WO2023097797A1 - 咖啡制作方法、设备及系统 - Google Patents

咖啡制作方法、设备及系统 Download PDF

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Publication number
WO2023097797A1
WO2023097797A1 PCT/CN2021/138891 CN2021138891W WO2023097797A1 WO 2023097797 A1 WO2023097797 A1 WO 2023097797A1 CN 2021138891 W CN2021138891 W CN 2021138891W WO 2023097797 A1 WO2023097797 A1 WO 2023097797A1
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WIPO (PCT)
Prior art keywords
coffee
mechanical arm
trajectory
cup
move
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PCT/CN2021/138891
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English (en)
French (fr)
Inventor
姜宇
郎需林
蔡同彪
林炯辉
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深圳市越疆科技有限公司
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Publication of WO2023097797A1 publication Critical patent/WO2023097797A1/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
    • A47J31/44—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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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

Definitions

  • the present application belongs to the technical field of coffee making, and in particular relates to a coffee making method, equipment and system.
  • Latte art refers to the process of mixing milk on coffee (such as cappuccino or latte) to make leaves or other patterns.
  • the coffee making process is entirely dependent on the barista, and the quality of the barista directly affects the quality of the coffee made that time. Therefore, it is difficult to make coffee with stable quality.
  • the embodiment of the present application provides a coffee making method, equipment and system, which is beneficial to making coffee with stable quality.
  • the first aspect of the embodiment of the present application provides a coffee making method, including:
  • each pattern corresponds to a set of coffee cup trajectory and flower vat trajectory
  • the driving the end of the first mechanical arm to move to the initial position of the coffee cup track includes:
  • the end of the first mechanical arm is driven to move from the coffee discharge position to the starting position of the coffee cup trajectory.
  • the driving the end of the first mechanical arm to move along the coffee cup trajectory and then further include:
  • the driving the end of the first mechanical arm to move to a preset delivery position and unload the coffee cup also includes:
  • the driving the end of the second mechanical arm to move to the starting position of the trajectory of the flower cylinder includes:
  • the end of the second mechanical arm is driven to move to the starting position of the trajectory of the flower cylinder.
  • the driving the end of the second mechanical arm to move on the trajectory of the drawing cylinder and then further include:
  • the end of the second mechanical arm is driven to return to a preset second initial position.
  • the type, the obtained trajectory of the coffee cup and the trajectory of the vat are:
  • the corresponding coffee cup trajectory and the pattern cylinder trajectory are obtained from the latte teaching library;
  • the trajectory of the coffee cup and the trajectory of the jigsaw jar stored in the sprite teaching library are obtained by the barista based on the sprite teaching system
  • the sprite teaching system includes: a motion capture device, and the motion The upper computer connected to the capture device, and the coffee cup and the flower jar respectively provided with markers, the markers are objects that can be captured by the motion capture device.
  • the seventh possible implementation of the present application further includes:
  • the pattern required for the current coffee making is determined.
  • the eighth possible implementation of the present application further includes:
  • the determination of the pattern required for the current coffee production based on the input coffee order instruction is: determining the pattern required for the current coffee production based on the coffee order instruction that is in the queue first.
  • the second aspect of the present application provides a coffee making device, including:
  • the obtaining module is used to obtain the corresponding coffee cup trajectory and the drawing cylinder trajectory based on the pattern required for the current coffee production, wherein each pattern corresponds to a set of coffee cup trajectory and drawing cylinder trajectory;
  • the first driving module is used to drive the end of the first mechanical arm to move to the starting position of the coffee cup track, and the end of the first mechanical arm is used to load the coffee cup;
  • the second drive module is used to drive the end of the second mechanical arm to move to the initial position of the trajectory of the flower cylinder, and the end of the second mechanical arm is used to load the flower cylinder;
  • the third driving module is used to drive the first mechanical arm when the end of the first mechanical arm reaches the starting position of the coffee cup track and the second mechanical arm reaches the starting position of the flower cylinder track.
  • the end of the first mechanical arm moves along the trajectory of the coffee cup, and at the same time drives the end of the second mechanical arm to move along the trajectory of the flower vat.
  • the third aspect of the present application provides a coffee making device, including: a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program to implement the following: The steps described in the above first aspect or any possible implementation manner of the above first aspect.
  • the fourth aspect of the present application provides a coffee making system, including: a first mechanical arm with a first mechanical arm end, and the first mechanical arm end is used for loading coffee cups; a second mechanical arm end with a second mechanical arm The mechanical arm, the end of the second mechanical arm is used to load the flower cylinder; the coffee machine is equipped with a coffee discharge function and a milk froth discharge function; and is connected with the first mechanical arm, the second mechanical arm and the coffee making equipment to which the coffee machine is communicatively connected;
  • the coffee making device is configured to perform the steps described in the above first aspect or any possible implementation manner of the above first aspect.
  • a fifth aspect of the embodiment of the present application provides a chip, including a processor, the processor is configured to read and execute a computer program stored in a memory, so as to implement the above first aspect and/or the steps described in the above first aspect.
  • this application obtains the corresponding coffee cup trajectory and the pattern cylinder trajectory for the pattern required for the current coffee production, and drives the end of the first mechanical arm and the end of the second mechanical arm to move respectively.
  • the end of the first mechanical arm When the start position of the coffee cup track is reached, and the end of the second mechanical arm reaches the start position of the pattern cylinder track, 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 pattern cylinder track. Cylinder trajectory movement.
  • each pattern corresponds to a set of coffee cup trajectories and latte art tank trajectories, it is possible to keep the same motion trajectory of the robotic arm when making coffee with the same pattern, which is conducive to making Produce stable quality coffee.
  • Fig. 1 is a schematic flow chart of a coffee making method provided by the embodiment of the present application
  • Fig. 2a is a schematic structural diagram of a motion capture device and a host computer in the drawing teaching system provided by the embodiment of the present application;
  • Fig. 2b is a schematic structural view of the coffee cup in the latte art teaching system provided by the embodiment of the present application;
  • Fig. 2c is a schematic structural view of the garland cylinder in the garland teaching system provided by the embodiment of the present application;
  • Fig. 3 is a schematic structural diagram of the coffee making equipment provided by the embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of the coffee making system provided by the embodiment of the present application.
  • plural refers to two or more than two (that is, more than two), “at least one”, “one or more” refers to one , two or more.
  • the inventor’s creative idea of the present application will be described first: although in the related art, the nozzle can be used to draw pictures on the standing coffee to simulate the pattern drawn by the barista, but the inventor’s research found that in the raw material Under the same premise, the quality of coffee mainly depends on the coordination of the hands of the barista when drawing flowers.
  • the method of using the nozzle to draw pictures on the static coffee is similar in shape but not in spirit.
  • the taste of the coffee produced is not comparable to that of coffee. Coffee made by hand.
  • the inventor thought of simulating the movement trajectory of the barista's left and right hands (that is, the trajectory of the coffee cup and the trajectory of the flower vat in the embodiment of the present application) by using the dual robotic arms to realize the replica of the barista's flower drawing, so that Reducing the influence of human factors in coffee making is conducive to making coffee with stable quality.
  • the coffee making method provided by the embodiments of the present application includes:
  • Step 101 based on the pattern required for the current coffee production, obtain the corresponding coffee cup trajectory and flower vat trajectory;
  • each pattern corresponds to a set of coffee cup trajectories and flower vat trajectories.
  • the coffee cup trajectory corresponds to the movement trajectory of the hand holding the coffee cup when the barista draws flowers
  • the trajectory of the flower vat It corresponds to the movement trajectory of the hand holding the vase when the barista pulls the flowers.
  • step 101 is embodied as: based on the pattern required for the current coffee making, obtain the corresponding coffee cup trajectory and pattern vat trajectory from the pattern teaching library.
