WO2017166937A1 - 一种咖啡冲泡自动实现系统和方法 - Google Patents

一种咖啡冲泡自动实现系统和方法 Download PDF

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Publication number
WO2017166937A1
WO2017166937A1 PCT/CN2017/073796 CN2017073796W WO2017166937A1 WO 2017166937 A1 WO2017166937 A1 WO 2017166937A1 CN 2017073796 W CN2017073796 W CN 2017073796W WO 2017166937 A1 WO2017166937 A1 WO 2017166937A1
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Prior art keywords
coffee
brewing
robot arm
pot
hand
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PCT/CN2017/073796
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English (en)
French (fr)
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姜迅
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北京古点科技有限公司
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Publication of WO2017166937A1 publication Critical patent/WO2017166937A1/zh

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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
    • A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
    • 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
    • A47J31/40—Beverage-making apparatus with dispensing means for adding a measured quantity of ingredients, e.g. coffee, water, sugar, cocoa, milk, tea
    • A47J31/402—Liquid dosing devices
    • 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
    • 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
    • A47J31/4403—Constructional details

Definitions

  • the present invention relates to the field of coffee making technology, and in particular to a coffee brewing automatic realization system and method.
  • Coffee is the main drink popular in the world. At present, there are two main ways of making coffee. One is to make coffee through a coffee machine. The coffee machine realizes the automatic control of the whole process of brewing coffee such as milling, powdering, powder filling, brewing, and removing residue. The easiest way is that the coffee taste is poor.
  • hand-washed coffee With the pursuit of coffee taste and quality, hand-washed coffee has gradually been popular. Because of the reliance on the coffee machine, the hand-washed coffee is more easily adjusted according to the variety of coffee beans and the degree of grinding, such as water temperature, steaming time, water flow speed and angle of brewing. The coffee is sour and bitter, and the shade is adjustable. . Although the equipment is simple, but the operation is easy and the similarity is very high. In fact, there are various tastes. Different baristas (different formulas) will make different coffees and even the same coffee. The coffee that the chef makes every time is not exactly the same taste.
  • the invention provides a coffee brewing automatic realization system and method, which solves the problem that the coffee brewed by the coffee machine in the prior art has poor mouthfeel and the barista hand coffee is unstable.
  • a coffee brewing automatic realization system comprising a console, a robot arm and a coffee brewing appliance, the coffee brewing apparatus comprising at least a coffee brewing pot, a filter, a coffee cup, and Electronic scale,
  • the console after receiving the coffee brewing start command, according to the obtained mechanical arm brewing action
  • the trajectory generates a corresponding control command for controlling the movement of the robot arm
  • the robot arm holds the coffee hand brewing pot after the coffee brewing starts, moves according to the mechanical arm brewing movement track under the control command, and injects the water in the coffee hand brewing pot into the coffee cup with the filter in the cup mouth.
  • the electronic scale collects the weight information of the coffee liquid in the coffee cup during the brewing process in real time, and sends the weight information to the console;
  • the console also generates a feedback control command to adjust the motion of the robot arm according to the mechanical arm brewing motion track and the weight information of the received coffee liquid, so that the movement of the robot arm satisfies the robot arm brewing motion track.
  • a method for automatically implementing coffee brewing comprising:
  • the invention has the beneficial effects that the coffee brewing automatic realization system and method of the present invention controls the mechanical arm to hold the coffee hand brewing pot after the coffee brewing starts according to the pre-acquired mechanical arm brewing action trajectory, in the control command Under the control, according to the movement path of the mechanical arm brewing movement, the water in the coffee brewing pot is poured into the coffee cup with the filter in the cup, and the coffee brewing simulation action is performed, and at the same time, the weight of the coffee liquid according to the electronic weighing feedback is performed.
  • the information fine-tunes the movement of the robot arm so that the robot arm can complete the coffee brewing action in strict accordance with the robot arm brewing motion trajectory.
  • the problem of unstable mouthfeel caused by human factors during coffee brewing is solved.
  • the robot arm brewing motion trajectory can be made according to the action of the coffee maker when brewing coffee, the coffee machine performs the robot arm brewing motion track and brews the coffee taste better than the coffee machine.
  • the embodiment of the invention also liberates the labor to a certain extent, so that the barista has more energy and time to improve the method and enhance the taste of the coffee.
  • FIG. 1 is a block diagram showing the structure of an automatic coffee brewing system according to an embodiment of the present invention
  • FIG. 2 is a flow chart of a method for automatically implementing coffee brewing according to an embodiment of the present invention.
  • the design concept of the present invention is: a coffee brewing automatic realization system is proposed for the problem that the coffee made by the coffee machine of the prior art has poor mouthfeel and the coffee brewer's method is seriously relied on, and the coffee mouth feels unstable.
  • the system records the movement track of the brewer's hand brewing coffee, creates the robot arm brewing action track, and controls the robot arm to perform the simulated hand punch operation, thereby overcoming the brewing action caused by the barista.
  • the problem of unstable coffee taste is: a coffee brewing automatic realization system is proposed for the problem that the coffee made by the coffee machine of the prior art has poor mouthfeel and the coffee brewer's method is seriously relied on, and the coffee mouth feels unstable.
  • the system records the movement track of the brewer's hand brewing coffee, creates the robot arm brewing action track, and controls the robot arm to perform the simulated hand punch operation, thereby overcoming the brewing action caused by the barista.
  • the barista brews the action of the coffee, and the trajectory of the mechanical arm brewing performed by the robot arm in the present invention is generated according to the brewing action of the barista, so it is also guaranteed The texture of the mechanical arm brewing coffee.
