CN116195885A - Coffee making method, equipment and system - Google Patents
Coffee making method, equipment and system Download PDFInfo
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- CN116195885A CN116195885A CN202111454357.3A CN202111454357A CN116195885A CN 116195885 A CN116195885 A CN 116195885A CN 202111454357 A CN202111454357 A CN 202111454357A CN 116195885 A CN116195885 A CN 116195885A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
- A47J31/4496—Means to produce beverage with a layer on top, e.g. of cream, foam or froth
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J31/00—Apparatus for making beverages
- A47J31/44—Parts or details or accessories of beverage-making apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F13/00—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs
- G07F13/06—Coin-freed apparatus for controlling dispensing or fluids, semiliquids or granular material from reservoirs with selective dispensing of different fluids or materials or mixtures thereof
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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
- Y02P90/30—Computing systems specially adapted for manufacturing
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Tea And Coffee (AREA)
- Apparatus For Making Beverages (AREA)
Abstract
The application belongs to the technical field of coffee making, and particularly relates to a coffee making method, equipment and a system, wherein the coffee making method comprises the following steps: based on the pattern required by the current coffee making, acquiring a corresponding coffee cup track and a corresponding flower cylinder track; driving the tail end of the first mechanical arm to move to the initial position of the track of the coffee cup, wherein the tail end of the first mechanical arm is used for loading the coffee cup; driving the tail end of the second mechanical arm to move to the initial position of the track of the drawing cylinder, wherein the tail end of the second mechanical arm is used for loading the drawing cylinder; when the tail end of the first mechanical arm reaches the initial position of the coffee cup track and the tail end of the second mechanical arm reaches the initial position of the drawing cylinder track, the tail end of the first mechanical arm is driven to move along the coffee cup track, and meanwhile, the tail end of the second mechanical arm is driven to move along the drawing cylinder track. Based on the scheme, the coffee making machine is beneficial to making coffee with stable quality.
Description
Technical Field
The application belongs to the technical field of coffee making, and particularly relates to a coffee making method, equipment and a system.
Background
Coffee arm refers to a process of mixing milk on coffee (e.g., cappuccino or latte) to make leaves or other patterns.
Along with the long-term evolution of the process, besides being visually rich, the way and technology of the coffee flower in the mouthfeel and the integration of milk are continuously improved so as to achieve the boundary of complete color, aroma and taste.
At present, the coffee making process is completely dependent on a coffeemaker, and the quality of the coffee made at present is directly influenced by the state of the coffeemaker, so that the coffee with stable quality is difficult to make.
Disclosure of Invention
The embodiment of the application provides a coffee making method, equipment and a system, which are beneficial to making coffee with stable quality.
A first aspect of an embodiment of the present application provides a coffee making method, comprising:
based on the patterns required by the current coffee making, acquiring corresponding coffee cup tracks and flower pot tracks, wherein each pattern corresponds to a group of coffee cup tracks and flower pot tracks;
driving the tail end of the first mechanical arm to move to the initial position of the track of the coffee cup, wherein the tail end of the first mechanical arm is used for loading the coffee cup;
driving the tail end of a second mechanical arm to move to the initial position of the track of the drawing cylinder, wherein the tail end of the second mechanical arm is used for loading the drawing cylinder;
when the tail end of the first mechanical arm reaches the initial position of the coffee cup track and the tail end of the second mechanical arm reaches the initial position of the flower drawing cylinder track, the tail end of the first mechanical arm is driven to move along the coffee cup track, and meanwhile, the tail end of the second mechanical arm is driven to move along the flower drawing cylinder track.
In a first possible implementation manner of the present application, the driving the first mechanical arm end to move to the start position of the coffee cup track includes:
driving the tail end of the first mechanical arm to move to a preset cup loading position and loading coffee cups;
after the coffee cup is loaded, driving the tail end of the first mechanical arm to move to a coffee discharging position so as to contain coffee;
and after the coffee is contained, driving the tail end of the first mechanical arm to move from the coffee discharging position to the initial position of the coffee cup track.
In a second possible implementation manner of the present application, the driving the first mechanical arm end to move along the coffee cup track further includes:
and driving the tail end of the first mechanical arm to move to a preset product outlet position and unloading the coffee cup.
In a third possible implementation manner of the present application, the driving the first mechanical arm end to move to a preset product outlet position and unload the coffee cup further includes:
and driving the tail end of the first mechanical arm to return to a preset first initial position.
In a fourth possible implementation manner of the present application, based on the first aspect, the driving the second mechanical arm end to move to the starting position of the drawing cylinder track includes:
driving the tail end of the second mechanical arm to move to a milk foam discharging position so as to contain milk foam;
after the milk foam is contained, driving the tail end of the second mechanical arm to move to a looping position, and keeping the cup opening upwards at the looping position and rotating around a preset shaft for a preset number of turns;
and driving the tail end of the second mechanical arm to move to the initial position of the flower drawing cylinder track after the preset turns are rotated.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the present application, the driving the second mechanical arm tip to move along the drawing cylinder track further includes:
driving the tail end of the second mechanical arm to move to a cup washing position so as to wash the coffee cylinder;
and after the coffee cylinder is cleaned, driving the tail end of the second mechanical arm to return to a preset second initial position.
