Three-robot-arm collaborative operation method and system for beverage sales

Abstract

The present invention provides a method and system for collaborative operation of three robotic arms for beverage sales. The method includes: setting three robotic arms to perform coordinated operation processing on multiple received beverage orders, making the work of the robotic arms synchronized through timing synchronization or communication synchronization, establishing a conflict resolution mechanism, evaluating the priority of each order, allocating tasks and dynamically adjusting task allocation, controlling the three robotic arms through intelligent control and collaborative algorithms, monitoring the order processing process, and updating and recording the order status. The method for collaborative operation of three robotic arms for beverage sales according to the present invention improves the cup output rate of beverages through the mutual cooperation of the three robotic arms, intelligent task allocation and mutual coordination, and can complete various coffee latte arts; the fastest cup output speed of the application of the three robotic arms is 25 seconds / cup, which doubles the efficiency compared with the existing fastest cup output speed, and greatly improves the consumer experience and satisfaction.

Description

Technical Field

[0001] The present invention relates to the technical field of beverage vending, and more particularly, to a method and system for collaborative operation of three robot arms for beverage vending. Background Art

[0002] With the development of the coffee beverage industry, the coffee consumption in China increases by about 10% annually, making it one of the fastest-growing countries globally. Currently, consumers' preference for coffee is gradually increasing, and the future prospect of the coffee market is expected to continue to grow rapidly. With the increase in Chinese consumers' preference for and demand for coffee, more and more coffee shops and coffee machines have entered the Chinese market.

[0003] However, the actual scenario of coffee beverage vending at present is as follows:

[0004] During the peak period of coffee shops, the waiting time in line is relatively long. Affected by human factors, the cup-making speed of manual coffee shops is approximately 65 seconds - 180 seconds per cup, and they can produce 50 - 60 cups per hour. The cup-making efficiency of manual operation is relatively low.

[0005] The fastest cup-making speed of a single-robot-arm unmanned coffee machine is 50 seconds per cup, and a single robot arm cannot perform latte art when making coffee. Therefore, it still cannot meet the rapid consumption needs of a large number of customers.

[0006] It can be seen that the efficiency of the existing coffee beverage cup-making operation is relatively low, resulting in a poor experience and low satisfaction for consumers.

[0007] Therefore, there is an urgent need in the market for an alternative method and product with high efficiency and fast cup-making, and which can complete various latte arts, to solve the above-mentioned difficulties and pain points of slow cup-making speed in current coffee beverage vending. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to design the interactive work of three robot arms, allocate order tasks to the three robot arms according to the priority order, and dynamically adjust the task allocation to achieve the collaborative work of the three robot arms, so as to improve the cup-making efficiency of beverages.

[0009] The present invention provides a method for collaborative operation of three robot arms for beverage vending. Three robot arms, namely RobotA, Robot B, and Robot C, are set. The robot arms RobotA, Robot B, and Robot C coordinate and process multiple received beverage orders, including the following steps:

[0010] S1. Synchronize the work among the robot arms RobotA, Robot B, and Robot C through time synchronization or communication synchronization; and conduct testing and optimization; to ensure that they can efficiently complete tasks;

[0011] The method for timing synchronization includes: recording the operation timing of each robotic arm through a timer, so that the three robotic arms operate in a predetermined order;

[0012] The method for communication synchronization includes: establishing a communication connection between the robotic arms to enable real-time information exchange and coordination during operation.

[0013] After completing the coordination and synchronization work of the robotic arms, testing and optimization are carried out to ensure that the three robotic arms can efficiently complete tasks. Adjustments and optimizations can be made according to the actual situation to improve the cooperation efficiency between the robotic arms.

