Control method for beverage output equipment, beverage output equipment and storage medium

Abstract

The invention provides a control method for beverage output equipment, the beverage output equipment and a storage medium. The control method comprises the steps that a user instruction is received; the beverage output port moves downwards from the initial position; judging whether the beverage output port moves downwards to a target position or not; if yes, stopping downward movement of the beverage output port; and in response to the step of stopping the downward movement of the beverage output port, outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients to the container receiving the beverage according to a user instruction, and in response to the detection that the detection information in the container meets a preset condition, stopping outputting the beverage ingredients. According to the control method, after the beverage output port is controlled to descend to the target position, the beverage ingredients are output, and after it is detected that the detection information in the container meets the preset condition, output of the beverage ingredients is automatically stopped, so that the operation convenience is improved, and meanwhile, the beverage ingredients are prevented from splashing.

Description

Technical Field

[0001] The present application relates to the technical field of beverage output devices and their control methods, and particularly to a control method for a beverage output device, a beverage output device, and a storage medium. Background Art

[0002] In the prior art, when a beverage output device outputs a first type of beverage ingredient and / or a second type of beverage ingredient, the first type of beverage ingredient and / or the second type of beverage ingredient often splashes. Therefore, how to improve the splashing of the first type of beverage ingredient and / or the second type of beverage ingredient is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0003] In view of this, the present application provides a control method for a beverage output device, a beverage output device, and a storage medium to solve the problem that the first type of beverage ingredient and / or the second type of beverage ingredient splashes when the beverage output device outputs the first type of beverage ingredient and / or the second type of beverage ingredient in the prior art.

[0004] To solve the above technical problem, a technical solution adopted by the present application is: to provide a control method for a beverage output device, including: receiving a user instruction, the user instruction including a first instruction, a second instruction, and a third instruction, the first instruction being an instruction to output a first type of beverage ingredient, the second instruction being an instruction to output a second type of beverage ingredient, and the third instruction being an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; moving a beverage output port downward from an initial position; determining whether the beverage output port reaches a target position when moving downward; if so, stopping the beverage output port from moving downward; in response to the step of stopping the beverage output port from moving downward, outputting the first type of beverage ingredient and / or the second type of beverage ingredient to a container for receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to the detected detection information meeting a preset condition.

[0005] According to an embodiment of the present application, the beverage output device includes a carrier for carrying the container, the beverage output port is located above the carrier, the beverage output port has a movement track, the movement track has a first end away from the carrier and a second end close to the carrier, the initial position is located at the first end, and in the step of moving the beverage output port downward from the initial position, the beverage output port moves from the first end to the second end.

[0006] According to an embodiment of the present application, the beverage output device has a first sensing component, the first sensing component is located above the carrying platform, the first sensing component is fixedly opposite to the beverage output port, and the first sensing component is used to move synchronously with the beverage output port. In the step of determining whether the beverage output port moves downward to reach the target position, it includes: the first sensing component emits a first detection wave; determining whether the first sensing component receives an echo of the first detection wave within a first preset time period; if so, execute the step of stopping the downward movement of the beverage output port; if not, maintain the state of the downward movement of the beverage output port, and return to execute the step of the first sensing component emitting the first detection wave.

[0007] According to an embodiment of the present application, in the step of maintaining the state of the downward movement of the beverage output port and returning to execute the step of the first sensing component emitting the first detection wave, it includes: maintaining the state of the downward movement of the beverage output port; determining whether the time difference between the time point when the first detection wave was emitted last time and the current time point reaches a second preset time period, and the second preset time period is greater than or equal to the first preset time period; if so, return to execute the step of the first sensing component emitting the first detection wave; if not, return to execute the step of determining whether the time difference between the time point when the first detection wave was emitted last time and the current time point reaches the second preset time period.

[0008] According to an embodiment of the present application, the second preset time period is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrying platform by the speed of sound, where N is 1 - 1000.

[0009] According to an embodiment of the present application, the beverage output device has a second sensing component, the second sensing component is located above the carrying platform, the second sensing component is fixedly opposite to the beverage output port, and the second sensing component is used to move synchronously with the beverage output port. The second sensing component includes a trigger part and a micro switch. The trigger part is used to trigger the micro switch when it touches the edge of the container opening. In the step of determining whether the beverage output port moves downward to reach the target position, it includes: determining whether the trigger part triggers the micro switch; if so, execute the step of stopping the downward movement of the beverage output port; if not, maintain the state of the downward movement of the beverage output port, and return to execute the step of determining whether the trigger part triggers the micro switch.

[0010] According to an embodiment of the present application, the beverage output device has a third sensing component for synchronously moving with the beverage outlet. On both sides of the carrying platform of the beverage output device, there are also relatively arranged a first side wall and a second side wall. The third sensing component includes a relatively arranged second transmitting part and a second receiving part. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. In the step of determining whether the beverage outlet moves downward to a target position, it includes: the second transmitting part emits a second detection wave; determining whether the second receiving part receives the second detection wave; if so, maintaining the state of the beverage outlet moving downward and returning to execute the step of the second transmitting part emitting the second detection wave; if not, executing the step of stopping the beverage outlet from moving downward.

[0011] According to an embodiment of the present application, the beverage output device has a fourth sensing component located above the carrying platform. The fourth sensing component is used to determine whether the beverage outlet moves downward to a target position through image information and detect the detection information.

[0012] According to an embodiment of the present application, in the step of determining whether the beverage outlet moves downward to a target position, it further includes: if not, determining whether the beverage outlet reaches the second end; if so, executing the step of stopping the beverage outlet from moving downward; if not, maintaining the state of the beverage outlet moving downward and returning to execute the step of determining whether the beverage outlet reaches the target position.

[0013] According to an embodiment of the present application, the target position includes a position where the vertical distance between the beverage outlet and the edge of the container opening is 0 - 60 cm.

[0014] According to an embodiment of the present application, the detection information includes first information and / or second information; in the step of outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient to the container for receiving the beverage according to the user instruction and stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient in response to detecting that the detection information in the container meets the preset condition, it includes: in response to the user instruction being the first instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient in response to detecting that the first information in the container meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient in response to detecting that the second information in the container meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient in response to detecting that the first information in the container meets the first preset condition; outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient in response to detecting that the second information in the container meets the second preset condition.

[0015] According to an embodiment of the present application, the first information is the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient, the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient is less than or equal to a first preset value, the second information is the vertical distance between the opening edge of the container and the liquid level of the second type of beverage ingredient, the second preset condition is that the vertical distance between the opening edge of the container and the liquid level of the second type of beverage ingredient is less than or equal to a second preset value; wherein, the first preset value is greater than the second preset value.

[0016] According to an embodiment of the present application, the beverage output device further includes a water receiving box, in which a water level sensor and a prompting component are arranged. The water receiving box is located below the bearing table. The prompting component is used to output a prompting message. The control method further includes: in response to the step of stopping the downward movement of the beverage output port, judging whether the water level in the water receiving box reaches a preset water level according to the detection signal obtained by the water level sensor; if so, the prompting component outputs a prompting message; if not, outputting a first type of beverage ingredient and / or outputting a second type of beverage ingredient to a container for receiving the beverage according to a user instruction, and continuously judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor. If so, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient and output the prompting message; or the control method further includes: in response to the step of receiving the user instruction, judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor; if so, the prompting component outputs a prompting message; if not, execute the step of moving the beverage output port downward from the initial position.