  • the system of the present embodiment can complete the entire process of brewing coffee from milling, powdering, brewing, and removing residue, in addition to the core process of coffee brewing, which affects the coffee mouthfeel. It takes into account the taste of coffee and the efficiency of coffee making.
  • the coffee brewing process is realized by using the coffee brewing automatic realization system of the embodiment as an example. It can be understood that, based on the core process of enabling coffee brewing, the embodiment is The coffee brewing automatic realization system can also complete other processes in the coffee making process, and the working principle and working process of automatically implementing the system to realize other processes by using the coffee brewing can be referred to the description in the embodiments of the present invention.
  • the coffee brewing automatic realization system 10 includes: a console 101, a robot arm 102, a coffee brewing apparatus 103, and the coffee.
  • the brewing device 103 comprises at least: a coffee hand brewing pot 1031, a filter 1032, a coffee cup 1033, an electronic scale 1034;
  • the console 101 after receiving the coffee brewing start command, generates a corresponding control command for controlling the movement of the robot arm 102 according to the acquired robot arm brewing motion trajectory; the robot arm 102 is clamped after the coffee brewing starts.
  • Coffee hand brewing pot 1031 brewed according to the mechanical arm under the control of the control command The motion trajectory moves, and the water in the coffee brewing pot 1031 is injected into the coffee cup 1033 of the filter 1032, and the coffee brewing simulation operation is performed, wherein the coffee powder is placed on the filter 1032;
  • the electronic scale 1034 collects the weight information of the coffee liquid in the coffee cup 1033 during the brewing process in real time, and sends the weight information to the console 101; wherein the electronic scale 1034 is provided with a sensor, and the sensor collects the weight information of the coffee liquid in the cup in real time, and The weight information is converted into an analog signal and sent to the console 101.
  • the console 101 also generates a feedback control command to adjust the motion of the robot arm 102 according to the robot arm brewing motion trajectory and the received weight information of the coffee liquid, so that the movement of the robot arm 102 satisfies the robot arm brewing motion trajectory.
  • the coffee brewing automatic realization system shown in FIG. 1 since the specific brewing action is performed according to the robot arm brewing action trajectory by using the mechanical arm, instead of the manual brewing operation of the barista, the coffee is avoided.
  • the brewing motion trajectory of the robot arm retains the recipe of the barista, that is, the brewing coffee, so the coffee that the robot arm performs the robot arm brewing motion track brewing is also the coffee made by the simple coffee machine. Good taste.
  • the filter 1032 can include a filter paper and a filter bowl.
  • the coffee brewing automatic realization system in the embodiment can not only complete the coffee brewing action according to the acquired robot arm movement track, but also control the robot arm to complete the preparation work before the coffee brewing according to the control instruction.
  • the console 101 After receiving the brewing start command, the console 101 generates a preparation action control command according to the size and relative positional relationship of the stored coffee brewing tool, and sends the preparation action control command to the robot arm 102; the robot arm 102, according to the preparation action control instruction pair
  • the coffee brewing device 103 performs the following operations: the robot arm can first be manually ground (ie, the coffee beans are ground into coffee powder) or the grinder device is activated to complete the coffee bean grinding work, and then the coffee cup 1033 is placed on the electronic scale 1034, and A filter bowl is placed in the cup mouth of the coffee cup 1033, a filter paper is placed in the filter bowl, the filter cup is held to hold the coffee powder, and the filter cup containing the coffee powder is returned to the cup mouth of the coffee cup 1033.
  • the size of the coffee appliance and the positional relationship of the coffee appliance with respect to the robot arm can be preset to the console, so that all the actions from the start of the coffee powder to the completion of the coffee brewing can be passed through the embodiment.
  • the coffee brewing system is completely automated, and the coffee is simple, convenient and brewed.
  • the console controls the trajectory of the obtained arm according to the acquired trajectory.
  • the mechanical arm performs a coffee brewing action as an example, but in other embodiments of the present invention, the console can acquire a plurality of mechanical arm brewing motion trajectories, and control the mechanical mechanism according to each robot arm motion trajectory. The arm completes the corresponding coffee brewing action.
  • the manner in which the console acquires the trajectory of the mechanical arm brewing motion is not limited.
  • the console can acquire the robot arm brewing motion trajectory in real time, or the console can acquire a plurality of robot arm brewing motion trajectories in advance.
  • the console may further include a user interaction function, receiving a selection of a plurality of robot arm brewing motion tracks saved by the user, and controlling the robot arm to complete the hand brewing coffee simulation motion according to the robot arm brewing motion track selected by the user. .
  • the coffee brewing automatic realization system in the embodiment further includes: a camera, and the camera can perform data communication with the console; in actual application, two high-speed cameras can be used and the camera is installed at a corresponding position, for example, one of them.
  • the camera is placed in front of the barista and the other camera is placed above the barista. In this way, the action of the barista holding the coffee hand to brew the coffee can be taken by the two cameras to obtain the corresponding image.
  • the camera collects the image information of the preset tracking point on the coffee hand brewing pot at various moments in real time when the camera manually collects the coffee; the electronic scale collects the coffee at each moment in real time when the barista manually brews the coffee.
  • the weight information of the coffee liquid in the cup; the console calculates the position coordinates and posture of the coffee hand brewing pot based on the image information and the position of the preset tracking point on the coffee brewing pot, and calculates the position and posture of the coffee hand brewing pot, and calculates the coffee hand brewing pot.
  • the motion track data is set, and the weight information is set in the motion track data, and the robot arm brewing action track is obtained according to the calculated motion track data of the coffee hand pot and the preset distance between the coffee hand pot and the robot arm.