[0014] S2. Establish a conflict resolution mechanism between the three robotic arms to automatically resolve conflicts when they occur; if the conflicts between the robotic arms cannot be resolved by the automatic conflict resolution mechanism, manual intervention is carried out to resolve the conflicts;

[0015] The conflict resolution mechanism includes: resolving conflicts through priority sorting and dynamically adjusting the task allocation method;

[0016] When designing and allocating tasks, conflicts should be avoided as much as possible. For example, conflicts can be avoided through task decomposition, parallel processing, etc.;

[0017] The present invention establishes a certain interaction process between the robotic arms to ensure that the robotic arms can cooperate with each other. For example, when a robotic arm completes its task, it can send a signal to another robotic arm to notify it to start working.

[0018] A communication connection is established between the robotic arms of the present invention so that the three robotic arms can communicate and exchange data with each other. Wireless communication or wired communication methods can be used, and a suitable communication method can be selected according to actual needs.

[0019] The robotic arms of the present invention communicate with devices such as controllers, sensors, and actuators to achieve information transmission and processing. The signal transmission rate depends on the specific communication technology and devices used. For example, the peak theoretical transmission speed of a 5G network can reach 10 Gbps, the transmission speed of an optical fiber network can exceed 100 Gbps, the transmission rate can reach 11 Mbps when using Wi-Fi for communication, the transmission rate can reach 2.1 Mbps when using Bluetooth for communication, and the transmission rate can reach 424 Kbps when using NFC for communication.

[0020] S3. Determine the task requirements and demand details for each order, record and classify the task requirements and demand details of all orders to facilitate the robotic arm to understand and execute tasks according to the requirements; evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, optimal efficiency of the coffee machine operation, importance of the customer, or size of the order, so that orders with high priority are processed first to ensure customer satisfaction and timely delivery;

[0021] The task requirements and demand details include: coffee drink type, quantity, ingredients, taste, latte art, and other special requirements;

[0022] S4. Assign different tasks to each robotic arm according to the capabilities, workloads, and current status of each robotic arm;

[0023] For example, if RobotA has processed high-priority orders for a long time, it can be assigned to lower-priority orders to give other robotic arms the opportunity to process high-priority orders.

[0024] S5. Monitor the work progress, status, and error conditions of each robotic arm in real time; if a robotic arm encounters problems during task execution, quickly reassign tasks or intervene to ensure that the order is completed on time;

[0025] S6. Update and record the order status; during the entire order processing process, update and record the status of each order in real time to help track the order processing progress, ensure that the order is delivered on time, and resolve any possible issues.

[0026] Further, the method of assigning different tasks to each robotic arm in step S4 includes the following steps:

[0027] S41. Assign a priority to each task and determine the priority according to the urgency, importance, and time limit factors of the task;

[0028] The levels of the priority include: dividing the priority of the task into three levels: high, medium, and low;

[0029] S42. Sort the tasks in the order of task priority and process them in descending order;

[0030] S43. Assign the tasks to three robotic arms, RobotA, Robot B, and Robot C, in the order of priority;

[0031] For tasks with high priority, assign them to faster and more accurate robotic arms;

[0032] S44. During the task execution, if a robot arm malfunctions or the task completion time is too long, the task assignment is dynamically adjusted and the task is reassigned to other robot arms; if no robot arm malfunctions or the task completion time is too long, the task assignment is not adjusted.

[0033] By real-time monitoring the working status of each robot arm, the task completion situation, and the requirements of the entire task progress, the task assignment is dynamically adjusted to ensure the smooth completion of the entire task.

[0034] When assembling a complex product, three robot arms are respectively responsible for different subtasks, such as adding milk, adding ice, and detecting; during the execution, if a robot arm malfunctions, the system will immediately detect it and reassign the task of this robot arm to other robot arms; at the same time, the system will dynamically adjust the task assignment according to the working status and task completion situation of each robot arm to ensure the efficiency and accuracy of the entire task.

[0035] Through the implementation of "priority sorting" and "dynamic adjustment of task assignment", the three robot arms can complete tasks more efficiently and accurately when facing multiple tasks.

