CN114299662A - Working method and system of mobile coffee machine - Google Patents
Working method and system of mobile coffee machine Download PDFInfo
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- CN114299662A CN114299662A CN202111630666.1A CN202111630666A CN114299662A CN 114299662 A CN114299662 A CN 114299662A CN 202111630666 A CN202111630666 A CN 202111630666A CN 114299662 A CN114299662 A CN 114299662A
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Abstract
The application relates to a working method and a system of a mobile coffee machine, wherein the method comprises the following steps: acquiring shopping information; acquiring purchase capacity and generating a control instruction based on the shopping information; controlling a mechanical arm to grab the coffee cup provided by the cup machine based on the control instruction; acquiring the coffee capacity in the coffee machine; judging whether the coffee capacity is larger than the purchase capacity; if not, generating a coffee making command to control the coffee machine to make coffee; if yes, generating an access instruction; controlling the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine based on the receiving instruction; judging whether the coffee in the coffee cup is completely received or not; if so, acquiring a meal delivery instruction; controlling the mechanical arm to move the coffee cup to a dining table based on the meal-taking instruction; acquiring a door opening instruction; and controlling the food preparation window to be opened based on the door opening instruction. The coffee machine has the advantages that the possibility that other substances are added into the coffee machine maliciously is reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as far as possible.
Description
Technical Field
The application relates to the technical field of beverage equipment, in particular to a working method and a working system of a mobile coffee machine.
Background
The coffee machine is an automatic machine integrating coffee brewing processes of grinding, pressing, filling, brewing, removing residues and the like. The coffee machine can effectively reduce manpower and time consumption, and people who need to save time in fast-paced life are the preferred choice for drinking coffee.
In order to meet the requirement of convenient movement, the mobile coffee machine is taken as usual, after a customer selects required coffee, the relevant personnel take coffee cups from the cup machine, place the coffee cups at the coffee machine to take coffee, then place the coffee on a dining table, and then take the coffee by the customer. But in this way it requires a certain expenditure of manpower.
Therefore, in order to reduce the manpower consumption, self-service coffee machines are available, which bring convenience to people who go out and have certain problems. For example, self-service coffee machines are generally used in open environments, corresponding devices are also exposed to the outside, and people with poor mind can add unhealthy substances into the devices, which easily causes certain safety hazards to customers who drink coffee and affects the physical health of the customers.
Disclosure of Invention
In order to reduce the possibility that other substances are maliciously added into the coffee equipment, reduce the probability of potential safety hazards and ensure the physical health of customers as much as possible, the application provides a working method and a working system of a mobile coffee machine.
In a first aspect, the present application provides a working method of a mobile coffee machine, which adopts the following technical scheme:
a method of operating a mobile coffee machine, comprising:
acquiring shopping information;
acquiring a purchase capacity based on the shopping information;
generating a control instruction based on the shopping information;
controlling a mechanical arm to grab the coffee cup based on the control instruction;
acquiring the coffee capacity in the coffee machine;
determining whether the coffee capacity is greater than the purchase capacity;
if not, generating a coffee making command to control the coffee machine to make coffee;
if yes, generating an access instruction;
controlling the mechanical arm to move the coffee cup below an outlet of the coffee machine based on the access instruction;
judging whether the coffee in the coffee cup is completely received or not;
if so, acquiring a meal delivery instruction;
controlling the mechanical arm to move the coffee cup to a dining table based on the meal delivery instruction;
acquiring a door opening instruction;
and controlling the food preparation window to be opened based on the door opening instruction.
By adopting the technical scheme, the shopping information input by a customer is firstly acquired, then the purchasing capacity of coffee is acquired according to the shopping information, and a control instruction is generated according to the shopping information so as to control the mechanical arm to grab the coffee cups provided by the cup sub-machine. The coffee capacity in the coffee maker is then obtained and it is determined whether the coffee capacity is greater than the purchase capacity, i.e. whether the coffee in the coffee maker is sufficient. If so, an access command is generated to control the robotic arm to move the coffee cup below the outlet of the coffee maker, at which time the coffee maker infuses coffee into the coffee cup. And then judging whether the coffee in the coffee cup is completely received or not, if so, obtaining a meal taking instruction, and controlling the mechanical arm to move the coffee cup to a meal taking table according to the meal taking instruction. And finally, acquiring a door opening instruction to control the meal taking window to be opened, so that the purchaser can take coffee from the meal taking window. By the method, the mechanical arm is used for moving the coffee, so that the possibility that other substances are maliciously added into the coffee in the making process can be reduced, the probability of potential safety hazards is reduced, and the physical health of a customer is guaranteed as much as possible.
Preferably, before controlling the mechanical arm to move the coffee cup below the outlet of the coffee maker based on the access instruction, the method further comprises:
judging whether the coffee cup needs to be iced or not based on the shopping information;
if yes, a moving instruction is obtained;
controlling the mechanical arm to move the coffee cup below an outlet of an ice maker based on the movement instruction;
acquiring an ice adding instruction;
controlling the ice maker to add ice cubes into the coffee cup based on the ice adding instruction.
By adopting the technical scheme, whether ice needs to be added in the coffee is judged according to the shopping information, if so, a moving instruction is generated to control the mechanical arm to move the coffee cup to the position below the outlet of the ice maker, and then the ice adding instruction is obtained to control the ice maker to add ice blocks into the coffee cup. Therefore, whether coffee is iced or not is selected according to different requirements of customers, and different requirements of the customers are met.