Based on the first aspect, or the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, or the third possible implementation manner of the first aspect, or the fourth possible implementation manner of the first aspect, or the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the present application, the obtained coffee cup track and the drawing cylinder track are:
Based on the pattern required by the current coffee making, acquiring a corresponding coffee cup track and a corresponding flower cylinder track from a flower drawing teaching library;
the coffee cup track and the flower pot track stored in the flower teaching library are taught by a coffeemaker based on a flower teaching system, and the flower teaching system comprises: the device comprises a motion capture device, an upper computer connected with the motion capture device, and a coffee cup and a flower pot which are respectively provided with a marker, wherein the marker is an object which can be captured by the motion capture device.
With reference to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the present application, the method further includes:
the pattern required for the current coffee making is determined based on the entered coffee order instructions.
With reference to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the present application, the method further includes:
when a new coffee order instruction is received, waiting for the new coffee order instruction;
the determining the pattern required by the current coffee making based on the input coffee order instruction is as follows: the pattern required for the current coffee making is determined based on the round-robin preceding coffee order instructions.
A second aspect of the present application provides a coffee-making apparatus comprising:
the acquisition module is used for acquiring corresponding coffee cup tracks and flower pot tracks based on patterns required by current coffee making, wherein each pattern corresponds to one group of coffee cup tracks and flower pot tracks;
the first driving module is used for driving the tail end of the first mechanical arm to move to the initial position of the coffee cup track, and the tail end of the first mechanical arm is used for loading the coffee cup;
the second driving module is used for driving the tail end of the second mechanical arm to move to the initial position of the drawing cylinder track, and the tail end of the second mechanical arm is used for loading the drawing cylinder;
and the third driving module is used for driving the first mechanical arm tail end to move along the coffee cup track and driving the second mechanical arm tail end to move along the flower drawing cylinder track when the first mechanical arm tail end reaches the initial position of the coffee cup track and the second mechanical arm tail end reaches the initial position of the flower drawing cylinder track.
A third aspect of the present application provides a coffee-making apparatus comprising: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps as described in the first aspect or any one of the possible implementations of the first aspect when the computer program is executed.
A fourth aspect of the present application provides a coffee making system comprising: the first mechanical arm is provided with a first mechanical arm tail end, and the first mechanical arm tail end is used for loading coffee cups; the second mechanical arm is provided with a second mechanical arm tail end, and the second mechanical arm tail end is used for loading a drawing cylinder; a coffee machine configured with a coffee discharge function and a milk foam discharge function; the coffee making equipment is respectively in communication connection with the first mechanical arm, the second mechanical arm and the coffee machine;
the coffee-making apparatus is configured to perform the steps as described in the first aspect above or any of the possible implementations of the first aspect above.
A fifth aspect of the embodiments of the present application provides a chip, including a processor, where the processor is configured to read and execute a computer program stored in a memory, so as to implement the steps of the first aspect and/or the steps described in the first aspect.
From the above, the present application is directed to the pattern required for the current coffee making, obtains the corresponding coffee cup track and the drawing cylinder track, and drives the first mechanical arm end and the second mechanical arm end to move respectively, when the first mechanical arm end reaches the starting position of the coffee cup track and the second mechanical arm end reaches the starting position of the drawing cylinder track, drives the first mechanical arm end to move along the coffee cup track, and drives the second mechanical arm end to move along the drawing cylinder track. The coffee drawing process is completely dependent on the movement of the mechanical arm, and each flower type corresponds to a group of coffee cup tracks and a group of drawing cylinder tracks, so that the movement tracks of the mechanical arm can be kept consistent when coffee with the same flower type is manufactured, and the coffee with stable quality can be manufactured.
Drawings
In order to more clearly illustrate the method aspects of the embodiments of the present application, the drawings that are required for the embodiments will be briefly described below, and it should be understood that the following drawings illustrate only some embodiments of the present application and therefore should not be considered limiting in scope, and that other related drawings may be obtained from these drawings by those of ordinary skill in the art without the benefit of the present inventive effort.
FIG. 1 is a schematic flow chart of a coffee making method according to an embodiment of the present application;
fig. 2a is a schematic structural diagram of a motion capture device and an upper computer in a training system provided in an embodiment of the present application;
FIG. 2b is a schematic diagram of the structure of a coffee cup in the pull-flower teaching system provided in an embodiment of the present application;
fig. 2c is a schematic structural diagram of a drawing cylinder in the drawing teaching system provided in the embodiment of the present application;
FIG. 3 is a schematic view of a coffee making apparatus according to an embodiment of the present application;
fig. 4 is a schematic structural view of a coffee making system according to an embodiment of the present application.