  • the preset tracking point here may be a color block disposed in a predetermined area on the coffee brewing pot, and the predetermined area is an area on the coffee hand brewing pot that is always incapable of being photographed by the camera during brewing.
  • Color blocks are tools commonly used in image recognition technology. By identifying the color of a color block, more information about the color block, such as the shape and position information of the color block, can be obtained.
  • the camera uses the camera to take a real-time shot of the color block on the coffee hand brewing pot when the barista brews the coffee, and obtain the color block image, and calculate the spatial position change of the coffee hand brewing pot color block based on the filter, and obtain each At the time point, the position coordinates of the color block and the spatial positional relationship of each color block and the rotation angle information (ie, the posture) calculate the motion trajectory data of the coffee hand brewing pot.
  • the console is specifically configured to: according to the image information captured by the camera, the position coordinates of the preset tracking point located on the spout of the coffee hand brewing pot at each moment, and the remaining preset tracking points and the preset tracking point.
  • the relative positional relationship is calculated to obtain the movement track of the coffee hand pot.
  • a predetermined area on the coffee hand brewing pot is provided with a plurality of color blocks, such as a color block on the spout of the coffee hand brewing pot, the body of the pot and the position of the handle.
  • the color can be obtained.
  • the position coordinates of the block and the relative rotation angle information between the color blocks, and the motion trajectory curve of the coffee hand brewing pot is drawn according to the position coordinates of the color block and the relative rotation angle between the color blocks.
  • the weight of the coffee liquid in the coffee cup is collected by the electronic scale in real time by the electronic scale.
  • Information, and setting the weight information of the coffee liquid into the movement track of the coffee hand pot that is, the information of each point in the movement curve of the coffee hand brewing pot calculated in this embodiment is composed of two parts of data.
  • Part of the data indicates the position coordinates and posture of the point, and the other part of the data is the coffee liquid weight information corresponding to the point.
  • the two parts of the data can determine the movement track curve of the coffee hand brewing pot during the coffee brewing process.
  • the brewing action of the robot arm can be obtained according to the preset distance between the coffee hand pot and the robot arm (ie, a preset offset).
  • Track the brewing motion trajectory of the robot arm can be obtained by subtracting the preset distance from the coordinate value of the moving point in the motion track of the coffee hand punching pot.
  • the console can also perform curve fitting processing on the motion trajectory data curve of the coffee hand brewing pot to filter the interference.
  • Point get the fitting curve; then select the corresponding number of sampling points on the fitting curve according to the size of the robot arm, and adjust the robot arm brewing action trajectory by using the position coordinates of the sampling point.
  • the console fits the curve of the movement of the coffee hand pot, and obtains a fitting curve that conforms to the movement track of the coffee hand pot and the movement of the arm, and combines the size and fitting curve of the arm on the fitting curve.
  • Select a corresponding number of sampling points by factors such as the distance between each sampling point. The positional coordinates of these sampling points are used to re-adjust the trajectory of the mechanical arm brewing motion, so that the mechanical arm brewing motion trajectory is more suitable for the robot arm to perform.
  • the console can analyze the obtained robot arm brewing motion trajectory during actual execution (for example, , performing robot kinematics inverse solution), calculating the target rotation angle and torque output to the motor in the arm, controlling the rotation angle and torque of the motor, thereby controlling the movement of the robot arm according to the mechanical arm brewing motion trajectory;
  • the weight information of the coffee liquid obtained, the difference between the inclination angle of the coffee hand brewing pot currently clamped by the robot arm and the target tilt angle in the robot arm brewing motion track is generated, and a feedback control command is generated to adjust the action of the mechanical arm to make the machine
  • the movement of the arm satisfies the trajectory of the mechanical arm brewing motion.
  • How to control the movement of the robot arm according to the predetermined mechanical arm trajectory can be implemented by using the prior art. For details of the implementation, refer to the related content of the prior art, and the description is not repeated here.
  • the automatic brewing method of the present embodiment includes the following steps S21 and S22:
  • Step S21 receiving a brewing start command, and generating a corresponding control instruction for controlling the movement of the robot arm according to the acquired robot arm brewing motion trajectory, and controlling the robot arm to hold the coffee hand brewing pot after the coffee brewing starts and according to The movement path of the mechanical arm brewing moves, and the water in the coffee brewing pot is poured into the coffee cup with the filter in the cup mouth, and the coffee brewing simulation operation is performed, wherein the coffee powder is placed on the filter;
  • Step S22 receiving the weight information of the coffee liquid collected and sent by the electronic scale in real time, generating a feedback control instruction according to the weight information of the received coffee liquid and the brewing motion trajectory of the robot arm, and adjusting the movement of the mechanical arm so that the movement of the mechanical arm satisfies The robotic arm brews the trajectory.
  • the method further includes: receiving image information of the preset tracking point on the coffee hand brewing pot at each moment when the barista manually collects and sends the coffee cup in real time; the receiving electronic scale is manually punched at the barista When brewing coffee, collect and send the weight information of the coffee liquid in the coffee cup at each moment in real time; according to the image information and the position of the preset tracking point on the coffee brewing pot, calculate the position of the coffee brewing pot based on the filter Coordinates and postures, calculate the movement track data of the coffee hand pot, and set the weight information in the motion track data, according to the calculated coffee hand brewing
  • the trajectory data and the preset distance between the coffee hand pot and the robot arm obtain the trajectory of the mechanical arm brewing action.
  • the preset tracking point is a color block set in a predetermined area on the coffee brewing pot, and the predetermined area is an area that can always be photographed by the camera on the coffee hand brewing pot which is moved during the brewing process.