Preferably, before acquiring the instruction of adding ice, the method further includes:
acquiring the ice adding amount based on the shopping information;
acquiring the ice content in the ice maker;
judging whether the ice adding amount is larger than the ice content;
if yes, acquiring an ice making instruction to control the ice maker to make ice;
if not, the next step is carried out.
By adopting the technical scheme, whether the ice in the ice machine is enough or not is judged according to the ice adding amount and the ice containing amount, and if the ice adding amount and the ice containing amount are not enough, the ice making instruction is obtained to control the ice machine to make ice, so that the ice machine can make ice automatically according to the actual condition, and the convenience of operation is improved. And if the quantity of the ice is enough, the ice adding instruction is obtained, and the ice blocks are added into the coffee cup, so that the operation is convenient.
Preferably, before controlling the mechanical arm to move the coffee cup to the dining table based on the meal delivery instruction, the method further comprises:
acquiring a preset meal taking position of the meal taking table;
acquiring image information of the dining table;
judging whether the coffee cup exists at the preset meal taking position or not based on the image information;
if yes, acquiring other meal taking positions of the meal taking table as new preset meal taking positions;
if not, the next step is carried out.
By adopting the technical scheme, whether the coffee cup exists in the preset meal taking position or not is judged according to the image information, and if not, the coffee cup is normally placed. If the coffee cup has the collision possibility, the other meal taking positions are obtained to serve as new preset meal taking positions, so that the collision possibility among the coffee cups can be reduced as far as possible, and the meal taking effect of the coffee is guaranteed.
Preferably, if not, after generating a coffee making command to control the coffee machine to make coffee, the method further comprises:
obtaining a volume difference based on the coffee volume and the purchase volume;
acquiring the making speed of the coffee machine for making coffee;
and acquiring and outputting the manufacturing time based on the capacity difference and the manufacturing speed.
By adopting the technical scheme, the manufacturing time is acquired and output according to the acquired capacity difference and the manufacturing speed, so that the customer can be reminded conveniently, and the time can be reasonably arranged by the customer.
Preferably, before acquiring the door opening instruction, the method further includes:
obtaining meal taking time based on the shopping information;
acquiring current time;
judging whether the current time is less than the meal taking time or not;
if yes, acquiring a heating instruction;
controlling a heater positioned below the meal taking table to heat the coffee cup based on the heating instruction;
if not, the next step is carried out.
By adopting the technical scheme, whether the meal taking window is opened or not is judged by judging the meal taking time and the current time. When the current time is less than the meal taking time, the heating instruction is obtained, and then the heater is controlled to heat the coffee cup, so that the coffee can be at a certain temperature, and the taste of the coffee is guaranteed as far as possible. And if the current time is greater than the meal taking time, the door opening instruction is obtained to control the meal taking window to be opened, so that the customer can take the meal conveniently.
Preferably, before controlling the mechanical arm to grab the coffee cup based on the control command, the method further comprises:
obtaining the type of the coffee cup in the cup machine;
acquiring a cup selection instruction based on the purchase capacity;
controlling the cup selecting machine to provide the coffee cups of the corresponding types based on the cup selecting instructions.
By adopting the technical scheme, the type of the coffee cup is selected through the cup selecting instruction, so that the coffee cups with different sizes can be selected according to the requirements of customers, and the using rationality of the coffee cup can be improved.
Preferably, the controlling of opening the food preparation window based on the door opening instruction includes the following steps:
obtaining a current weight of the coffee cup;
judging whether the current weight is greater than a weight threshold value;
if yes, controlling the meal taking window to be opened;
if not, controlling the closing of the meal taking window.
By adopting the technical scheme, whether the current weight is greater than the weight threshold value or not is judged, and if yes, the meal taking window is opened, and if not, the meal taking window is closed. Whether coffee cups exist on the dining table can be accurately judged by the window, and the controllability of opening the dining window can be improved.
Preferably, before controlling the meal fetching window to be opened, the method further includes:
obtaining a purchase weight based on the purchase capacity;
determining whether the current weight is less than the purchase weight;
if yes, acquiring a supplemental weight based on the purchase weight and the current weight;
obtaining a supplemental capacity based on the supplemental weight;
generating supplemental instructions based on the supplemental capacity;
and controlling the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine for supplementing coffee based on the supplementing instruction.
By adopting the technical scheme, the supplement weight is obtained according to the purchase weight and the current weight, then the supplement capacity is obtained according to the supplement weight, then the supplement instruction is generated, and the coffee in the coffee cup is supplemented through the supplement instruction. The coffee cup has the advantages that the probability of the occurrence of insufficient coffee in the coffee cup caused by insufficient coffee in the coffee machine or coffee spilling and the like can be effectively reduced, so that sufficient coffee meeting requirements is sold by the coffee machine as far as possible, and the customer satisfaction is effectively improved.
