CN218585513U - Coffee flower teaching system - Google Patents
Coffee flower teaching system Download PDFInfo
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- CN218585513U CN218585513U CN202221384399.4U CN202221384399U CN218585513U CN 218585513 U CN218585513 U CN 218585513U CN 202221384399 U CN202221384399 U CN 202221384399U CN 218585513 U CN218585513 U CN 218585513U
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Abstract
The application belongs to the technical field of automatic coffee making, and provides a coffee flower teaching system which comprises an upper computer, a teaching cup and a motion capture device in communication connection with the upper computer; the teaching cup comprises teaching cups, a motion capture device and an upper machine, wherein the teaching cups are two in number, one of the teaching cups is a teaching coffee cup, the other teaching flower cylinder is a teaching flower cylinder, at least three markers which can be identified by the motion capture device are arranged on the cup body of each teaching cup, rigid body marker points are arranged at the bottom of each teaching cup, and the upper machine is provided with functions of acquiring data collected by the motion capture device and processing the data. The coffee flower teaching system provides a hardware basis for realizing automation of coffee flower.
Description
Technical Field
The application belongs to the technical field of automatic coffee making, and particularly relates to a coffee flower teaching system.
Background
The current coffee selling mode is mostly the field modulation of the coffeemaker, the coffee making process completely depends on the coffeemaker, the quality of the coffee made by the coffeemaker directly influences the quality of the coffee made at the time, and therefore, the coffee with stable quality is difficult to make. The self-service coffee system can make coffee with stable quality according to the instruction set by the system, so that the self-service coffee system also has great market potential.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application aims to provide a coffee flower teaching system which can provide a hardware basis for realizing automation of coffee flower.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: the coffee flower teaching system comprises an upper computer, a teaching cup and a motion capture device in communication connection with the upper computer;
the teaching cup comprises teaching cups and an upper machine, wherein the teaching cups are arranged on the upper machine, the upper machine is used for acquiring data collected by the motion capture equipment and processing the data, the teaching cups are arranged on the upper machine, the teaching cups are arranged on the lower machine, the upper machine is used for teaching coffee cups, the teaching cups are arranged on the teaching cups, the teaching cups are arranged on the upper machine, the teaching cups are arranged on the teaching cups, the teaching cups are respectively provided with at least three markers which can be identified by the motion capture equipment, and the upper machine is used for acquiring the data collected by the motion capture equipment and processing the data.
Optionally, a shaft body with a tip end is arranged at the bottom of the teaching cup, the tip end is the rigid body mark point, and the axis of the shaft body is overlapped or parallel with the central axis of the teaching cup.
Optionally, the number of the identifiers is three, and the three identifiers are not collinear.
Optionally, the number of the identifiers is at least four, and every three of the at least four identifiers are not collinear and every four of the identifiers are not coplanar.
Optionally, the motion capture device includes an infrared camera, the marker is a reflective ball, and the reflective ball can reflect infrared rays emitted by the infrared camera.
Optionally, the reflecting ball is disposed on the outer wall of the teaching cup on the same side, and the motion capture device is disposed opposite to a side of the teaching cup on which the reflecting ball is disposed, so that the reflecting ball can reflect infrared rays emitted by the infrared camera.
Optionally, the reflective balls are arranged on the peripheral outer wall of the teaching cup, and the plurality of motion capture devices are arranged around the periphery of the teaching cup so that the reflective balls can reflect infrared rays emitted by the infrared camera.
Optionally, the motion capture device is an infrared camera comprising a plurality of said infrared cameras.
Optionally, the coffee pull teaching system further comprises a teaching table, the motion capture device is mounted on a table top of the teaching table through a support, and the teaching cup is located within a visual field of the motion capture device.
Optionally, the coffee flower teaching system further comprises a display, wherein the display is electrically connected with the upper computer and used for displaying the visual field information captured by the motion capture device.