  • the electronic scale is provided with a sensor, and the sensor collects the weight information of the coffee liquid in the coffee cup in real time, and converts the weight information into an analog signal and sends it to the console.
  • the method further comprises: performing curve fitting processing on the motion trajectory data of the coffee hand brewing pot to obtain a fitting curve; and selecting a corresponding number of sampling points on the fitting curve according to the size of the mechanical arm, and The robot arm brewing motion trajectory is adjusted by using the position coordinates of the sampling points.
  • the filter comprises a filter paper and a filter cup; the method further comprises: after receiving the brewing start command, generating a preparation action control command according to the size and relative position relationship of the stored coffee brewing device to send to the robot arm; The robot arm performs the following operations on the coffee brewing device according to the preparation action control instruction: placing the coffee cup on the electronic scale, placing a filter cup on the cup mouth of the coffee cup, placing the filter paper in the filter cup, and holding the filter cup to hold the coffee cup Powder, put the filter cup filled with coffee powder back to the cup of the coffee cup.
  • the coffee brewing automatic realization system and method controls the mechanical arm to hold the coffee hand brewing pot according to the robot arm according to the pre-acquired mechanical arm brewing action trajectory.
  • the brewing movement track moves the water in the coffee hand brewing pot into the coffee cup with the filter in the cup mouth, performs the manual coffee brewing simulation action, and simultaneously fine-tunes the robot arm motion according to the weight information of the coffee liquid fed back by the electronic scale. Therefore, the robot arm can complete the coffee brewing action strictly according to the mechanical arm brewing action track. Since the mechanical arm is used instead of the manual brewing action of the barista, the problem of unstable mouthfeel caused by human factors during coffee brewing is solved.
  • the robot arm brewing motion trajectory can be prepared in advance according to the hand punching action of the coffee maker's hand brewing coffee, the coffee brewed by the robot arm has a better mouthfeel than the coffee machine.
