments of the present disclosure provide a beverage making apparatus, and a control method and apparatus thereof. The technical scheme is as follows:

according to a first aspect of embodiments of the present disclosure, there is provided a beverage making apparatus comprising: the system comprises a workbench, a coffee machine, an ice maker, a cup falling device, a first mechanical arm, a second mechanical arm, a control module and a management background; wherein:

the coffee machine, the ice machine, the cup falling device, the first mechanical arm and the second mechanical arm are respectively arranged on the workbench, the control module is arranged in the workbench, and the control module is respectively connected with the coffee machine, the ice machine, the first mechanical arm and the second mechanical arm; the tail end of the second mechanical arm clamps the ice taking container;

the management background is connected with the control module and is used for responding to the received ordering instruction and sending a drink making instruction corresponding to the ordering instruction to the control module;

after receiving a drink making instruction sent by a management background, the control module controls a first mechanical arm to move to a cup falling device to execute cup taking operation and then move to a first position according to an action engineering file corresponding to the preset drink making instruction, controls a second mechanical arm to move to an ice falling port of the ice maker, controls the ice maker to fall ice, controls the second mechanical arm to move to the first position after determining that ice falling of the ice maker is finished, controls the second mechanical arm to pour ice in an ice taking container into a cup clamped by the first mechanical arm, and controls the first mechanical arm to cooperate with a coffee machine for drink making.

In one embodiment, the management background communicates with the control module via a network connection and the control module communicates with the ice maker via a serial interface.

According to a second aspect of embodiments of the present disclosure, there is provided a control method of a beverage making apparatus, comprising:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

In one embodiment, the action engineering file includes ice-dropping parameters of the ice maker; the ice-dropping parameter comprises at least one of the following: type of output, time of output; the sending an ice dropping request to the ice maker comprises the following steps:

and sending an ice dropping request to the ice maker according to the ice dropping parameters included in the target action engineering file.

In one embodiment, further comprising:

sending an instruction for inquiring the state to the ice maker;

receiving state information returned by the ice maker;

and sending the state information to a management background so that the management background can determine the state of the ice machine according to the state information after receiving the ordering instruction, and sending a drink making instruction corresponding to the ordering instruction to the control module when the state of the ice machine is a preset state.

In one embodiment, the action engineering file includes an action engineering file programmed by Scratch and stored to the control module in a preset format.

According to a third aspect of embodiments of the present disclosure, there is provided a control device of a beverage making apparatus, comprising:

the determining module is used for determining a target action engineering file corresponding to the drink making instruction from a plurality of action engineering files stored in advance in response to receiving the drink making instruction sent by the management background;

the control module is used for executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

In one embodiment, further comprising:

the first sending module is used for sending an instruction of inquiring the state to the ice machine;

the receiving module is used for receiving the state information returned by the ice maker;

the second sending module is used for sending the state information to the management background so that the management background can determine the state of the ice machine according to the state information after receiving the ordering instruction, and when the state of the ice machine is a preset state, the second sending module is used for sending a drink making instruction corresponding to the drink appointed in the ordering instruction to the control module.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a control apparatus including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

According to a fifth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of any of the methods described above.

According to the technical scheme, the first mechanical arm, the second mechanical arm, the coffee machine and the ice maker are combined, the ordering instruction of a customer is responded, the ice making is finished through cooperation of the mechanical arm, the coffee machine and the ice maker, the demand point of a user for the ice making is covered, and the variety of the making beverage is enriched.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic view of a beverage making apparatus according to an exemplary embodiment.

Fig. 2 is a schematic top view of a beverage making device according to an exemplary embodiment.

Fig. 3 is a schematic view of a mounting structure plate of an ice maker according to an exemplary embodiment.

Fig. 4 is a flowchart illustrating a method of controlling a beverage making device according to an exemplary embodiment.

Fig. 5 is a flowchart illustrating a method of controlling a beverage making device according to an exemplary embodiment.

Fig. 6 is a block diagram of a control device of the beverage making apparatus according to an exemplary embodiment.

Fig. 7 is a block diagram of a control device of the beverage making apparatus according to an exemplary embodiment.

Fig. 8 is a block diagram of a control device of the beverage making apparatus according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The technical scheme of the application is mainly applied to drink making equipment with a mechanical arm, such as a coffee robot, and the robot can replace manual service to a certain extent at present, such as beverage making and the like. However, such robots have some drawbacks and cannot completely replace manual services.