The application provides a coffee flower teaching system's beneficial effect lies in: based on this hardware basis of coffee flower teaching system that this application provided, in the practical application scene, can utilize two teaching cups that this application provided to carry out the flower teaching under the field of vision of motion capture equipment by the coffeemaker, utilize current host computer function, can obtain the motion trail of corresponding rigid body (two teaching cups promptly) after handling the data that motion capture equipment gathered, and then utilize this motion trail to realize the automated control of coffee flower. Therefore, the coffee flower teaching system can provide a hardware basis for realizing the automation of coffee flower.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram illustrating an overall structure of a coffee flower teaching system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a coffee cup according to the teachings provided in an embodiment of the present application;
FIG. 3 is a schematic structural diagram of a teaching garland jar according to an embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a layout structure of the marker on the teaching coffee cup according to an embodiment of the present application.
1. An upper computer; 2. teaching a coffee cup; 21. a marker; 22. marking points on the rigid body; 3. teaching a garland cylinder; 4. a motion capture device; 41. an infrared camera; 42. a support; 5. a teaching platform; 6. and a display.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The teaching system for the coffee flower-drawing provided by the embodiment of the application is explained at present, the existing self-service coffee system can realize the automatic making of coffee and can make corresponding coffee flower types as required, a series of point location data are often determined according to the coffee flower-drawing graph, the movement of the tail end of the mechanical arm is controlled and set according to the point location data, in the mode, the point location data are manually set according to the coffee flower-drawing graph, the situation that the point location is inaccurate in setting and dislocation occurs easily exists, and the stable flower-drawing effect can be obtained by directly simulating the tracks of two hands when a coffeemaker makes corresponding flower types, so that a set of device or equipment specially used for recording the tracks of the two hands of the coffeemaker is needed to provide a hardware basis for automatically making the coffee flower types. The coffee flower drawing teaching system is mainly used for providing a set of hardware foundation for realizing the automation of coffee flower drawing, and based on the coffee flower drawing teaching system, data acquisition and processing functions of an existing upper computer are utilized, so that the flower drawing tracks of both hands of a coffeemaker can be recorded, the movement tracks are simulated by a self-service coffee system, and the automation of coffee flower drawing is realized. The coffee pull teaching system of the embodiment of the present application is described in detail below with reference to the drawings:
referring to fig. 1, 2 and 3, the coffee flower teaching system of the present embodiment includes an upper computer 1, a teaching cup and a motion capture device 4 in communication connection with the upper computer 1.
The teaching cup comprises two teaching cups, wherein one of the two teaching cups is a teaching coffee cup 2, the other of the two teaching cups is a teaching garland jar 3, and the specific shape of the teaching cup is not limited, such as a common round coffee cup with a gradually-increased cross section from bottom to top, or a square or other cup.
Referring to fig. 2, at least three markers 21 capable of being recognized by the motion capture device 4 are arranged on the body of each teaching cup, the number of the markers 21 must be at least three, the markers 21 can be any object capable of being sensed by the motion capture device 4, such as a light-reflecting ball, a light-reflecting label, and the like, and a rigid body mark point 22 is arranged at the bottom of each teaching cup, so that the teaching cup can rotate around the rigid body mark point 22. The upper computer 1 has a function of acquiring data collected by the motion capture device 4 and processing the data, and based on this function, the upper computer 1 can identify and record the motion trajectory of the corresponding rigid body (such as the teaching coffee cup 2 and the teaching garland jar 3 in this application) based on the data collected by the motion capture device 4. The data acquisition and data analysis processing functions of the upper computer 1 can be realized by combining related methods in the prior art.
The rigid body mark point 22 is mainly used for rigid body calibration of the teaching cup, namely when the teaching cup rotates around the rigid body mark point 22, the motion capture equipment 4 can obtain point position data of each marker 21 by sensing each marker 21 on the teaching cup, the upper computer 1 can obtain the point position data of the motion capture equipment 4 and perform related processing on the obtained point position data so as to complete rigid body calibration of the teaching cup, and the rigid body calibration process related to the teaching cup can be realized by referring to related methods in the prior art.