In a second aspect, the present application provides a working system of a mobile coffee machine, which adopts the following technical solutions:
an operating system for a mobile coffee machine, comprising:
the information acquisition module is used for acquiring shopping information;
a purchase capacity acquisition module for acquiring a purchase capacity based on the shopping information;
the first instruction generation module is used for generating a control instruction based on the shopping information;
the first control module is used for controlling the mechanical arm to grab the coffee cup based on the control instruction;
the coffee capacity acquisition module is used for acquiring the coffee capacity in the coffee machine;
the first judgment module is used for judging whether the coffee capacity is larger than the purchase capacity or not;
a second control module for generating a coffee making command to control the coffee machine to make coffee when it is determined that the coffee capacity is less than the purchase capacity;
the second instruction generation module is used for generating an access instruction when the coffee capacity is judged to be larger than the purchase capacity;
the third control module is used for controlling the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine based on the receiving instruction;
the second judgment module is used for judging whether the coffee in the coffee cup is completely received or not;
the first instruction acquisition module is used for acquiring a meal taking instruction when coffee in the coffee cup is taken;
the fourth control module is used for controlling the mechanical arm to move the coffee cup to a dining table based on the meal delivery instruction;
the second instruction acquisition module is used for acquiring a door opening instruction;
and the fifth control module is used for controlling the opening of the food preparation window based on the door opening instruction.
By adopting the technical scheme, the information acquisition module acquires shopping information and then sends the shopping information to the purchase capacity acquisition module and the first instruction generation module, the purchase capacity acquisition module acquires purchase capacity according to the shopping information, and the first instruction generation module generates a control instruction according to the shopping information. Then the first instruction generation module sends the control instruction to the first control module, and the first control module controls the mechanical arm to grab the coffee cup provided by the cup sub-machine according to the control instruction.
At the moment, the coffee capacity obtaining module obtains the coffee capacity in the coffee machine and sends the coffee capacity to the first judging module. The first judging module receives the coffee capacity and the purchase capacity sent by the purchase capacity acquiring module, judges the sizes of the purchase capacity and the coffee capacity, and then sends the judgment result to the second control module and the second instruction generating module.
When the coffee volume is less than the purchase volume, the second control module generates a coffee making command to control the coffee maker to make coffee. When the coffee capacity is larger than the purchasing capacity, the second instruction generating module generates an access instruction and sends the access instruction to the third control module, and the third control module controls the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine according to the access instruction to access coffee.
At the moment, the second judging module judges whether the coffee in the coffee cup is completely received or not, obtains the judgment result and sends the judgment result to the first instruction obtaining module. When coffee in the coffee cup is taken, the first instruction acquisition module acquires a meal taking instruction and sends the meal taking instruction to the fourth control module. The fourth control module controls the mechanical arm to move the coffee cup to the meal outlet table according to the meal outlet instruction.
And finally, the second instruction acquisition module acquires the door opening instruction and sends the door opening instruction to the fifth control module, and the fifth control module controls the food preparation window to be opened according to the door opening instruction, so that the food is conveniently taken by the customer. Through the mode, the mechanical arm moves the coffee cup out of the meal, the possibility that other substances are maliciously added into the coffee equipment can be reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as far as possible.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the purchase capacity of coffee is obtained through the shopping information, and a control instruction is generated according to the shopping information to control the mechanical arm to grab the coffee cups provided by the cup sub-machine. The coffee capacity in the coffee maker is then obtained and it is determined whether the coffee capacity is greater than the purchase capacity, i.e. whether the coffee in the coffee maker is sufficient. If so, an access command is generated to control the robotic arm to move the coffee cup below the outlet of the coffee maker, at which time the coffee maker infuses coffee into the coffee cup. And then judging whether the coffee in the coffee cup is completely received or not, if so, obtaining a meal taking instruction, and controlling the mechanical arm to move the coffee cup to a meal taking table according to the meal taking instruction. And finally, acquiring a door opening instruction to control the meal taking window to be opened, so that the purchaser can take coffee from the meal taking window. By the method, the mechanical arm is used for moving the coffee, so that the possibility that other substances are maliciously added into the coffee equipment can be reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as much as possible;
2. whether the ice in the ice machine is enough is judged according to the ice adding amount and the ice containing amount, and if the ice is not enough, an ice making instruction is obtained to control the ice machine to make ice, so that the ice machine can make ice automatically, and the convenience of operation is improved. If the quantity of the ice is enough, the ice adding instruction is obtained, and the ice blocks are added into the coffee cup, so that the operation is more convenient;
3. and judging whether to open a meal taking window or not by judging the meal taking time and the current time. When the current time is less than the meal taking time, the heating instruction is obtained, and then the heater is controlled to heat the coffee cup, so that the coffee can be at a certain temperature, and the taste of the coffee is guaranteed as far as possible. And if the current time is greater than the meal taking time, the door opening instruction is obtained to control the meal taking window to be opened, so that the customer can take the meal conveniently.
Drawings
Fig. 1 is a schematic overall flow chart of an operating method of a mobile coffee machine according to an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating steps S21-S23 according to an embodiment of the present application;
FIG. 3 is a schematic flow chart illustrating steps S31 through S36 according to an embodiment of the present application;
FIG. 4 is a schematic flow chart illustrating steps S41 through S43 according to an embodiment of the present application;
FIG. 5 is a schematic flow chart illustrating steps S51-S55 according to an embodiment of the present application;
FIG. 6 is a schematic flow chart illustrating steps S61 through S65 according to an embodiment of the present application;
FIG. 7 is a schematic flowchart of steps S71-S75 according to an embodiment of the present application;
FIG. 8 is a schematic flowchart of steps S81-S84 according to an embodiment of the present application;
FIG. 9 is a schematic flowchart of steps S91-S96 according to an embodiment of the present application;
fig. 10 is a block diagram of an operating system of a mobile coffee machine according to an embodiment of the present disclosure.