  • the trajectory of the coffee cup and the trajectory of the vat stored in the above-mentioned garland teaching library are obtained by teaching by the barista based on the garland teaching system.
  • the above-mentioned garland teaching system includes: a motion capture device 21, a host computer 22 connected to the motion capture device 21, and a coffee cup 23 and a garland jar respectively provided with markers twenty four.
  • the above marker is an object that can be captured by the motion capture device 21 .
  • the motion capture device 21 may include at least two or more infrared cameras.
  • the above marker may be an infrared reflective marking ball (that is, a sphere coated with an infrared reflective material), and the motion capture device 21 is based on the principle of infrared reflection. motion capture.
  • four marker balls 231 may be provided on the coffee cup 23 , wherein every three marker balls are not collinear, and every four marker balls are not coplanar.
  • the setting method of the marker ball on the pull flower jar can adopt a method similar to that of the coffee cup 23 .
  • the process of generating the trajectory of the coffee cup and the trajectory of the vat based on the garland teaching system will be described below based on this embodiment:
  • the motion capture device is fixed at a certain position to ensure that the coffee cup 23 and the garnish jar 24 are both exposed to the field of view of the motion capture device when the barista uses the coffee cup 23 and the garnish jar 24 for latte art Down.
  • the barista holds the coffee cup 23 with coffee and the latte art tank 24 with milk froth, and teaches a certain pattern of latte art under the motion capture device (try to avoid the infrared reflective marks on the cup during the teaching process)
  • the ball is blocked)
  • the upper computer uses the motion capture device to synchronously collect the coffee cup point data and the flower vat point data corresponding to the pattern with the same acquisition cycle (such as 8ms), and then respectively compare the coffee cup point data and the Filter and fit the point data of the flower vat, and convert the processed trajectory to the base coordinate system of the manipulator to obtain the trajectory of the coffee cup and the trajectory of the flower vat corresponding to the pattern, and store it in the flower teaching library.
  • the trajectory after filtering and fitting needs to be transformed into the corresponding robot coordinate system to obtain the trajectory of the coffee cup and the trajectory of the vat corresponding to the pattern. Because the coffee cup point data and the latte art vat point data obtained by the motion capture device are established based on the image coordinate system of the motion capture device, and the motion trajectory of the robotic arm is established based on the base coordinate system of the robotic arm. The coordinate transformation relationship between the motion capture device and the corresponding robotic arm needs to be obtained in advance.
  • This coordinate transformation relationship can be pre-calibrated, and in the subsequent coffee flower teaching process and coffee making process, the position of the coffee cup at the end of the first mechanical arm and the position of the flower cylinder at the end of the second mechanical arm are also fixed In addition, the size of the coffee cup and flower vat remains unchanged.
  • the specific calibration methods include tool calibration and hand-eye calibration of the robotic arm, which are described below:
  • this tool calibration is to re-establish a tool coordinate system at the end of the robot arm to describe the position of the robot arm at the end of the robot arm.
  • the position and attitude of each point in the base coordinate system that is, the center of the base of the manipulator as the coordinate origin, or set by the user through the three-point teaching method.
  • the tool can be calibrated by using the TCP calibration method, the four-point calibration method or the six-point calibration method.
  • related tool calibration methods in the prior art which will not be repeated here.
  • the calibration process of the second robot arm can refer to the first description of the robotic arm
  • the origin of the coordinate system hereinafter referred to as the first teaching point
  • drive the first mechanical arm to translate to the second teaching point along the X axis (or Y/Z axis) of the base coordinate system of the mechanical arm, and then drive the first
  • the robot arm moves to the third teaching point along the Y-axis or Z-axis, and finally uses these three teaching points as a reference to convert the base coordinate system of the motion capture device into the XYZ three-axis and the XYZ base coordinate system of the first robot arm
  • the coordinate transformation relationship between the motion capture device and the robotic arm is determined based on the point-to-point method.
  • the first robot arm as an example (the second robot arm can refer to the description of the first robot arm): fix the coffee cup 23 to the end of the first robot arm, and align the rigid body marker point of the coffee cup 23 with the motion capture device
  • a preset point in the field of view record the coordinates (X cam , Y cam , Z cam ) of the point in the user coordinate system and the coordinates (X rob , Y rob , Z rob ) in the base coordinate system of the first robot arm ;Repeat this action to obtain the corresponding coordinates for different preset points, by taking at least 13 or more coordinate data of different preset points, calculate through existing algorithms such as estimateAffine3D, and finally get the following relationship:
  • Transformation matrix RM and translation transformation matrix RT are the coordinate transformation relationship between the image coordinate system of the motion capture device and the base coordinate system of the first robotic arm. Based on this coordinate transformation relationship, the point of the coffee cup in the base coordinate system of the motion capture device can be The position (coordinates and attitude) is transformed into the point position under the base coordinate system of the first mechanical arm.
  • step 101 can also use other methods to obtain the corresponding coffee cup trajectory and flower vat trajectory.
  • a neural network model can be built in advance, and the coffee cup trajectory and flower pattern can be collected by collecting digital baristas for the same pattern.
  • the cylinder trajectory is used as sample data to train the neural network model to obtain the trained neural network model.
  • step 101 input the pattern required for the current coffee making into the neural network model, and obtain the corresponding trajectory of the coffee cup and vat.
  • Step 102 driving the end of the first mechanical arm to move to the starting position of the coffee cup track
  • the end of the first mechanical arm is used for loading coffee cups.
  • the end of the first mechanical arm may be a gripper to grab the coffee cup.
  • automatic loading can be used, such as: every time coffee is made, the end of the first mechanical arm is driven to move to the preset cup filling position and empty coffee cups are automatically loaded; or manual loading can also be used
  • the method, such as loading an empty coffee cup on the end of the first mechanical arm by the staff every time coffee is made, is not limited here.
  • the process of filling the coffee can adopt an automatic filling method, such as: after the coffee cup is loaded, the end of the first mechanical arm is driven to move to the coffee discharge position, and the corresponding coffee machine is started at the same time to discharge the coffee; or it can also be used
  • the way of manually serving, such as pouring the coffee into the coffee cup by the staff every time the coffee is made, is not limited here.
  • step 102 includes: driving the end of the first mechanical arm to move to the preset cup loading position and loading the coffee cup; after the coffee cup is loaded, driving the end of the first mechanical arm to move to the coffee cup
  • the discharge position is used to contain coffee; after the coffee is filled, the end of the first mechanical arm is driven to move from the coffee discharge position to the starting position of the coffee cup track.
  • the above-mentioned cup-filling position is provided with a cup-out structure that conveys empty coffee cups from bottom to top. In order to prevent the first mechanical arm from grabbing multiple empty coffee cups at a time, the cup-out structure is also provided with a limit mechanism.
  • the above coffee making method further includes: when it is detected that the end of the first mechanical arm reaches the above cup filling position , trigger the above-mentioned limit mechanism, and reset the above-mentioned limit mechanism after the end of the first mechanical arm finishes loading the coffee cup.
  • the above-mentioned coffee discharge position is correspondingly set at the coffee discharge port of the coffee machine
  • the above-mentioned coffee making method further includes: when it is detected that the end of the first mechanical arm reaches the above-mentioned cup filling position, controlling the corresponding coffee machine to preset capacity coffee dispenser.
  • Step 103 driving the end of the second mechanical arm to move to the starting position of the trajectory of the above-mentioned drawing cylinder;
  • the end of the second mechanical arm is used to load the drawing cylinder.
  • the above-mentioned drawing cylinder is fixedly loaded on the end of the second mechanical arm.
  • the position where the vat is fixed at the end of the second robotic arm is the same as the position fixed during the calibration stage.