Detailed Description
In order to make the objects, method aspects and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In addition, in the description of the embodiments of the present application, unless otherwise indicated, "a plurality" means two or more than two (i.e., two or more), "at least one", "one or more" means one, two or more than two.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Before describing the present application, the inventive concept of the present inventor will be described: although the related art can draw a pattern on the stationary coffee by using a spray head to simulate the pattern drawn by a coffeemaker, the inventor researches and discovers that the quality of the coffee is mainly dependent on the coordination of the two hands actions when the coffeemaker draws the pattern on the stationary coffee on the premise of the same raw materials, and the way of drawing the pattern on the stationary coffee by using the spray head is similar but not similar, so that the taste of the prepared coffee is difficult to be comparable to that of the coffee manually prepared by the coffeemaker. Therefore, the inventor thinks that the double mechanical arms simulate the motion track of the left hand and the right hand (namely the track of the coffee cup and the track of the flower drawing cylinder in the embodiment of the application) when the coffee maker draws flowers, so that the repeated engraving of the coffee maker drawing flowers is realized, the influence of human factors in the coffee making process is reduced, and the coffee with stable quality is manufactured.
The following describes the technical solution provided in the embodiments of the present application, first, as shown in fig. 1, a method for making coffee provided in the embodiments of the present application includes:
in the embodiment of the application, each pattern corresponds to a group of coffee cup tracks and a pattern drawing cylinder track, and in practical application, the coffee cup track corresponds to a motion track of a hand holding a coffee cup when a coffeemaker draws a flower, and the pattern drawing cylinder track corresponds to a motion track of the hand holding the pattern drawing cylinder when the coffeemaker draws the flower.
Optionally, step 101 is specifically expressed as: based on the pattern required by the current coffee making, the corresponding coffee cup track and the corresponding flower cylinder track are obtained from a flower drawing teaching library. The coffee cup track and the flower pot track stored in the flower teaching library are taught by a coffeemaker based on a flower teaching system. As shown in fig. 2a, 2b and 2c, the pull-flower teaching system includes: the motion capture device 21, an upper computer 22 connected with the motion capture device 21, and a coffee cup 23 and a flower pot 24 respectively provided with markers. Wherein the marker is an object that can be captured by the motion capture device 21.
Specifically, the motion capture device 21 may include at least two or more infrared cameras, and accordingly, the markers may be infrared reflective marker balls (i.e., balls with surfaces coated with infrared reflective materials), and the motion capture device 21 performs motion capture based on the principle of infrared reflection. As an embodiment, as shown in fig. 2b, 4 marker balls 231 may be provided on the coffee cup 23, wherein every third marker ball is not collinear and every fourth marker ball is not coplanar. The marking balls on the jar may be arranged in a similar manner to the coffee cup 23. The following describes a procedure of generating a coffee cup trajectory and a flower pot trajectory based on the flower teaching system based on the embodiment:
1) The motion capture device is fixedly positioned to ensure that both the coffee cup 23 and the flower pot 24 are exposed to the field of view of the motion capture device during the process of the espresso making use of the coffee cup 23 and the flower pot 24.
2) Tool calibration based on coffee cup 23: under the visual field of the motion capture device, the coffee cup provided with the infrared reflecting marking balls rotates around the rigid marking points (as shown in fig. 2b, the rigid marking points can be tips 232 arranged at the bottom of the coffee cup), and the motion capture device collects the positions of the infrared reflecting marking balls on the coffee cup under different postures, so that a tool coordinate system positioned on the coffee cup is established, and the positions and the postures of the rigid marking points of the coffee cup in the image coordinate system of the motion capture device are described.
3) Tool calibration based on the draw jar 24: under the visual field of the motion capture device, the flower drawing cylinder provided with the infrared reflective marker balls rotates around the rigid body marker points (the setting mode of the rigid body marker points can be the same as that of the coffee cup), and the motion capture device collects the positions of the infrared reflective marker balls on the flower drawing cylinder under different postures, so that a tool coordinate system positioned in the flower drawing cylinder is established, and the tool coordinate system is used for describing the positions and the postures of the rigid body marker points of the flower drawing cylinder in the base coordinate system of the motion capture device.
4) The coffee cup 23 filled with coffee and the flower pot 24 filled with milk foam are held by a coffeemaker, flower training of a certain flower type is carried out under the action capturing device (the infrared reflection marking ball on the cup is prevented from being blocked as much as possible in the training process), the upper computer synchronously collects the point position data of the coffee cup and the point position data of the flower pot corresponding to the flower type through the action capturing device in the same collection period (such as 8 ms), then filtering and fitting processing are carried out on the point position data of the coffee cup and the point position data of the flower pot respectively, the processed track is converted into a mechanical arm base coordinate system, and the coffee cup track and the flower pot track corresponding to the flower type are obtained and stored in a flower training library.