Description of reference numerals:
1. an information acquisition module; 2. a purchase capacity acquisition module; 3. a first instruction generation module; 4. a first control module; 5. a coffee capacity acquisition module; 6. a first judgment module; 7. a second control module; 8. a second instruction generation module; 9. a third control module; 10. a second judgment module; 11. a first instruction acquisition module; 12. a fourth control module; 13. a second instruction acquisition module; 14. and a fifth control module.
Detailed Description
The present application is described in further detail below with reference to figures 1-10.
The embodiment of the application discloses a working method of a mobile coffee machine.
Referring to fig. 1, the method of operating the mobile coffee maker includes: .
S1, obtaining shopping information;
s2, acquiring purchasing capacity based on shopping information;
s3, generating a control instruction based on the shopping information;
s4, controlling the mechanical arm to grab the coffee cup based on the control instruction;
s5, obtaining the coffee capacity in the coffee machine;
s6, judging whether the coffee capacity is larger than the purchase capacity or not;
s7, if not, generating a coffee making command to control the coffee machine to make coffee;
s8, if yes, generating an access instruction;
s9, controlling the mechanical arm to move the coffee cup to the position below an outlet of the coffee machine based on the receiving instruction;
s10, judging whether coffee in the coffee cup is completely received or not;
s11, if yes, obtaining a meal delivery instruction;
s12, controlling the mechanical arm to move the coffee cup to a dining table based on the dining command;
s13, acquiring a door opening instruction;
and S14, controlling the opening of the food preparation window based on the door opening instruction.
In practical applications, in order to reduce the risk of human intervention, the coffee machine is fixed in a closed environment, leaving only one door accessible to the staff. For example, on portable coffee machine, can fix coffee machine in a glass cover, then set up the door that can supply the staff to come in and go out on the glass cover, glass cover internal fixation has a manipulator that connects the coffee to operate simultaneously, replaces artifically through the manipulator, can enough accomplish independently to purchase coffee, coffee machine independently makes coffee, also can reduce in the coffee equipment simultaneously by the possibility of maliciously adding other materials, reduce the possibility that the potential safety hazard takes place, guarantee client's healthy as far as.
Specifically, shopping information, that is, order information of a customer is acquired first, and the customer can place an order through a touch screen fixed outside a glass cover, or can place an order in a code scanning two-dimensional code mode. The shopping information includes a purchase amount, i.e. how many milliliters of coffee are purchased.
After ordering, the system generates a control instruction according to shopping information, the control instruction comprises preset position information of the cup machine, and the system controls the mechanical arm to move to the position information to grab the coffee cup provided by the cup machine.
Thereafter, in order to prevent as much as possible a shortage of coffee in the coffee maker, it is necessary to obtain the volume of coffee in the coffee maker, i.e. the coffee volume. The coffee capacity can be obtained by acquiring the height of the coffee capacity through the water level sensor, then acquiring the total capacity of the coffee machine, and acquiring the coffee capacity according to the proportion of the capacity of coffee in the current coffee machine to the total capacity of the coffee machine. Then, whether the coffee capacity is larger than the purchase capacity is judged, and a judgment result is obtained.
If the result of the judgment is negative, the coffee capacity in the coffee machine is proved to be insufficient, and a coffee making command is generated to control the coffee machine to make coffee. If yes, the coffee capacity is proved to be sufficient, and then the access instruction is generated.
The receiving instruction comprises position information of an outlet of the coffee machine, the system controls the mechanical arm to move the coffee cup from the cup machine to the position below the outlet of the coffee machine corresponding to the position information according to the receiving instruction, and generates an adding instruction to control a switch of the outlet of the coffee machine to be opened so that coffee can be poured into the coffee cup.
And then judging whether the coffee in the coffee cup is completely accessed or not, wherein the judging mode can be that the flow size of the outlet of the coffee machine is obtained, the adding time is obtained according to the purchase capacity and the flow size, if the time reaches the adding time, the completion of the access is proved, and if not, the completion of the access is not finished. It is to be understood that the adding time is a period of time, i.e. from the adding of coffee, and if the elapsed time is equal to this period of time, the task access is complete, whereas it is incomplete.
When coffee is taken, a meal order is obtained, wherein the meal order comprises the position information of a meal taking table, and the mechanical arm is controlled to move the coffee cup from the coffee machine to the position corresponding to the meal taking table according to the meal order. And then acquiring a door opening instruction, and controlling a meal taking window arranged on the glass cover to be opened according to the door opening instruction, so that a customer can take coffee. By the method, the mechanical arm is used for moving the coffee, so that the possibility that other substances are maliciously added into the coffee equipment can be reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as much as possible.
Referring to fig. 2, in different customer demands, different purchase capacities exist, so that a suitable coffee cup needs to be selected, and therefore, in another embodiment, the step S4, before controlling the mechanical arm to grasp the coffee cup based on the control command, further includes the following steps:
s21, obtaining the type of the coffee cup in the cup machine;
s22, acquiring a cup selection instruction based on the purchase capacity;
s23, controlling the cup selecting machine to provide coffee cups of corresponding types based on the cup selecting instruction.
In the actual purchasing process, different purchasing capacities exist according to different shopping information of customers, for example, a small cup, a medium cup, a large cup and a super large cup exist, the type of the coffee cup in the coffee machine is obtained at the moment, and the type of the coffee cup also has corresponding sizes according to the purchasing capacities, namely the small cup, the medium cup, the large cup and the super large cup exist.
And acquiring a cup selection instruction according to the purchase capacity, namely judging to acquire the type of the corresponding coffee cup according to the purchase capacity, for example, if the purchase capacity is a small cup, the acquired cup selection instruction is the small cup, and at the moment, the system controls the cup sub-machine to provide the coffee cup of the corresponding type according to the cup selection instruction.