[0017] According to an embodiment of the present application, the control method further includes: in response to stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, controlling the beverage output port to move to the initial position.

[0018] According to an embodiment of the present application, the control method further includes: in response to the step of receiving the user instruction, judging whether a container is detected on the bearing table; if so, execute the step of moving the beverage output port downward from the initial position; if not, the beverage output port stops moving.

[0019] According to an embodiment of the present application, the detection information includes the vertical distance between the top of the object received in the container and the edge of the container opening.

[0020] To solve the above technical problems, another technical solution adopted by this application is: to provide a beverage output device, including: an instruction receiving component for receiving user instructions, where the user instructions include a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output both the first type of beverage ingredient and the second type of beverage ingredient; a beverage output port for outputting beverages to a container, where the beverages include the first type of beverage ingredient and / or the second type of beverage ingredient; a moving component connected to the beverage output port, where the moving component is used to move the beverage output port; a detection component for detecting the opening edge of the container and the detection information inside the container; a processor connected to the instruction receiving component, the moving component, and the detection component, where the processor is used to execute the control method for the beverage output device described in any one of the above.

[0021] According to an embodiment of this application, the beverage output device further includes a carrying platform for carrying the container. The beverage output port is located above the carrying platform, and the beverage output port has a movement track with a first end away from the carrying platform and a second end close to the carrying platform.

[0022] According to an embodiment of this application, the detection component includes a first sensing component located above the carrying platform. The first sensing component is relatively fixed to the beverage output port and is connected to the processor. The first sensing component is used to move synchronously with the beverage output port.

[0023] According to an embodiment of this application, the first sensing component is an ultrasonic detector or a time-of-flight detector.

[0024] According to an embodiment of this application, the first sensing component is used to detect the opening edge of the container and the detection information inside the container.

[0025] According to an embodiment of this application, the detection component further includes a second sensing component located above the carrying platform. The second sensing component is relatively fixed to the beverage output port and is used to move synchronously with the beverage output port. The second sensing component includes a triggering part and a microswitch. The triggering part is used to trigger the microswitch when it touches the opening edge of the container, and the microswitch is connected to the processor.

[0026] According to an embodiment of this application, the second sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect the detection information inside the container.

[0027] According to an embodiment of the present application, the detection component further includes a third sensing component, which is used to move synchronously with the beverage outlet. On both sides of the carrier table of the beverage output device, there are also a first side wall and a second side wall arranged oppositely. The third sensing component includes a second transmitting part and a second receiving part arranged oppositely. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. The third sensing component is connected to the processor.

[0028] According to an embodiment of the present application, the third sensing component is an infrared pair tube.

[0029] According to an embodiment of the present application, the third sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect the detection information in the container.

[0030] According to an embodiment of the present application, the detection component includes a fourth sensing component, which is located above the carrier table. The fourth sensing component is used to detect the opening edge of the container and the detection information in the container through image information. The fourth sensing component is connected to the processor.

[0031] According to an embodiment of the present application, the fourth sensing component is a camera.

[0032] According to an embodiment of the present application, the beverage output device further includes: a first sleeve group, including at least two first sleeves sleeved hierarchically. The innermost first sleeve or the outermost first sleeve is fixedly arranged at the first end, and the remaining first sleeves move relative to each other along the first direction to achieve expansion and contraction. Taking the first sleeve fixedly arranged at the first end as the first fixed sleeve, the first sleeve farthest from the first fixed sleeve in the first sleeve group is the first moving sleeve, and the beverage outlet is located at the first moving sleeve; wherein, the first direction is the direction of approaching or leaving the container.

[0033] According to an embodiment of the present application, a conveying channel is formed in the first sleeve group, and a first type of beverage ingredient output port is formed at the bottom of the first moving sleeve.

[0034] According to an embodiment of the present application, when the first sleeve group is in the extended state, the inner diameter of the conveying channel gradually increases or decreases in the direction approaching the beverage outlet.

[0035] According to an embodiment of the present application, the beverage output device further includes: a second sleeve group sleeved outside the first sleeve group. The second sleeve group includes at least two second sleeves sleeved in layers. The second sleeve located on the outermost side or the second sleeve located on the innermost side is fixedly arranged at the first end, and the remaining second sleeves are relatively movably arranged along the first direction. Taking the second sleeve fixedly arranged at the first end as the second fixed sleeve, the second sleeve in the second sleeve group that is farthest from the second fixed sleeve is the second movable sleeve, and the second movable sleeve is fixedly opposed to the first movable sleeve.

[0036] According to an embodiment of the present application, the first sleeve and the second sleeve correspond one by one and are fixedly opposed to each other.

[0037] According to an embodiment of the present application, the beverage output port further includes a second type of beverage ingredient output port. The beverage output device further includes a delivery pipe, and the output end of the delivery pipe forms the second type of beverage ingredient output port, and the output end is connected to the first movable sleeve or the second movable sleeve.

[0038] According to an embodiment of the present application, the beverage output device further includes a water receiving box and a prompting component. A water level sensor is arranged in the water receiving box, and the water level sensor and the prompting component are connected to the processor. The water receiving box is located under the bearing platform, and the prompting component is used for outputting a prompting message.

[0039] To solve the above technical problems, another technical solution adopted by the present application is: to provide a storage medium storing program instructions that can be executed to implement the control method for the beverage output device described in any one of the above.

[0040] The beneficial effects of the present application are as follows: A control method for a beverage output device is provided. The control method for the beverage output device includes: receiving a user instruction; moving the beverage output port downward from the initial position; determining whether the beverage output port has moved downward to the target position; if so, stopping the downward movement of the beverage output port; in response to the step of stopping the downward movement of the beverage output port, outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and in response to detecting that the detection information in the container meets the preset conditions, stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient. After receiving the user instruction, the control method for the beverage output device of the present application controls the beverage output port to descend to the target position and then outputs the first type of beverage ingredient and / or the second type of beverage ingredient. After detecting that the detection information in the container meets the preset conditions, it automatically stops outputting the first type of beverage ingredient and / or the second type of beverage ingredient, improving the operation convenience while avoiding the splashing of the first type of beverage ingredient and / or the second type of beverage ingredient. In addition, the automatic stop can also prevent the beverage from overflowing. Description of the Drawings

[0041] In order 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 following drawings 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. Among them:

[0042] Figure 1 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

[0043] Figure 2 is a schematic diagram of the detection of the top distance of the first type of beverage ingredient in an embodiment of the control method for the beverage output device of the present application;

[0044] Figure 3 is a schematic diagram of the detection of the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for the beverage output device of the present application;

[0045] Figure 4 is a schematic diagram of the detection of the top distance of the first type of beverage ingredient / the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for the beverage output device of the present application;

[0046] Figure 5 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

[0047] Figure 6 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

[0048] Figure 7 It is a schematic flowchart of an embodiment of the control method for a beverage output device in the present application;

[0049] Figure 8 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0050] Figure 9 It is a schematic diagram of the detection of the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0051] Figure 10 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient / the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0052] Figure 11 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0053] Figure 12 It is a schematic diagram of the detection of the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0054] Figure 13 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient / the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0055] Figure 14 It is a schematic flowchart of an embodiment of the control method for a beverage output device in the present application;

[0056] Figure 15 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0057] Figure 16 It is a schematic diagram of the detection of the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0058] Figure 17 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient / the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0059] Figure 18 It is a schematic diagram of the detection of the top distance of the first type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0060] Figure 19 It is a schematic diagram of the detection of the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device in the present application;