  • the technical solution of the embodiment of the present invention also liberates the labor force to a certain extent, so that the barista can have more energy. And time improvement techniques to enhance the taste of coffee.

Abstract

一种咖啡冲泡自动实现系统(10)和方法，系统(10)包括控制台(101)、机械臂(102)和咖啡冲泡用具(103)，控制台(101)接收到咖啡冲泡启动指令后，根据获取到的机械臂(102)冲泡动作轨迹生成控制指令；机械臂(102)在咖啡冲泡启动后夹持咖啡手冲壶(1031)按照机械臂(102)冲泡动作轨迹移动，执行手冲咖啡模拟动作；电子秤(1034)实时采集冲泡时咖啡杯(1033)中咖啡液重量发送给控制台(101)；控制台(101)还根据机械臂(102)冲泡动作轨迹和咖啡液重量，生成反馈控制指令调整机械臂(102)的动作使机械臂(102)的移动满足机械臂(102)冲泡运动轨迹。利用机械臂(102)并通过控制机械臂(102)按照预先获取的机械臂(102)冲泡运动轨迹自动完成手冲模拟动作冲泡咖啡，解决了咖啡师等人工手冲咖啡过程中的人为因素导致的咖啡口感不稳定的问题。

Description

一种咖啡冲泡自动实现系统和方法 技术领域
本发明涉及咖啡制作技术领域，具体涉及一种咖啡冲泡自动实现系统和方法。
背景技术
咖啡是流行于世界的主要饮品。目前咖啡制作方式主要有两种，一是通过咖啡机制作咖啡，咖啡机实现了磨粉、压粉、装粉、冲泡、清除残渣等酿制咖啡全过程的自动控制，这种制作咖啡的方式最简单，缺点是咖啡口感较差。
随着人们对咖啡口感和品质的追求，手冲咖啡逐渐受到大众欢迎。手冲咖啡由于脱离了对咖啡机的依赖，更容易根据咖啡豆的品种、研磨程度来调整水温、闷蒸时间、水流速度和冲调角度等参数，制作出来的咖啡酸苦适当、浓淡可调。手冲咖啡虽然器材简单，但看起来容易、相似度极高的操作，其实也蕴藏着各种口味的可能，不同的咖啡师(不同的配方),会制作出不同的咖啡，甚至同一个咖啡师每次泡出的咖啡也不是完全相同的味道。
因此，现有技术中在冲泡咖啡时，咖啡师的作用举足轻重，这也导致了咖啡制作过程中人为因素干预严重，咖啡的口感不稳定。由此可见，目前还没有兼顾咖啡口感和效率的咖啡制作方案。
发明内容
本发明提供了一种咖啡冲泡自动实现系统和方法，以解决现有技术中咖啡机制作的咖啡口感差，咖啡师手冲咖啡口感不稳定的问题。
根据本发明的一个方面，提供了一种咖啡冲泡自动实现系统，该系统包括控制台、机械臂和咖啡冲泡用具，该咖啡冲泡用具至少包括咖啡手冲壶、过滤器、咖啡杯和电子称，
控制台，在接收到咖啡冲泡启动指令后，根据获取到的机械臂冲泡动作 轨迹生成相应的用于控制机械臂运动的控制指令；
机械臂，在咖啡冲泡启动后夹持咖啡手冲壶，在控制指令的控制下按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，其中，过滤器上放置有咖啡粉；
电子秤，实时采集冲泡过程中咖啡杯中咖啡液的重量信息，将重量信息发送给控制台；
控制台，还根据机械臂冲泡动作轨迹和收到的咖啡液的重量信息，生成反馈控制指令调整机械臂的动作，使机械臂的移动满足机械臂冲泡运动轨迹。
根据本发明的另一个方面，提供了一种咖啡冲泡自动实现方法，该方法包括：
接收冲泡启动指令，并根据获取到的机械臂冲泡动作轨迹生成相应的用于控制机械臂运动的控制指令，控制机械臂在咖啡冲泡启动后夹持咖啡手冲壶并按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，其中，过滤器上放置有咖啡粉；
接收电子秤实时采集并发送的咖啡液的重量信息，根据收到的咖啡液的重量信息和机械臂冲泡动作轨迹，生成反馈控制指令，调整机械臂的移动使得机械臂的动作满足机械臂冲泡运动轨迹。
本发明的有益效果是：本发明的这种咖啡冲泡自动实现系统和方法根据预先获取的机械臂冲泡动作轨迹，控制机械臂在咖啡冲泡启动后夹持咖啡手冲壶，在控制指令的控制下按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，并同时根据电子称反馈的咖啡液的重量信息对机械臂动作进行微调从而使得机械臂能够严格按照机械臂冲泡动作轨迹完成咖啡冲泡动作。通过利用机械臂替代了咖啡师的手工冲泡动作，因而解决了咖啡冲泡时人为因素导致的口感不稳定的问题。另外，由于机械臂冲泡动作轨迹可以根据咖啡师手冲咖啡时的动作制作而成，所以相比咖啡机这种制作方式，机械臂执行机械臂冲泡动作轨迹冲泡出的咖啡口感更好。并且本发明实施例也一定程度上解放了劳动力，使咖啡师有更多的精力和时间改良手法，提升咖啡口感。
附图说明
图1是本发明一个实施例的一种咖啡冲泡自动实现系统结构框图；
图2是本发明一个实施例的一种咖啡冲泡自动实现方法的流程图。
具体实施方式