Fig. 1 is a schematic view of a beverage making apparatus according to an exemplary embodiment, fig. 2 is a schematic top view of a beverage making apparatus according to an exemplary embodiment, as shown in fig. 1, 2, the beverage making apparatus may comprise: a table 101, a coffee maker 102, an ice maker 103, a cup dispenser (not shown), a first robotic arm 105, a second robotic arm 106, a control module (not shown), and a management background (not shown).

The coffee machine 102, the ice maker 103, the cup falling device, the first mechanical arm 105 and the second mechanical arm 106 are respectively arranged on the workbench 101, the control module is arranged in the workbench 101 and is respectively electrically connected with the coffee machine 102, the ice maker 103, the first mechanical arm 105 and the second mechanical arm 106, and the tail end of the second mechanical arm clamps the ice taking container.

In one embodiment of the present application, the coffee maker 102 may perform, for example, the entire process of grinding, pressing, filling, brewing, removing debris, etc. to brew coffee. The coffee maker 102 may comprise a coffee outlet. In another embodiment of the present application, the coffee maker 102 may include a plurality of outlets, such as a coffee outlet, a milk foam outlet, and the like.

An ice maker is a refrigeration mechanical device that cools water through an evaporator by a refrigerant of a refrigeration system to produce ice or ice water. In an embodiment of the present application, ice maker 103 may include an ice chute. Wherein, the performance parameters of ice dropping amount, ice making amount and the like of the ice maker in unit time can be set by modifying the configuration file of the ice maker. As shown in fig. 3, a mounting structure plate 301 of the ice maker is fixedly coupled to the table, placed on the right of the coffee maker, and the ice maker is mounted on the structure plate.

In an embodiment of the present application, the cup dropping device is used for storing a container for holding beverage, and may be, for example, a paper cup, a plastic cup, etc. The cup dispenser may be, for example, an automatic cup dispenser.

In an embodiment of the present application, the first mechanical arm 105 and the second mechanical arm 106 are disposed on the workbench 101 through the base, and the first mechanical arm 105 and the second mechanical arm 106 have a space on the workbench for facilitating movement, wherein a movement range of the first mechanical arm 105 can be at least as long as the coffee maker 102 and the cup dropping device. The second mechanical arm 106 may move at least as far as the icemaker 103. Moreover, the first mechanical arm 105 and the second mechanical arm 106 can reach a preset first position a on the workbench. The first mechanical arm 105 and the second mechanical arm 106 can be controlled by a control module according to a preset action engineering file.

In an embodiment of the present application, the control module may be, for example, a control module installed with a preset system (for example, an aros, an ARM architecture-based robot operating system), and may read an action engineering file in a preset format, and control actions of the first mechanical ARM, the second mechanical ARM, the coffee machine, and the ice machine according to the action engineering file.

In an embodiment of the present application, a management background is provided for the beverage making device, for setting a beverage menu of the beverage making device, recovering an abnormal device by one key, configuring materials, managing orders, and counting data. The management background is connected with the control module and is used for responding to the received ordering instruction and sending a drink making instruction corresponding to the ordering instruction to the control module.

In an embodiment of the present application, the management background and the control module may be connected through network protocols such as MQTT (Message Queuing Telemetry Transport, message queue telemetry transmission), HTTP (Hyper Text Transfer Protocol ), etc., where the management background is used as a server, and the control module is used as a client.

After receiving the beverage making instruction sent by the management background, the control module controls the first mechanical arm 105 to run to the cup dropping device to execute the cup taking operation and then run to the first position A according to the action engineering file corresponding to the preset beverage making instruction, controls the second mechanical arm 106 to run to the ice dropping opening of the ice maker 103, controls the ice maker 103 to drop ice, controls the second mechanical arm 106 to run to the first position A after determining that the ice dropping of the ice maker 103 is finished, controls the second mechanical arm 106 to pour ice in the ice taking container into the cup clamped by the first mechanical arm 105, and controls the first mechanical arm 105 to cooperate with the coffee machine 102 to make the beverage after determining that the ice dropping is finished.

According to the technical scheme, the first mechanical arm, the second mechanical arm, the coffee machine and the ice maker are combined, the ordering instruction of a customer is responded, the ice making is finished through cooperation of the mechanical arm, the coffee machine and the ice maker, the demand point of a user for the ice making is covered, and the variety of the making beverage is enriched.