  • the process of filling milk froth can be done automatically, such as driving the end of the second mechanical arm to the preset milk froth discharge position, and at the same time starting the corresponding coffee machine to discharge milk froth; or it can be manually filled , For example, when the coffee is made, the staff pours the milk froth into the jug, which is not limited here.
  • step 103 includes: driving the end of the second mechanical arm to move to the milk froth discharge position to contain the milk foam; after the milk foam is filled, driving the end of the second mechanical arm to move in a circle position, keep the mouth of the cup upward in the above-mentioned circle position and rotate the preset number of turns around the preset axis; after the above-mentioned preset number of turns is completed, drive the end of the second mechanical arm to move to the starting position of the above-mentioned flower cylinder track .
  • the above-mentioned milk foam discharge position is correspondingly set at the milk foam discharge port of the coffee machine, and the above-mentioned coffee making method further includes: when it is detected that the end of the second mechanical arm reaches the above-mentioned milk foam discharge position, control the corresponding coffee machine Dispenses milk froth at a preset volume.
  • Step 104 When the end of the first mechanical arm reaches the initial position of the trajectory of the coffee cup, and the end of the second mechanical arm reaches the initial position of the trajectory of the flower vat, drive the end of the first mechanical arm to capture the coffee cup Trajectory movement, while driving the end of the second mechanical arm to move along the trajectory of the above-mentioned flower cylinder;
  • the latte art of the above-mentioned first mechanical arm and the above-mentioned second mechanical arm need to be synchronized to accurately simulate the actual latte art process of the barista, so in step 104, when the end of the above-mentioned first mechanical arm reaches the cup trajectory, and when the end of the second mechanical arm reaches the initial position of the trajectory of the above-mentioned drawing cylinder, the end of the first mechanical arm and the end of the second mechanical arm are driven to start drawing, that is, the first The end of the mechanical arm moves along the trajectory of the coffee cup, and at the same time drives the end of the second mechanical arm to move along the trajectory of the flower vat.
  • the motion capture device synchronously collects the point data of the teaching coffee cup and the teaching vat according to the same collection period. Therefore, each point on the trajectory of the coffee cup and the trajectory of the vat is actually There is an associated timing relationship. Based on the aforementioned control of the first robot arm and the second robot arm, it can be ensured that when the first robot arm moves to a point (such as a1') on the coffee cup trajectory, the second robot arm moves synchronously To the corresponding point of the teaching latte trajectory (such as b1', b1' and a1' respectively converted from the point data of the coffee cup and the latte vat collected at the same time), so that the reproduction result is closer to the barista teaching results.
  • a point such as a1'
  • the teaching latte trajectory such as b1', b1' and a1' respectively converted from the point data of the coffee cup and the latte vat collected at the same time
  • the process of coffee latte art is ended, and the process of coffee making is also completed.
  • the above-mentioned driving the end of the first mechanical arm to move along the track of the coffee cup and then further includes: driving the end of the first mechanical arm to move to a preset delivery position and unloading coffee mug. Further, it is also possible to drive the end of the first mechanical arm back to the preset first initial position, so as to ensure that the end of the first mechanical arm starts from the first initial position every time coffee is made, so as to improve the stability of the system and reliability.
  • the embodiment of the present application also provides a solution for automatic cleaning of the coffee tank.
  • the above-mentioned driving the end of the second mechanical arm moves along the trajectory of the above-mentioned flower tank, and then further includes: driving the end of the second mechanical arm to move to the cup washing position to To clean the above-mentioned coffee cylinder, further, after the above-mentioned coffee cylinder is cleaned, the end of the above-mentioned second mechanical arm can be driven back to the preset second initial position, so as to ensure that the end of the above-mentioned second mechanical arm is from Starting from the second initial position is convenient for improving the stability and reliability of the system.
  • an interactive device for self-service ordering of coffee or a QR code for accessing the coffee ordering system may be provided for the user, so that the user can place an order by himself through the interactive device or by scanning the QR code. After the user places an order, a corresponding coffee order instruction will be generated and input.
  • the coffee making method in the embodiment of the present application further includes: determining the pattern required for the current coffee making based on the input coffee order instruction.
  • the above-mentioned coffee making method also includes: when receiving a new coffee order instruction, waiting for the above-mentioned new coffee order instruction; the above-mentioned coffee order instruction based on the input determines the pattern required for the current coffee production, which is: based on The coffee order instruction that is in the queue first determines the pattern required for the current coffee making.
  • the corresponding coffee cup trajectory and flower vat trajectory are obtained and the end of the first mechanical arm and the end of the second mechanical arm are respectively driven to move.
  • the coffee latte art process is completely dependent on the movement of the robotic arm, and each pattern corresponds to a set of coffee cup trajectories and latte art tank trajectories, it is possible to keep the same motion trajectory of the robotic arm when making coffee with the same pattern, which is conducive to making Produce stable quality coffee.
  • the trajectory of the coffee cup and the trajectory of the vat can be obtained based on the movement trajectory of the left and right hands of an excellent barista, so that each cup of coffee produced can be compared to the coffee produced by an excellent barista. On the one hand, it can satisfy the public The demand for coffee quality.
  • the embodiment of the present application also provides a coffee making device, as shown in Figure 3, the coffee making device includes:
  • the obtaining module 301 is used to obtain the corresponding coffee cup trajectory and the drawing cylinder trajectory based on the pattern required for the current coffee production, wherein each pattern corresponds to a set of coffee cup trajectory and drawing cylinder trajectory;
  • the first driving module 302 is used to drive the end of the first mechanical arm to move to the starting position of the coffee cup track, and the end of the first mechanical arm is used to load the coffee cup;
  • the second driving module 303 is used to drive the end of the second mechanical arm to move to the starting position of the track of the drawing cylinder, and the end of the second mechanical arm is used to load the drawing cylinder;
  • the third driving module 304 is used to drive the first mechanical arm when the end of the first mechanical arm reaches the starting position of the coffee cup track and the second mechanical arm ends reach the starting position of the flower cylinder track The end moves along the track of the coffee cup, and at the same time drives the end of the second mechanical arm to move along the track of the flower vat.
  • the first driving module 302 is specifically used to: drive the end of the first mechanical arm to move to the preset cup loading position and load the coffee cup; after the coffee cup is loaded, drive the end of the first mechanical arm to move to the coffee cup The discharge position is used to contain coffee; after the coffee is filled, the end of the first mechanical arm is driven to move from the coffee discharge position to the starting position of the coffee cup track. Further, the first driving module 302 is also used for: driving the end of the first mechanical arm to move to a preset delivery position and unload the coffee cup after the end of the first mechanical arm completes the trajectory movement of the coffee cup. Further, the first driving module 302 is also used for: driving the end of the first mechanical arm to return to the preset first initial position after the coffee cup is unloaded.
  • the second drive module 303 is specifically used to drive the end of the second mechanical arm to move to the milk froth discharge position to contain the milk foam; after the milk foam is filled, drive the end of the second mechanical arm to move to the circle position , keeping the mouth of the cup upward at the above-mentioned circle position and rotating the preset number of turns around the preset axis; after the above-mentioned preset number of turns is completed, drive the end of the second mechanical arm to move to the initial position of the trajectory of the above-mentioned pull flower cylinder.
  • the second driving module 303 is also used for: after the end of the second mechanical arm completes the trajectory movement of the flower vat, drive the end of the second mechanical arm to move to the cup washing position to clean the coffee jar; After the cleaning is completed, the end of the second mechanical arm is driven to return to the preset second initial position.
  • the obtaining module 301 is specifically configured to obtain the corresponding coffee cup trajectory and the pattern cylinder trajectory from the pattern teaching library based on the pattern required for the current coffee making.
  • the trajectory of the coffee cup and the trajectory of the vat stored in the above-mentioned garland teaching library are obtained by the barista based on the teaching of the garland teaching system.