During the teaching of the teaching system of this embodiment of adoption, by handheld teaching coffee cup 2 that is equipped with coffee of coffeemaker and the teaching flower cylinder 3 that is equipped with milk bubble, carry out the flower teaching of certain flower type under motion capture device 4's the field of vision, motion capture device 4 catches the action of each marker 21 on teaching coffee cup 2 and the teaching flower cylinder 3, host computer 1 acquires the point location data that motion capture device 4 discerned and carries out relevant analysis to the data that acquire, obtain the orbit of two teaching cups, thereby accomplish the teaching process of coffee flower.
Based on this hardware basis of coffee pull teaching system that this application provided, in the practical application scene, can utilize two teaching cups that this application provided to carry out the pull teaching under the field of vision of action capture equipment 4 by the coffeemaker, utilize current host computer 1's function, can obtain the motion trail of corresponding rigid body (two teaching cups promptly) after handling the data that action capture equipment 4 gathered, and then utilize this motion trail to realize the automated control of coffee pull. Therefore, the coffee flower teaching system can provide a hardware basis for realizing the automation of coffee flower.
In another embodiment of the present application, please refer to fig. 2 and 3, a shaft with a tip is disposed at the bottom of the teach cup, the tip is a rigid body marker point 22, and the axis of the shaft is overlapped or parallel with the central axis of the teach cup.
Specifically, in this embodiment, the bottom of the teach cup is provided with a rod having a tip as the rigid body mark point 22, the rod having a tip, such as a screw or other rod with a similar shape, and the rod is fixed at the bottom of the teach cup by gluing. Preferably, the rod body overlaps with the central axis of the teaching cup when being installed, for example, when the teaching cup is a cylindrical cup body, the rod body is preferably installed at the circle center position of the bottom end surface and protrudes towards the bottom end surface along the axis of the cup body, and at this time, the cup body can stably rotate around the rod body, which is beneficial to the calibration of the teaching cup. Optionally, the rod body is parallel to the central axis of the teaching cup when being installed, and at the moment, the teaching cup rotates around the rod body, so that the calibration of the teaching cup can be completed. The teaching coffee cup 2 is provided with the same rigid body mark point 22 at the bottom in the same manner as the teaching garland jar 3.
In another embodiment of the present application, referring to fig. 2 and 3, the number of the markers 21 is three, and the three markers 21 are not collinear.
Specifically, in this embodiment, the number of the markers 21 on the teaching cup is three, and when three markers 21 are laid on the teaching cup, it is not on the same straight line to be ensured, so that the motion capture device 4 can form a three-dimensional coordinate system when calibrating the teaching cup and capturing the garbled track through the markers 21, and the markers 21 cannot be shielded from each other, thereby being beneficial to completely acquiring the position information and the posture information of the teaching cup, and finally completing the calibration of the teaching cup and the capture of the garbled track.
In another embodiment of the present application, referring to fig. 4, the number of the markers 21 is at least four, and every three markers 21 of the at least four markers 21 are not collinear and every four markers 21 are not coplanar.
Specifically, in the present embodiment, the number of the markers 21 on the teaching cup is at least four, and for example, four markers 21 may be used, or a plurality of markers 21 may be used. When the number of the markers 21 is four, when four markers 21 are arranged on the teaching cup, it is required to ensure that every three markers 21 are not on the same straight line, and every four markers 21 are not on the same plane, thus, the motion capture device 4 can form a three-dimensional coordinate system when the teaching cup is calibrated and the garland track is captured through the markers 21, the markers 21 are not shielded from each other, thereby being beneficial to completely acquiring the position information and the posture information of the teaching cup, and finally completing the calibration of the teaching cup and the capture of the garland track. The teaching coffee cup 2 performs the layout of the marker 21 in the same manner as the teaching garland 3.