Finally, the manipulator snatchs the coffee cup that the coffee cup provided, can make the better adaptation purchase capacity of size of coffee cup, reduces all coffee cups and all uses same size, leads to the coffee to spill over or the possibility that the extravagant condition takes place, and then can improve the practicality of coffee machine.
Referring to fig. 3, in the actual purchase process, there may be a case where the customer cannot take the coffee in time, so in another embodiment, step S13 further includes the following steps before obtaining the door opening instruction:
s31, obtaining meal taking time based on shopping information;
s32, acquiring current time;
s33, judging whether the current time is less than the meal taking time or not;
s34, if yes, acquiring a heating instruction;
s35, controlling a heater positioned below the dining table to heat the coffee cup based on the heating instruction;
s36, if not, carrying out the next step.
Specifically, the meal taking time is firstly obtained according to the shopping information, that is, the time for taking the meal can be preset during the process of purchasing coffee by the customer, that is, the shopping information includes the meal taking time. Then, the current time, namely the current time, is obtained, and then whether the current time is less than the meal taking time or not is judged. Namely, whether the current time reaches the meal taking time is judged.
If so, the current time is proved to not reach the meal taking time, and the meal taking window is not opened at the moment, so that the possibility of taking coffee is reduced. And when the current time is less than the meal taking time, the heating instruction is acquired, then the coffee cup is heated by the heater which is positioned below the meal taking table and is controlled based on the heating instruction, the coffee taking table can be heated by the heater, so that the coffee cup can be heated, the cooling time of coffee can be reduced, and the taste of coffee can be ensured as far as possible.
And when the current time is greater than the meal taking time, the next step is carried out, and the step S13 is to obtain a door opening instruction, so that the meal taking window is controlled to be opened, and the coffee is convenient for the customer to take away.
Referring to fig. 4, in another embodiment, if no, the step S7 further includes the following steps after the coffee making command is generated to control the coffee maker to make coffee:
s41, acquiring a capacity difference value based on the coffee capacity and the purchase capacity;
s42, acquiring the making speed of the coffee machine for making coffee;
and S43, acquiring and outputting the manufacturing time based on the capacity difference and the manufacturing speed.
Specifically, when the coffee maker starts to make coffee, a capacity difference is first obtained from the coffee capacity and the purchase capacity, i.e., a value obtained by subtracting the coffee capacity from the purchase capacity is used as the capacity difference. Then the production speed of the coffee machine for producing coffee is obtained, and when it is needed, the coffee is produced inside the coffee machine instead of adding coffee into the coffee cup. The production speed may be obtained by calculating an average of a plurality of production speeds of the coffee maker and then pre-storing this speed.
And then obtaining and outputting the manufacturing time according to the capacity difference and the manufacturing speed, namely dividing the capacity difference by the manufacturing speed to obtain a value which is the manufacturing time. After the manufacturing time is obtained, the manufacturing time is output to the touch screen, so that a customer can check the manufacturing time, the time arrangement of the customer can be adjusted according to the manufacturing time, and the operation is convenient.
Further, referring to fig. 5, in another embodiment, for different customers, some may prefer hot beverages and some may prefer cold beverages, and therefore before receiving coffee, it is also necessary to determine whether the customer needs to add ice, and therefore step S9 includes the following steps before controlling the mechanical arm to move the coffee cup to the outlet of the coffee machine based on the receiving instruction:
s51, judging whether the coffee cup needs to be iced or not based on the shopping information;
s52, if yes, a moving instruction is obtained;
s53, controlling the mechanical arm to move the coffee cup to the lower part of the outlet of the ice maker based on the moving instruction;
s54, acquiring an ice adding instruction;
and S55, controlling an ice maker to add ice blocks into the coffee cup based on the ice adding instruction.
The shopping information also includes the customer's needs, i.e. whether or not to add ice. In the ordering process of the customer, if the ice does not need to be added, the shopping information contains the information that the ice does not need to be added, and otherwise, the shopping information contains the ice adding information.
And judging whether the ice is needed to be added into the coffee cup according to the shopping information, and if not, continuing the subsequent steps, namely step S9. If necessary, a movement instruction is generated, wherein the movement instruction comprises the position information of the outlet of the ice machine. And controlling the mechanical arm to move the coffee cup from the cup machine to the position below the outlet of the ice maker according to the movement instruction, and acquiring an ice adding instruction.
Then, the outlet of the ice maker is controlled to be opened according to the ice adding instruction, so that the ice blocks are added into the coffee cup. Thereafter, the following step S9 is performed to move the coffee cup from the ice maker to the coffee maker for adding coffee. The ice cubes are added in advance, then the coffee is added, the melting speed of the ice cubes can be increased, and meanwhile the possibility that the coffee splashes out of the coffee cup in the process of adding the ice cubes after adding the coffee can be prevented.
Meanwhile, the shopping information also comprises the ice adding amount, such as more ice, less ice and normal ice, wherein the normal ice is two ice blocks, the less ice is one ice block, and the more ice is three ice blocks. The ice amount information is acquired according to the shopping information, and the quantity of ice cubes added by the ice maker is controlled according to the ice amount information, so that the requirements of customers can be further met, and the applicability of the coffee maker is improved.
Meanwhile, further, when the ice does not need to be added in the shopping information of the customer and the current time is less than the meal taking time, the heating instruction is not acquired at the moment.
