Beverage output equipment, control method for beverage output equipment and storage medium

Abstract

The invention relates to beverage output equipment, a control method for the beverage output equipment and a storage medium. The beverage output equipment comprises a bearing table, a beverage output port and a first sensing assembly. The bearing table is used for bearing a container, and the container is used for bearing drinks. The drink output port is used for outputting drinks to the container, and the drinks comprise the first kind of drink ingredients and / or the second kind of drink ingredients. The first sensing assembly is rotationally arranged between the bearing table and the beverage output port. The first sensing assembly can swing between the bearing table and the beverage output port to scan the container and is used for obtaining the height of the container. At the moment, when the beverage is output from the beverage output port, the first induction assembly can obtain the height of the container, so that the output amount of the beverage can be controlled according to the heights of different containers, the phenomenon that the beverage is splashed or overflowed due to excessive output of the beverage is avoided, and the operation experience feeling of a user can be better improved.

Description

Technical Field

[0001] The present application belongs to the technical field of beverage equipment, and in particular relates to a beverage output device, a control method for the beverage output device, and a storage medium. Background Art

[0002] When existing beverage dispensing equipment dispenses beverages, different containers often have different container heights. When the container height is low, beverage overflow is likely to occur. Therefore, beverage overflow can be avoided by measuring the container height before dispensing the beverage. However, how to measure the container height is indeed a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application provides a beverage dispensing device, a control method for the beverage dispensing device, and a storage medium to solve the technical problem of how to measure the height of a container.

[0004] In order to solve the above technical problems, a technical solution adopted in the present application is: a beverage dispensing device, comprising: a supporting platform for carrying a container, the container being used to receive beverages; a beverage dispensing port for dispensing beverages to the container, the beverage comprising a first category of beverage ingredients and / or a second category of beverage ingredients; a first sensing component rotatably disposed between the supporting platform and the beverage dispensing port, the first sensing component being able to swing between the supporting platform and the beverage dispensing port to scan the container, so as to obtain the height of the container.

[0005] According to an embodiment of the present application, the beverage dispensing device further includes a carrying frame, the carrying frame is located above the carrying platform, and the first sensing component is rotatably disposed on the carrying frame for swinging and scanning the container.

[0006] According to one embodiment of the present application, the supporting frame includes a back panel and two side panels arranged opposite to each other on both sides of the back panel, the supporting platform is arranged at the bottom of the back panel and the side panels, the beverage outlet is arranged in a space formed by the back panel and the two side panels, and at least one first sensing component is provided and is rotatably arranged on the back panel and / or the side panel.

[0007] According to an embodiment of the present application, the beverage dispensing device further includes: a moving component connected to the beverage dispensing port, and the moving component is used to drive the beverage dispensing port to move closer to or away from the supporting platform.

[0008] To solve the above technical problems, another technical solution adopted by this application is: a control method for a beverage output device, which is applied to the beverage output device described in any one of the above, and the control method includes: controlling the first sensing component to rotate between the carrying platform and the beverage output port, and controlling the first sensing component to continuously emit detection waves; determining that the first sensing component scans to the opening edge of the container according to the parameter change amplitude of the detection echo received by the first sensing component; determining the vertical distance between the opening edge of the container and the carrying platform according to the vertical distance of the first sensing component from the carrying platform, the rotation angle and the detection distance when the first sensing component scans to the opening edge of the container.

[0009] According to an embodiment of the present application, the controlling the first sensing component to rotate between the carrying platform and the beverage output port, and controlling the first sensing component to continuously emit detection waves includes: controlling the first sensing component to emit detection waves horizontally; determining whether the first sensing component receives a detection echo of the detection wave within a first preset time period; if so, controlling the first sensing component to rotate upward, and controlling the first sensing component to continuously emit detection waves; if not, controlling the first sensing component to rotate downward, and controlling the first sensing component to continuously emit detection waves.