  • the above-mentioned garland teaching system includes: a motion capture device, connected to the above motion capture device The upper computer, as well as the coffee cup and the vat that are respectively provided with markers, the markers are objects that can be captured by the motion capture device.
  • the coffee making device in the embodiment of the present application further includes: a confirmation module, configured to determine the pattern required for the current coffee making based on the input coffee order instruction.
  • the above-mentioned coffee making device may further include: a waiting module, configured to wait for the above-mentioned new coffee order instruction when a new coffee order instruction is received; in this scenario, the above-mentioned confirmation module is specifically used to: The previous coffee order instruction determines the pattern required for the current coffee making.
  • the corresponding coffee cup trajectory and flower vat trajectory are obtained and the end of the first mechanical arm and the end of the second mechanical arm are respectively driven to move.
  • the coffee latte art process is completely dependent on the movement of the robotic arm, and each pattern corresponds to a set of coffee cup trajectories and latte art tank trajectories, it is possible to keep the same motion trajectory of the robotic arm when making coffee with the same pattern, which is conducive to making Produce stable quality coffee.
  • the trajectory of the coffee cup and the trajectory of the vat can be obtained based on the movement trajectory of the left and right hands of an excellent barista, so that each cup of coffee produced can be compared to the coffee produced by an excellent barista. On the one hand, it can satisfy the public The demand for coffee quality.
  • Fig. 4 shows a coffee making system in one embodiment, comprising: a first mechanical arm 41 provided with a first mechanical arm end for loading coffee cups; The second mechanical arm 42, the end of the above-mentioned second mechanical arm is used to load the flower cylinder; the coffee machine 43 equipped with the coffee discharge function and the milk froth discharge function; and the first mechanical arm 41 and the second mechanical arm 42 respectively A coffee making device 44 communicatively connected to the coffee machine.
  • the coffee making device 44 is equipped with the function of carrying out the coffee making method described above.
  • the coffee making device 44 may include two host computers for separately controlling different mechanical arms.
  • the coffee making device 44 may also be a host computer integrated with corresponding control functions, which is not limited here.
  • the embodiment of the present application further provides a chip, including a processor, and the processor is used to read and execute the computer program stored in the memory, so as to realize the steps of the above coffee making method.
  • an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned coffee making method are implemented.
  • an embodiment of the present application further provides a computer product, the computer product stores computer instructions, and when the computer instructions are executed, the steps of the above coffee making method are implemented.
  • the disclosed devices and methods may be implemented in other ways.
  • the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present application realizes all or part of the processes in the methods of the above embodiments, which can also be completed by instructing related hardware through computer programs.
  • the computer programs can be stored in a computer-readable storage medium. When executed by a processor, the steps in the foregoing method embodiments can be realized.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