[0061] Figure 20 It is a schematic diagram for detecting the distance between the top of the first type of drink ingredient and the liquid level of the second type of drink ingredient in an embodiment of the control method for a drink output device of the present application;

[0062] Figure 21 It is a schematic flowchart of an embodiment of the control method for a drink output device of the present application;

[0063] Figure 22 It is a schematic structural diagram of an embodiment of a drink output device of the present application;

[0064] Figure 23 It is a schematic structural diagram of an embodiment of a drink output device of the present application;

[0065] Figure 24 It is a schematic diagram of the movement trajectory of an embodiment of a drink output device of the present application;

[0066] Figure 25 It is a schematic structural diagram of an embodiment of a drink output device of the present application;

[0067] Figure 26 It is a schematic structural diagram of an embodiment of a drink output device of the present application;

[0068] Figure 27 It is a schematic structural diagram of an embodiment of a drink output device of the present application;

[0069] Figure 28 It is a schematic structural diagram of an embodiment of a drink output device of the present application. Detailed implementation manners

[0070] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe in detail the specific implementation manners of the present application with reference to the accompanying 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 sake of convenience of description, only parts related to the present application are shown in the drawings rather than all the structures. 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.

[0071] Referring to "embodiment" in this context means that the specific features, structures, or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein may be combined with other embodiments.

[0072] The present application provides a control method for a beverage output device 20. The control method for the beverage output device 20 includes: receiving a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; the beverage output port 22 moves downward from the initial position; determining whether the beverage output port 22 has moved downward to a target position; if so, stopping the downward movement of the beverage output port 22; in response to the step of stopping the downward movement of the beverage output port 22, outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container 26 for receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to the detected detection information meeting a preset condition.

[0073] Specifically, referring to Figure 1 , the control method includes the following steps:

[0074] S1: Receive a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output the first type of beverage ingredient and the second type of beverage ingredient.

[0075] The user places the container 26 for receiving the beverage into the beverage output device 20. The beverage output device 20 can receive the user instruction through human body sensing or a switch signal. The instruction includes an instruction to output a first type of beverage ingredient, an instruction to output a second type of beverage ingredient, and an instruction to output the first type of beverage ingredient and the second type of beverage ingredient. Among them, the instruction to output the first type of beverage ingredient and the second type of beverage ingredient is an instruction to first output the first type of beverage ingredient and then output the second type of beverage ingredient. A mixture of the first type of beverage ingredient and the second type of beverage ingredient can be obtained through one instruction, without the user clicking or controlling the switch twice.

[0076] The first type of beverage ingredient includes ingredients with a fixed shape, 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 ingredient includes ingredients with high fluidity. For example, water, fruit juice, milk, coffee, cola, soy milk, etc.

[0077] In some embodiments, the user instruction includes an instruction newly input by the user currently, such as the first instruction, the second instruction, and the third instruction. The user instruction also includes an instruction obtained from the user's habit, an instruction according to different time periods such as morning, noon, and evening, an instruction according to different seasons, and an instruction according to different ambient temperatures.

[0078] S2: The beverage outlet 22 moves downward from the initial position.

[0079] After receiving the user instruction, the beverage outlet 22 descends from the initial position. The downward movement of the beverage outlet 22 can bring it closer to the opening edge of the container 26, preventing the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage outlet 22 being too high above the opening edge of the container 26.

[0080] S3: Determine whether the downward movement of the beverage outlet 22 reaches the target position.

[0081] The beverage outlet 22 moves downward from the initial position to find a suitable position for discharging the first type of beverage ingredient and / or the second type of beverage ingredient, preventing the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage outlet 22 being too high above the opening edge of the container 26. At the same time, this position can also ensure that the opening edge of the container 26, the top of the first type of beverage ingredient in the container 26, and / or the liquid level of the second type of beverage ingredient are within the sensing range of the sensing component, avoiding poor detection caused by any of them being in the blind area. The target position is a suitable position for discharging the first type of beverage ingredient and / or the second type of beverage ingredient and for detection. If it is determined that the beverage outlet 22 has not reached the target position after moving downward, it means that the distance between the beverage outlet 22 and the opening edge of the container 26 is still too high and / or at least one of the opening edge, the top of the first type of beverage ingredient in the container 26, and / or the liquid level of the second type of beverage ingredient is outside the sensing range of the sensing component. To avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient and poor detection, the beverage outlet 22 needs to continue moving downward.

[0082] The target position includes positions where the vertical distance between the beverage outlet 22 and the opening edge of the container 26 is within 0 - 60 cm. This vertical distance can be 0 cm, 4 cm, 5.6 cm, 10 cm, 14.6 cm, 17.6 cm, 25.6 cm, 27.1 cm, 29.8 cm, 36 cm, 44 cm, 57 cm, 60 cm. Among them, when the beverage output device 20 is a household device, the target position can be a position where the vertical distance between the beverage outlet 22 and the opening edge of the container 26 is within 0 - 40 cm; when the beverage output device 20 is a commercial device, the target position can be a position where the vertical distance between the beverage outlet 22 and the opening edge of the container 26 is within 0 - 60 cm.

[0083] S4: If so, stop the downward movement of the beverage outlet 22.

[0084] If it is determined that the beverage outlet 22 reaches the target position after moving downward, the distance between the beverage outlet 22 and the opening edge of the container 26 at this time is the suitable distance for outputting the first type of beverage ingredient and / or the second type of beverage ingredient, which can reduce the probability of splashing of the first type of beverage ingredient and / or the second type of beverage ingredient. At this time, the downward movement of the beverage outlet 22 is stopped.

[0085] S5: In response to the step of stopping the downward movement of the beverage outlet 22, output the first type of beverage ingredient and / or the second type of beverage ingredient to the container 26 for receiving the beverage according to the user instruction.

[0086] After the beverage outlet 22 stops moving downward, the beverage output device 20 outputs the first type of beverage ingredient and / or the second type of beverage ingredient to the container 26 according to the user instruction in step S1.

[0087] S6: In response to the detected detection information meeting the preset conditions, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient.

[0088] When the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient meets the preset conditions, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient. In this embodiment, by setting the preset conditions, when the detected detection information in the container 26 meets the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is automatically stopped, which can avoid beverage overflow and improve the portability of the operation at the same time. The preset conditions can be obtained through data statistics or experience. By comparing the detection information with the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient can be stopped in time to reduce beverage splashing or overflow. The specific methods for stopping the output of the first type of beverage ingredient and / or the second type of beverage ingredient include:

[0089] The detection information includes the first information and / or the second information. The first information is the top information of the first type of beverage ingredient, that is, the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient. When the detected vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient meets the preset conditions, stop outputting the first type of beverage ingredient; the second information is the liquid level information of the second type of beverage ingredient, that is, the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient; when the detected vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient meets the preset conditions, stop outputting the second type of beverage ingredient.

[0090] Method 1: In response to the user instruction being the first instruction, output the first type of beverage ingredient according to the user instruction, and stop outputting the first type of beverage ingredient when the first information in the container 26 is detected to meet the first preset conditions.