As described in 4), the track after filtering and fitting is required to be converted into a corresponding mechanical arm coordinate system, so that the coffee cup track and the drawing cylinder track corresponding to the flower type can be obtained. Because the coffee cup point position data and the flower pulling cylinder point position data obtained by the motion capturing device are established based on the image coordinate system of the motion capturing device, and the motion track of the manipulator during flower pulling is established based on the base coordinate system of the manipulator, the coordinate conversion relation between the motion capturing device and the corresponding manipulator needs to be obtained in advance. The coordinate conversion relation can be calibrated in advance, and in the subsequent coffee drawing teaching process and coffee making process, the position of the coffee cup at the tail end of the first mechanical arm and the position of the drawing cylinder at the tail end of the second mechanical arm are fixed, and the sizes of the coffee cup and the drawing cylinder are kept unchanged. The specific calibration method comprises tool calibration and hand-eye calibration of the mechanical arm, and the following steps are respectively described:
tool calibration for robotic arm: because the default tool coordinate system of the mechanical arm is positioned at the center of the end flange of the mechanical arm, the tool is calibrated, namely, the tool coordinate system positioned at the end of the mechanical arm is reestablished, so that the position and the gesture of each point of the end of the mechanical arm in the base coordinate system of the mechanical arm (namely, the base center of the mechanical arm is taken as the origin of coordinates or the position and the gesture of each point are set by a user through a three-point teaching method) are described. The tool calibration can be specifically performed by a TCP calibration method, a four-point calibration method or a six-point calibration method. For example, the first arm is controlled to load the coffee cup 23 on its end and move to a certain fixed reference point in space in at least three different postures, then the TCP coordinates are calculated by using the joint angle of the first arm and the structural information of the first arm, and similarly, the second arm is controlled to load the firework cylinder 24 on its end and move to a certain fixed reference point in space in at least three different postures, and then the TCP coordinates are calculated by using the joint angle of the second arm and the structural information of the second arm. Reference may be made to related tool calibration methods in the prior art, and details are not repeated here.
Hand-eye calibration for robotic arm:
firstly, a three-point teaching method is adopted to carry out consistent calibration on the direction of an image coordinate system of the motion capture device and a base coordinate system of the mechanical arm, and a first mechanical arm is taken as an example for explanation (the calibration process of a second mechanical arm can refer to the description of the first mechanical arm): the coffee cup 23 is fixed to the end of the first mechanical arm, so that a rigid body marking point (such as a tip 232 shown in fig. 2 b) of the coffee cup 23 moves to any point in space along with the first mechanical arm to serve as an origin of a user coordinate system (hereinafter referred to as a first teaching point), then the first mechanical arm is driven to translate to a second teaching point along an X axis (or a Y/Z axis) of a base coordinate system of the mechanical arm, then the first mechanical arm is driven to move to a third teaching point along the Y axis or the Z axis, finally the three teaching points are used as references to convert the base coordinate system of the motion capture device into a user coordinate system with XYZ axes parallel to XYZ axes of the base coordinate system of the first mechanical arm, so as to obtain a posture transformation matrix RM between the base coordinate system of the motion capture device and the user coordinate system, which is also referred to as a rotation transformation matrix, thereby the position and the posture of the end of the first mechanical arm after tool calibration under the user coordinate system can be calculated, and the three points in the prior art can be specifically referred to as teaching methods.
And secondly, determining the coordinate conversion relation between the motion capture device and the mechanical arm based on a point-to-point method. Taking the first mechanical arm as an example, the second mechanical arm may refer to the description of the first mechanical arm): fixing the coffee cup 23 to the end of the first mechanical arm, aligning the rigid body mark point of the coffee cup 23 with a preset point under the field of view of the motion capture device, and recording the coordinates (X cam ，Y cam ，Z cam ) And coordinates (X rob ，Y rob ，Z rob ) The method comprises the steps of carrying out a first treatment on the surface of the And repeating the action to obtain corresponding coordinates for different preset points, obtaining coordinate data of at least 13 different preset points, calculating through the existing algorithm such as estimataffine 3D, and finally obtaining the following relation:
where RT is the coordinates (X) in the user's coordinate system cam ，Y cam ，Z cam ) And coordinates (X rob ，Y rob ，Z rob ) The translation transformation matrix RM and the translation transformation matrix RT are coordinate transformation relations between the image coordinate system of the motion capture device and the base coordinate system of the first mechanical arm, and based on the coordinate transformation relations, the point positions (coordinates and gestures) of the coffee cup under the base coordinate system of the motion capture device can be converted into the point positions under the base coordinate system of the first mechanical arm.
It should be noted that, in other embodiments, the coordinate conversion may be performed by other calibration manners, and the coordinate conversion relationship provided in the above embodiments is merely exemplary and not limiting the present solution. In addition, in step 101, the corresponding coffee cup track and the flower pot track may be obtained in other manners, for example, a neural network model may be pre-constructed, and the neural network model may be trained by collecting the coffee cup track and the flower pot track when a digital coffee maker performs flower pulling on the same flower type as sample data, so as to obtain a trained neural network model. In step 101, inputting the pattern required by the current coffee making into the neural network model to obtain the corresponding coffee cup track and the drawing cylinder track.
102, driving the tail end of the first mechanical arm to move to the initial position of the coffee cup track;
in this embodiment of the present application, the end of the first mechanical arm is used for loading a coffee cup, and in practical application, the end of the first mechanical arm may be a clamping jaw so as to grasp the coffee cup. For loading of coffee cups, automatic loading may be used, such as: when coffee is made each time, the tail end of the first mechanical arm is driven to move to a preset cup filling position and empty coffee cups are automatically filled; alternatively, manual loading may be used, such as by a worker loading an empty coffee cup at the end of the first arm each time coffee is made, and this is not limiting.
Accordingly, the process of holding coffee may employ an automatic holding manner, such as: after the coffee cup is loaded, driving the tail end of the first mechanical arm to move to a coffee discharging position, and simultaneously starting a corresponding coffee machine to discharge coffee; alternatively, the coffee may be manually held, such as by a worker pouring the coffee into the coffee cup each time the coffee is made, which is not limited herein.