Four markers 21 or more markers 21 are arranged on the teaching cup, and the number of the markers 21 is increased, which is beneficial for the motion capture device 4 to quickly and accurately obtain the complete position information and posture information of the teaching cup.
In another embodiment of the present application, referring to fig. 1, 2 and 3, the motion capture device 4 includes an infrared camera 41, and the marker 21 is a reflective ball that reflects infrared rays emitted by the infrared camera 41.
Specifically, in this embodiment, the marker 21 on the teaching cup can be selected by using a reflective ball, such as an infrared reflective ball (i.e. a ball coated with an infrared reflective material on the surface), accordingly, the motion capture device 4 includes an infrared camera 41, the reflective ball can reflect infrared light emitted by the infrared camera 41, the infrared camera 41 can identify position information of the reflective ball by capturing infrared light reflected back by the reflective ball, point location data of each reflective ball is obtained by capturing infrared light reflected back from different angles by more than three reflective balls arranged on the teaching cup body, and then the upper computer 1 determines position information and posture information of the teaching cup according to the point location data, so as to complete calibration of the teaching cup and complete generation of a garland track.
In another embodiment of the present application, referring to fig. 2 and 3, the reflective balls are disposed on the same side of the outer wall of the teaching cup, and the motion capture device 4 is disposed opposite to a side of the teaching cup on which the reflective balls are disposed, so that the reflective balls can reflect the infrared rays emitted by the infrared camera 41.
Specifically, in this embodiment, the teaching cup is divided into two halves by taking the plane where the central axis of the teaching cup is located as a boundary, and the light-reflecting ball is disposed on the outer wall of the same side of the teaching cup, that is, on the outer wall of one half of the teaching cup. Correspondingly, the side face of the motion capture device 4 and the teaching cup provided with the reflection balls is arranged oppositely, so that the reflection balls are all located in the visual field range of the motion capture device 4, the reflection balls cannot be shielded from each other, namely, all the reflection balls can reflect infrared rays emitted by the motion capture device 4, the motion capture device 4 can acquire point position data information of each reflection ball according to the infrared rays returned by each reflection ball, and further can acquire complete position information and posture information of the teaching cup, and the teaching cup is favorable for acquiring a complete teaching flower drawing track.
In another embodiment of the present application, referring to fig. 4, the reflective balls are disposed on the peripheral outer wall of the teaching cup, and the plurality of motion capture devices 4 are disposed around the periphery of the teaching cup so that the reflective balls can reflect the infrared rays emitted from the infrared camera 41.
Specifically, in this embodiment, the reflective balls may be disposed on the peripheral outer wall of the teaching cup, the plurality of reflective balls are disposed around the peripheral side wall of the teaching cup, correspondingly, in order to obtain the point location data of the plurality of reflective balls, corresponding to the periphery of the teaching cup, the plurality of motion capture devices 4 are disposed, so that all the reflective balls are located within the visual field range of the motion capture devices 4, and the reflective balls are not shielded from each other, that is, all the reflective balls can reflect the infrared rays emitted by the motion capture devices 4, the motion capture devices 4 can obtain the point location data information of each reflective ball according to the infrared rays returned by each reflective ball, and then can obtain the complete position information and posture information of the teaching cup, so as to facilitate obtaining the complete teaching garland track.
In another embodiment of the present application, referring to FIG. 1, the motion capture device 4 is an infrared camera that includes a plurality of infrared cameras 41.
Specifically, in the present embodiment, the motion capture device 4 selects a commonly used infrared camera, and preferably, may select an industrial infrared camera. The infrared camera includes a plurality of infrared cameras 41, and the plurality of infrared cameras 41 can be favorable to obtaining point position data of teaching cup marker 21 from different angles and different positions. In the actual teaching process, the model and the type of the camera can be flexibly selected according to the requirement, the installation position of the camera can be flexibly set, and the point position data of the marker 21 on the teaching cup can be accurately, quickly and completely acquired.