[0091] Refer toFigure 2 The beverage output device 20 detects a distance Hc, where the distance Hc is the vertical distance between the beverage output port 22 and the opening edge of the container 26. When stopping the output of the first type of beverage ingredient, the distance between the beverage output port 22 and the top of the first type of beverage ingredient is Hc + h1, and h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient when the first type of beverage ingredient cannot splash out of the container 26 based on data statistics or experience. When outputting the first type of beverage ingredient according to the user instruction, the beverage output device 20 detects and confirms in real time the vertical distance H1 between the beverage output port 22 and the top of the first type of beverage ingredient. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredient; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of beverage ingredient will occur if the first type of beverage ingredient is further loaded, and at this time, stop outputting the first type of beverage ingredient. The first information conforming to the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0092] Method 2: Alternatively, in response to the user instruction being the second instruction, output the second type of beverage ingredient according to the user instruction, and stop outputting the second type of beverage ingredient in response to detecting that the second information in the container 26 conforms to the second preset condition.

[0093] Refer to Figure 3 The beverage output device 20 detects a distance Hc, where the distance Hc is the vertical distance between the beverage output port 22 and the opening edge of the container 26. When stopping the output of the second type of beverage ingredient, the distance between the beverage output port 22 and the liquid level of the second type of beverage ingredient is Hc + h2, and h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredient when the second type of beverage ingredient cannot splash out of the container 26 based on data statistics or experience. When outputting the second type of beverage ingredient according to the user instruction, the beverage output device 20 detects and confirms in real time the vertical distance H2 between the beverage output port 22 and the liquid level of the second type of beverage ingredient. When it is determined that H2 - Hc > h2, continue to output the second type of beverage ingredient; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of beverage ingredient will occur if the second type of beverage ingredient is further loaded, and at this time, stop outputting the second type of beverage ingredient. The second information conforming to the second preset condition means that H2 - Hc ≤ h2 is satisfied.

[0094] Method 3: Alternatively, in response to the user instruction being the third instruction, output the first type of beverage ingredient according to the user instruction, and stop outputting the first type of beverage ingredient in response to detecting that the first information in the container 26 conforms to the first preset condition; output the second type of beverage ingredient according to the user instruction, and stop outputting the second type of beverage ingredient in response to detecting that the second information in the container 26 conforms to the second preset condition.

[0095] Refer to Figure 4When the response to the user instruction is the third instruction, first output the first type of beverage ingredient. The beverage output device 20 detects the distance Hc, where Hc is the vertical distance between the beverage outlet 22 and the opening edge of the container 26. When stopping the output of the first type of beverage ingredient, the distance between the beverage outlet 22 and the top of the first type of beverage ingredient is Hc + h1, and h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient obtained based on data statistics or experience when the first type of beverage ingredient cannot splash out of the container 26. When outputting the first type of beverage ingredient according to the user instruction, the beverage output device 20 detects and confirms in real time the vertical distance H1 between the beverage outlet 22 and the top of the first type of beverage ingredient. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredient; when it is determined that H1 - Hc ≤ h1, it means that continuing to load the first type of beverage ingredient will cause the first type of beverage ingredient to splash, and at this time, stop outputting the first type of beverage ingredient. The first information conforming to the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0096] After the output of the first type of beverage ingredient is completed, output the second type of beverage ingredient. When stopping the output of the second type of beverage ingredient, the distance between the beverage outlet 22 and the liquid level of the second type of beverage ingredient is Hc + h2, and h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredient obtained based on data statistics or experience when the second type of beverage ingredient cannot splash out of the container 26. When outputting the second type of beverage ingredient according to the user instruction, the beverage output device 20 detects and confirms in real time the vertical distance H2 between the beverage outlet 22 and the liquid level of the second type of beverage ingredient. When it is determined that H2 - Hc > h2, continue to output the second type of beverage ingredient; when it is determined that H2 - Hc ≤ h2, it means that continuing to load the second type of beverage ingredient will cause the second type of beverage ingredient to splash, and at this time, stop outputting the second type of beverage ingredient. The second information conforming to the second preset condition means that H2 - Hc ≤ h2 is satisfied.

[0097] It should be noted that outputting the first type of beverage ingredient first and then the second type of beverage ingredient can prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing. In other embodiments, it can also be outputting the second type of beverage ingredient first and then the first type of beverage ingredient.

[0098] According to an embodiment of the present application, the first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient, the first preset condition is that the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to a first preset value, the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient, and the second preset condition is that the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to a second preset value; wherein, the first preset value is greater than the second preset value. The first preset value can be 3 cm, 5 cm, 8 cm, 10 cm, 15 cm, etc., and the second preset value can be 1 cm, 2 cm, 4 cm, 5 cm, 7 cm, etc. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient, that is, H1 - Hc. The first preset condition is H1 - Hc ≤ the first preset value, that is, when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the output of the first type of beverage ingredient is stopped. The second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient, that is, H2 - Hc. The second preset condition is H2 - Hc ≤ the second preset value, that is, when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value, the output of the second type of beverage ingredient is stopped. It should be noted that in other embodiments, it is not limited that the first preset condition is that the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, and the second preset condition is that the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value. It can also be less than other distances, which is not limited here.

[0099] According to an embodiment of the present application, the beverage output device 20 includes a carrier 27 for carrying the container 26. The beverage output port 22 is located above the carrier 27. The beverage output port 22 has a movement track with a first end far from the carrier 27 and a second end close to the carrier 27. The initial position is at the first end. In the step of the beverage output port 22 moving downward from the initial position, the beverage output port 22 moves from the first end to the second end.

[0100] Specifically, the beverage outlet 22 of the beverage output device 20 is located above the carrier 27. The starting position of the beverage outlet 22 is the first end, and the position where the beverage outlet 22 can move down to the closest position to the carrier 27 is the second end. The second end is the lowest limit position that the beverage outlet 22 can move down to. When the opening edge of the container 26 is low, the second end is the target position for the beverage outlet 22 to output the first type of beverage ingredient and / or the second type of beverage ingredient. At this time, the distance between the second end and the opening edge of the container 26 is appropriate, which can prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing. When the opening edge of the container 26 is high, the beverage outlet 22 does not need to descend to the lowest limit position. That is, after the beverage outlet 22 reaches the second end and it is detected that the distance between the beverage outlet 22 and the opening edge of the container 26 is too close, the beverage outlet 22 retreats to the target position to output the first type of beverage ingredient and / or the second type of beverage ingredient. At this time, the target position is higher than the second end.

[0101] According to an embodiment of the present application, in the step of determining whether the beverage outlet 22 moves down to the target position in step S3, it further includes: if not, determining whether the beverage outlet 22 reaches the second end; if so, performing the step of stopping the downward movement of the beverage outlet 22; if not, maintaining the downward movement state of the beverage outlet 22 and returning to perform the step of determining whether the beverage outlet 22 reaches the target position.

[0102] Specifically, referring to Figure 5 , in step S3 of determining whether the beverage outlet 22 moves down to the target position, in some embodiments, it further includes:

[0103] S311: If not, determining whether the beverage outlet 22 reaches the second end.

[0104] If it is determined that the beverage outlet 22 continues to move down and has not reached the target position, it is necessary to determine whether the beverage outlet 22 reaches the second end. The target position is a position suitable for outputting the first type of beverage ingredient and / or the second type of beverage ingredient, which can prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage outlet 22 being too high from the opening edge of the container 26. The second end is the lowest position that the beverage outlet 22 can move down to.

[0105] If so, performing the step of stopping the downward movement of the beverage outlet 22.

[0106] If it is determined that the beverage outlet 22 reaches the second end after moving down, at this time, the beverage outlet 22 has descended to the lowest limit position, and at this time, perform step S4 of stopping the downward movement of the beverage outlet 22.

[0107] S312: If not, maintain the state of the beverage outlet 22 moving downward, and return to step S3 to determine whether the beverage outlet 22 has reached the target position.