[0036] Further, the method for establishing a conflict resolution mechanism in step S2 includes:

[0037] By coordinating the actions between the three robot arms, the occurrence of conflicts is avoided; the method of coordination control includes: controlling the three robot arms through intelligent control and collaborative algorithms.

[0038] Further, the setting rules of the intelligent control include:

[0039] Priority rule: Assign tasks with higher priorities to faster and more accurate robot arms first.

[0040] Cooperation rule: When a robot arm malfunctions or the task completion time is too long, other robot arms take over the task to ensure the efficiency and accuracy of the entire task.

[0041] Conflict avoidance rule: During the task execution, conflicts between robot arms are avoided, and collisions are avoided through communication and coordination.

[0042] Further, the design method of the collaborative algorithm is:

[0043] Based on the task assignment and coordination control strategy, the task is assigned and coordinated according to the type, difficulty, and time requirements (different attributes of the task) of the task.

[0044] Specific algorithms can be designed and implemented according to the actual application scenarios.

[0045] The collaborative algorithm and intelligent control rules need to be designed and optimized according to the actual application scenario to ensure the optimal coordination control effect of the three-arm robot.

[0046] Further, the method for evaluating the priority of each order in step S3 includes:

[0047] Set the threshold of task completion time and the threshold of task completion quality according to the actual application scenario, and evaluate the working status of the robot arm and the task completion situation through the thresholds.

[0048] Further, the method for manual intervention to resolve conflicts in step S2 includes:

[0049] Resolve conflicts by manually adjusting the working process of the robotic arm and reassigning tasks.

[0050] The present invention also provides a three-robot-arm collaborative operation system for beverage sales, which executes the three-robot-arm collaborative operation method for beverage sales as described above, including:

[0051] Synchronization work module: used to synchronize the work between the robot arms Robot A, Robot B, and Robot C through time synchronization or communication synchronization; and perform testing and optimization;

[0052] Conflict resolution mechanism module: used to establish a conflict resolution mechanism between the three robotic arms and automatically resolve conflicts when they occur; if the conflicts between the robotic arms cannot be resolved by the automatic conflict resolution mechanism, then manual intervention is carried out to resolve the conflicts;

[0053] Evaluation priority module: used to determine the task requirements and demand details of each order, record and classify the task requirements and demand details of all orders, and evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, best operating efficiency of the coffee machine, importance of the customer, or size of the order, so that high-priority orders are processed first;

[0054] Task allocation module: used to allocate different tasks to each robot arm according to the capabilities, workloads, and current states of each robot arm;

[0055] Monitoring order processing module: used to monitor the working progress, status, and error conditions of each robot arm in real time; if a certain robot arm encounters problems during task execution, then quickly reallocate tasks or intervene to ensure that the order is completed on time;

[0056] Update record order status module: used to update and record the status of each order in real time during the entire order processing process.

[0057] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the method for collaborative operation of three robotic arms for beverage sales as described above.

[0058] The present invention also provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the method for collaborative operation of three robotic arms for beverage sales as described above.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] The method for collaborative operation of three robotic arms for beverage sales according to the present invention, through the mutual cooperation of the three robotic arms, intelligent task allocation and mutual coordination, improves the cup output rate of beverages and can complete various coffee latte arts; the fastest cup output speed of the application of the three robotic arms is 25 seconds / cup, which doubles the efficiency compared with the existing fastest cup output speed, greatly enhancing the consumer experience and satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention.

[0062] In the drawings:

[0063] Figure 1 is a flowchart of the method for collaborative operation of three robotic arms for beverage sales according to the present invention;

[0064] Figure 2 is a flowchart of the method for allocating different tasks to each robotic arm in an embodiment of the present invention;

[0065] Figure 3 is a schematic diagram of the composition of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are only examples of devices and products consistent with some aspects of the present disclosure as detailed in the appended claims.

[0067] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the", and "said" used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0068] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "while" or "in response to determining".