[0010] According to an embodiment of the present application, the determining the vertical distance between the opening edge of the container and the carrying platform according to the vertical distance of the first sensing component from the carrying platform, the rotation angle and the detection distance when the first sensing component scans to the opening edge of the container includes: calculating the rotation angle when the first sensing component rotates from the horizontal direction to scan to the opening edge of the container, and taking the upward rotation as a positive angle value and the downward rotation as a negative angle value, denoted as the first angle; calculating the detection distance when the first sensing component scans to the opening edge of the container, and denoted as the first distance; multiplying the first distance by the sine value of the first angle to obtain the vertical distance difference between the opening edge of the container and the first sensing component, denoted as the first height;

[0011] Adding the vertical distance of the first sensing component from the carrying platform and the first height to obtain the vertical distance between the opening edge of the container and the carrying platform.

[0012] According to an embodiment of the present application, determining the vertical distance between the opening edge of the container and the carrier table based on the vertical distance of the first sensing component from the carrier table, as well as the rotation angle and detection distance when the first sensing component scans to the opening edge of the container further includes: in response to the absolute value of the rotation angle when the first sensing component scans to the opening edge of the container being less than a predetermined angle value; taking the vertical distance of the first sensing component from the carrier table as the vertical distance between the opening edge of the container and the carrier table.

[0013] According to an embodiment of the present application, determining that the first sensing component scans to the opening edge of the container based on the change amplitude of the parameters of the detection echo received by the first sensing component includes: in response to the interval duration between two adjacent detection echoes being greater than a second predetermined duration, determining that the first sensing component scans to the opening edge of the container, where the two adjacent detection echoes are the two adjacent detection echoes corresponding to the two adjacent detection waves emitted during the swinging process of the first sensing component.

[0014] To solve the above technical problems, another technical solution adopted by the present application is: a storage medium storing program instructions that can be executed to implement any one of the above control methods for a beverage output device.

[0015] The beneficial effects of the present application are as follows: The present application provides a beverage output device, a control method for a beverage output device, and a storage medium. The beverage output device includes a carrier table, a beverage output port, and a first sensing component. Among them, the carrier table is used to carry a container. The container is used to hold a beverage. The beverage output port is used to output the beverage to the container, and the beverage includes a fixed and / or a second type of beverage ingredient. The first sensing component is rotatably arranged between the carrier table and the beverage output port. The first sensing component can swing between the carrier table and the beverage output port to scan the container for obtaining the height of the container. By rotatably arranging the first sensing component between the carrier table and the beverage output port, the first sensing component can swing between the carrier table and the beverage output port to scan the container, thereby detecting the top opening edge of the container, and further obtaining the height of the container. At this time, when the beverage is output from the beverage output port, since the first sensing component can obtain the height of the container, the amount of beverage output can be controlled according to the height of different containers, so as to avoid the phenomenon of beverage splashing or overflowing due to excessive beverage output, and can better improve the user's operation experience. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, where:

[0017] Figure 1 is a front structural schematic diagram of an embodiment of the beverage output device of the present application;

[0018] Figure 2 is a flowchart of an embodiment of the control method for the beverage output device of the present application;

[0019] Figure 3 is a schematic flowchart of another sub - embodiment of the control method for the beverage output device of the present application

[0020] Figure 4 is a schematic flowchart of a sub - embodiment of the control method for the beverage output device of the present application;

[0021] Figure 5 is a schematic diagram of container height detection in an embodiment of the control method for the beverage output device of the present application;

[0022] Figure 6 is a schematic diagram of container height detection in an embodiment of the control method for the beverage output device of the present application;

[0023] Figure 7 is a schematic diagram of container height detection in another embodiment of the control method for the beverage output device of the present application;

[0024] Figure 8 is a schematic diagram of container height detection in another embodiment of the control method for the beverage output device of the present application;

[0025] Figure 9 is a framework schematic diagram of an embodiment of the storage medium of the present application. Detailed Embodiments

[0026] To make the above - mentioned objects, features, and advantages of the present application more obvious and understandable, the following will provide a detailed description of the specific embodiments of the present application in conjunction with the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only parts related to the present application rather than all structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0027] Reference to "embodiments" in this specification means that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] In the description of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0029] In the description of the present application, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "coupled" shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection or a connection capable of mutual communication; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0030] Please refer to Figure 1 , Figure 1 which is a front structural schematic diagram of an embodiment of the beverage output device of the present application.