[0108] If it is determined that the beverage outlet 22 has not reached the second end after moving downward, maintain the state of the beverage outlet 22 moving downward, and return to step S3 to determine whether the beverage outlet 22 has reached the target position.

[0109] According to an embodiment of the present application, the beverage output device 20 has a first sensing component 241. The first sensing component 241 is located above the carrier 27, and the first sensing component 241 is relatively fixed to the beverage outlet 22. The first sensing component 241 is used to move synchronously with the beverage outlet 22. In the step of determining whether the beverage outlet 22 moves downward to reach the target position, it includes: the first sensing component 241 emits a first detection wave; determine whether the first sensing component 241 receives an echo of the first detection wave within a first preset time period; if so, execute the step of stopping the beverage outlet 22 from moving downward; if not, maintain the state of the beverage outlet 22 moving downward, and return to the step of the first sensing component 241 emitting the first detection wave.

[0110] The first sensing component 241 is relatively fixed to the beverage outlet 22, that is, during the synchronous movement of the first sensing component 241 and the beverage outlet 22, the relative positional relationship between the first sensing component 241 and the beverage outlet 22 remains unchanged.

[0111] Specifically, the beverage output device 20 also has a first sensing component 241. The first sensing component 241 is located above the carrier 27 and is fixedly arranged relative to the beverage outlet 22. The first sensing component 241 can be arranged on the outer periphery of the beverage outlet 22. The specific position where the first sensing component 241 is arranged can be determined according to the actual use scenario. During the downward movement of the beverage outlet 22, the first sensing component 241 synchronously descends. The beverage output device 20 uses the first sensing component 241 to detect the distance between the beverage outlet 22 and the opening edge of the container 26, and to detect the distance between the beverage outlet 22 and the top of the first type of beverage ingredient or the liquid level of the second type of beverage ingredient in the container 26. The synchronous movement of the first sensing component 241 and the beverage outlet 22 enables the first sensing component 241 to be located at a suitable position where it can detect the opening edge of the container 26 and the detection information inside the container 26, that is, to enable the opening edge of the container 26 and the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient in the container 26 to be within the detection range of the first sensing component 241, and to avoid any one of the opening edge of the container 26, the top of the first type of beverage ingredient in the container 26, and / or the liquid level of the second type of beverage ingredient in the container 26 from being in the blind area of the first sensing component 241.

[0112] Refer to Figure 6, step S3 for determining whether the beverage outlet 22 has moved downward to the target position further includes the following steps:

[0113] S31: The first sensing component 241 emits a first detection wave.

[0114] The beverage output device 20 controls the first sensing component 241 to emit a first detection wave to detect the distance between the beverage outlet 22 and the opening edge of the container 26. Among them, the first detection wave can be emitted in real time, at intervals, or triggered by other means.

[0115] S32: Determine whether the first sensing component 241 receives the echo of the first detection wave within the first preset time period.

[0116] After the first sensing component 241 emits the first detection wave, it receives the echo of the first detection wave. During the downward movement of the beverage outlet 22, the distance between the beverage outlet 22 and the opening edge of the container 26 is different, and the intensity and time of the echo of the first detection wave received by the first sensing component 241 are also different. The formula for calculating the time of the echo of the first detection wave received by the first sensing component 241 is t = 2S t / V, S t is the distance between the beverage outlet 22 and the opening edge of the container 26, and V is the propagation speed of the detection wave of the first sensing component 241 in the air. When the first sensing component 241 receives the echo of the first detection wave within the first preset time period, it indicates that the opening edge of the container 26 is within the sensing range of the first sensing component 241; at the same time, when the container 26 contains the first type of beverage ingredient and / or the second type of beverage ingredient, when observing from the top view perspective, the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient are within the opening edge of the container 26. Therefore, when the container 26 contains the first type of beverage ingredient and / or the second type of beverage ingredient, the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient are also within the sensing range of the first sensing component 241.

[0117] If so, execute step S4 to stop the downward movement of the beverage outlet 22.

[0118] If the echo of the first detection wave is received within the first preset time period, it indicates that the first sensing component 241 is in a suitable position to detect the opening edge of the container 26 and the detection information inside the container 26. At this time, stop the downward movement of the beverage outlet 22.

[0119] S33: If not, maintain the state of the downward movement of the beverage outlet 22, and return to execute step S31 where the first sensing component 241 emits the first detection wave.

[0120] If the echo of the first detection wave is not received within the first preset duration, it indicates that the first sensing component 241 has not yet moved down to a suitable position where it can detect the opening edge of the container 26 and the detection information inside the container 26. The state of the beverage outlet 22 moving downward is maintained, and at the same time, the first sensing component 241 emits the first detection wave to continue the detection.

[0121] According to an embodiment of the present application, continue to refer to Figure 6 , in step S33, maintaining the state of the beverage outlet 22 moving downward and returning to execute the step of the first sensing component 241 emitting the first detection wave includes: maintaining the state of the beverage outlet 22 moving downward; determining whether the time difference between the time point of the previous emission of the first detection wave and the current time point reaches a second preset duration, and the second preset duration is greater than or equal to the first preset duration; if so, return to execute the step of the first sensing component 241 emitting the first detection wave; if not, return to execute the step of determining whether the time difference between the time point of the previous emission of the first detection wave and the current time point reaches the second preset duration.

[0122] Specifically, continue to refer to Figure 6 , step S33 of maintaining the state of the beverage outlet 22 moving downward and returning to execute the first sensing component 241 emitting the first detection wave further includes the following steps in some embodiments:

[0123] S331: Maintain the state of the beverage outlet 22 moving downward.

[0124] If the echo of the first detection wave is not received within the first preset duration, it indicates that the distance between the beverage outlet 22 and the opening edge of the container 26 is still relatively far. In order to bring the opening edge of the container 26 and the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient inside the container 26 within the detection range of the first sensing component 241 and avoid any one of the opening edge of the container 26, the top of the first type of beverage ingredient inside the container 26, and / or the liquid level of the second type of beverage ingredient being in the blind area of the first sensing component 241, the state of the beverage outlet 22 moving downward is maintained.

[0125] S332: Determine whether the time difference between the time point of the previous emission of the first detection wave and the current time point reaches a second preset duration, and the second preset duration is greater than or equal to the first preset duration.

[0126] Control the first sensing component 241 to send the first detection wave at every predetermined time interval, and the predetermined time interval is the time difference between the time point of the previous emission of the first detection wave and the current time point. Determine whether the predetermined time interval reaches the second preset duration, thereby controlling whether the first sensing component 241 needs to emit the first detection wave at the current time point. The second preset duration is greater than or equal to the first preset duration.

[0127] Wherein, the second preset duration is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier 27 by the speed of sound, where N is 1 - 1000, preferably 5 - 100. The distance between the initial position and the carrier 27 can be obtained according to the actual structure of the beverage output device 20. N can be any value between 1 - 1000, such as 1, 5, 68, 100, 198, 280, 374, 498, 500, 680, 750, 830, 980, 1000, etc. By limiting the value of N, the second preset duration being greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier 27 by the speed of sound can effectively control the time interval between two adjacent first detection waves, thereby eliminating the interference caused by the echo signal generated by the previous first detection wave to the echo signal generated by the subsequent first detection wave, that is, the subsequent first detection wave is emitted after the intensity of the echo signal generated by the current first detection wave is weak enough, so as to avoid interfering with the echo signal generated by the subsequent first detection wave.