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Abstract

一种咖啡制作方法、设备及系统，其中咖啡制作方法包括：基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹；驱动第一机械臂末端移动至所述咖啡杯（23）轨迹的起始位置，第一机械臂末端用于装载咖啡杯（23）；驱动第二机械臂末端移动至所述拉花缸（24）轨迹的起始位置，第二机械臂末端用于装载拉花缸（24）；当第一机械臂末端到达咖啡杯（23）轨迹的起始位置，且第二机械臂末端到达拉花缸（24）轨迹的起始位置时，驱动第一机械臂末端以咖啡杯（23）轨迹运动，同时驱动第二机械臂末端以拉花缸（24）轨迹运动。

Description

咖啡制作方法、设备及系统
本申请要求于2021年11月30日提交国家知识产权局、申请号为202111454357.3、申请名称为“咖啡制作方法、设备及系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请属于咖啡制作技术领域，尤其涉及一种咖啡制作方法、设备及系统。
背景技术
咖啡拉花是指在咖啡(如卡布奇诺或拿铁)上混合牛奶，以做出叶子或其它图案的工艺。
随着该工艺长期的演化，咖啡拉花除了视觉上的丰富之外，在牛奶的口感与融合的方式与技术也在不断地改进，以达到色、香、味俱全的境界。
目前咖啡制作过程完全依赖于咖啡师，咖啡师状态的好坏直接影响当次所制作的咖啡的质量，因此，难以制作出质量稳定的咖啡。
发明内容
本申请实施例提供一种咖啡制作方法、设备及系统，有利于制作出质量稳定的咖啡。
本申请实施例第一方面提供一种咖啡制作方法，包括：
基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹，其中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹；
驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，所述第一机械臂末端用于装载咖啡杯；
驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置，所述第二机械臂末端用于装载拉花缸；
当所述第一机械臂末端到达所述咖啡杯轨迹的起始位置，且所述第二机械臂末端到达所述拉花缸轨迹的起始位置时，驱动所述第一机械臂末端以所述咖啡杯轨迹运动，同时驱动所述第二机械臂末端以所述拉花缸轨迹运动。
基于上述第一方面的实现方式，在本申请的第一种可能的实现方式中，所述驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，包括：
驱动所述第一机械臂末端移动至预设的装杯位置并装载咖啡杯；
在咖啡杯装载完成后，驱动所述第一机械臂末端移动至咖啡出料位置以盛装咖啡；
在咖啡盛装完成后，驱动所述第一机械臂末端从所述咖啡出料位置移动至所述咖啡杯轨迹的起始位置。
基于上述第一方面的第一种可能的实现方式，在本申请的第二种可能的实现方式中，所述驱动所述第一机械臂末端以所述咖啡杯轨迹运动，之后还包括：
驱动所述第一机械臂末端移动至预设的出品位置并卸载咖啡杯。
基于上述第一方面的第二种可能的实现方式，在本申请的第三种可能的实现方式中，所述驱动所述第一机械臂末端移动至预设的出品位置并卸载咖啡杯，之后还包括：
驱动所述第一机械臂末端返回至预设的第一初始位置。
基于上述第一方面，在本申请的第四种可能的实现方式中，所述驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置包括：
驱动所述第二机械臂末端移动至奶泡出料位置以盛装奶泡；
在奶泡盛装完成后，驱动所述第二机械臂末端移动至打圈位置，在所述打圈位置保持杯口向上并绕预设轴转动预设圈数；
在转动完所述预设圈数后，驱动所述第二机械臂末端移动至所述拉花缸轨迹的起始位置。
基于上述第一方面的第四种可能的实现方式，在本申请第五种可能的实现方式中，所述驱动所述第二机械臂末端以所述拉花缸轨迹运动，之后还包括：
驱动所述第二机械臂末端移动至洗杯位置以清洗所述咖啡缸；
在所述咖啡缸完成清洗后，驱动所述第二机械臂末端返回至预设的第二初始位置。
基于上述第一方面，或者上述第一方面的第一种可能的实现方式，或者上述第一方面的第二种可能的实现方式，或者上述第一方面的第三种可能的实现方式，或者上述第一方面的第四种可能的实现方式，或者上述第一方面的第五种可能的实现方式，在本申请的第六种可能的实现方式中，所述基于当次咖啡制作所需的花型，获取的咖啡杯轨迹和拉花缸轨迹为：
基于当次咖啡制作所需的花型，从拉花示教库中获取对应的咖啡杯轨迹和拉花缸轨迹；
其中，所述拉花示教库中存储的咖啡杯轨迹和拉花缸轨迹由咖啡师基于拉花示教系统示教得到，所述拉花示教系统包括：动作捕捉设备、与所述动作捕捉设备连接的上位机，以及分别设置有标识物的咖啡杯和拉花缸，所述标识物为可被所述动作捕捉设备捕捉的物体。
基于上述第一方面的第六种可能的实现方式，在本申请第七种可能的实现方式中，还包括：
基于输入的咖啡订单指令确定当次咖啡制作所需的花型。
基于上述第一方面的第七种可能的实现方式，在本申请第八种可能的实现方式中，还包括：
当接收到新的咖啡订单指令时，轮候所述新的咖啡订单指令；
所述基于输入的咖啡订单指令确定当次咖啡制作所需的花型，为：基于轮候在先的咖啡订单指令确定当次咖啡制作所需的花型。
本申请第二方面提供一种咖啡制作设备，包括：
获取模块，用于基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹，其中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹；
第一驱动模块，用于驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，所述第一机械臂末端用于装载咖啡杯；
第二驱动模块，用于驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置，所述第二机械臂末端用于装载拉花缸；
第三驱动模块，用于当所述第一机械臂末端到达所述咖啡杯轨迹的起始位置，且所述第二机械臂末端到达所述拉花缸轨迹的起始位置时，驱动所述第一机械臂末端以所述咖啡杯轨迹运动，同时驱动所述第二机械臂末端以所述拉花缸轨迹运动。
本申请第三方面提供一种咖啡制作设备，包括：存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现如上述第一方面或上述第一方面任一可能实现方式中记载的步骤。
本申请第四方面提供一种咖啡制作系统，包括：设有第一机械臂末端的第一机械臂，所述第一机械臂末端用于装载咖啡杯；设有第二机械臂末端的第二机械臂，所述第二机械臂末端用于装载拉花缸；配置有咖啡出料功能和奶泡出料功能的咖啡机；以及分别与所述第一机械臂，所述第二机械臂和所述咖啡机通讯连接的咖啡制作设备；
所述咖啡制作设备配置有执行如上述第一方面或上述第一方面任一可能实现方式中记载的步骤。
本申请实施例第五方面提供一种芯片，包括处理器，所述处理器用于读取并执行存储器中存储的计算机程序，以实现上述第一方面和/或上述第一方面中记载的步骤。
由上可见，本申请针对当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹并分别驱动第一机械臂末端和第二机械臂末端移动，当第一机械臂末端到达咖啡杯轨迹的起始位置，且第二机械臂末端到达拉花缸轨迹的起始位置时，驱动第一机械臂末端以该咖啡杯轨迹运动，同时驱动第二机械臂末端以该拉花缸轨迹运动。由于咖啡拉花过程完全依赖于机械臂的运动，而每种花型对应一组咖啡杯轨迹和拉花缸轨迹，故在制作同一花型的咖啡时可保持机械臂的运动轨迹一致，有利于制作出质量稳定的咖啡。
附图说明
为了更清楚地说明本申请实施例的方法方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本申请实施例提供的一种咖啡制作方法流程示意图；
图2a是本申请实施例提供的拉花示教系统中动作捕捉设备和上位机的结构示意图；
图2b是本申请实施例提供的拉花示教系统中咖啡杯的结构示意图；
图2c是本申请实施例提供的拉花示教系统中拉花缸的结构示意图；
图3是本申请实施例提供的咖啡制作设备结构示意图；
图4是本申请实施例提供的咖啡制作系统结构示意图。
具体实施方式
为了使本申请的目的、方法方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本 申请，并不用于限定本申请。