According to the technical scheme, the action engineering file can be manufactured by directly dragging and setting parameters in the scratch (a programming tool) mode, so that the mechanical arm, the ice maker, the coffee maker and the like are controlled to perform related operations, and the whole beverage manufacturing process is connected in series, and the method comprises the following steps: the first mechanical arm 105 moves to the cup falling device to perform the cup taking operation and then moves to the first position A, the second mechanical arm 106 reaches the ice making machine to take ice, the second mechanical arm 106 pours the ice in the ice taking container into the cup which is clamped by the first mechanical arm 105, and after the ice falling is determined to be finished, the first mechanical arm 105 is matched with the coffee machine 102 to make drinks and the like.

Fig. 4 is a flowchart illustrating a control method of a beverage making apparatus, the execution subject of which may be the beverage making apparatus or a control module of the beverage making apparatus, according to an exemplary embodiment.

As shown in fig. 2, the method includes the following steps 401-402:

in step 401, in response to receiving the drink creation instruction sent by the management background, a target action engineering file corresponding to the drink creation instruction is determined from a plurality of action engineering files stored in advance.

In an embodiment of the application, a customer can order food through an APP in a mobile phone, and a server of the APP sends an order food instruction to a management background. For example, the order sent by the customer via the APP is ice american, at which point the management background may send a drink preparation order for the ice american to the control module of the drink preparation device. The control module of the drink making device determines a target action engineering file corresponding to a drink making instruction of the ice American coffee from a plurality of action engineering files stored in advance.

The action engineering file comprises an action engineering file which is programmed through a Scratch and stored in a preset format to the control module. For example, an action engineering file for making ice American coffee is compiled by Scratch and stored in the ArmOS system in the control module in project.

In step 402, the following operations are performed according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

The method comprises the steps that after the ice maker responds to the ice falling request to complete ice falling, response information is sent to a control module of the drink making equipment, and the control module determines that the ice falling of the ice maker is completed.

In an embodiment of the present application, when an ice-dropping request is sent to the ice maker, an ice-dropping parameter may be further carried, where the ice-dropping parameter includes at least one of the following: type of output, time of output; the ice falling parameters are preset in the action engineering file and are determined according to different drink making instructions.

For example, the order instruction sent by the customer through the APP may be ice american coffee (normal ice), ice american coffee (small amount of ice), american coffee (no ice added), and the management background sends the corresponding drink making instruction of the order instruction to the control module.

Different drink making instructions in the control module correspond to different action engineering files, and in the action engineering files, the measurement unit is time seconds (interval 1-120) according to the set quantity corresponding to the drink type through program control, and the drink is automatically stopped after being discharged. Specifically, the method can be realized through software scratch control, the type of the output of the ice maker (ice, ice water and water) can be selected, and different times are set, for example, in a motion engineering file corresponding to the specification of ice American coffee (normal ice) drink production, the configuration of materials into 120g ice and 120g water can be defined, and the ice making parameters of the ice maker can be used for calculating that the ice maker firstly produces ice 26s and then produces water 5s. When sending a request for ice falling to the ice maker, the ice falling parameter can be carried: water is produced for 5s after ice falling for 26 s.

In an embodiment of the present application, the method further includes the following steps, step A1 to step A3:

in step A1, an instruction for inquiring the state is sent to the ice maker;

in step A2, receiving state information returned by the ice maker;

in step A3, the state information of the ice maker is sent to the management background, so that the management background determines the state of the ice maker according to the state information after receiving the ordering instruction, and sends a drink making instruction corresponding to the ordering instruction to the control module when the state of the ice maker is a preset state (indicating that the ice maker can work normally).

The control module may send the status information of the ice maker at preset time intervals, for example, the status information of the ice maker may be uploaded every 1 minute. If the management background receives the ordering instruction and determines that the state of the ice machine is not the preset state according to the state information, the information of ordering failure can be returned to the user.

In an embodiment of the present application, the control module may further send a message of completion of the beverage preparation to the management background after the beverage preparation is completed, and the management background may push the message to the user.

In an embodiment of the application, the ice maker can be controlled to finish ice making after the drink making device is started. The ice making parameters of the ice maker, such as ice making time, total ice making amount and the like, can be configured through the configuration file of the ice maker. The ice maker may be caused to send information indicating that ice making is complete to the control module of the beverage making device after ice making is complete.

In an embodiment of the present application, communications between the management background and the control module may also be monitored to ensure that both can communicate and send and receive instructions normally.

The technical scheme proposed in the present application is described below by specific embodiments.