[0031] An embodiment of the present application provides a beverage output device 10. The beverage output device 10 includes a carrier 11, a beverage output port 12, and a first sensing component 13. Among them, the carrier 11 is used to carry a container. The container is used to receive the beverage. The beverage output port 12 is used to output the beverage to the container. The beverage includes a first type of beverage ingredient and / or a second type of beverage ingredient. The first sensing component 13 is rotatably disposed between the carrier 11 and the beverage output port 12. The first sensing component 13 can swing between the carrier 11 and the beverage output port 12 to scan the container for obtaining the height of the container.

[0032] As can be seen from the above structure, when the user receives the drink, the container can be placed on the bearing platform 11. At this time, the user does not need to hold the container during the whole process of receiving the drink, and the whole process of receiving the drink can be more labor-saving. By rotatably arranging the first sensing component 13 between the bearing platform 11 and the drink outlet 12, the first sensing component 13 can swing and scan the container between the bearing platform 11 and the drink outlet 12, so as to detect the top opening edge of the container, and then obtain the height of the container. At this time, when the drink is output from the drink outlet 12, since the first sensing component 13 can obtain the height of the container, the amount of drink output can be controlled according to the height of different containers, so as to avoid the phenomenon of drink splashing or overflowing when the drink is output, and can better improve the user's operation experience.

[0033] Specifically, when the user takes the first type of drink ingredient and / or the second type of drink ingredient, the container is placed on the bearing platform 11. When the first sensing component 13 rotates and simultaneously emits a detection wave to scan the container, during this process, the first sensing component 13 can continuously receive the detection echo, and the first sensing component 13 can calculate the interval distance from different positions of the container through the time interval of the received detection echo. The time interval of receiving the detection echo and the calculated interval distance should change regularly and slowly. When the first sensing component 13 scans from the opening edge of the container to other objects, the time interval of the detection echo received by the first sensing component 13 will mutate, and the calculated interval distance will also mutate, which does not conform to the characteristics of the container scanned by the conventional scanning rules. At this time, it can be confirmed that the first sensing component 13 has scanned outside the opening edge of the container. Therefore, at the moment when the detection echo of the first sensing component 13 mutates, the time of the previous group of detection echoes can be obtained, and thus the straight-line distance between the first sensing component 13 and the opening edge of the container can be obtained according to the propagation speed of the detection wave. Since the vertical distance between the first sensing component 13 and the bearing platform 11 is known, the rotation angle of the first sensing component 13 when scanning the opening edge of the container is known, and the straight-line distance between the first sensing component 13 and the opening edge of the container is known, the height of the opening edge of the container can be obtained through calculation. The specific calculation method will be described in detail in the related embodiments of the control method of the drink output device 10.

[0034] The drink output device 10 of the present application can automatically obtain the height of the placed container. When the drink is output from the drink outlet 12, the amount of drink output can be more accurately controlled according to the height of the container obtained by the drink output device 10, so as to avoid the phenomenon of drink overflow caused by excessive drink output. This structure can better improve the user's experience when using the drink output device 10.

[0035] It should be noted that the first type of beverage ingredients includes ingredients with fixed shapes, elastic ingredients, and ingredients with poor fluidity. For example, ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, nata de coco, taro balls, milk jelly, jelly, turtle jelly, fruit puree, taro puree, ice cream, puffed food, baked food, etc.; the second type of beverage ingredients includes ingredients with high fluidity, such as water, fruit juice, milk, coffee, cola, soy milk, etc.