[0128] Specifically, the distance between the initial position and the carrier 27 is S. When the beverage outlet 22 is at the initial position, the time t 1 between the time point when the first sensing component 241 emits the first detection wave and the time point when it receives the echo of the first detection wave at this time 2 = 2S / V, where V is the propagation speed of the detection wave of the first sensing component 241 in the air. The second preset duration t 1 of this embodiment

[0129] The first sensing component 241 emitting the first detection wave and receiving the echo is one cycle. If the distance S between the initial position and the carrier 27 is 20 cm, the time duration for the first sensing component 241 to emit the first detection wave and receive the echo is less than 0.002 seconds. If the time interval between two adjacent first detection waves is short, then the echo signal received by the first sensing component 241 at a certain time point may be the signal of the echo generated by the first detection wave emitted in previous cycles hitting other objects with a distance greater than 20 cm. These signals will interfere with the echo signal to be received this time. Therefore, to avoid this interference, in this embodiment, after extending the cycle to N times, the first sensing component 241 is controlled to emit the next set of first detection waves, and the time interval from the previous emission of the first detection wave is lengthened, that is, the time difference between the time point of the previous emission of the first detection wave and the current time point needs to reach the second preset duration t 2 The second preset duration t 2 ≥ N×t 1

[0130] If so, return to execute the step S31 of the first sensing component 241 emitting the first detection wave.

[0131] If a predetermined time interval reaches a second preset duration, control the first sensing component 241 to emit a first detection wave.

[0132] If not, return to execute step S332 of determining whether the time difference between the time point when the first detection wave was emitted last time before the judgment and the current time point reaches the second preset duration.

[0133] If the predetermined time interval does not reach the second preset duration, return to execute step S332.

[0134] According to an embodiment of the present application, the beverage output device 20 has a second sensing component 242. The second sensing component 242 is located above the carrying platform 27. The second sensing component 242 is relatively fixed with respect to the beverage output port 22. The second sensing component 242 is used to move synchronously with the beverage output port 22. The second sensing component 242 includes a triggering part 2421 and a microswitch 2422. The triggering part 2421 is used to trigger the microswitch 2422 when touching the opening edge of the container 26. In the step of determining whether the beverage output port 22 moves downward to reach the target position, it includes: determining whether the triggering part 2421 triggers the microswitch 2422; if so, execute the step of stopping the downward movement of the beverage output port 22; if not, maintain the state of the downward movement of the beverage output port 22, and return to execute the step of determining whether the triggering part 2421 triggers the microswitch 2422.

[0135] The second sensing component 242 is relatively fixed with respect to the beverage output port 22, that is, during the synchronous movement of the second sensing component 242 and the beverage output port 22, the relative positional relationship between the second sensing component 242 and the beverage output port 22 remains unchanged.

[0136] Specifically, referring to Figure 7 , in this embodiment, the beverage output device 20 has a second sensing component 242. The second sensing component 242 is located above the carrying platform 27 and is fixedly arranged relative to the beverage output port 22. During the downward movement of the beverage output port 22, the second sensing component 242 descends synchronously. The second sensing component 242 includes a triggering part 2421 and a microswitch 2422. The triggering part 2421 protrudes relative to the beverage output port 22 in the direction towards the container 26. During the downward movement of the beverage output port 22, the triggering part 2421 is used to trigger the microswitch 2422 when touching the opening edge of the container 26. Step S3 of determining whether the beverage output port 22 moves downward to reach the target position further includes in some embodiments:

[0137] S321: Determine whether the triggering part 2421 triggers the microswitch 2422.

[0138] After receiving the user instruction, during the downward movement of the beverage outlet 22, since the triggering portion 2421 protrudes relative to the beverage outlet 22 in the direction towards the container 26, the triggering portion 2421 will trigger the microswitch 2422 after contacting the opening edge of the container 26.

[0139] If so, execute step S4 of stopping the downward movement of the beverage outlet 22.

[0140] If the triggering portion 2421 triggers the microswitch 2422, it indicates that the triggering portion 2421 abuts against the opening edge of the container 26. At this time, stop the downward movement of the beverage outlet 22, and output the first type of beverage ingredient and / or output the second type of beverage ingredient to the container 26 for receiving the beverage according to the user instruction. When the first sensing component 241 detects that the detection information in the container 26 meets the preset conditions, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient. The detection information includes the first information and the second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient. When it is detected that the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient meets the preset conditions, stop outputting the first type of beverage ingredient; the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient. When it is detected that the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient meets the preset conditions, stop outputting the second type of beverage ingredient. The specific method of stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient after the triggering portion 2421 triggers the microswitch 2422 in this embodiment includes:

[0141] Method 1: In response to the user instruction being the first instruction, output the first type of beverage ingredient according to the user instruction, and stop outputting the first type of beverage ingredient in response to detecting that the first information in the container 26 meets the first preset condition.

[0142] Refer to Figure 8, when outputting the first type of drink ingredients according to the user's instruction, the first sensing component 241 relatively fixed to the drink outlet 22 detects and confirms in real time the vertical distance H1 between the opening edge of the container 26 and the top of the first type of drink ingredients. When it is determined that H1>h1, continue to output the first type of drink ingredients; when it is determined that H1≤h1, it means that splashing of the first type of drink ingredients will occur if the first type of drink ingredients is continued to be filled, and at this time, stop outputting the first type of drink ingredients. The first information conforming to the first preset condition means that H1≤h1 is satisfied. h1 is the minimum vertical distance between the opening edge of the container 26 and the top of the first type of drink ingredients when the first type of drink ingredients cannot splash out of the container 26 obtained according to data statistics or experience. In this embodiment, h1 can be set as the first preset value, and the first preset condition is to stop outputting the first type of drink ingredients when the vertical distance between the opening edge of the container 26 and the top of the first type of drink ingredients is less than or equal to the first preset value.

[0143] Method 2: Or in response to the user instruction being the second instruction, output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients in response to detecting that the second information in the container 26 conforms to the second preset condition.

[0144] Refer to Figure 9 , when outputting the second type of drink ingredients according to the user's instruction, the first sensing component 241 relatively fixed to the drink outlet 22 detects and confirms in real time the vertical distance H2 between the opening edge of the container 26 and the liquid level of the second type of drink ingredients. When it is determined that H2>h2, continue to output the second type of drink ingredients; when it is determined that H2≤h2, it means that splashing of the second type of drink ingredients will occur if the second type of drink ingredients is continued to be filled, and at this time, stop outputting the second type of drink ingredients. The second information conforming to the second preset condition means that H2≤h2 is satisfied. h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of drink ingredients when the second type of drink ingredients cannot splash out of the container 26 obtained according to data statistics or experience. In this embodiment, h2 can be set as the second preset value, and the second preset condition is to stop outputting the second type of drink ingredients when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of drink ingredients is less than or equal to the second preset value.

[0145] Method 3: Or in response to the user instruction being the third instruction, output the first type of drink ingredients according to the user instruction, and stop outputting the first type of drink ingredients in response to detecting that the first information in the container 26 conforms to the first preset condition; output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients in response to detecting that the second information in the container 26 conforms to the second preset condition.

[0146] Refer to Figure 10When the response to the user instruction is the third instruction, first output the first type of beverage ingredient. The first sensing component 241 relatively fixed to the beverage outlet 22 detects in real time the distance H1 between the opening edge of the container 26 and the top of the first type of beverage ingredient. When it is determined that H1 > h1, continue to output the first type of beverage ingredient; when it is determined that H1 ≤ h1, it means that splashing of the first type of beverage ingredient will occur if the first type of beverage ingredient is continued to be filled, and at this time, stop outputting the first type of beverage ingredient. The first information conforming to the first preset condition means that H1 ≤ h1. h1 is the minimum vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient when the first type of beverage ingredient cannot splash out of the container 26 obtained according to data statistics or experience.