Further, referring to fig. 6, in order to meet the demand of the customer, it is also necessary to determine whether the quantity of ice cubes in the ice maker meets the demand before adding ice, so step S54 includes the following steps before obtaining the ice adding instruction:
s61, acquiring the ice adding amount based on the shopping information;
s62, acquiring the ice content in the ice maker;
s63, judging whether the ice adding amount is larger than the ice content;
s64, if yes, acquiring an ice making instruction to control the ice maker to make ice;
s65, if not, carrying out the next step.
Specifically, the amount of ice added, that is, more ice, less ice, or normal ice is acquired based on the shopping information. Then, the ice content in the ice maker is obtained, namely, the number of ice blocks in the ice maker is judged, the ice blocks in the ice maker are arranged in a uniform sequence, and the number of the ice blocks can be obtained in a mode of obtaining an image of the interior of the ice maker.
And then judging whether the ice adding amount is larger than the ice containing amount, if so, proving that the quantity of ice blocks in the ice maker is insufficient, acquiring an ice making instruction to control the ice maker to make ice, and then adding the ice blocks. If not, the ice cube count in the ice maker is proven to be sufficient, and the next step, i.e., S54, is to obtain an ice adding command. By the mode, the ice maker can make ice independently, and the operation is convenient and simple.
Referring to fig. 7, further, in order to prevent the possibility of collision of the coffee cups on the dining table in consideration of the possibility of purchasing coffee by multiple persons, in another embodiment, the step S12 before the mechanical arm is controlled to move the coffee cups to the dining table based on the meal-out command further includes the following steps:
s71, acquiring a preset meal taking position of a meal taking table;
s72, acquiring the image information of the dining table;
s73, judging whether a coffee cup exists at the preset meal taking position or not based on the image information;
s74, if yes, acquiring other meal taking positions of the meal taking table as new preset meal taking positions;
s75, if not, carrying out the next step.
Specifically, after a cup of coffee is made, a preset taking position of the taking table is obtained, and the taking position refers to a position where a customer takes coffee from the taking window. The meal taking table is provided with a plurality of meal taking positions, and one of the default meal taking positions is not preset.
Then the image information of the dining table is shot and obtained through the camera, and then whether coffee cups exist in the preset dining table is judged according to the image information. Namely, whether a coffee cup matched with a preset coffee cup image exists at a preset meal taking position in the image information is judged through an image algorithm.
If so, acquiring other meal taking positions of the meal taking table as new preset meal taking positions. Then the mechanical arm places the coffee cup according to the new preset taking position. The other meal taking positions are idle meal taking positions, each meal taking position in the image information corresponds to one meal taking position on the meal taking table, and when the idle meal taking positions in the image information are judged, the corresponding meal taking positions on the meal taking table can be obtained. And judging that the idle meal taking position exists in the image information, namely judging that the preset meal taking position has no coffee cup according to the image information.
Accordingly, if the coffee cup is removed from the preset meal taking position, it is proved that the coffee that is completely made can be placed in the preset meal taking position, and then step S12 is executed, i.e. the mechanical arm is controlled to move the coffee cup to the meal taking table based on the meal taking command.
Referring to fig. 8, in another embodiment, the step S14 of controlling the meal taking window to open based on the door opening instruction includes the following steps:
s81, obtaining the current weight of the coffee cup;
s82, judging whether the current weight is larger than a weight threshold value;
s83, if yes, controlling a meal taking window to be opened;
s84, if not, controlling the closing of the meal taking window.
Specifically, the current weight of the coffee cup, that is, the weight of the coffee cup after the coffee is filled, is obtained through a pressure sensor, a gravity sensor, or the like, and whether the current weight is greater than a weight threshold, that is, whether the weight of the coffee in the coffee cup meets the requirement is determined.
If the current weight is larger than the weight threshold value, the requirement is proved to be met, the food taking window is controlled to be opened at the moment, and a user can take food conveniently. Otherwise, the food taking window is closed, the window cannot be opened, the food taking safety can be guaranteed, and the operation is convenient.
Referring to fig. 9, in another embodiment, before controlling the meal window to be opened, the method further includes the following steps:
s91, acquiring purchase weight based on purchase capacity;
s92, judging whether the current weight is smaller than the purchase weight;
s93, if yes, acquiring a supplementary weight based on the purchase weight and the current weight;
s94, acquiring supplementary capacity based on the supplementary weight;
s95, generating a supplement instruction based on the supplement capacity;
and S96, controlling the manipulator to move the coffee cup to the position below the coffee machine outlet to supplement coffee based on the supplement instruction.
Before a customer takes a meal, whether the coffee in the coffee cup meets the requirements of the customer needs to be judged, namely whether the capacity of the coffee is insufficient due to the fault of a mechanical arm or a coffee machine is judged.
Specifically, the purchase weight is obtained according to the purchase capacity, and the obtaining manner may be to obtain the weight of the coffee in advance, for example, the coffee cups are divided into a small cup, a middle cup, a large cup and a super cup, and after each type of coffee cup is filled with the corresponding coffee, the weight of the corresponding coffee is obtained by weighing and recorded. When the purchase capacity is obtained, the corresponding weight of coffee, i.e. the purchase weight, is obtained.
Then, whether the current weight is smaller than the purchase weight is judged, if yes, the quantity of the coffee is proved to be insufficient, and at the moment, the supplement weight is obtained according to the purchase weight and the current weight, namely, the supplement weight can be obtained by subtracting the current weight from the purchase weight.