[0069] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0070] The embodiments of the present invention provide a method for collaborative operation of three robotic arms for beverage vending. Three robotic arms, RobotA, Robot B, and Robot C, are set up, and the robotic arms RobotA, Robot B, and Robot C coordinate and process multiple beverage orders received. See Figure 1 as shown, including the following steps:

[0071] S1. Synchronize the work among the robotic arms RobotA, Robot B, and Robot C through timing synchronization or communication synchronization; and perform testing and optimization; to ensure that they can efficiently complete tasks;

[0072] The method of timing synchronization includes: recording the operation timing of each robotic arm through a timer, so that the three robotic arms operate in a predetermined order;

[0073] The method of communication synchronization includes: establishing a communication connection between the robotic arms for real-time information exchange and coordination during operation.

[0074] After completing the coordination and synchronization work of the robotic arms, perform testing and optimization to ensure that the three robotic arms can efficiently complete tasks. Adjustment and optimization can be made according to the actual situation to improve the cooperation efficiency between the robotic arms.

[0075] S2. Establish a conflict resolution mechanism among the three robotic arms to automatically resolve conflicts when they occur; if the conflicts among the robotic arms cannot be resolved by the automatic conflict resolution mechanism, manual intervention is carried out to resolve the conflicts.

[0076] The conflict resolution mechanism includes: resolving conflicts by priority sorting and dynamically adjusting the task allocation method.

[0077] In this embodiment, the method for establishing the conflict resolution mechanism includes:

[0078] Avoid conflicts by coordinating the actions among the three robotic arms; the method of coordination control includes: controlling the three robotic arms through intelligent control and cooperative algorithms.

[0079] The setting rules of the intelligent control include:

[0080] Priority rule: Assign tasks with higher priorities to faster and more accurate robotic arms first.

[0081] Cooperation rule: When a certain robotic arm fails or takes too long to complete a task, other robotic arms take over the task to ensure the efficiency and accuracy of the entire task.

[0082] Conflict avoidance rule: During the task execution process, conflicts are avoided among the robotic arms, and collisions are avoided through communication and coordination.

[0083] The design method of the cooperative algorithm is:

[0084] Based on the task allocation and coordination control strategy, tasks are allocated and coordinated according to the type, difficulty, and time requirements (different attributes of the tasks) of the tasks.

[0085] Specific algorithms can be designed and implemented according to the actual application scenarios.

[0086] The method for manual intervention to resolve conflicts includes:

[0087] Resolve conflicts by manually adjusting the work process of the robotic arms and reallocating the task method.

[0088] The cooperative algorithm and intelligent control rules need to be designed and optimized according to the actual application scenarios to ensure the optimal coordination control effect of the three-arm robot.

[0089] When designing and allocating tasks, conflicts should be avoided as much as possible. For example, conflicts can be avoided through task decomposition, parallel processing, etc.

[0090] In this embodiment, a certain interaction process is established between the robotic arms to ensure that they can cooperate with each other. For example, when a robotic arm completes its own task, it can send a signal to another robotic arm to notify it to start working.

[0091] In this embodiment, a communication connection is established between the robotic arms so that the three robotic arms can communicate with each other and exchange data. Wireless communication or wired communication can be used, and a suitable communication method can be selected according to actual needs.

[0092] The robotic arms in this embodiment communicate with devices such as controllers, sensors, and actuators to achieve information transmission and processing. The signal transmission rate depends on the specific communication technology and devices used. For example, the peak theoretical transmission speed of a 5G network can reach 10 Gbps, while the transmission speed of an optical fiber network can exceed 100 Gbps. When communicating using Wi-Fi, the transmission rate can reach 11 Mbps; when communicating using Bluetooth, the transmission rate can reach 2.1 Mbps; when communicating using NFC, the transmission rate can reach 424 Kbps.