另外，在本申请实施例的描述中，除非另有说明，“多个”是指两个或多于两个(即两个以上)，“至少一个”、“一个或多个”是指一个、两个或两个以上。
在本说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其它方式另外特别强调。
在描述本申请之前，先对本申请发明人的创造思路进行说明：虽然相关技术中可以利用喷头在静置的咖啡上进行画图以模拟咖啡师拉出的花型，但是发明人研究发现，在原料相同的前提下，咖啡质量主要取决于咖啡师拉花时双手动作的协调，利用喷头在静置的咖啡上进行画图的方式，虽然形似但神不似，所制作出的咖啡的口感难以媲美咖啡师手工制作出的咖啡。因此，发明人想到，由双机械臂模拟咖啡师拉花时左右手的运动轨迹(即本申请实施例中咖啡杯轨迹和拉花缸轨迹)，以此实现对咖啡师拉花的复刻，从而减少咖啡制作中的人为因素影响，有利于制作出质量稳定的咖啡。
下面对本申请实施例所提供的技术方案进行说明，首先，如图1所示，本申请实施例提供的咖啡制作方法，包括：
步骤101、基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹；
本申请实施例中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹，在实际应用中，咖啡杯轨迹对应于咖啡师拉花时拿咖啡杯那只手的运动轨迹，拉花缸轨迹对应于咖啡师拉花时拿拉花缸那只手的运动轨迹。
可选的，步骤101具体表现为：基于当次咖啡制作所需的花型，从拉花示教库中获取对应的咖啡杯轨迹和拉花缸轨迹。上述拉花示教库中存储的咖啡杯轨迹和拉花缸轨迹由咖啡师基于拉花示教系统示教得到。如图2a、图2b和图2c所示，上述拉花示教系统包括：动作捕捉设备21、与动作捕捉设备21连接的上位机22，以及分别设置有标识物的咖啡杯23和拉花缸24。其中，上述标识物为可被动作捕捉设备21捕捉的物体。
具体的，动作捕捉设备21可以包含至少两个以上红外摄像头，相应的，上述标识物可以为红外反光标记球(即表面涂覆有红外反光材料的球体)，动作捕捉设备21基于红外反光原理进行动作捕捉。作为一种实施方式，如图2b所示，可以在咖啡杯23上设置有4个标记球231，其中，每三个标记球不共线，每四个标记球不共面。拉花缸上标记球的设置方式可以采用与咖啡杯23类似的方式。下面基于该实施方式对基于该拉花示教系统生成咖啡杯轨迹和拉花缸轨迹的过程进行说明：
1)将动作捕捉设备固定设置在某一位置，以确保在咖啡师利用咖啡杯23和拉花缸24进行拉花的过程中，咖啡杯23和拉花缸24均暴露在动作捕捉设备的视野下。
2)基于咖啡杯23的工具标定：在动作捕捉设备的视野下，将设有红外反光标记球的咖啡杯绕着刚体标记点进行旋转(如图2b所示，刚体标记点可以是设置于咖啡杯底部的尖端232)，动作捕捉设备采集不同姿态下的咖啡杯上各个红外反光标记球位置，以此建立一个位于咖啡杯的工具坐标系，用以描述咖啡杯的刚体标记点在动作捕捉设备的图像坐标系中的位置和姿态。
3)基于拉花缸24的工具标定：在动作捕捉设备的视野下，将设有红外反光标记球的拉花缸绕着刚体标记点进行旋转(刚体标记点的设置方式可以同咖啡杯)，动作捕捉设备采集不同姿态下的拉花缸上各个红外反光标记球位置，以此建立一个位于拉花缸的工具坐标系，用以描述拉花缸的刚体标记点在动作捕捉设备的基坐标系中的位置和姿态。
4)由咖啡师手持装有咖啡的咖啡杯23和装有奶泡的拉花缸24，在动作捕捉设备下进行某种花型的拉花示教(示教过程中尽量避免杯上的红外反光标记球被遮挡)，上位机通过动作捕捉设备以相同的采集周期(比如8ms)同步采集对应于该花型的咖啡杯点位数据和拉花缸点位数据，之后分别对咖啡杯点位数据和拉花缸点位数据进行滤波、拟合处理，并将处理后的轨迹转换到机械臂基坐标系下，得到对应于该花型的咖啡杯轨迹和拉花缸轨迹，存入拉花示教库中。
如4)中描述，经过滤波、拟合处理后的轨迹是需要转换到对应机械臂坐标系下，才可得到对应于该花型的咖啡杯轨迹和拉花缸轨迹。因为，动作捕捉设备获得的咖啡杯点位数据和拉花缸点位数据是基于动作捕捉设备的图像坐标系建立，而机械臂拉花时的运动轨迹是基于机械臂的基坐标系建立，因此需要预先获得动作捕捉设备与对应机械臂之间的坐标转换关系。这个坐标转换关系可以是预先标定的，并且在后续的咖啡拉花示教过程和咖啡制作过程中，咖啡杯在第一机械臂末端的位置、拉花缸在第二机械臂末端的位置也固定不变，且，咖啡杯、拉花缸的尺寸均保持不变。具体标定方法包括机械臂的工具标定和手眼标定，以下分别进行说明：
关于机械臂的工具标定：由于机械臂默认的工具坐标系位于机械臂的末端法兰中心，该工具标定即重新建立一个位于机械臂末端的工具坐标系，用以描述机械臂末端在机械臂的基坐标系(即以机械臂的底座中心为坐标原点，或由用户通过三点示教法自行设置)中各个点的位置和姿态。具体可以采用TCP标定法、四点标定法或六点标定法来进行该工具标定。例如，控制第一机械臂末端上装载咖啡杯23并以至少三个不同的姿态移动到空间某一固定参考点，然后利用第一机械臂的关节转角及第一机械臂的结构信息去计算TCP坐标，同理，控制第二机械臂末端上装载拉花缸24并以至少三个不同的姿态移动到空间某一固定参考点，然后利用第二机械臂的关节转角及第二机械臂的结构信息去计算TCP坐标。具体可以参考参阅现有技术中相关的工具标定方法，在此不多赘述。
关于机械臂的手眼标定：
首先，采用三点示教法对动作捕捉设备的图像坐标系与机械臂的基坐标系进行方向一致标定，以对第一机械臂为例进行说明(第二机械臂的标定过程可参照第一机械臂的描述)：将咖啡杯23固定到第一机械臂末端，令咖啡杯23的刚体标记点(如图2b所示的尖端232)随第一机械臂移动至空间中的任意一点作为用户坐标系原点(以下称之为第一示教点)，然后驱动第一机械臂沿机械臂的基坐标系的X轴(或Y/Z轴)平移至第二示教点，再驱动第一机械臂沿Y轴或Z轴移动至第三示教点，最后以这三个示教点作为基准将动作捕捉设备的基坐标系转换为XYZ三轴与第一机械臂的基坐标系的XYZ三轴分别平行的用户坐标系，可求得动作捕捉设备的基坐标系与用户坐标系之间的姿态变换矩阵RM，也称为旋转变换矩阵，以此可计算出经工具标定后的 第一机械臂末端在用户坐标系下的位置与姿态，具体可参阅现有技术中的三点示教法，本实施例不做赘述。
其次，基于对点法确定动作捕捉设备与机械臂的坐标转换关系。以对第一机械臂为例进行说明(第二机械臂可参照第一机械臂的描述)：将咖啡杯23固定到第一机械臂末端，令咖啡杯23的刚体标记点对准动作捕捉设备视野下的一个预设点，记录该点在用户坐标系中的坐标(X cam，Y cam，Z cam)和第一机械臂的基坐标系中的坐标(X rob，Y rob，Z rob)；再重复此动作针对不同的预设点获取对应的坐标，通过至少取13个以上不同预设点的坐标数据，通过现有的算法如estimateAffine3D来计算，最后得到如下关系式：
Figure PCTCN2021138891-appb-000001
其中RT为用户坐标系中的坐标(X cam，Y cam，Z cam)和第一机械臂的基坐标系中的坐标(X rob，Y rob，Z rob)之间的平移变换矩阵，以上姿态变换矩阵RM和平移变换矩阵RT即动作捕捉设备的图像坐标系与第一机械臂的基坐标系的坐标转换关系，基于该坐标转换关系可以将咖啡杯在动作捕捉设备的基坐标系下的点位(坐标和姿态)转换为第一机械臂的基坐标系下的点位。
需要说明的是，在其它实施例中，可以通过其它标定方式进行坐标转换，上述实施例中提供的坐标转换关系仅是示例性的，并不构成对本方案的限制。此外，步骤101也可以采用其它方式获取对应的咖啡杯轨迹和拉花缸轨迹，例如，可以预先构建神经网络模型，通过采集数位咖啡师针对同一花型进行拉花时的咖啡杯轨迹和拉花缸轨迹作为样本数据，对该神经网络模型进行训练，得到训练后的神经网络模型。在步骤101中，将当次咖啡制作所需的花型输入上述神经网络模型，得到对应的咖啡杯轨迹和拉花缸轨迹。
步骤102、驱动第一机械臂末端移动至上述咖啡杯轨迹的起始位置；
本申请实施例中，上述第一机械臂末端用于装载咖啡杯，在实际应用中，上述第一机械臂末端可以为夹爪，以便抓取咖啡杯。对于咖啡杯的装载，可以采用自动装载的方式，如：每次制作咖啡时，驱动第一机械臂末端移动到预设的装杯位置并自动装载空的咖啡杯；或者也可以采用手动装载的方式，如每次制作咖啡时，由工作人员将空的咖啡杯装载在第一机械臂末端，此处不做限定。
相应的，盛装咖啡的过程可以采用自动盛装的方式，如：在咖啡杯装载完成后，驱动第一机械臂末端移动至咖啡出料位置，同时启动对应咖啡机进行咖啡出料；或者也可以采用手动盛装的方式，如每次制作咖啡时，由工作人员将咖啡倒入该咖啡杯中，此处不做限定。