[0036] In an embodiment of the present application, the beverage output device 10 further includes a carrying frame 14. The carrying frame 14 is located above the carrying platform 11. The first sensing assembly 13 is rotatably arranged on the carrying frame 14 and is used for swinging and scanning the container. The carrying frame 14 can well carry the first sensing assembly 13, so that the first sensing assembly 13 can be more stable during the process of swinging and scanning the container.

[0037] Further, the carrying frame 14 includes a back plate 141 and side plates 142 oppositely arranged on both sides of the back plate 141. The carrying platform 11 is arranged at the bottom of the back plate 141 and the side plates 142. The beverage output port 12 is arranged in the space formed by the enclosure of the back plate 141 and the two side plates 142. At least one first sensing assembly 13 is provided and is rotatably arranged on the back plate 141 and / or the side plates 142.

[0038] It should be noted that only one first sensing assembly 13 can be provided. When only one first sensing assembly 13 is provided, the first sensing assembly 13 can be arranged on the back of the carrying frame 14, or the first sensing assembly 13 can also be arranged on any one of the two side plates 142 of the carrying frame 14, and there is no limitation here. Of course, multiple first sensing assemblies 13 can also be provided. When multiple first sensing assemblies 13 are provided, the first sensing assemblies 13 can be arranged on the back plate 141 of the carrying frame 14 and the two side plates 142, or can be arranged only on the back plate 141 of the carrying frame 14, or only on any one of the two side plates 142, and there is no limitation here. In addition, when multiple first sensing assemblies 13 are provided, it can avoid misjudgment due to the special shape of the container, and thus can better improve the compatibility of the beverage output device 10 with the container.

[0039] Specifically, the first sensing assembly 13 can be an ultrasonic detector or a time-of-flight detector (TOF).

[0040] Further, in order to avoid splashing when the drink is output from the drink outlet 12, in an embodiment of the present application, the drink output device 10 further includes a moving component 15. The moving component 15 is connected to the drink outlet 12. The moving component 15 is used to drive the drink outlet 12 to approach or move away from the carrying platform 11. Specifically, when the user needs to receive the drink, the moving component 15 can drive the drink outlet 12 to approach the carrying platform 11. At this time, the distance between the drink outlet 12 and the container is reduced, and thus the drink is not likely to splash when it is output into the container. When the user finishes taking the first type of drink ingredients and / or the second type of drink ingredients, the moving component 15 can drive the drink outlet 12 to move away from the carrying platform 11. At this time, when the user takes the container, the hand will not touch the drink outlet 12. On the one hand, it can prevent bacteria from remaining on the drink outlet 12. On the other hand, it is not likely to cause accidental injury to the user, and the overall user experience is better.

[0041] To solve the above problems, another embodiment of the present application provides a control method for a drink output device 10. Please refer to Figure 2 and Figure 3 , Figure 2 is a flowchart of an embodiment of the control method for the drink output device of the present application, Figure 3 is a schematic flowchart of another sub-embodiment of the control method for the drink output device of the present application.

[0042] Among them, the control method of the drink output device is applied to the drink output device 10 in any of the above embodiments. Specifically, the control method of the drink output device includes the following content:

[0043] S11: Control the first sensing component 13 to rotate between the carrying platform 11 and the drink outlet 12, and control the first sensing component 13 to continuously emit detection waves.

[0044] Since the container is placed on the carrying platform 11 and is located between the carrying platform 11 and the drink outlet 12. Therefore, the detection waves emitted by the first sensing component 13 can detect the specific position of the container. Among them, the distance between the installation position of the first sensing component 13 and the carrying platform 11 can be the distance between a conventional container and the carrying platform 11. The installation position of the first sensing component 13 can even be flush with the carrying platform 11, that is, the first sensing component 13 can only rotate upward to detect the container.

[0045] Specifically, controlling the first sensing component 13 to rotate between the carrying platform 11 and the drink outlet 12 and controlling the first sensing component 13 to continuously emit detection waves includes:

[0046] S111: Control the first sensing component 13 to emit detection waves horizontally.