[0093] S3. Determine the task requirements and demand details of each order, and record and classify the task requirements and demand details of all orders to facilitate the robotic arms to understand and execute tasks according to the requirements; evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, best operating efficiency of the coffee machine, importance of the customer, or size of the order, so that orders with high priority are processed first to ensure customer satisfaction and timely delivery;

[0094] The task requirements and demand details include: coffee beverage type, quantity, ingredients, taste, latte art, and other special requirements;

[0095] In this embodiment, the method for evaluating the priority of each order includes:

[0096] Set the threshold of the task completion time and the threshold of the task completion quality according to the actual application scenario, and evaluate the working status and task completion situation of the robotic arms through the thresholds.

[0097] S4. Allocate different tasks to each robotic arm according to the capabilities, workloads, and current states of each robotic arm;

[0098] For example, if RobotA has processed high-priority orders for a long time, it can be allocated to lower-priority orders to give other robotic arms the opportunity to process high-priority orders.

[0099] The method for allocating different tasks to each robotic arm, see Figure 2 As shown, includes the following steps:

[0100] S41. Assign a priority to each task, and determine the priority according to the urgency, importance, and time limit factors of the task;

[0101] The levels of the described priority include: divide the priority of the task into three levels: high, medium, and low;

[0102] S42. Sort the tasks according to the priority order of the tasks, and process them in descending order;

[0103] S43. Assign the tasks to three robot arms, RobotA, Robot B, and Robot C, according to the priority order;

[0104] For tasks with high priority, assign them to faster and more accurate robot arms;

[0105] S44. During the execution of the task, if a certain robot arm fails or the task completion time is too long, dynamically adjust the task assignment and reassign the task to other robot arms; if no robot arm fails or the task completion time is too long, do not adjust the task assignment.

[0106] Dynamically adjust the task assignment by real-time monitoring the working status and task completion of each robot arm, as well as the requirements of the entire task progress, to ensure the smooth completion of the entire task;

[0107] When assembling a complex product, the three robot arms are responsible for different subtasks, such as adding milk, adding ice, and detecting; during the execution, if a certain robot arm fails, the system will immediately detect it and reassign the task of that robot arm to other robot arms; at the same time, the system will dynamically adjust the task assignment according to the working status and task completion of each robot arm to ensure the efficiency and accuracy of the entire task;

[0108] Through the implementation of "priority sorting" and "dynamic adjustment of task assignment", the three robot arms can complete tasks more efficiently and accurately when facing multiple tasks.

[0109] S5. Real-time monitor the working progress, status, and error conditions of each robot arm; if a certain robot arm encounters problems during the execution of the task, quickly reassign the task or intervene to ensure that the order is completed on time;

[0110] S6. Update and record the order status; during the entire order processing process, real-time update and record the status of each order. This helps to track the order processing progress, ensure that the order is delivered on time, and solve any possible problems.

[0111] The embodiment of the present invention further provides a three-robot-arm collaborative operation system for beverage sales, which executes the three-robot-arm collaborative operation method for beverage sales as described above, including:

[0112] Synchronization working module: used to synchronize the work among robot arms Robot A, Robot B, and Robot C through timing synchronization or communication synchronization; and perform testing and optimization;

[0113] Conflict resolution mechanism module: used to establish a conflict resolution mechanism among the three robotic arms and automatically resolve conflicts when they occur; if the conflicts among the robotic arms cannot be resolved by the automatic conflict resolution mechanism, manual intervention is carried out to resolve the conflicts;

[0114] Evaluation priority module: used to determine the task requirements and demand details of each order, record and classify the task requirements and demand details of all orders, and evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, best operating efficiency of the coffee machine, importance of the customer, or size of the order, so that orders with high priority are processed first;

[0115] Task allocation module: used to allocate different tasks to each robot arm according to the capabilities, workloads, and current states of each robot arm;

[0116] Monitoring order processing module: used to monitor the work progress, status, and error conditions of each robot arm in real time; if a certain robot arm encounters problems during task execution, tasks are quickly reallocated or intervention is carried out to ensure that the order is completed on time;

[0117] Update record order status module: used to update and record the status of each order in real time during the entire order processing process.