In the context of fully automatic coffee making, step 102 comprises: driving the tail end of the first mechanical arm to move to a preset cup loading position and loading coffee cups; after the coffee cup is loaded, driving the tail end of the first mechanical arm to move to a coffee discharging position so as to contain coffee; after the coffee is contained, the tail end of the first mechanical arm is driven to move from the coffee discharging position to the initial position of the coffee cup track. Further, the cup discharging structure for conveying the empty coffee cups from bottom to top is arranged at the cup charging position, in order to avoid the first mechanical arm to grasp a plurality of empty mechanical arms at one time, the cup discharging structure is further provided with a limiting mechanism, when the limiting mechanism is triggered, only the empty coffee cup positioned at the uppermost of the cup discharging structure can be grasped, and under the application scene, the coffee making method further comprises the following steps: when the end of the first mechanical arm reaches the cup filling position, the limiting mechanism is triggered, and after the loading of the coffee cup is completed at the end of the first mechanical arm, the limiting mechanism is reset. Further, the coffee discharging position is correspondingly arranged at a coffee discharging hole of the coffee machine, and the coffee making method further comprises the following steps: when the tail end of the first mechanical arm reaches the cup filling position, the coffee machine is controlled to discharge coffee with preset capacity.
in this embodiment of the present application, the end of the second mechanical arm is used for loading the drawing cylinder, and in practical application, the drawing cylinder is fixedly loaded at the end of the second mechanical arm, and it needs to be described that, in a scenario that the motion capturing device is adopted to obtain the track of the drawing cylinder, the position of the drawing cylinder fixed at the end of the second mechanical arm is consistent with the position fixed at the calibration stage.
The process of containing milk foam can adopt an automatic containing mode, such as: driving the tail end of the second mechanical arm to move to a preset milk foam discharging position, and simultaneously starting a corresponding coffee machine to perform milk foam discharging; alternatively, a manual holding mode may be used, for example, each time coffee is made, the worker may pour the milk foam into the jar, which is not limited herein.
In the context of fully automatic coffee making, step 103 comprises: driving the tail end of the second mechanical arm to move to a milk foam discharging position so as to contain milk foam; after the milk foam is contained, driving the tail end of the second mechanical arm to move to a looping position, and keeping the cup opening upwards at the looping position and rotating around a preset shaft for a preset number of turns; and after the preset turns are rotated, driving the tail end of the second mechanical arm to move to the initial position of the flower drawing cylinder track. Further, the milk foam discharging position is correspondingly arranged at a milk foam discharging hole of the coffee machine, and the coffee making method further comprises the following steps: when the tail end of the second mechanical arm reaches the milk foam discharging position, the corresponding coffee machine is controlled to perform milk foam discharging with preset capacity.
104, driving the first mechanical arm end to move along the coffee cup track and driving the second mechanical arm end to move along the flower drawing cylinder track when the first mechanical arm end reaches the initial position of the coffee cup track and the second mechanical arm end reaches the initial position of the flower drawing cylinder track;
in this embodiment, the first mechanical arm and the second mechanical arm need to be synchronized to accurately simulate the actual drawing process of the coffee maker, so in step 104, when the end of the first mechanical arm reaches the start position of the coffee cup track and the end of the second mechanical arm reaches the start position of the drawing cylinder track, the end of the first mechanical arm and the end of the second mechanical arm are driven to start drawing, that is, the end of the first mechanical arm is driven to move along the coffee cup track, and the end of the second mechanical arm is driven to move along the drawing cylinder track. According to the embodiment of the application, the motion capture device synchronously collects point position data of the teaching coffee cup and the teaching festoon cylinder according to the same collection period, so that each point on the track of the coffee cup and the track of the festoon cylinder is actually in an associated time sequence relationship, and based on the control of the first mechanical arm and the second mechanical arm, when the first mechanical arm moves to one point (such as a1 ') of the track of the coffee cup, the second mechanical arm synchronously moves to the corresponding point (such as b1', b1 'and a1' which are respectively obtained by converting the point position data of the coffee cup and the festoon cylinder collected at the same time), so that the reproduction result is closer to the teaching result of a coffeemaker.
When the end of the first mechanical arm executes the track of the coffee cup and the second mechanical arm executes the track of the drawing cylinder, the process of drawing the coffee is finished, and the process of making the coffee is also finished. Optionally, in order to facilitate the staff or the consumer to take the coffee, the driving the end of the first mechanical arm moves along the track of the coffee cup, and then further includes: and driving the tail end of the first mechanical arm to move to a preset product outlet position and unloading the coffee cup. Furthermore, the tail end of the first mechanical arm can be driven to return to a preset first initial position, so that the tail end of the first mechanical arm is started from the first initial position when coffee is made each time, and the stability and the reliability of the system are improved conveniently.