[0047] For the convenience of operation, when the first induction component 13 swings between the carrier 11 and the beverage outlet 12 to scan the container, detection waves are first emitted horizontally to compare the height of the first induction component 13 and the edge of the container opening.

[0048] S112. Determine whether the first induction component 13 receives the detection echo of the detection wave within the first preset time period.

[0049] If the first induction component 13 receives the detection echo of the detection wave within the first preset time period, it indicates that the vertical distance H between the edge of the container opening and the carrier 11 is greater than or equal to the vertical distance h1 between the first induction component 13 and the carrier 11, that is, H≥h1.

[0050] Among them, the first preset time period can be determined according to the actual sizes of the carrier 11 and the carrier frame 14. For example, the first preset time period can be the time when the first induction component 13 horizontally detects the detection echo reflected from the middle, or two-thirds distance, or three-fourths distance, etc. of the carrier 11. If it exceeds the first preset time period, it can be determined that the first induction component 13 horizontally detects outside the carrier 11. At this time, the edge of the container opening is lower than the first induction component 13.

[0051] S113. If so, control the first induction component 13 to rotate upward and control the first induction component 13 to continuously emit detection waves.

[0052] If the first induction component 13 receives the detection echo of the detection wave within the first preset time period, at this time, it can be known that the height H of the edge of the container opening is greater than or equal to the vertical distance h1 between the first induction component 13 and the carrier 11, that is, H≥h1. At this time, control the first induction component 13 to rotate upward and control the first induction component 13 to continuously emit detection waves, and the edge of the container opening can be detected.

[0053] S114. If not, control the first induction component 13 to rotate downward and control the first induction component 13 to continuously emit detection waves.

[0054] If the first induction component 13 does not receive the detection echo of the detection wave within the first preset time period, at this time, it can be known that the height H of the edge of the container opening is less than the vertical distance h1 between the first induction component 13 and the carrier 11, that is, H<h1. At this time, control the first induction component 13 to rotate downward and control the first induction component 13 to continuously emit detection waves, and the edge of the container opening can be detected.

[0055] S12: Determine that the first induction component 13 scans to the edge of the container opening according to the parameter change amplitude of the detection echo received by the first induction component 13.

[0056] When the first sensing component 13 scans over the container, at this time, the change amplitude of the parameters of the detected echo received by the first sensing component 13 is slow and regular. When the change amplitude of the parameters of the detected echo received by the first sensing component 13 is greater than the preset amplitude, at this time, it can be determined that the first sensing component 13 has scanned past the opening edge of the container, that is, the upper edge of the container.

[0057] Specifically, the detected echo before the mutation of the change amplitude of the parameters of the detected echo can be used as the detected echo reflected by the opening edge of the container; and the rotation angle α of the first sensing component 13 when the corresponding detected wave of this detected echo is emitted is determined as the rotation angle α when the first sensing component 13 rotates and scans to the opening edge of the container.

[0058] Of course, in some embodiments, since the propagation speed of the detected wave is very fast and the rotation speed of the first sensing component 13 is relatively slow, when it is determined that the change amplitude of the parameters of the detected echo received by the first sensing component 13 is greater than the preset amplitude, the rotation angle of the first sensing component 13 scanning away from the opening edge of the container can be ignored. When the change amplitude of the parameters of the detected echo received by the first sensing component 13 is greater than the preset amplitude, stop the first sensing component 13, and directly use the current rotation angle α of the first sensing component 13 as the rotation angle α when the first sensing component 13 rotates and scans to the opening edge of the container. Among them, the parameters of the detected echo include the reception time 2t of the interval between receiving the detected echo and emitting the corresponding detected wave, the detected distance L corresponding to the detected echo, the interval duration between two adjacent detected echoes, etc. One or more change amplitudes of the parameters of the detected echo can be selected to determine whether the first sensing component 13 scans to the opening edge of the container.