[0147] After the output of the first type of beverage ingredient is completed, output the second type of beverage ingredient. The first sensing component 241 relatively fixed to the beverage outlet 22 detects and confirms in real time the distance H2 between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient. When it is determined that H2 > h2, continue to output the second type of beverage ingredient; when it is determined that H2 ≤ h2, it means that splashing of the second type of beverage ingredient will occur if the second type of beverage ingredient is continued to be filled, and at this time, stop outputting the second type of beverage ingredient. h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredient when the second type of beverage ingredient cannot splash out of the container 26 obtained according to data statistics or experience.

[0148] It should be noted that outputting the first type of beverage ingredient first and then the second type of beverage ingredient can prevent the second type of beverage ingredient from splashing. In other embodiments, it can also be outputting the second type of beverage ingredient first and then the first type of beverage ingredient. In this embodiment, h1 can be set as the first preset value, and the first preset condition is to stop outputting the first type of beverage ingredient when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value. Set h2 as the second preset value, and the second preset condition is to stop outputting the second type of beverage ingredient when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient being less than or equal to the second preset value. It can also be less than other distances, which is not limited here.

[0149] S322: If not, maintain the state of the downward movement of the beverage outlet 22, and return to execute step S321 of determining whether the trigger part 2421 triggers the micro switch 2422.

[0150] If the trigger part 2421 does not trigger the microswitch 2422, it indicates that the distance between the beverage outlet 22 and the opening edge of the container 26 is still relatively far. At this time, the state of the beverage outlet 22 moving downward is maintained, and the process returns to execute step S321.

[0151] In other embodiments, between the step of determining whether the trigger part 2421 triggers the microswitch 2422 and the step of maintaining the state of the beverage outlet 22 moving downward and returning to execute the step of determining whether the trigger part 2421 triggers the microswitch 2422, it includes: determining whether the beverage outlet 22 reaches the second end; if so, stopping the downward movement of the beverage outlet 22; if not, maintaining the state of the beverage outlet 22 moving downward and returning to execute the step of determining whether the trigger part 2421 triggers the microswitch 2422.

[0152] Specifically, after step S322, the following steps are further included:

[0153] S3221: Determine whether the beverage outlet 22 reaches the second end.

[0154] The beverage outlet 22 continues to move downward, and the trigger part 2421 never triggers the microswitch 2422. At this time, it is necessary to determine whether the beverage outlet 22 reaches the second end. The second end is the lowest position that the beverage outlet 22 can move downward to. If the height of the opening edge of the container 26 is relatively low, even if the beverage outlet 22 continues to descend, the trigger part 2421 will not contact the opening edge of the container 26. At this time, it is necessary to determine whether the beverage outlet 22 reaches the extreme lowest position, that is, the second end.

[0155] If so, stop the downward movement of the beverage outlet 22.

[0156] If it is determined that the beverage outlet 22 has reached the second end and the trigger portion 2421 has not contacted the opening edge of the container 26, step S4 is executed at this time: stop the downward movement of the beverage outlet 22, and output the first type of beverage ingredient and / or output the second type of beverage ingredient to the container 26 for receiving the beverage according to the user instruction. When the first sensing component 241 detects that the detection information in the container 26 meets the preset conditions, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient. The detection information includes the first information and the second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient. When the detected vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient meets the preset conditions, stop outputting the first type of beverage ingredient; the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient. When the detected vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient meets the preset conditions, stop outputting the second type of beverage ingredient. After the beverage outlet 22 of this embodiment reaches the second end and the trigger portion 2421 has not contacted the opening edge of the container 26, the specific methods for stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient after outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient include:

[0157] Method 1: In response to the user instruction being the first instruction, output the first type of beverage ingredient according to the user instruction. When it is detected that the first information in the container 26 meets the first preset conditions, stop outputting the first type of beverage ingredient.

[0158] Refer to Figure 11 , the first sensing component 241 detects the distance Hc, and the distance Hc is the vertical distance between the beverage outlet 22 and the opening edge of the container 26. When stopping outputting the first type of beverage ingredient, the distance between the beverage outlet 22 and the top of the first type of beverage ingredient is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient when the first type of beverage ingredient cannot splash out of the container 26 obtained according to data statistics or experience. When outputting the first type of beverage ingredient according to the user instruction, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first type of beverage ingredient in real time. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredient; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of beverage ingredient will occur if the first type of beverage ingredient is continued to be filled. At this time, stop outputting the first type of beverage ingredient. The first information meeting the first preset conditions means that H1 - Hc ≤ h1 is satisfied. In this embodiment, h1 can be set as the first preset value, and the first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, stop outputting the first type of beverage ingredient.

[0159] Method 2: Alternatively, in response to the user instruction being the second instruction, output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 26 meets the second preset condition.

[0160] Refer to Figure 12 , the first sensing component 241 detects the distance Hc, where the distance Hc is the vertical distance between the drink outlet 22 and the opening edge of container 26. When stopping the output of the second type of drink ingredients, the distance between the drink outlet 22 and the liquid level of the second type of drink ingredients is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of drink ingredients when the second type of drink ingredients cannot splash out of container 26, obtained based on data statistics or experience. When outputting the second type of drink ingredients according to the user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the drink outlet 22 and the liquid level of the second type of drink ingredients. When it is determined that H2 - Hc > h2, continue to output the second type of drink ingredients; when it is determined that H2 - Hc ≤ h2, it means that further loading of the second type of drink ingredients will cause the second type of drink ingredients to splash, and at this time, stop outputting the second type of drink ingredients. The second information meeting the second preset condition means that H2 - Hc ≤ h2 is satisfied. In this embodiment, h2 can be set as the second preset value, and the second preset condition is to stop outputting the second type of drink ingredients when the vertical distance between the opening edge of container 26 and the liquid level of the second type of drink ingredients is less than or equal to the second preset value.

[0161] Method 3: Alternatively, in response to the user instruction being the third instruction, output the first type of drink ingredients according to the user instruction, and stop outputting the first type of drink ingredients when it is detected that the first information in container 26 meets the first preset condition; output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 26 meets the second preset condition.

[0162] Refer to Figure 13, when the response to the user instruction is the third instruction, first output the first type of beverage ingredient. The first sensing component 241 detects the distance Hc, where the distance Hc is the vertical distance between the beverage outlet 22 and the opening edge of the container 26. When stopping the output of the first type of beverage ingredient, the distance between the beverage outlet 22 and the top of the first type of beverage ingredient is Hc + h1, and h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient when the first type of beverage ingredient cannot splash out of the container 26, obtained based on data statistics or experience. When outputting the first type of beverage ingredient according to the user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H1 between the beverage outlet 22 and the top of the first type of beverage ingredient. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredient; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of beverage ingredient will occur if the first type of beverage ingredient is continued to be filled, and at this time, stop outputting the first type of beverage ingredient. The first information conforming to the first preset condition means satisfying H1 - Hc ≤ h1.