In one embodiment of the invention, the execution body includes a user, a management background, a control module, an ice maker, a coffee maker, and the like. The technical scheme provided by the application is described through interaction among the main bodies. As shown in fig. 5, there is no precedence relationship between steps 501 to 503 and steps 504 to 513.

In step 501, the control module sends an instruction to query the ice machine for status.

In step 502, the ice maker returns current status information to the control module.

In step 503, the control module sends status information of the ice maker to the management background.

The steps 501-503 may be automatically performed by the control module at preset intervals.

In step 504, the user sends an order instruction to the management background.

The user can be, for example, a customer who sends an order instruction to the management background through the APP; the user can also be restaurant service personnel, and the order instruction is sent to the management background through the man-machine interaction interface.

In step 505, the management background determines whether the ice maker is ready according to the received status information of the ice maker, and if it is determined that the ice maker is ready, step 506 is performed, otherwise, step 513 is performed.

In step 506, the management background sends corresponding drink making instructions to the control module according to the order instructions.

In step 507, the control module determines a target action engineering file corresponding to the beverage making instruction from a plurality of pre-stored action engineering files, and controls the first mechanical arm to run to the cup dropping device to execute the cup taking operation and then to run to the first position according to the target action engineering file; and controlling the second mechanical arm to run to the ice falling port of the ice maker.

In step 508, the control module sends a request for ice to the ice maker; the ice-dropping request carries ice-dropping parameters: the output and the duration of output, for example, water output 5s after ice fall 26 s.

In step 509, the ice maker sends a response message to the control module that ice dropping is complete.

In step 510, the control module controls the second mechanical arm to operate to the first position; controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm; and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

In step 511, the control module sends a drink preparation completion message to the management background.

In step 512, the management background sends a drink preparation completion message to the user.

In step 513, the management background sends a message to the user that the order failed.

According to the technical scheme, the coffee robot and the ice maker are combined to obtain the beverage making equipment, the mechanical arm is enabled to finish making ice beverage through mutual cooperation among the first mechanical arm, the second mechanical arm, the coffee maker and the ice maker, and actions such as cup taking, ice taking, coffee concentration and milk, ice cube fusion and cup placement are finished, so that a user's demand point for ice beverage is covered, the variety of beverage making by the coffee robot is enriched, and the limitation that the current product can only make beverages such as hot latte and hot American is solved.

The following are device embodiments of the present disclosure that may be used to perform method embodiments of the present disclosure.

Fig. 6 is a block diagram of a control device of a beverage making apparatus according to an exemplary embodiment; the device may be implemented in various ways, for example by implementing all components of the device in the beverage making apparatus, or by implementing components of the device in a coupled manner on the beverage making apparatus side; the apparatus may implement the method related to the present disclosure by software, hardware or a combination of both, as shown in fig. 6, the control apparatus of the beverage making device includes:

the determining module 601 is configured to determine, in response to receiving a beverage making instruction sent by the management background, a target action engineering file corresponding to the beverage making instruction from a plurality of action engineering files stored in advance; the control module 602 is configured to perform the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

The device provided in the embodiment of the present disclosure can be used to implement the technical solution of the embodiment shown in fig. 4, and the implementation manner and the beneficial effects thereof are similar, and are not repeated here.

In one possible embodiment, as shown in fig. 7, further includes:

a first sending module 603, configured to send an instruction for querying a status to the ice maker;

the receiving module 604 is configured to receive status information returned by the ice maker;

the second sending module 605 is configured to send the status information to the management background, so that the management background determines a status of the ice maker according to the status information after receiving the order instruction, and sends a beverage making instruction corresponding to the beverage specified in the order instruction to the control module when the status of the ice maker is a preset status.

Fig. 8 is a block diagram of a control device of a beverage making apparatus according to an exemplary embodiment, which may be implemented in various ways, such as implementing all components of the device in the beverage making apparatus, or implementing components of the device in a coupled manner at the beverage making apparatus side; referring to fig. 8, a control device 800 of the beverage making apparatus comprises:

a processor 801;

a memory 802 for storing processor-executable instructions;

wherein the processor 801 is configured to:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

In one embodiment, the processor 801 may be further configured to:

sending an instruction for inquiring the state to the ice maker;

receiving state information returned by the ice maker;

and sending the state information to a management background so that the management background can determine the state of the ice machine according to the state information after receiving the ordering instruction, and the ice machine is manufactured.