在全自动咖啡制作的场景下，步骤102包括：驱动上述第一机械臂末端移动至预设的装杯位置并装载咖啡杯；在咖啡杯装载完成后，驱动上述第一机械臂末端移动至咖啡出料位置以盛装咖啡；在咖啡盛装完成后，驱动上述第一机械臂末端从上述咖啡出料位置移动至上述咖啡杯轨迹的起始位置。进一步，上述装杯位置处设置有由下往 上输送空咖啡杯的出杯结构，为避免第一机械臂一次抓取多个空机械臂，该出杯结构还设置有限位机构，当该限位机构被触发时，只有位于出杯结构最上面的空咖啡杯可被抓取，在此应用场景下，上述咖啡制作方法还包括：当检测到上述第一机械臂末端到达上述装杯位置时，触发上述限位机构，并在上述第一机械臂末端完成咖啡杯的装载后，复位上述限位机构。进一步，上述咖啡出料位置对应设置于咖啡机的咖啡出料口处，上述咖啡制作方法还包括：当检测到上述第一机械臂末端到达上述装杯位置时，控制对应咖啡机进行预设容量的咖啡出料。
步骤103、驱动第二机械臂末端移动至上述拉花缸轨迹的起始位置；
本申请实施例中，上述第二机械臂末端用于装载拉花缸，在实际应用中，上述拉花缸固定装载在上述第二机械臂末端，需要说明的是，在采用动作捕捉设备获取拉花缸轨迹的场景下，拉花缸固定于第二机械臂末端的位置与标定阶段所固定的位置一致。
盛装奶泡的过程可以采用自动盛装的方式，如：驱动第二机械臂末端移动至预设的奶泡出料位置，同时启动对应咖啡机进行奶泡出料；或者也可以采用手动盛装的方式，如每次制作咖啡时，由工作人员将奶泡倒入该拉花缸中，此处不做限定。
在全自动咖啡制作的场景下，步骤103包括：驱动上述第二机械臂末端移动至奶泡出料位置以盛装奶泡；在奶泡盛装完成后，驱动上述第二机械臂末端移动至打圈位置，在上述打圈位置保持杯口向上并绕预设轴转动预设圈数；在转动完上述预设圈数后，驱动上述第二机械臂末端移动至上述拉花缸轨迹的起始位置。进一步，上述奶泡出料位置对应设置于咖啡机的奶泡出料口处，上述咖啡制作方法还包括：当检测到上述第二机械臂末端到达上述奶泡出料位置时，控制对应咖啡机进行预设容量的奶泡出料。
步骤104、当上述第一机械臂末端到达上述咖啡杯轨迹的起始位置，且上述第二机械臂末端到达上述拉花缸轨迹的起始位置时，驱动上述第一机械臂末端以上述咖啡杯轨迹运动，同时驱动上述第二机械臂末端以上述拉花缸轨迹运动；
本申请实施例中，上述第一机械臂和上述第二机械臂的拉花需同步，以准确模拟咖啡师实际的拉花过程，故在步骤104中，在上述第一机械臂末端到达上述咖啡杯轨迹的起始位置，且上述第二机械臂末端到达上述拉花缸轨迹的起始位置时，方驱动上述第一机械臂末端和上述第二机械臂末端开始拉花，即驱动上述第一机械臂末端以上述咖啡杯轨迹运动，同时驱动上述第二机械臂末端以上述拉花缸轨迹运动。本申请实施例中,动作捕捉设备是按照相同的采集周期同步采集示教咖啡杯和示教拉花缸的点位数据，因此，上述咖啡杯轨迹和上述拉花缸轨迹上的各个点实际上是有关联的时序关系的，基于前述对第一机械臂和第二机械臂的控制，可以确保当第一机械臂移动到咖啡杯轨迹的一点(如a1’)时，第二机械臂同步移动到示教拉花轨迹的对应点(如b1’，b1’与a1’分别由同一时间采集到的咖啡杯和拉花缸的点位数据转换得到)，从而使得复现结果更为贴近咖啡师的示教结果。
当第一机械臂末端执行完上述咖啡杯轨迹，且上述第二机械臂执行完上述拉花缸轨迹后，即结束咖啡拉花的过程，而咖啡制作的过程也随之完成。为方便工作人员或消费者取走咖啡，可选的，上述驱动上述第一机械臂末端以上述咖啡杯轨迹运动，之 后还包括：驱动上述第一机械臂末端移动至预设的出品位置并卸载咖啡杯。进一步，还可以驱动上述第一机械臂末端返回至预设的第一初始位置，以确保每次咖啡制作时上述第一机械臂末端均是从上述第一初始位置起动，便于提高系统的稳定性和可靠性。
可选的，本申请实施例还提供咖啡缸自动清洗的方案，上述驱动上述第二机械臂末端以上述拉花缸轨迹运动，之后还包括：驱动上述第二机械臂末端移动至洗杯位置以清洗上述咖啡缸，进一步，还可以在上述咖啡缸完成清洗后，驱动上述第二机械臂末端返回至预设的第二初始位置，以确保每次咖啡制作时上述第二机械臂末端均是从上述第二初始位置起动，便于提高系统的稳定性和可靠性。
本申请实施例中，可以为用户提供咖啡自助下单的交互设备或用于访问咖啡下单系统的二维码，以便用户通过该交互设备或扫描该二维码的方式自助下单。用户下单后将产生并输入相应的咖啡订单指令，本申请实施例中的咖啡制作方法还包括：基于输入的咖啡订单指令确定当次咖啡制作所需的花型。进一步，上述咖啡制作方法，还包括：当接收到新的咖啡订单指令时，轮候上述新的咖啡订单指令；上述基于输入的咖啡订单指令确定当次咖啡制作所需的花型，为：基于轮候在先的咖啡订单指令确定当次咖啡制作所需的花型。
由上可见，本申请实施例中针对当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹并分别驱动第一机械臂末端和第二机械臂末端移动，当第一机械臂末端到达咖啡杯轨迹的起始位置，且第二机械臂末端到达拉花缸轨迹的起始位置时，驱动第一机械臂末端以该咖啡杯轨迹运动，同时驱动第二机械臂末端以该拉花缸轨迹运动。由于咖啡拉花过程完全依赖于机械臂的运动，而每种花型对应一组咖啡杯轨迹和拉花缸轨迹，故在制作同一花型的咖啡时可保持机械臂的运动轨迹一致，有利于制作出质量稳定的咖啡。在实际应用中，咖啡杯轨迹和拉花缸轨迹可以基于优秀咖啡师拉花时左右手的运动轨迹得到，从而使得每一杯制作出的咖啡都可以媲美优秀咖啡师制作出的咖啡，一方面满足大众对咖啡品质的需求，另一方面由于优秀咖啡师需要经过长期的培训，数量很少，长期聘请优秀咖啡师的成本非常高，通过本方案可采用机械臂替代优秀咖啡师的拉花工作，有效节约咖啡厅的运营成本。
本申请实施例还提供一种咖啡制作设备，如图3所示，该咖啡制作设备包括：
获取模块301，用于基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹，其中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹；
第一驱动模块302，用于驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，上述第一机械臂末端用于装载咖啡杯；
第二驱动模块303，用于驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置，上述第二机械臂末端用于装载拉花缸；
第三驱动模块304，用于当上述第一机械臂末端到达上述咖啡杯轨迹的起始位置，且上述第二机械臂末端到达上述拉花缸轨迹的起始位置时，驱动上述第一机械臂末端以上述咖啡杯轨迹运动，同时驱动上述第二机械臂末端以上述拉花缸轨迹运动。
可选的，第一驱动模块302具体用于：驱动上述第一机械臂末端移动至预设的装 杯位置并装载咖啡杯；在咖啡杯装载完成后，驱动上述第一机械臂末端移动至咖啡出料位置以盛装咖啡；在咖啡盛装完成后，驱动上述第一机械臂末端从上述咖啡出料位置移动至上述咖啡杯轨迹的起始位置。进一步，第一驱动模块302还用于：在上述第一机械臂末端执行完上述咖啡杯轨迹运动之后，驱动上述第一机械臂末端移动至预设的出品位置并卸载咖啡杯。进一步，第一驱动模块302还用于：在卸载咖啡杯之后，驱动上述第一机械臂末端返回至预设的第一初始位置。
可选的，第二驱动模块303具体用于驱动上述第二机械臂末端移动至奶泡出料位置以盛装奶泡；在奶泡盛装完成后，驱动上述第二机械臂末端移动至打圈位置，在上述打圈位置保持杯口向上并绕预设轴转动预设圈数；在转动完上述预设圈数后，驱动上述第二机械臂末端移动至上述拉花缸轨迹的起始位置。进一步，第二驱动模块303还用于：在上述第二机械臂末端执行完上述拉花缸轨迹运动之后，驱动上述第二机械臂末端移动至洗杯位置以清洗上述咖啡缸；在上述咖啡缸完成清洗后，驱动上述第二机械臂末端返回至预设的第二初始位置。
可选的，获取模块301具体用于基于当次咖啡制作所需的花型，从拉花示教库中获取对应的咖啡杯轨迹和拉花缸轨迹。其中，上述拉花示教库中存储的咖啡杯轨迹和拉花缸轨迹由咖啡师基于拉花示教系统示教得到，上述拉花示教系统包括：动作捕捉设备、与上述动作捕捉设备连接的上位机，以及分别设置有标识物的咖啡杯和拉花缸，上述标识物为可被所述动作捕捉设备捕捉的物体。
可选的，本申请实施例中的咖啡制作设备还包括：确认模块，用于基于输入的咖啡订单指令确定当次咖啡制作所需的花型。进一步，上述咖啡制作设备还可包括：轮候模块，用于当接收到新的咖啡订单指令时，轮候上述新的咖啡订单指令；在此场景下，上述确认模块具体用于：基于轮候在先的咖啡订单指令确定当次咖啡制作所需的花型。