In another embodiment of the present application, referring to fig. 1, the coffee pull teaching system further comprises a teaching table 5, the motion capture device 4 is mounted on the top of the teaching table 5 through a stand 42, and the teaching cup is located within the field of view of the motion capture device 4.
Specifically, in this embodiment, teaching platform 5 provides the installation carrier, can install the used equipment of teaching on teaching platform 5, makes things convenient for the coffeemaker to operate, also makes things convenient for going on of whole teaching process. The motion capture device 4 is mounted on the top of the teaching table 5 via a stand 42, for example, directly in front of a teaching coffeemaker, and is disposed opposite to the coffeemaker, so that the teaching cup can be completely within the field of view of the motion capture device 4. The upper computer 1 used for teaching can be installed below the table top of the teaching table 5. The teach pendant 5 may preferably be in line with the operating table of the self-service coffee system into which the teach pendant is to be introduced, thereby facilitating better matching of the data. During formal teaching, a coffeemaker can stand in front of the teaching table 5, face the motion capture device 4, place both hands on the top of the teaching table 5, and hold the teaching coffee cup 2 and the teaching garland cylinder 3 for teaching.
In another embodiment of the present application, referring to fig. 1, the coffee flower teaching system further includes a display 6, wherein the display 6 is electrically connected to the upper computer 1 for displaying the visual field information captured by the motion capture device 4.
Specifically, in this embodiment, the display 6 is electrically connected with the upper computer 1, and the visual field information captured by the motion capture device 4 can be clearly displayed through the display 6, so that the worker can conveniently check whether the flower drawing track capture process is normal, and can timely adjust if abnormal.
In one embodiment, the process of the coffee cup trajectory and the flower drawing cylinder trajectory generated by the coffee flower teaching system is as follows (taking the self-service coffee system automatically making coffee by a mechanical arm as an example):
1) The motion capture device 4 is fixedly arranged at a certain position to ensure that the teaching coffee cup 2 and the teaching garland cylinder 3 are both exposed under the view of the motion capture device 4 during the process of garlanding by a coffeemaker using the teaching coffee cup 2 and the teaching garland cylinder 3.
2) Calibrating a tool based on the teaching coffee cup 2: under the visual field of the motion capture device 4, the teaching coffee cup 2 provided with the light reflecting ball is rotated around the rigid body mark point 22, and the motion capture device 4 collects the position of each light reflecting ball on the teaching coffee cup 2 in different postures, so as to establish a tool coordinate system positioned on the teaching coffee cup 2 and describe the position and the posture of the rigid body mark point 22 of the teaching coffee cup 2 in the image coordinate system of the motion capture device 4.
3) Calibrating a tool based on the teaching garland cylinder 3: under the visual field of the motion capture equipment 4, the teaching garland cylinder 3 provided with the light reflecting balls rotates around the rigid body mark point 22, the motion capture equipment 4 collects the positions of the light reflecting balls on the teaching garland cylinder 3 in different postures, and therefore a tool coordinate system located in the teaching garland cylinder 3 is established and used for describing the positions and postures of the rigid body mark point 22 of the teaching garland cylinder 3 in the base coordinate system of the motion capture equipment 4.
4) The teaching coffee cup 2 with coffee and the teaching garland jar 3 with milk foam are held by a coffee maker, the garland teaching of a certain pattern is carried out under the visual field of the motion capture equipment 4 (the light-reflecting ball on the cup is prevented from being shielded in the teaching process as much as possible), the upper computer 1 obtains the teaching coffee cup 2 point position data and the teaching garland jar 3 point position data corresponding to the pattern through the motion capture equipment 4, then the teaching coffee cup 2 point position data and the teaching garland jar 3 point position data are respectively processed, the processed tracks are converted into a mechanical arm base coordinate system of a self-service coffee system, the coffee cup track and the garland jar track corresponding to the pattern are obtained, and the teaching garland jar track is stored in a garland teaching library.