[0059] For example, determining that the first sensing component 13 scans to the opening edge of the container according to the change amplitude of the parameters of the detected echo received by the first sensing component 13 includes: in response to the interval duration between two adjacent detected echoes being greater than the second preset duration, determining that the first sensing component 13 scans to the opening edge of the container, where the two adjacent detected echoes are the adjacent two detected echoes on both sides corresponding to the adjacent two detected waves emitted during the swinging process of the first sensing component 13.

[0060] When the interval duration between two adjacent detected echoes is greater than the second preset duration, at this time, it can be determined that the change amplitude of the parameters of the detected echo is abnormal, the parameters of the detected echo have mutated, and the first sensing component 13 has scanned the opening edge of the container.

[0061] S13: Determine the vertical distance H between the opening edge of the container and the carrier table 11 according to the vertical distance h between the first sensing component 13 and the carrier table 11, the rotation angle α when the first sensing component 13 scans to the opening edge of the container, and the detection distance L.

[0062] Since the vertical distance h between the first sensing component 13 and the carrier is known, the rotation angle α at which the first sensing component 13 scans the edge of the container opening is known, and the detection distance L at which the first sensing component 13 scans the edge of the container opening is known, the height of the edge of the container opening can be obtained through calculation.

[0063] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a sub-embodiment of the control method for a beverage output device according to the present application;

[0064] In some embodiments, determining the vertical distance H between the edge of the container opening and the carrier 11 according to the vertical distance h between the first sensing component 13 and the carrier 11, the rotation angle α and the detection distance L when the first sensing component 13 scans the edge of the container opening includes:

[0065] S131. Calculate the rotation angle α when the first sensing component 13 rotates from the horizontal direction to scan the edge of the container opening, and take the upward rotation as the positive angle value and the downward rotation as the negative angle value, denoted as the first angle α.

[0066] Since the height of each container is different and the vertical distance h between the first sensing component 13 and the carrier 11 is fixed, when the vertical distance H between the edge of the container opening and the carrier 11 is greater than the vertical distance h between the first sensing component 13 and the carrier 11, that is, H≥h, at this time, the first sensing component 13 rotates upward from the horizontal direction by the positive angle value α. When the vertical distance H between the edge of the container opening and the carrier 11 is less than the vertical distance h between the first sensing component 13 and the carrier 11, that is, H<h, at this time, the first sensing component 13 rotates downward from the horizontal direction by the negative angle value α.

[0067] S132. Calculate the detection distance L when the first sensing component 13 scans the edge of the container opening, and denote it as the first distance L.

[0068] Since when the first sensing component 13 scans the edge of the container opening, the time for the first sensing component 13 to receive the detection echo is 2t and the propagation speed of the detection wave of the first sensing component 13 is v, the detection distance L when the first sensing component 13 scans the edge of the container opening = t*v. That is, the first distance L = t*v.

[0069] S133. Multiply the first distance L by the sine value of the first angle α to obtain the vertical distance difference between the edge of the container opening and the first sensing component 13, denoted as the first height h1.

[0070] Specifically, refer to Figure 5, when the height H of the container is greater than the vertical distance h between the first induction component 13 and the carrier table 11, that is, H≥h, at this time, the first induction component 13 rotates upward by α from the horizontal direction. At this time, h1 = L*sinα = t*v*sina.

[0071] See Figure 6 , when the height H of the container is less than the vertical distance h between the first induction component 13 and the carrier table 11, that is, H<h, at this time, the first induction component 13 rotates downward by α from the horizontal direction. The first angle α is negative. At this time, h1 = L*sin(α) = -L*sin∣α∣ = -t*v*sin∣α∣.

[0072] S134. Use the sum of the vertical distance h between the first induction component 13 and the carrier table 11 and the first height h1 to obtain the vertical distance H between the opening edge of the container and the carrier table 11.

[0073] Specifically, when the height H of the container is greater than the vertical distance between the first induction component 13 and the carrier table 11, that is, H≥h, at this time, the first induction component 13 rotates upward by α from the horizontal direction. At this time, H = h + h1 = h + t*v*sinα. When the height H of the container is less than the vertical distance h between the first induction component 13 and the carrier table 11, that is, H<h, at this time, the first induction component 13 rotates downward by α from the horizontal direction. At this time, H = h + h1 = h - t*v*sin∣α∣.