And then acquiring the supplement capacity according to the supplement weight, wherein the acquisition mode can be obtained through calculation, for example, a small cup coffee cup is taken as an example, the capacity of the small cup coffee cup is firstly acquired, then the weight of the small cup coffee is acquired, the value obtained by dividing the capacity of the small cup coffee cup by the weight of the small cup coffee is multiplied by the supplement weight, and the finally acquired value is the supplement capacity.
Then, a replenishment command is generated according to the replenishment capacity, and the manipulator is controlled to move the coffee cup from the dining table to a position below the outlet of the coffee machine for replenishing coffee based on the replenishment command. The amount of the supplemented coffee is the size of the supplement volume, and after the supplement is completed, the manipulator places the coffee cup on the dining table again, so that the coffee cup is convenient for customers to take.
By the method, the possibility of insufficient coffee in the coffee cup caused by faults in the coffee machine or coffee spilling and the like can be effectively reduced, so that the quality of coffee sold by the coffee machine is ensured as much as possible.
The implementation principle of the working method of the mobile coffee machine in the embodiment of the application is as follows: the method comprises the steps of firstly obtaining shopping information input by a customer, then obtaining the purchasing capacity of coffee according to the shopping information, and generating a control instruction according to the shopping information so as to control a mechanical arm to grab coffee cups provided by a cup sub-machine. The coffee capacity in the coffee maker is then obtained and it is determined whether the coffee capacity is greater than the purchase capacity, i.e. whether the coffee in the coffee maker is sufficient. If so, an access command is generated to control the robotic arm to move the coffee cup below the outlet of the coffee maker, at which time the coffee maker infuses coffee into the coffee cup. And then judging whether the coffee in the coffee cup is completely received or not, if so, obtaining a meal taking instruction, and controlling the mechanical arm to move the coffee cup to a meal taking table according to the meal taking instruction. And finally, acquiring a door opening instruction to control the meal taking window to be opened, so that the purchaser can take coffee from the meal taking window. By the method, the mechanical arm is used for moving the coffee, so that the possibility that other substances are maliciously added into the coffee equipment can be reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as much as possible.
The embodiment of the application also discloses a working system of the mobile coffee machine, which can achieve the same effect as the working method of the mobile coffee machine.
Referring to fig. 10, the working system of the mobile coffee machine comprises:
the information acquisition module 1 is used for acquiring shopping information;
a purchase capacity acquisition module 2 for acquiring a purchase capacity based on the shopping information;
the first instruction generation module 3 is used for generating a control instruction based on the shopping information;
the first control module 4 is used for controlling the mechanical arm to grab the coffee cups provided by the cup machine based on the control instruction;
a coffee capacity obtaining module 5 for obtaining the coffee capacity in the coffee machine;
a first judging module 6, configured to judge whether the coffee volume is greater than the purchase volume;
a second control module 7 for generating a coffee making command to control the coffee maker to make coffee when it is judged that the coffee capacity is smaller than the purchase capacity;
the second instruction generating module 8 is used for generating an access instruction when the coffee capacity is judged to be larger than the purchase capacity;
a third control module 9 for controlling the robotic arm to move the coffee cup below the outlet of the coffee maker based on the access instruction;
the second judging module 10 is used for judging whether the coffee in the coffee cup is completely received;
the first instruction obtaining module 11 is used for obtaining a meal taking instruction when coffee in the coffee cup is taken;
the fourth control module 12 is used for controlling the mechanical arm to move the coffee cup to the dining table based on the dining instruction;
the second instruction acquisition module 13 is used for acquiring a door opening instruction;
and the fifth control module 14 is used for controlling the food preparation window to be opened based on the door opening instruction.
Specifically, the information acquisition module 1 acquires shopping information and sends the shopping information to the purchase capacity acquisition module 2 and the first instruction generation module 3, the purchase capacity acquisition module 2 acquires purchase capacity according to the shopping information, and the first instruction generation module 3 generates a control instruction according to the shopping information. Then the first instruction generating module 3 sends the control instruction to the first control module 4, and the first control module 4 controls the mechanical arm to grab the coffee cup provided by the cup sub-machine according to the control instruction.
At this time, the coffee capacity obtaining module 5 obtains the coffee capacity of the coffee machine and sends the coffee capacity to the first judging module 6. The first judging module 6 receives the coffee capacity and the purchase capacity sent by the purchase capacity acquiring module 2, judges the sizes of the purchase capacity and the coffee capacity, and then sends the judgment result to the second control module 7 and the second instruction generating module 8.
When the coffee volume is smaller than the purchase volume, the second control module 7 generates a coffee making command to control the coffee maker to make coffee. When the coffee capacity is larger than the purchasing capacity, the second instruction generating module 8 generates an access instruction and sends the access instruction to the third control module 9, and the third control module 9 controls and controls the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine to access coffee according to the access instruction.
At this time, the second judging module 10 judges whether the coffee in the coffee cup is completely received, obtains a judgment result, and sends the judgment result to the first instruction obtaining module 11. When the coffee in the coffee cup is taken, the first instruction obtaining module 11 obtains a meal taking instruction and sends the meal taking instruction to the fourth control module 12. The fourth control module 12 controls the mechanical arm to move the coffee cup to the meal outlet table according to the meal outlet instruction.