[0118] The embodiment of the present invention further provides a computer device, Figure 3 which is a schematic structural diagram of a computer device provided by the embodiment of the present invention; see the attached drawings Figure 3 As shown, the computer device includes: an input device 23, an output device 24, a memory 22, and a processor 21; the memory 22 is used to store one or more programs; when the one or more programs are executed by the one or more processors 21, the one or more processors 21 implement the three-robot-arm collaborative operation method for beverage sales provided by the above embodiment; wherein the input device 23, the output device 24, the memory 22, and the processor 21 can be connected through a bus or other means, Figure 3 taking the connection through the bus as an example.

[0119] The memory 22, as a computable device-readable and writable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions corresponding to the method for collaborative operation of three robotic arms for beverage vending as described in the embodiments of the present invention. The memory 22 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the device, etc. In addition, the memory 22 may include high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 22 may further include a memory remotely provided relative to the processor 21, and these remote memories can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0120] The input device 23 can be used to receive input digital or character information and generate key signal inputs related to user settings and function control of the device; the output device 24 may include display devices such as a display screen.

[0121] The processor 21 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 22, that is, implements the above-mentioned method for collaborative operation of three robotic arms for beverage vending.

[0122] The computer device provided above can be used to execute the method for collaborative operation of three robotic arms for beverage vending provided in the above embodiments, and has corresponding functions and beneficial effects.

[0123] An embodiment of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to execute the three-robot-arm collaborative operation method for beverage sales provided in the above embodiment. The storage medium is any of various types of memory devices or storage devices, including: installation media such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memories or random access memories such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memories such as flash memories, magnetic media (such as hard disks or optical storage); registers or other similar types of memory elements, etc.; the storage medium may further include other types of memories or combinations thereof; in addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system, and the second computer system is connected to the first computer system through a network (such as the Internet); the second computer system may provide program instructions to the first computer for execution. The storage medium includes two or more storage media that may reside in different locations (such as in different computer systems connected through a network). The storage medium can store program instructions (such as specifically implemented as a computer program) executable by one or more processors.

[0124] Of course, the computer-executable instructions of a storage medium containing computer-executable instructions provided in the embodiments of the present invention are not limited to the three-robot-arm collaborative operation method for beverage sales described in the above embodiments, and can also execute related operations in the three-robot-arm collaborative operation method for beverage sales provided in any embodiment of the present invention.

[0125] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

[0126] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for collaborative operation of three robotic arms for beverage sales, characterized in that, Set three robotic arms, namely RobotA, Robot B, and Robot C, and the robotic arms RobotA, Robot B, and Robot C perform coordinated operation processing on multiple received drink orders, including the following steps: S1. Synchronize the work among the robotic arms RobotA, Robot B, and Robot C through time synchronization or communication synchronization; and conduct testing and optimization; The method of time synchronization includes: recording the operation time sequence of each robotic arm through a timer, so that the three robotic arms operate in a predetermined order; The method of communication synchronization includes: establishing a communication connection among the robotic arms to enable real-time information exchange and coordination during operation; S2. Establish a conflict resolution mechanism among the three robotic arms to automatically resolve conflicts when they occur; if the conflicts among the robotic arms cannot be resolved through the automatic conflict resolution mechanism, then conduct manual intervention to resolve the conflicts; The conflict resolution mechanism includes: resolving conflicts through priority sorting and dynamically adjusting the task allocation method; S3. Determine the task requirements and demand details of each order, record and classify the task requirements and demand details of all orders, and evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, best operating efficiency of the coffee machine, importance of the customer, or size of the order, so that orders with higher priority are processed first; The task requirements and demand details include: drink type, quantity, ingredients, taste, latte art; S4. Allocate different tasks to each robotic arm according to the capabilities, workloads, and current states of each robotic arm; S5. Monitor the work progress, status, and error conditions of each robotic arm in real time; if a certain robotic arm encounters problems during task execution, then quickly reallocate tasks or conduct intervention to ensure that the order is completed on time; S6. During the entire order processing process, update and record the status of each order in real time.