本发明的设计构思是：针对现有技术中咖啡机制作的咖啡口感差以及手冲咖啡时严重依赖咖啡师的手法，咖啡口感不稳定的问题，提出了一种咖啡冲泡自动实现系统，该系统一方面通过记录咖啡师手冲咖啡过程中的动作轨迹，制作出机械臂冲泡动作轨迹，控制机械臂执行模拟手冲操作，从而克服了手冲咖啡时严重依赖咖啡师的冲泡动作导致咖啡口感不稳定的问题。另一方面，由于对咖啡口感起决定作用的是咖啡师冲泡咖啡的动作，而本发明中机械臂执行的机械臂冲泡动作轨迹正是根据咖啡师的冲泡动作生成的，所以也保证了机械臂冲泡咖啡的口感。并且，本实施例的这种系统除了能够完成咖啡冲泡这一影响咖啡口感的核心工序之外，还可以自动控制完成从磨粉、装粉、冲泡、清除残渣等酿制咖啡的全部工序，兼顾了咖啡的口感和咖啡制作效率。
以下实施例中是以利用本实施例的咖啡冲泡自动实现系统实现咖啡冲泡过程为例进行的重点说明，可以理解，在能够实现咖啡冲泡这一核心工序的基础上，本实施例的咖啡冲泡自动实现系统也可以完成咖啡制作中的其他工序，而利用该咖啡冲泡自动实现系统实现其他工序的工作原理和工作过程可以参见本发明这里的实施例中的描述。
实施例一
图1是本发明一个实施例的一种咖啡冲泡自动实现系统结构框图，参见图1，该咖啡冲泡自动实现系统10包括：控制台101，机械臂102，咖啡冲泡用具103，该咖啡冲泡用具103至少包括：咖啡手冲壶1031，过滤器1032，咖啡杯1033，电子秤1034；
控制台101，在接收到咖啡冲泡启动指令后，根据获取到的机械臂冲泡动作轨迹生成相应的用于控制机械臂102运动的控制指令；机械臂102，在咖啡冲泡启动后夹持咖啡手冲壶1031，在控制指令的控制下按照机械臂冲泡 动作轨迹移动，将咖啡手冲壶1031中的水注入杯口置有过滤器1032的咖啡杯1033中，执行手冲咖啡模拟动作，其中，过滤器1032上放置有咖啡粉；
电子秤1034，实时采集冲泡过程中咖啡杯1033中咖啡液的重量信息，将重量信息发送给控制台101；其中电子称1034上设置有传感器，传感器实时采集杯子中咖啡液的重量信息，并将该重量信息转换为模拟信号后发送给控制台101。
控制台101，还根据机械臂冲泡动作轨迹和收到的咖啡液的重量信息，生成反馈控制指令调整机械臂102的动作，使机械臂102的移动满足机械臂冲泡运动轨迹。
由图1所示的咖啡冲泡自动实现系统结构可知，本实施例中由于利用机械臂按照机械臂冲泡动作轨迹执行具体的冲泡动作，替代咖啡师的手动冲泡操作，因而避免了咖啡冲泡时人为因素导致的口感不稳定的发生。另外，本实施例中的通过机械臂冲泡动作轨迹保留了咖啡师的配方即冲泡咖啡的手法，所以机械臂执行机械臂冲泡动作轨迹冲泡的咖啡也比单纯的咖啡机制作的咖啡口感好。
本实施例中，过滤器1032可以包括滤纸和滤杯。并且本实施例中的这种咖啡冲泡自动实现系统除了能够按照获取的机械臂运动轨迹完成咖啡冲泡动作之外，还可以控制机械臂根据控制指令完成咖啡冲泡前的准备工作。
举例而言，控制台101在收到冲泡启动指令后，根据保存的咖啡冲泡用具的尺寸以及相对位置关系生成准备动作控制指令发送给机械臂102；机械臂102，根据准备动作控制指令对咖啡冲泡用具103进行如下操作：机械臂可以首先进行手工研磨(即将咖啡豆研磨成咖啡粉)或者启动磨豆装置完成咖啡豆研磨工作，然后将咖啡杯1033放置在电子秤1034上，并在咖啡杯1033的杯口放置滤杯，在滤杯中放置滤纸，夹持滤杯接盛咖啡粉，将盛了咖啡粉的滤杯放回到咖啡杯1033的杯口。实际应用过程中，可以把咖啡用具的尺寸以及咖啡用具相对于机械臂的位置关系预先设置到控制台中，这样，从接盛咖啡粉开始到咖啡冲泡完成的全部动作都可以通过本实施例的咖啡冲泡自动实现系统完成，简单、方便且冲泡的咖啡口感好。
需要说明的是，本实施例中是以控制台根据获取的机械臂动作轨迹并控 制机械臂完成一次咖啡冲泡动作为例进行的示意性说明，但是在本发明的其他实施例中，控制台可以获取多个机械臂冲泡动作轨迹，并根据每个机械臂动作轨迹控制机械臂完成相应的咖啡冲泡动作。
并且，控制台获取机械臂冲泡动作轨迹的方式不做限制。例如，控制台可以实时获取机械臂冲泡动作轨迹，或者，控制台可以预先获取多个机械臂冲泡动作轨迹。进一步的，控制台还可以包括用户交互功能，接收用户对控制台保存的多个机械臂冲泡动作轨迹的选择，并根据用户选择的机械臂冲泡动作轨迹控制机械臂完成手冲咖啡模拟动作。
实施例二
本实施例中重点对咖啡冲泡自动实现系统制作生成机械臂运动轨迹进行说明，其他内容请参见本发明的其他实施例。
具体的，本实施例中咖啡冲泡自动实现系统还包括：摄像头，摄像头能够与控制台进行数据通信；实际应用过程中，可以通过两个高速摄像头并将摄像头安装在相应位置，例如，其中一个摄像头设置在咖啡师的前方，另一个摄像头的设置在咖啡师的上方。这样，咖啡师手拿咖啡手冲壶冲泡咖啡的动作可以被两个摄像头全程拍摄下来得到相应的图像。
本实施例中，摄像头实时采集咖啡师手工冲泡咖啡时，咖啡手冲壶上的预设追踪点在各个时刻的图像信息；电子秤在咖啡师手工冲泡咖啡时，实时采集各个时刻的咖啡杯中咖啡液的重量信息；控制台根据图像信息以及预设追踪点在咖啡手冲壶上的位置，以过滤器为基点计算咖啡手冲壶的位置坐标和姿态，计算出咖啡手冲壶的运动轨迹数据，并将重量信息设置在运动轨迹数据中，根据计算出的咖啡手冲壶的运动轨迹数据以及咖啡手冲壶与机械臂之间的预设距离得到机械臂冲泡动作轨迹。
这里的预设追踪点可以是设置在咖啡手冲壶上预定区域的色块，预定区域为冲泡过程中运动的咖啡手冲壶上始终能被摄像头拍摄到的区域。色块是图像识别技术中经常用到的工具，通过识别色块的颜色可以获取色块的更多信息，例如色块的形状及位置信息。
利用摄像头实时拍摄咖啡师手冲咖啡时咖啡手冲壶上的色块，得到色块图像，并以过滤器为基点计算咖啡手冲壶上色块的空间位置变化，得到各个 时点上色块的位置坐标以及各个色块的空间位置关系和转动角度信息(即姿态)，计算出咖啡手冲壶的运动轨迹数据。