Optionally, the embodiment of the present application further provides a solution for automatically cleaning a coffee cylinder, wherein the driving the end of the second mechanical arm to move along the track of the drawing cylinder further includes: and the tail end of the second mechanical arm is driven to move to a cup washing position so as to wash the coffee cylinder, and further, after the coffee cylinder is washed, the tail end of the second mechanical arm is driven to return to a preset second initial position so as to ensure that the tail end of the second mechanical arm is started from the second initial position every time coffee is made, thereby being convenient for improving the stability and the reliability of the system.
In the embodiment of the application, the self-service coffee ordering interaction device or the two-dimensional code for accessing the coffee ordering system can be provided for the user, so that the user can make an order by self-service in the mode of scanning the two-dimensional code through the self-service coffee ordering interaction device. After the user places an order, a corresponding coffee order instruction is generated and input, and the coffee making method in the embodiment of the application further comprises the following steps: the pattern required for the current coffee making is determined based on the entered coffee order instructions. Further, the coffee making method further comprises the following steps: when a new coffee order instruction is received, the new coffee order instruction is waited for; the pattern required for the current coffee making is determined based on the input coffee order instructions, and is as follows: the pattern required for the current coffee making is determined based on the round-robin preceding coffee order instructions.
From the above, in the embodiment of the application, for the pattern required by the current coffee making, the corresponding coffee cup track and the corresponding flower cylinder track are obtained, and the first mechanical arm end and the second mechanical arm end are respectively driven to move, when the first mechanical arm end reaches the starting position of the coffee cup track and the second mechanical arm end reaches the starting position of the flower cylinder track, the first mechanical arm end is driven to move along the coffee cup track, and meanwhile, the second mechanical arm end is driven to move along the flower cylinder track. The coffee drawing process is completely dependent on the movement of the mechanical arm, and each flower type corresponds to a group of coffee cup tracks and a group of drawing cylinder tracks, so that the movement tracks of the mechanical arm can be kept consistent when coffee with the same flower type is manufactured, and the coffee with stable quality can be manufactured. In practical application, the coffee cup track and the flower pot track can be obtained based on the motion track of the left hand and the right hand when the excellent coffeemaker pulls flowers, so that the coffee manufactured by each cup can be compared with the coffee manufactured by the excellent coffeemaker, on one hand, the requirements of masses on the quality of coffee are met, on the other hand, the excellent coffeemaker needs to be trained for a long time, the number of excellent coffeemakers is small, the cost of long-term engagement with the excellent coffeemaker is very high, and the mechanical arm can be adopted to replace the flower pulling work of the excellent coffeemaker, so that the operation cost of a coffee hall is effectively saved.
An embodiment of the present application further provides a coffee-making apparatus, as shown in fig. 3, comprising:
an obtaining module 301, configured to obtain a corresponding coffee cup track and a flower cylinder track based on a pattern required by the current coffee making, where each pattern corresponds to a set of the coffee cup track and the flower cylinder track;
the first driving module 302 is configured to drive a first mechanical arm end to move to a start position of the coffee cup track, where the first mechanical arm end is used for loading a coffee cup;
the second driving module 303 is configured to drive a second mechanical arm end to move to a starting position of the drawing cylinder track, where the second mechanical arm end is used for loading the drawing cylinder;
and a third driving module 304, configured to drive the first mechanical arm end to move along the coffee cup track and drive the second mechanical arm end to move along the flower drawing cylinder track when the first mechanical arm end reaches the start position of the coffee cup track and the second mechanical arm end reaches the start position of the flower drawing cylinder track.
Optionally, the first driving module 302 is specifically configured to: driving the tail end of the first mechanical arm to move to a preset cup loading position and loading coffee cups; after the coffee cup is loaded, driving the tail end of the first mechanical arm to move to a coffee discharging position so as to contain coffee; after the coffee is contained, the tail end of the first mechanical arm is driven to move from the coffee discharging position to the initial position of the coffee cup track. Further, the first driving module 302 is further configured to: and after the first mechanical arm tail end executes the track motion of the coffee cup, driving the first mechanical arm tail end to move to a preset product outlet position and unloading the coffee cup. Further, the first driving module 302 is further configured to: after unloading the coffee cup, the tail end of the first mechanical arm is driven to return to a preset first initial position.
Optionally, the second driving module 303 is specifically configured to drive the end of the second mechanical arm to move to a milk foam discharging position to hold milk foam; after the milk foam is contained, driving the tail end of the second mechanical arm to move to a looping position, and keeping the cup opening upwards at the looping position and rotating around a preset shaft for a preset number of turns; and after the preset turns are rotated, driving the tail end of the second mechanical arm to move to the initial position of the flower drawing cylinder track. Further, the second driving module 303 is further configured to: after the second mechanical arm tail end executes the track motion of the drawing cylinder, driving the second mechanical arm tail end to move to a cup washing position so as to wash the coffee cylinder; and after the coffee cylinder is cleaned, driving the tail end of the second mechanical arm to return to a preset second initial position.
Optionally, the acquiring module 301 is specifically configured to acquire, from the drawing teaching library, a corresponding coffee cup track and a drawing cylinder track based on a pattern required for the current coffee making. Wherein, the coffee cup track and the flower pot track stored in the flower teaching library are taught by a coffee maker based on a flower teaching system, and the flower teaching system comprises: the device comprises a motion capture device, an upper computer connected with the motion capture device, and a coffee cup and a flower pot which are respectively provided with a marker, wherein the marker is an object which can be captured by the motion capture device.