2. The collaborative operation method of three robotic arms for beverage vending according to claim 1, wherein, The method of allocating different tasks to each robotic arm in step S4 includes the following steps: S41. Assign a priority to each task and determine the priority according to the urgency, importance, and time limit factors of the task; The levels of the priority include: dividing the priority of the task into three levels: high, medium, and low; S42. Sort the tasks in the order of the priority of the tasks and process them in descending order; S43. Allocate the tasks to the three robotic arms RobotA, Robot B, and Robot C in the order of priority; S44. During the task execution process, if a certain robotic arm fails or the task completion time is too long, then dynamically adjust the task allocation and reallocate the task to other robotic arms; if no robotic arm fails or the task completion time is too long, then do not adjust the task allocation.

3. The method for collaborative operation of three robotic arms for beverage vending according to claim 1, wherein, The method of establishing a conflict resolution mechanism in step S2 includes: By coordinating the actions among three robotic arms, the occurrence of conflicts is avoided; the method of the coordination control includes: controlling the three robotic arms by means of intelligent control and collaborative algorithms.

4. The method for collaborative operation of three robotic arms for beverage sales according to claim 3, characterized in that, The setting rules of the intelligent control include: Priority rule: Prioritize the tasks with higher priority and allocate them to the faster and more accurate robotic arm. Collaboration rule: When a certain robotic arm fails or the task completion time is too long, other robotic arms take over the task to ensure the efficiency and accuracy of the whole task. Conflict avoidance rule: During the task execution, conflicts are avoided among the robotic arms, and collisions are avoided through communication and coordination.

5. The method for collaborative operation of three robotic arms for beverage vending according to claim 3, wherein, The design method of the collaborative algorithm is: Based on the task allocation and coordination control strategy, allocate and coordinate tasks according to the type, difficulty, and time requirements of the tasks.

6. The method for collaborative operation of three robotic arms for beverage vending according to claim 1, characterized in that, The method for evaluating the priority of each order in step S3 includes: Set the thresholds for task completion time and task completion quality according to the actual application scenario, and evaluate the working state and task completion situation of the robotic arm through the thresholds.

7. The method for collaborative operation of three robotic arms for beverage vending according to claim 6, characterized in that, The method for resolving conflicts through manual intervention in step S2 includes: Resolve conflicts by manually adjusting the working process of the robotic arm and reallocating tasks.

8. Three-robot-arm collaborative operation system for beverage sales, characterized in that, Execute the method for collaborative operation of three robotic arms for beverage vending as described in any one of claims 1-7, including: Synchronization work module: Used to synchronize the work among robotic arms Robot A, Robot B, and Robot C through timing synchronization or communication synchronization; and conduct testing and optimization. Conflict resolution mechanism module: Used to establish a conflict resolution mechanism among the three robotic arms and automatically resolve conflicts when conflicts occur; if the conflicts among the robotic arms cannot be resolved through the automatic conflict resolution mechanism, then conduct manual intervention to resolve conflicts. Priority evaluation module: Used to determine the task requirements and demand details of each order, record and classify the task requirements and demand details of all orders, and evaluate the priority of each order according to the criteria of time priority of the order, urgency of the order, best operating efficiency of the coffee machine, importance of the customer, or size of the order, so that the orders with higher priority are processed first. Task allocation module: Used to allocate different tasks to each robotic arm according to the capabilities, workloads, and current states of each robotic arm. Monitoring order processing module: Used to monitor the working progress, state, and error conditions of each robotic arm in real time; if a certain robotic arm encounters problems during task execution, then quickly reallocate tasks or conduct intervention to ensure that the order is completed on time. Update and record order status module: Used to update and record the status of each order in real time during the whole order processing process.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method for collaborative operation of three robotic arms for beverage vending as described in any one of claims 1-7.

10. A computer device, the computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for collaborative operation of three robotic arms for beverage vending as described in any one of claims 1-7.

Images