[0074] In some embodiments, when the rotation angle of the first induction component 13 when scanning to the opening edge of the container is very small and can be ignored, at this time, the vertical distance between the first induction component 13 and the carrier table 11 can be used as the vertical distance H between the opening edge of the container and the carrier table 11. Specifically, in response to the absolute value of the rotation angle of the first induction component 13 when scanning to the opening edge of the container being less than or equal to the vertical distance of the predetermined angle value from the carrier table 11. Then, the vertical distance h1 between the first induction component 13 and the carrier table 11 is used as the vertical distance H between the opening edge of the container and the carrier table 11, that is, H = h1.

[0075] It should be noted that the rotation angle of the first induction component 13 has a predetermined angle value, and the predetermined angle value λ is 0 - 5°. The absolute value of the rotation angle α of the first induction component 13 when scanning to the opening edge of the container can be less than or equal to the predetermined angle value λ.

[0076] Among them, the predetermined angle value λ can be 0°, or the predetermined angle value λ can also be 1°, or the predetermined angle value λ can also be 2.5°, or the predetermined angle value can also be 4°. There is no limit here.

[0077] It should be noted that, please refer to Figure 7, in some other embodiments, the height of the container opening edge can also be obtained by the horizontal distance x between the side wall of the container and the first sensing component 13. Specifically, when the height H of the container opening edge is greater than the vertical distance h between the first sensing component 13 and the carrier table 11, that is, H≥h, at this time, the first sensing component 13 rotates upward by α from the horizontal direction. Through the tangent function, the vertical distance difference between the container opening edge and the first sensing component 13 can be obtained, that is, the first height h1. Wherein, h1 = x * tanα. Therefore, the height H of the container opening edge = h + h1 = h + x tanα.

[0078] Please refer to Figure 8 , when the height H of the container opening edge is less than the vertical distance h between the first sensing component 13 and the carrier table 11, that is, H < h, at this time, the first sensing component 13 rotates downward by α from the horizontal direction. Through the tangent function, the height difference between the container opening edge and the first sensing component 13 can be obtained, that is, the first height h1. Wherein, h1 = -x * tan|α|. Therefore, the height H of the container opening edge = h + h1 = h - x tan|α|.

[0079] When the tangent function is used to obtain the vertical distance difference between the container opening edge and the first sensing component 13, at this time, the shape of the container will have a certain impact on the horizontal distance x between the side wall of the container and the first sensing component 13, and then it will affect the height difference h1 between the container opening edge and the first sensing component 13, thus affecting the height H of the container opening edge obtained by the beverage output device 10. Therefore, in this application, by obtaining the detection distance L when the first sensing component 13 scans to the container opening edge and using the sine function to calculate the vertical distance between the container opening edge and the first sensing component 13, the height H of the container opening edge can be obtained.

[0080] Please refer to Figure 9 , to solve the above technical problems, this application also provides a storage medium 30, and the storage medium 30 stores program instructions that can be executed to implement any one of the above control methods for the beverage output device.

[0081] In several embodiments provided by this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or units can be in electrical, mechanical or other forms.

[0082] The unit described as a separating component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0083] In addition, each functional unit in various embodiments of the present application may be integrated into a processing unit, may exist physically separately for each unit, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0084] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium 30. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium 30 and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods in various embodiments of the present application. The aforementioned storage medium 30 includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0085] The terms "first", "second", and "third" in the present application are only used for descriptive purposes and cannot be understood as indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. All directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0086] The above are only the embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A beverage output device, characterized in that, comprising: a carrier platform for carrying a container for receiving a beverage; a beverage output port for outputting a beverage to the container, the beverage including a first type of beverage ingredient and / or a second type of beverage ingredient; a first sensing component rotatably arranged between the carrier platform and the beverage output port, the first sensing component being swingable between the carrier platform and the beverage output port to scan the container for obtaining the height of the container.