Optionally, the coffee making apparatus in the embodiment of the present application further includes: and the confirmation module is used for determining the flower shape required by the current coffee making based on the input coffee order instruction. Further, the coffee-making apparatus may further include: the waiting module is used for waiting for the new coffee order instruction when receiving the new coffee order instruction; in this scenario, the above-mentioned confirmation module is specifically configured to: the pattern required for the current coffee making is determined based on the round-robin preceding coffee order instructions. .
From the above, in the embodiment of the application, for the pattern required by the current coffee making, the corresponding coffee cup track and the corresponding flower cylinder track are obtained, and the first mechanical arm end and the second mechanical arm end are respectively driven to move, when the first mechanical arm end reaches the starting position of the coffee cup track and the second mechanical arm end reaches the starting position of the flower cylinder track, the first mechanical arm end is driven to move along the coffee cup track, and meanwhile, the second mechanical arm end is driven to move along the flower cylinder track. The coffee drawing process is completely dependent on the movement of the mechanical arm, and each flower type corresponds to a group of coffee cup tracks and a group of drawing cylinder tracks, so that the movement tracks of the mechanical arm can be kept consistent when coffee with the same flower type is manufactured, and the coffee with stable quality can be manufactured. In practical application, the coffee cup track and the flower pot track can be obtained based on the motion track of the left hand and the right hand when the excellent coffeemaker pulls flowers, so that the coffee manufactured by each cup can be compared with the coffee manufactured by the excellent coffeemaker, on one hand, the requirements of masses on the quality of coffee are met, on the other hand, the excellent coffeemaker needs to be trained for a long time, the number of excellent coffeemakers is small, the cost of long-term engagement with the excellent coffeemaker is very high, and the mechanical arm can be adopted to replace the flower pulling work of the excellent coffeemaker, so that the operation cost of a coffee hall is effectively saved.
Fig. 4 shows a coffee making system in one embodiment, comprising: a first arm 41 provided with a first arm end for loading a coffee cup; a second arm 42 provided with a second arm end for loading a firework cylinder; a coffee machine 43 provided with a coffee discharge function and a milk foam discharge function; and a coffee making apparatus 44 communicatively connected to the first robot 41, the second robot 42 and the coffee maker, respectively. The coffee making apparatus 44 is provided with the functions of performing the above-described coffee making method.
In practical applications, the coffee maker 44 may comprise two upper computers for controlling the different mechanical arms respectively, and of course, the coffee maker 44 may also be one upper computer integrating the corresponding control functions, which is not limited herein.
The embodiment of the application also provides a chip, comprising a processor, wherein the processor is used for reading and executing the computer program stored in the memory to realize the steps of the coffee making method.
The present application also provides, for example, a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the coffee-making method described above.
Exemplary, embodiments of the present application also provide a computer product having stored thereon computer instructions that, when executed, perform the steps of the above-described coffee making method.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the method. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. In addition, the integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
The above embodiments are merely illustrative of the systems and methods of the present application and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the method scheme described in the foregoing embodiments can be modified or some of the method features can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding method solutions, and are intended to be included within the scope of the present application.
Claims (12)
1. A method of making coffee, comprising:
based on the patterns required by the current coffee making, acquiring corresponding coffee cup tracks and flower pot tracks, wherein each pattern corresponds to a group of coffee cup tracks and flower pot tracks;
driving the tail end of the first mechanical arm to move to the initial position of the track of the coffee cup, wherein the tail end of the first mechanical arm is used for loading the coffee cup;
driving the tail end of a second mechanical arm to move to the initial position of the track of the drawing cylinder, wherein the tail end of the second mechanical arm is used for loading the drawing cylinder;
when the tail end of the first mechanical arm reaches the initial position of the coffee cup track and the tail end of the second mechanical arm reaches the initial position of the flower drawing cylinder track, the tail end of the first mechanical arm is driven to move along the coffee cup track, and meanwhile, the tail end of the second mechanical arm is driven to move along the flower drawing cylinder track.
2. A method of making coffee according to claim 1 wherein said driving the first robot arm tip to move to the start position of the coffee cup trajectory comprises:
driving the tail end of the first mechanical arm to move to a preset cup loading position and loading coffee cups;
after the coffee cup is loaded, driving the tail end of the first mechanical arm to move to a coffee discharging position so as to contain coffee;
and after the coffee is contained, driving the tail end of the first mechanical arm to move from the coffee discharging position to the initial position of the coffee cup track.
3. A method of making coffee according to claim 2 wherein said driving said first robotic arm tip in said coffee cup trajectory further comprises:
and driving the tail end of the first mechanical arm to move to a preset product outlet position and unloading the coffee cup.
4. A method of making coffee according to claim 3, wherein said driving said first arm end to a predetermined discharge position and unloading a coffee cup further comprises:
and driving the tail end of the first mechanical arm to return to a preset first initial position.