由上可见，本申请实施例中针对当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹并分别驱动第一机械臂末端和第二机械臂末端移动，当第一机械臂末端到达咖啡杯轨迹的起始位置，且第二机械臂末端到达拉花缸轨迹的起始位置时，驱动第一机械臂末端以该咖啡杯轨迹运动，同时驱动第二机械臂末端以该拉花缸轨迹运动。由于咖啡拉花过程完全依赖于机械臂的运动，而每种花型对应一组咖啡杯轨迹和拉花缸轨迹，故在制作同一花型的咖啡时可保持机械臂的运动轨迹一致，有利于制作出质量稳定的咖啡。在实际应用中，咖啡杯轨迹和拉花缸轨迹可以基于优秀咖啡师拉花时左右手的运动轨迹得到，从而使得每一杯制作出的咖啡都可以媲美优秀咖啡师制作出的咖啡，一方面满足大众对咖啡品质的需求，另一方面由于优秀咖啡师需要经过长期的培训，数量很少，长期聘请优秀咖啡师的成本非常高，通过本方案可采用机械臂替代优秀咖啡师的拉花工作，有效节约咖啡厅的运营成本。
图4示出了一个实施例中的咖啡制作系统，包括：设有第一机械臂末端的第一机械臂41，上述第一机械臂末端用于装载咖啡杯；设有第二机械臂末端的第二机械臂42，上述第二机械臂末端用于装载拉花缸；配置有咖啡出料功能和奶泡出料功能的咖啡机43；以及分别与第一机械臂41，第二机械臂42和咖啡机通讯连接的咖啡制作设 备44。咖啡制作设备44配置有执行上述咖啡制作方法的功能。
在实际应用中，咖啡制作设备44可以包括两台上位机，用于分别控制不同的机械臂，当然，咖啡制作设备44也可以是集成相应控制功能的一台上位机，此处不做限定。
示例性的，本申请实施例还提供一种芯片，包括处理器，处理器用于读取并执行存储器中存储的计算机程序，以实现上述咖啡制作方法的步骤。
示例性的，本申请实施例还提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序被处理器执行时实现上述咖啡制作方法的步骤。
示例性的，本申请实施例还提供了一种计算机产品，该计算机产品存储有计算机指令，当计算机指令被执行时，实现上述咖啡制作方法的步骤。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其它实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于方法方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。另外，集成的模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实现上述实施例方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，计算机程序包括计算机程序代码，计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。计算机可读介质可以包括：能够携带计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、电载波信号、电信信号以及软件分发介质等。需要说明的是，计算机可读介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读介质不包括电载波信号和电信信号。
以上实施例仅用以说明本申请的系统和方法，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的方法方案进行修改，或者对其中部分方法特征进行等同替换；而这些修改或者替换，并不使相应方法方案的本质脱离本申请各实施例方法方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (12)

  1. 一种咖啡制作方法，其特征在于，包括：
    基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹，其中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹；
    驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，所述第一机械臂末端用于装载咖啡杯；
    驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置，所述第二机械臂末端用于装载拉花缸；
    当所述第一机械臂末端到达所述咖啡杯轨迹的起始位置，且所述第二机械臂末端到达所述拉花缸轨迹的起始位置时，驱动所述第一机械臂末端以所述咖啡杯轨迹运动，同时驱动所述第二机械臂末端以所述拉花缸轨迹运动。
  2. 根据权利要求1所述的咖啡制作方法，其特征在于，所述驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，包括：
    驱动所述第一机械臂末端移动至预设的装杯位置并装载咖啡杯；
    在咖啡杯装载完成后，驱动所述第一机械臂末端移动至咖啡出料位置以盛装咖啡；
    在咖啡盛装完成后，驱动所述第一机械臂末端从所述咖啡出料位置移动至所述咖啡杯轨迹的起始位置。
  3. 根据权利要求2所述的咖啡制作方法，其特征在于，所述驱动所述第一机械臂末端以所述咖啡杯轨迹运动，之后还包括：
    驱动所述第一机械臂末端移动至预设的出品位置并卸载咖啡杯。
  4. 根据权利要求3所述的咖啡制作方法，其特征在于，所述驱动所述第一机械臂末端移动至预设的出品位置并卸载咖啡杯，之后还包括：
    驱动所述第一机械臂末端返回至预设的第一初始位置。
  5. 根据权利要求1所述的咖啡制作方法，其特征在于，所述驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置包括：
    驱动所述第二机械臂末端移动至奶泡出料位置以盛装奶泡；
    在奶泡盛装完成后，驱动所述第二机械臂末端移动至打圈位置，在所述打圈位置保持杯口向上并绕预设轴转动预设圈数；
    在转动完所述预设圈数后，驱动所述第二机械臂末端移动至所述拉花缸轨迹的起始位置。
  6. 根据权利要求5所述的咖啡制作方法，其特征在于，所述驱动所述第二机械臂末端以所述拉花缸轨迹运动，之后还包括：
    驱动所述第二机械臂末端移动至洗杯位置以清洗所述咖啡缸；
    在所述咖啡缸完成清洗后，驱动所述第二机械臂末端返回至预设的第二初始位置。
  7. 根据权利要求1至6任一项所述的咖啡制作方法，其特征在于，所述基于当次咖啡制作所需的花型，获取的咖啡杯轨迹和拉花缸轨迹为：
    基于当次咖啡制作所需的花型，从拉花示教库中获取对应的咖啡杯轨迹和拉花缸轨迹；
    其中，所述拉花示教库中存储的咖啡杯轨迹和拉花缸轨迹由咖啡师基于拉花示教系统示教得到，所述拉花示教系统包括：动作捕捉设备、与所述动作捕捉设备连接的上位机，以及分别设置有标识物的咖啡杯和拉花缸，所述标识物为可被所述动作捕捉设备捕捉的物体。
  8. 根据权利要求7所述的咖啡制作方法，其特征在于，还包括：
    基于输入的咖啡订单指令确定当次咖啡制作所需的花型。
  9. 根据权利要求8所述的咖啡制作方法，其特征在于，还包括：
    当接收到新的咖啡订单指令时，轮候所述新的咖啡订单指令；
    所述基于输入的咖啡订单指令确定当次咖啡制作所需的花型，为：基于轮候在先的咖啡订单指令确定当次咖啡制作所需的花型。
  10. 一种咖啡制作设备，其特征在于，包括：
    获取模块，用于基于当次咖啡制作所需的花型，获取对应的咖啡杯轨迹和拉花缸轨迹，其中，每种花型对应一组咖啡杯轨迹和拉花缸轨迹；
    第一驱动模块，用于驱动第一机械臂末端移动至所述咖啡杯轨迹的起始位置，所述第一机械臂末端用于装载咖啡杯；
    第二驱动模块，用于驱动第二机械臂末端移动至所述拉花缸轨迹的起始位置，所述第二机械臂末端用于装载拉花缸；
    第三驱动模块，用于当所述第一机械臂末端到达所述咖啡杯轨迹的起始位置，且所述第二机械臂末端到达所述拉花缸轨迹的起始位置时，驱动所述第一机械臂末端以所述咖啡杯轨迹运动，同时驱动所述第二机械臂末端以所述拉花缸轨迹运动。
  11. 一种咖啡制作设备，其特征在于，包括：存储器、处理器以及存储在所述存储器中并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现如权利要求1-9中任意一项所述方法的步骤。
  12. 一种咖啡制作系统，其特征在于，包括：
    设有第一机械臂末端的第一机械臂，所述第一机械臂末端用于装载咖啡杯；
    设有第二机械臂末端的第二机械臂，所述第二机械臂末端用于装载拉花缸；
    配置有咖啡出料功能和奶泡出料功能的咖啡机；
    以及分别与所述第一机械臂，所述第二机械臂和所述咖啡机通讯连接的咖啡制作设备；
    所述咖啡制作设备配置有执行如权利要求1-9中任意一项所述方法的功能。
PCT/CN2021/138891 2021-11-30 2021-12-16 咖啡制作方法、设备及系统 WO2023097797A1 (zh)

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