2. The beverage output device according to claim 1, characterized in that, the beverage output device further comprises a carrier frame located above the carrier platform, and the first sensing component is rotatably arranged on the carrier frame for swingably scanning the container.

3. The beverage output device according to claim 2, characterized in that, the carrier frame includes a back plate and two side plates oppositely arranged on both sides of the back plate, the carrier platform is arranged at the bottom of the back plate and the side plates, the beverage output port is arranged in the space formed by enclosing the back plate and the two side plates, at least one first sensing component is provided and rotatably arranged on the back plate and / or the side plates.

4. The beverage output device according to any one of claims 1-3, characterized in that, the beverage output device further comprises: a moving component connected to the beverage output port, the moving component being used for driving the beverage output port to approach or move away from the carrier platform.

5. A control method for a beverage output device, characterized in that, applied to the beverage output device according to any one of claims 1-4 above, the control method comprising: controlling the first sensing component to rotate between the carrier platform and the beverage output port, and controlling the first sensing component to continuously emit a detection wave; determining that the first sensing component scans to the opening edge of the container according to the parameter change amplitude of the detection echo received by the first sensing component; determining the vertical distance between the opening edge of the container and the carrier platform according to the vertical distance of the first sensing component from the carrier platform, and the rotation angle and detection distance when the first sensing component scans to the opening edge of the container.

6. The control method for a beverage output device according to claim 5, characterized in that, the controlling the first sensing component to rotate between the carrier platform and the beverage output port, and controlling the first sensing component to continuously emit a detection wave includes: controlling the first sensing component to horizontally emit a detection wave; judging whether the first sensing component receives a detection echo of the detection wave within a first preset time period; if so, controlling the first sensing component to rotate upward, and controlling the first sensing component to continuously emit a detection wave; if not, controlling the first sensing component to rotate downward, and controlling the first sensing component to continuously emit a detection wave.

7. The control method for a beverage output device according to claim 6, characterized in that, Determining the vertical distance between the opening edge of the container and the carrier table according to the vertical distance of the first sensing component from the carrier table, and the rotation angle and detection distance when the first sensing component scans to the opening edge of the container includes: Calculating the rotation angle when the first sensing component rotates from the horizontal direction to scan to the opening edge of the container, with upward rotation being a positive angle value and downward rotation being a negative angle value, denoted as the first angle; Calculating the detection distance when the first sensing component scans to the opening edge of the container, and denoting it as the first distance; Multiplying the first distance by the sine value of the first angle to obtain the vertical distance difference between the opening edge of the container and the first sensing component, denoted as the first height; Summing the vertical distance of the first sensing component from the carrier table and the first height to obtain the vertical distance between the opening edge of the container and the carrier table.

8. The control method for a beverage output device according to claim 7, wherein, Determining the vertical distance between the opening edge of the container and the carrier table according to the vertical distance of the first sensing component from the carrier table, and the rotation angle and detection distance when the first sensing component scans to the opening edge of the container further includes: Responding to the absolute value of the rotation angle when the first sensing component scans to the opening edge of the container being less than a predetermined angle value; Taking the vertical distance of the first sensing component from the carrier table as the vertical distance between the opening edge of the container and the carrier table.

9. The control method for a beverage output device according to any one of claims 5-8, wherein, Determining that the first sensing component scans to the opening edge of the container according to the parameter change amplitude of the detection echo received by the first sensing component includes: Responding to the time interval between two adjacent detection echoes being greater than a second predetermined time length, determining that the first sensing component scans to the opening edge of the container, where the two adjacent detection echoes are the two adjacent detection echoes corresponding to the two adjacent detection waves emitted during the swinging process of the first sensing component.

10. A storage medium, wherein, The storage medium stores program instructions that can be executed to implement the control method for a beverage output device according to any one of claims 5-9.

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