5. A method of making coffee according to claim 1 wherein said driving the second arm tip to the starting position of the floriation cylinder trajectory comprises:
Driving the tail end of the second mechanical arm to move to a milk foam discharging position so as to contain milk foam;
after the milk foam is contained, driving the tail end of the second mechanical arm to move to a looping position, and keeping the cup opening upwards at the looping position and rotating around a preset shaft for a preset number of turns;
and driving the tail end of the second mechanical arm to move to the initial position of the flower drawing cylinder track after the preset turns are rotated.
6. The method of making coffee as recited in claim 5 wherein said driving said second arm tip to move in said floriation cylinder trajectory further comprises:
driving the tail end of the second mechanical arm to move to a cup washing position so as to wash the coffee cylinder;
and after the coffee cylinder is cleaned, driving the tail end of the second mechanical arm to return to a preset second initial position.
7. A method of making coffee according to any one of claims 1 to 6, wherein the obtained coffee cup trajectory and the drawing cylinder trajectory are based on the pattern required for the current coffee making:
based on the pattern required by the current coffee making, acquiring a corresponding coffee cup track and a corresponding flower cylinder track from a flower drawing teaching library;
the coffee cup track and the flower pot track stored in the flower teaching library are taught by a coffeemaker based on a flower teaching system, and the flower teaching system comprises: the device comprises a motion capture device, an upper computer connected with the motion capture device, and a coffee cup and a flower pot which are respectively provided with a marker, wherein the marker is an object which can be captured by the motion capture device.
8. The method of making coffee as recited in claim 7 further comprising:
the pattern required for the current coffee making is determined based on the entered coffee order instructions.
9. The method of making coffee as recited in claim 8 further comprising:
when a new coffee order instruction is received, waiting for the new coffee order instruction;
the determining the pattern required by the current coffee making based on the input coffee order instruction is as follows: the pattern required for the current coffee making is determined based on the round-robin preceding coffee order instructions.
10. A coffee-making apparatus, comprising:
the acquisition module is used for acquiring corresponding coffee cup tracks and flower pot tracks based on patterns required by current coffee making, wherein each pattern corresponds to one group of coffee cup tracks and flower pot tracks;
the first driving module is used for driving the tail end of the first mechanical arm to move to the initial position of the coffee cup track, and the tail end of the first mechanical arm is used for loading the coffee cup;
the second driving module is used for driving the tail end of the second mechanical arm to move to the initial position of the drawing cylinder track, and the tail end of the second mechanical arm is used for loading the drawing cylinder;
And the third driving module is used for driving the first mechanical arm tail end to move along the coffee cup track and driving the second mechanical arm tail end to move along the flower drawing cylinder track when the first mechanical arm tail end reaches the initial position of the coffee cup track and the second mechanical arm tail end reaches the initial position of the flower drawing cylinder track.
11. A coffee-making apparatus, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-9 when the computer program is executed.
12. A coffee-making system, comprising:
the first mechanical arm is provided with a first mechanical arm tail end, and the first mechanical arm tail end is used for loading coffee cups;
the second mechanical arm is provided with a second mechanical arm tail end, and the second mechanical arm tail end is used for loading a drawing cylinder;
a coffee machine configured with a coffee discharge function and a milk foam discharge function;
the coffee making equipment is respectively in communication connection with the first mechanical arm, the second mechanical arm and the coffee machine;
The coffee-making apparatus being configured with functions to perform the method according to any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111454357.3A CN116195885A (en) | 2021-11-30 | 2021-11-30 | Coffee making method, equipment and system |
| PCT/CN2021/138891 WO2023097797A1 (en) | 2021-11-30 | 2021-12-16 | Coffee preparation method, device, and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111454357.3A CN116195885A (en) | 2021-11-30 | 2021-11-30 | Coffee making method, equipment and system |
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| Publication Number | Publication Date |
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| CN116195885A true CN116195885A (en) | 2023-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111454357.3A Pending CN116195885A (en) | 2021-11-30 | 2021-11-30 | Coffee making method, equipment and system |
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| Country | Link |
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| CN (1) | CN116195885A (en) |
| WO (1) | WO2023097797A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3084148A1 (en) * | 2017-12-04 | 2019-06-13 | Aabak Thoughts Pty Ltd | Robotic beverage preparation system and control systems and methods therefor |
| TWM567607U (en) * | 2018-01-04 | 2018-10-01 | 勵德自動化有限公司 | Robotic vending machine of integrating coffee and latte art |
| CN110292307A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | A kind of task execution system |
| CN108994843A (en) * | 2018-09-19 | 2018-12-14 | 北京猎户星空科技有限公司 | Mechanical arm control method and manipulator control device |
| KR102118843B1 (en) * | 2020-02-28 | 2020-06-03 | 박노섭 | Robot gripper for manufacturing coffee drink |
| CN113327281A (en) * | 2021-06-22 | 2021-08-31 | 广东智源机器人科技有限公司 | Motion capture method and device, electronic equipment and flower drawing system |
| CN113352338A (en) * | 2021-06-22 | 2021-09-07 | 广东智源机器人科技有限公司 | Mechanical arm control method and device, electronic equipment and flower drawing system |
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- 2021-11-30 CN CN202111454357.3A patent/CN116195885A/en active Pending
- 2021-12-16 WO PCT/CN2021/138891 patent/WO2023097797A1/en unknown
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