举例而言，控制台具体用于，根据摄像头拍摄的图像信息中位于咖啡手冲壶壶嘴上的预设追踪点在各个时刻的位置坐标，以及其余预设追踪点与该预设追踪点的相对位置关系计算得到咖啡手冲壶的运动轨迹。实际应用过程中咖啡手冲壶上的预定区域设置有多个色块，如咖啡手冲壶的壶嘴上、壶身上以及手柄位置都设置有色块。然后以过滤器所在的位置为坐标基点，计算咖啡手冲壶的壶嘴上、壶身上以及手柄位置的预定追踪点的空间位置和预设追踪点绕该基点转动的转动角度，即可得到色块的位置坐标以及色块之间的相对转动角度信息，并根据色块的位置坐标以及色块之间的相对转动角度的变化绘制咖啡手冲壶的运动轨迹曲线。
另外，为了计算咖啡手冲壶运动过程中预设的运动与咖啡手冲壶流出的水量的关系，本实施例中，通过电子秤实时采集咖啡师手冲咖啡时，咖啡杯中咖啡液的重量信息，并将咖啡液的重量信息设置到咖啡手冲壶的运动轨迹中，也就是说，本实施例中计算出的咖啡手冲壶运动轨迹曲线中的每个点的信息由两部分数据组成：一部分数据表示该点的位置坐标和姿态，另一部分数据是该点对应的咖啡液重量信息，通过这两部分数据即可确定咖啡手冲壶在咖啡冲泡过程中的运动轨迹曲线。
在得到咖啡手冲壶的运动轨迹曲线后，可根据咖啡手冲壶与机械臂之间的预设距离(即一个预设的偏移量)进行简单计算后即可得到机械臂的冲泡动作轨迹。例如，将咖啡手冲壶的运动轨迹中运动点的坐标值减去预设距离后即可得到机械臂的冲泡动作轨迹。
进一步的，考虑到咖啡手冲壶运动过程中的抖动、机械臂的运动性能等因素，本实施例中，控制台还可以对咖啡手冲壶的运动轨迹数据曲线进行曲线拟合处理以过滤干扰点，得到拟合曲线；然后根据机械臂的大小在拟合曲线上选取相应数量的采样点，并利用采样点的位置坐标调整机械臂冲泡动作轨迹。例如，控制台对咖啡手冲壶运动轨迹进行曲线拟合，得到既符合该咖啡手冲壶运动轨迹又适合机械臂运动的拟合曲线，在该拟合曲线上结合机械臂大小、拟合曲线上各个采样点之间的距离等因素选取相应数量的采样点， 并利用这些采样点的位置坐标重新调整机械臂冲泡动作轨迹，从而使得机械臂冲泡动作轨迹更适合机械臂执行。
以上说明了咖啡冲泡自动实现系统中确定机械臂冲泡动作轨迹的过程，得到机械臂冲泡动作轨迹后，实际执行时，控制台可以对获取到的机械臂冲泡动作轨迹进行解析(例如，进行机器人运动学反解)，计算输出给机械臂中电机的目标转角和力矩，通过控制电机的转动角度和力矩，进而控制机械臂按照机械臂冲泡动作轨迹移动；以及，控制台根据收到的咖啡液的重量信息，计算机械臂当前夹持的咖啡手冲壶的倾斜角与机械臂冲泡动作轨迹中的目标倾斜角的差值，生成反馈控制指令调整机械臂的动作，使机械臂的移动满足机械臂冲泡运动轨迹。控制台如何控制机械臂按照预定的机械臂冲泡动作轨迹运动可以利用现有技术实现，具体实现细节可以参见现有技术的相关内容，这里不再重复说明。
实施例三
图2是本发明一个实施例的一种咖啡冲泡自动实现方法的流程图，参见图2，本实施例的咖啡冲泡自动实现方法包括如下步骤S21和S22：
步骤S21，接收冲泡启动指令，并根据获取到的机械臂冲泡动作轨迹生成相应的用于控制机械臂运动的控制指令，控制机械臂在咖啡冲泡启动后夹持咖啡手冲壶并按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，其中，过滤器上放置有咖啡粉；
步骤S22，接收电子秤实时采集并发送的咖啡液的重量信息，根据收到的咖啡液的重量信息和机械臂冲泡动作轨迹，生成反馈控制指令，调整机械臂的移动使得机械臂的动作满足机械臂冲泡运动轨迹。
本实施例中，该方法还包括：接收摄像头实时采集并发送的咖啡师手工冲泡咖啡时，咖啡手冲壶上的预设追踪点在各个时刻的图像信息；接收电子秤在咖啡师手工冲泡咖啡时，实时采集并发送的各个时刻的咖啡杯中咖啡液的重量信息；根据图像信息以及预设追踪点在咖啡手冲壶上的位置，以过滤器为基点计算咖啡手冲壶的位置坐标和姿态，计算出咖啡手冲壶的运动轨迹数据，并将重量信息设置在运动轨迹数据中，根据计算出的咖啡手冲壶的运 动轨迹数据以及咖啡手冲壶与机械臂之间的预设距离得到机械臂冲泡动作轨迹。
其中，预设追踪点为设置在咖啡手冲壶上预定区域的色块，预定区域为冲泡过程中运动的咖啡手冲壶上始终能被摄像头拍摄到的区域。电子称上设置有传感器，传感器实时采集咖啡杯中咖啡液的重量信息，并将该重量信息转换为模拟信号后发送给控制台。
本实施例中，该方法还包括：对咖啡手冲壶的运动轨迹数据进行曲线拟合处理，得到拟合曲线；以及，根据机械臂的大小在拟合曲线上选取相应数量的采样点，并利用采样点的位置坐标调整机械臂冲泡动作轨迹。
本实施例中，过滤器包括滤纸和滤杯；该方法还包括在收到冲泡启动指令后，根据保存的咖啡冲泡用具的尺寸以及相对位置关系生成准备动作控制指令发送给机械臂；控制机械臂根据准备动作控制指令对咖啡冲泡用具进行如下操作：将咖啡杯放置在电子秤上，并在咖啡杯的杯口放置滤杯，在滤杯中放置滤纸，夹持滤杯接盛咖啡粉，将盛了咖啡粉的滤杯放回到咖啡杯的杯口。
需要说明的是，本实施例中的这种咖啡冲泡自动实现方法的实现步骤是与前述咖啡冲泡自动实现系统的工作过程相对应的，因而咖啡冲泡自动实现方法更详细的步骤可以参见本发明前述实施例中对咖啡冲泡自动实现系统相关说明，在此不再赘述。