In one embodiment, the processor 801 may be further configured to:

the action engineering file comprises ice falling parameters of the ice maker; the ice-dropping parameter comprises at least one of the following: type of output, time of output; the sending an ice dropping request to the ice maker comprises the following steps:

and sending an ice dropping request to the ice maker according to the ice dropping parameters included in the target action engineering file.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

In an exemplary embodiment, the apparatus 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), control modules, micro-control modules, microprocessors, or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as a memory 802, comprising instructions executable by the processor 801 of the apparatus 800 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

A non-transitory computer readable storage medium, which when executed by the apparatus 800 or a processor of the apparatus 800, enables the apparatus 800 or the apparatus 800 to perform a method of controlling a beverage making device, the method comprising:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A beverage making apparatus, comprising: the system comprises a workbench, a coffee machine, an ice maker, a cup falling device, a first mechanical arm, a second mechanical arm, a control module and a management background; wherein:

the coffee machine, the ice machine, the cup falling device, the first mechanical arm and the second mechanical arm are respectively arranged on the workbench, the control module is arranged in the workbench, and the control module is respectively connected with the coffee machine, the ice machine, the first mechanical arm and the second mechanical arm; the tail end of the second mechanical arm clamps the ice taking container;

the management background is connected with the control module and is used for responding to the received ordering instruction and sending a drink making instruction corresponding to the ordering instruction to the control module;

after receiving a drink making instruction sent by a management background, the control module controls a first mechanical arm to move to a cup falling device to execute cup taking operation and then move to a first position according to an action engineering file corresponding to the preset drink making instruction, controls a second mechanical arm to move to an ice falling port of the ice maker, controls the ice maker to fall ice, controls the second mechanical arm to move to the first position after determining that ice falling of the ice maker is finished, controls the second mechanical arm to pour ice in an ice taking container into a cup clamped by the first mechanical arm, and controls the first mechanical arm to cooperate with a coffee machine for drink making.

2. The beverage making apparatus of claim 1, wherein the management background communicates with the control module via a network connection and the control module communicates with the ice maker via a serial interface.

3. A method of controlling a beverage making device according to any one of claims 1-2, comprising:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

4. The method of claim 3, wherein the action engineering file includes ice-drop parameters of the ice machine; the ice-dropping parameter comprises at least one of the following: type of output, time of output; the sending an ice dropping request to the ice maker comprises the following steps:

and sending an ice dropping request to the ice maker according to the ice dropping parameters included in the target action engineering file.

5. A method according to claim 3, further comprising:

sending an instruction for inquiring the state to the ice maker;

receiving state information returned by the ice maker;

and sending the state information to a management background so that the management background can determine the state of the ice machine according to the state information after receiving the ordering instruction, and sending a drink making instruction corresponding to the ordering instruction to the control module when the state of the ice machine is a preset state.

6. A method according to claim 3, wherein the action engineering file comprises an action engineering file programmed by Scratch and stored to the control module in a preset format.

7. Control device of a beverage making apparatus according to any one of claims 1-2, comprising:

the determining module is used for determining a target action engineering file corresponding to the drink making instruction from a plurality of action engineering files stored in advance in response to receiving the drink making instruction sent by the management background;

the control module is used for executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

8. The apparatus as recited in claim 7, further comprising:

the first sending module is used for sending an instruction of inquiring the state to the ice machine;

the receiving module is used for receiving the state information returned by the ice maker;

the second sending module is used for sending the state information to the management background so that the management background can determine the state of the ice machine according to the state information after receiving the ordering instruction, and when the state of the ice machine is a preset state, the second sending module is used for sending a drink making instruction corresponding to the drink appointed in the ordering instruction to the control module.

9. A control apparatus, characterized by comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

in response to receiving a drink preparation instruction sent by a management background, determining a target action engineering file corresponding to the drink preparation instruction from a plurality of action engineering files stored in advance;

executing the following operations according to the target action engineering file:

controlling the first mechanical arm to move to a first position after the cup taking operation is performed at the cup falling device;

controlling a second mechanical arm to run to an ice falling port of the ice maker;

sending an ice dropping request to an ice maker;

controlling a second mechanical arm to run to the first position in response to receiving response information of ice falling completion sent by the ice maker;

controlling the second mechanical arm to pour the ice in the ice taking container into the cup clamped by the first mechanical arm;

and controlling the first mechanical arm to be matched with the coffee machine for beverage making.

10. A computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of the method of any of claims 3-6.

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