As described in 4), the trajectory processed by the upper computer needs to be converted into the coordinate system of the corresponding mechanical arm, so that the coffee cup trajectory and the flower cylinder trajectory corresponding to the flower type can be obtained. Because the teaching coffee cup 2 point location data and the teaching flower cylinder 3 point location data obtained by the motion capture device 4 are established based on the image coordinate system of the motion capture device 4, and the motion trajectory of the mechanical arm during flower drawing is established based on the base coordinate system of the mechanical arm, the coordinate conversion relationship between the motion capture device 4 and the corresponding mechanical arm needs to be obtained in advance. The coordinate transformation relation can be calibrated in advance, and in the subsequent coffee flower teaching process and coffee making process, the positions of the coffee cup and the flower drawing cylinder at the tail ends of the respective mechanical arms are also fixed, the sizes of the teaching coffee cup 2 and the coffee cup are kept unchanged or approximately unchanged, and the sizes of the teaching flower drawing cylinder 3 and the flower drawing cylinder are also kept unchanged or approximately unchanged.
The present application is intended to cover various modifications, equivalent arrangements, and adaptations of the present application without departing from the spirit and scope of the present application.
Claims (10)
1. A coffee flower teaching system is characterized by comprising an upper computer, a teaching cup and a motion capture device in communication connection with the upper computer;
the teaching cup comprises teaching cups and an upper machine, wherein the teaching cups are arranged on the upper machine, the upper machine is used for acquiring data collected by the motion capture equipment and processing the data, the teaching cups are arranged on the upper machine, the teaching cups are arranged on the lower machine, the upper machine is used for teaching coffee cups, the teaching cups are arranged on the teaching cups, the teaching cups are arranged on the upper machine, the teaching cups are arranged on the teaching cups, the teaching cups are respectively provided with at least three markers which can be identified by the motion capture equipment, and the upper machine is used for acquiring the data collected by the motion capture equipment and processing the data.
2. The coffee pull teaching system of claim 1, wherein a stick with a tip is provided at the bottom of the teaching cup, the tip being the rigid body marker point, the stick axis being either overlapping or parallel to the central axis of the teaching cup.
3. The coffee pull teaching system of claim 1, wherein the number of the markers is three, and the three markers are not collinear.
4. The coffee pull teaching system of claim 1, wherein the number of identifiers is at least four, and wherein every third of the at least four identifiers is not collinear and every fourth of the identifiers is not coplanar.
5. The coffee pull teaching system of claim 1, wherein the motion capture device comprises an infrared camera and the marker is a reflective ball capable of reflecting infrared light emitted by the infrared camera.
6. The coffee flower teaching system according to claim 5, wherein the reflective ball is disposed on the same side of the outer wall of the teaching cup, and the motion capture device is disposed opposite to a side of the teaching cup on which the reflective ball is disposed, so that the reflective ball can reflect infrared rays emitted from the infrared camera.
7. The coffee pull teaching system according to claim 5, wherein the reflective ball is disposed on a peripheral outer wall of the teaching cup, and a plurality of the motion capture devices are disposed around the periphery of the teaching cup so that the reflective ball reflects infrared rays emitted from the infrared camera.
8. The coffee pull teaching system of claim 5, wherein the motion capture device is an infrared camera, the infrared camera comprising a plurality of the infrared cameras.
9. The coffee pull teaching system of any one of claims 1 to 8, further comprising a teaching table, wherein the motion capture device is mounted on a table top of the teaching table by a stand, and the teach cup is within a field of view of the motion capture device.
10. The coffee flower teaching system according to any one of claims 1 to 8, further comprising a display electrically connected to the upper computer for displaying visual field information captured by the motion capture device.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021229767708 | 2021-11-30 | ||
| CN202122976770 | 2021-11-30 |
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| Publication Number | Publication Date |
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| CN218585513U true CN218585513U (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221384399.4U Active CN218585513U (en) | 2021-11-30 | 2022-06-02 | Coffee flower teaching system |
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| CN (1) | CN218585513U (en) |
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- 2022-06-02 CN CN202221384399.4U patent/CN218585513U/en active Active
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