综上所述，本发明实施例的这种咖啡冲泡自动实现系统和方法，根据预先获取的机械臂冲泡动作轨迹，控制机械臂在咖啡冲泡启动后夹持咖啡手冲壶按照机械臂冲泡动作轨迹移动将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，并同时根据电子称反馈的咖啡液的重量信息对机械臂动作进行微调，从而使得机械臂能够严格按照机械臂冲泡动作轨迹完成咖啡冲泡动作。由于利用机械臂替代了咖啡师的手工冲泡动作，因而解决了咖啡冲泡时人为因素导致的口感不稳定的问题。另外，由于机械臂冲泡动作轨迹可以预先根据咖啡师手冲咖啡时的手冲动作制作而成，所以与咖啡机制作的咖啡相比，利用机械臂冲泡出的咖啡口感更好。此外，本发明实施例的技术方案也一定程度上解放了劳动力，这样咖啡师能够更多的精力 和时间改良手法，提升咖啡口感。
以上所述仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本发明的保护范围内。

Claims (10)

  1. 一种咖啡冲泡自动实现系统，其特征在于，所述系统包括控制台、机械臂和咖啡冲泡用具，该咖啡冲泡用具至少包括咖啡手冲壶、过滤器、咖啡杯和电子称，
    所述控制台，在接收到咖啡冲泡启动指令后，根据获取到的机械臂冲泡动作轨迹生成相应的用于控制机械臂运动的控制指令；
    所述机械臂，在咖啡冲泡启动后夹持咖啡手冲壶，在控制指令的控制下按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，其中，过滤器上放置有咖啡粉；
    所述电子秤，实时采集冲泡过程中咖啡杯中咖啡液的重量信息，将所述重量信息发送给所述控制台；
    所述控制台，还根据所述机械臂冲泡动作轨迹和收到的咖啡液的重量信息，生成反馈控制指令调整机械臂的动作，使机械臂的移动满足所述机械臂冲泡运动轨迹。
  2. 根据权利要求1所述的系统，其特征在于，该系统还包括：摄像头，所述摄像头能够与所述控制台进行数据通信；
    所述摄像头，实时采集咖啡师手工冲泡咖啡时，咖啡手冲壶上的预设追踪点在各个时刻的图像信息；
    电子秤，在咖啡师手工冲泡咖啡时，实时采集各个时刻的咖啡杯中咖啡液的重量信息；
    所述控制台，根据所述图像信息以及预设追踪点在咖啡手冲壶上的位置，以过滤器为基点计算咖啡手冲壶的位置坐标和姿态，计算出咖啡手冲壶的运动轨迹数据，并将重量信息设置在运动轨迹数据中，根据计算出的咖啡手冲壶的运动轨迹数据以及咖啡手冲壶与机械臂之间的预设距离得到机械臂冲泡动作轨迹。
  3. 根据权利要求2所述的系统，其特征在于，所述控制台，还用于对所述咖啡手冲壶的运动轨迹数据进行曲线拟合处理，得到拟合曲线；以及，根 据机械臂的大小在所述拟合曲线上选取相应数量的采样点，并利用采样点的位置坐标调整机械臂冲泡动作轨迹。
  4. 根据权利要求2所述的系统，其特征在于，所述预设追踪点为设置在咖啡手冲壶上预定区域的色块，所述预定区域为冲泡过程中运动的咖啡手冲壶上始终能被摄像头拍摄到的区域。
  5. 根据权利要求3所述的系统，其特征在于，所述电子称上设置有传感器，所述传感器实时采集咖啡杯中咖啡液的重量信息，并将该重量信息转换为模拟信号后发送给所述控制台。
  6. 根据权利要求1所述的系统，其特征在于，所述过滤器包括滤纸和滤杯；
    所述控制台，在收到冲泡启动指令后，根据保存的咖啡冲泡用具的尺寸以及相对位置关系生成准备动作控制指令发送给机械臂；
    所述机械臂，根据所述准备动作控制指令对咖啡冲泡用具进行如下操作：将咖啡杯放置在所述电子秤上，并在所述咖啡杯的杯口放置所述滤杯，在所述滤杯中放置所述滤纸，夹持所述滤杯接盛咖啡粉，将盛了咖啡粉的滤杯放回到所述咖啡杯的杯口。
  7. 根据权利要求1所述的系统，其特征在于，所述控制台对获取到的机械臂冲泡动作轨迹进行解析，并计算输出给机械臂中电机的目标转角信息和力矩信息，通过电机控制机械臂按照机械臂冲泡动作轨迹移动；以及，根据收到的咖啡液的重量信息，计算机械臂当前夹持的咖啡手冲壶的倾斜角与机械臂冲泡动作轨迹中的目标倾斜角的差值，生成反馈控制指令调整机械臂的动作，使机械臂的移动满足所述机械臂冲泡运动轨迹。
  8. 根据权利要求2所述的系统，其特征在于，所述控制台，具体用于根据所述图像信息中位于咖啡手冲壶壶嘴上的预设追踪点在各个时刻的位置坐标，以及其余预设追踪点与壶嘴上的预设追踪点的相对位置关系计算得到咖啡手冲壶的运动轨迹。
  9. 一种咖啡冲泡自动实现方法，其特征在于，该方法包括：
    接收冲泡启动指令，并根据获取到的机械臂冲泡动作轨迹生成相应的用 于控制机械臂运动的控制指令，控制机械臂在咖啡冲泡启动后夹持咖啡手冲壶并按照机械臂冲泡动作轨迹移动，将咖啡手冲壶中的水注入杯口置有过滤器的咖啡杯中，执行手冲咖啡模拟动作，其中，过滤器上放置有咖啡粉；
    接收电子秤实时采集并发送的冲泡过程中咖啡杯中咖啡液的重量信息，根据所述机械臂冲泡动作轨迹和收到的咖啡液的重量信息，生成反馈控制指令调整机械臂的动作，使机械臂的移动满足所述机械臂冲泡运动轨迹。
  10. 根据权利要求9所述的方法，其特征在于，该方法还包括：
    接收摄像头实时采集并发送的咖啡师手工冲泡咖啡时，咖啡手冲壶上的预设追踪点在各个时刻的图像信息；
    接收电子秤在咖啡师手工冲泡咖啡时，实时采集并发送各个时刻的咖啡杯中咖啡液的重量信息；
    根据所述图像信息以及预设追踪点在咖啡手冲壶上的位置，以过滤器为基点计算咖啡手冲壶的位置坐标和姿态，计算出咖啡手冲壶的运动轨迹数据，并将重量信息设置在运动轨迹数据中，根据计算出的咖啡手冲壶的运动轨迹数据以及咖啡手冲壶与机械臂之间的预设距离得到机械臂冲泡动作轨迹。
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