And finally, the second instruction acquisition module 13 acquires a door opening instruction and sends the door opening instruction to the fifth control module 14, and the fifth control module 14 controls the food preparation window to be opened according to the door opening instruction, so that a customer can conveniently obtain food. Through the mode, the mechanical arm moves the coffee cup out of the meal, the possibility that other substances are maliciously added into the coffee equipment can be reduced, the possibility of potential safety hazards is reduced, and the physical health of customers is guaranteed as far as possible.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A method of operating a mobile coffee machine, comprising:
acquiring shopping information;
acquiring a purchase capacity based on the shopping information;
generating a control instruction based on the shopping information;
controlling a mechanical arm to grab the coffee cup based on the control instruction;
acquiring the coffee capacity in the coffee machine;
determining whether the coffee capacity is greater than the purchase capacity;
if not, generating a coffee making command to control the coffee machine to make coffee;
if yes, generating an access instruction;
controlling the mechanical arm to move the coffee cup below an outlet of the coffee machine based on the access instruction;
judging whether the coffee in the coffee cup is completely received or not;
if so, acquiring a meal delivery instruction;
controlling the mechanical arm to move the coffee cup to a dining table based on the meal delivery instruction;
acquiring a door opening instruction;
and controlling the food preparation window to be opened based on the door opening instruction.
2. The method of claim 1, wherein prior to controlling the robotic arm to move the coffee cup below the outlet of the coffee maker based on the access command, further comprises:
judging whether the coffee cup needs to be iced or not based on the shopping information;
if yes, a moving instruction is obtained;
controlling the mechanical arm to move the coffee cup below an outlet of an ice maker based on the movement instruction;
acquiring an ice adding instruction;
controlling the ice maker to add ice cubes into the coffee cup based on the ice adding instruction.
3. The method of claim 2, wherein said obtaining an icing instruction further comprises:
acquiring the ice adding amount based on the shopping information;
acquiring the ice content in the ice maker;
judging whether the ice adding amount is larger than the ice content;
if yes, acquiring an ice making instruction to control the ice maker to make ice;
if not, the next step is carried out.
4. The work method of claim 1, wherein said controlling said robotic arm to move said coffee cup to a dining table based on said meal delivery instructions further comprises:
acquiring a preset meal taking position of the meal taking table;
acquiring image information of the dining table;
judging whether the coffee cup exists at the preset meal taking position or not based on the image information;
if yes, acquiring other meal taking positions of the meal taking table as new preset meal taking positions;
if not, the next step is carried out.
5. The method of claim 1, wherein if not, generating a coffee-making command to control the coffee machine to make coffee further comprises:
obtaining a volume difference based on the coffee volume and the purchase volume;
acquiring the making speed of the coffee machine for making coffee;
and acquiring and outputting the manufacturing time based on the capacity difference and the manufacturing speed.
6. The operating method according to claim 1, wherein the obtaining of the door opening command further comprises:
obtaining meal taking time based on the shopping information;
acquiring current time;
judging whether the current time is less than the meal taking time or not;
if yes, acquiring a heating instruction;
controlling a heater positioned below the meal taking table to heat the coffee cup based on the heating instruction;
if not, the next step is carried out.
7. The work method of claim 1, wherein before controlling the robotic arm to grasp a coffee cup based on the control command, further comprises:
obtaining the type of the coffee cup in the cup machine;
acquiring a cup selection instruction based on the purchase capacity;
controlling the cup selecting machine to provide the coffee cups of the corresponding types based on the cup selecting instructions.
8. The operating method of claim 1, wherein the step of controlling the meal preparation window to open based on the door opening instruction comprises the steps of:
obtaining a current weight of the coffee cup;
judging whether the current weight is greater than a weight threshold value;
if yes, controlling the meal taking window to be opened;
if not, controlling the closing of the meal taking window.
9. The method of claim 8, wherein before controlling the meal fetching window to open, further comprising:
obtaining a purchase weight based on the purchase capacity;
determining whether the current weight is less than the purchase weight;
if yes, acquiring a supplemental weight based on the purchase weight and the current weight;
obtaining a supplemental capacity based on the supplemental weight;
generating supplemental instructions based on the supplemental capacity;
and controlling the mechanical arm to move the coffee cup to the position below the outlet of the coffee machine for supplementing coffee based on the supplementing instruction.
10. An operating system for a mobile coffee machine, comprising:
the information acquisition module (1) is used for acquiring shopping information;
a purchase capacity acquisition module (2) for acquiring a purchase capacity based on the shopping information;
a first instruction generation module (3) for generating a control instruction based on the shopping information;
the first control module (4) is used for controlling the mechanical arm to grab the coffee cup based on the control instruction;
a coffee volume obtaining module (5) for obtaining a coffee volume in the coffee machine;
a first judging module (6) for judging whether the coffee capacity is larger than the purchase capacity;
a second control module (7) for generating a coffee making command to control the coffee machine to make coffee when it is determined that the coffee capacity is smaller than the purchase capacity;
a second instruction generating module (8) for generating an access instruction when the coffee capacity is judged to be larger than the purchase capacity;
a third control module (9) for controlling the mechanical arm to move the coffee cup below the outlet of the coffee machine based on the access instruction;
the second judgment module (10) is used for judging whether the coffee in the coffee cup is completely received or not;
a first instruction obtaining module (11) used for obtaining a meal taking instruction when coffee taking in the coffee cup is completed;
a fourth control module (12) for controlling the mechanical arm to move the coffee cup to a dining table based on the meal delivery instruction;
the second instruction acquisition module (13) is used for acquiring a door opening instruction;
and the fifth control module (14) is used for controlling the food preparation window to be opened based on the door opening instruction.
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