[0163] After the output of the first type of beverage ingredient is completed, output the second type of beverage ingredient. When stopping the output of the second type of beverage ingredient, the distance between the beverage outlet 22 and the liquid level of the second type of beverage ingredient is Hc + h2, and h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredient when the second type of beverage ingredient cannot splash out of the container 26, obtained based on data statistics or experience. When outputting the second type of beverage ingredient according to the user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the beverage outlet 22 and the liquid level of the second type of beverage ingredient. When it is determined that H2 - Hc > h2, continue to output the second type of beverage ingredient; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of beverage ingredient will occur if the second type of beverage ingredient is continued to be filled, and at this time, stop outputting the second type of beverage ingredient. The second information conforming to the second preset condition means satisfying H2 - Hc ≤ h2.

[0164] It should be noted that outputting the first type of beverage ingredient first and then the second type of beverage ingredient can prevent the second type of beverage ingredient from splashing. In other embodiments, it may also be to output the second type of beverage ingredient first and then the first type of beverage ingredient. In this embodiment, h1 can be set as the first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the output of the first type of beverage ingredient is stopped. Set h2 as the second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value, the output of the second type of beverage ingredient is stopped. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient being less than or equal to the second preset value. It may also be less than other distances, which is not limited here.

[0165] If not, maintain the state of the beverage outlet 22 moving downward, and return to execute step S321 of determining whether the trigger portion 2421 triggers the microswitch 2422.

[0166] If it is determined that the beverage outlet 22 has not reached the second end, return to execute step S321: determine whether the trigger portion 2421 triggers the microswitch 2422.

[0167] According to an embodiment of the present application, the beverage output device 20 has a third sensing component. The third sensing component is used to move synchronously with the beverage outlet 22. On both sides of the carrier 27 of the beverage output device 20, there are also relatively arranged a first side wall 271 and a second side wall 272. The third sensing component includes a relatively arranged second transmitting portion 2431 and a second receiving portion 2432. The second transmitting portion 2431 is movably arranged on the first side wall 271, and the second receiving portion 2432 is movably arranged on the second side wall 272. In the step of determining whether the beverage outlet 22 moves downward to reach the target position, it includes: the second transmitting portion 2431 emits a second detection wave; determine whether the second receiving portion 2432 receives the second detection wave; if so, maintain the state of the beverage outlet 22 moving downward, and return to execute the step of the second transmitting portion 2431 emitting the second detection wave; if not, execute the step of stopping the beverage outlet 22 from moving downward.

[0168] Specifically, refer to Figure 14, in this embodiment, the beverage output device 20 has a third sensing component, and on both sides of the carrying platform 27, there are relatively arranged a first side wall 271 and a second side wall 272. The second transmitting part 2431 of the third sensing component is movably arranged on the first side wall 271, and the second receiving part 2432 of the third sensing component is movably arranged on the second side wall 272. During the downward movement of the beverage outlet 22, the relatively arranged second transmitting part 2431 and second receiving part 2432 of the third sensing component move downward synchronously. Step S3 determines whether the beverage outlet 22 has moved downward to the target position. In some embodiments, it further includes:

[0169] S331: The second transmitting part 2431 emits a second detection wave.

[0170] As the beverage outlet 22 moves downward, the third sensing component moves downward synchronously, and the second transmitting part 2431 arranged on the first side wall 271 emits a second detection wave.

[0171] S332: Determine whether the second receiving part 2432 receives the second detection wave.

[0172] After the second transmitting part 2431 arranged on the first side wall 271 emits a second detection wave, the second receiving part 2432 arranged on the second side wall 272 receives the second detection wave. The second transmitting part 2431 and the second receiving part 2432 are relatively arranged. Under normal circumstances, if there is no container 26 blocking between the two, the second receiving part 2432 normally receives the second detection wave emitted by the second transmitting part 2431. In this embodiment, by determining whether the second receiving part 2432 receives the second detection wave, it is confirmed whether there is a container 26 above the carrying platform 27, or whether the beverage outlet 22 has reached the target position.

[0173] S333: If so, maintain the state of the downward movement of the beverage outlet 22, and return to execute the step of the second transmitting part 2431 emitting a second detection wave.

[0174] If the second receiving part 2432 can receive the second detection wave, it means that the beverage outlet 22 has not reached the target position. At this time, maintain the state of the downward movement of the beverage outlet 22, and return to execute step S331: The second transmitting part 2431 emits a second detection wave.

[0175] If not, execute step S4 to stop the downward movement of the beverage outlet 22.

[0176] If the second receiving unit 2432 cannot receive the second detection wave, it indicates that there is a container 26 blocking between the second transmitting unit 2431 and the second receiving unit 2432, that is, the opening edge of the container 26 is detected, indicating that the beverage outlet 22 has reached the target position. At this time, the downward movement of the beverage outlet 22 is stopped, and the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container 26 according to the user instruction. When the detection information in the container 26 detected by the first sensing component 241 meets the preset conditions, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient is stopped. The detection information includes the first information and the second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient. When the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient meets the preset conditions, the output of the first type of beverage ingredient is stopped; the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient. When the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient meets the preset conditions, the output of the second type of beverage ingredient is stopped. In this embodiment, by setting the preset conditions, when the detection information in the container 26 meets the preset conditions, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient is automatically stopped, which can avoid beverage overflow and improve the portability of the operation at the same time. The specific methods for stopping the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient include:

[0177] Method 1: In response to the user instruction being the first instruction, the first type of beverage ingredient is output according to the user instruction. When it is detected that the first information in the container 26 meets the first preset conditions, the output of the first type of beverage ingredient is stopped.

[0178] Refer to Figure 15, since the third sensing component moves synchronously with the drink outlet 22, the vertical distance between the second transmitting portion 2431, the second receiving portion 2432 and the drink outlet 22 is a fixed distance Hc. When stopping the output of the first type of drink ingredient, the distance between the drink outlet 22 and the top of the first type of drink ingredient is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first type of drink ingredient when the first type of drink ingredient cannot splash out of the container 26 based on data statistics or experience. When outputting the first type of drink ingredient according to a user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H1 between the drink outlet 22 and the top of the first type of drink ingredient. When it is determined that H1 - Hc > h1, continue to output the first type of drink ingredient; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of drink ingredient will occur if the first type of drink ingredient is further loaded, and at this time, stop outputting the first type of drink ingredient. The first information conforming to the first preset condition means that H1 - Hc ≤ h1 is satisfied. In this embodiment, h1 can be set as the first preset value, and the first preset condition is to stop outputting the first type of drink ingredient when the vertical distance between the opening edge of the container 26 and the top of the first type of drink ingredient is less than or equal to the first preset value.

[0179] Method 2: Or in response to the user instruction being the second instruction, output the second type of drink ingredient according to the user instruction, and stop outputting the second type of drink ingredient in response to detecting that the second information in the container 26 conforms to the second preset condition.

[0180] Refer to Figure 16 , since the third sensing component moves synchronously with the drink outlet 22, the vertical distance between the second transmitting portion 2431, the second receiving portion 2432 and the drink outlet 22 is a fixed distance Hc. When stopping the output of the second type of drink ingredient, the distance between the drink outlet 22 and the liquid level of the second type of drink ingredient is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of drink ingredient when the second type of drink ingredient cannot splash out of the container 26 based on data statistics or experience. When outputting the second type of drink ingredient according to a user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the drink outlet 22 and the liquid level of the second type of drink ingredient. When it is determined that H2 - Hc > h2, continue to output the second type of drink ingredient; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of drink ingredient will occur if the second type of drink ingredient is further loaded, and at this time, stop outputting the second type of drink ingredient. The second information conforming to the second preset condition means that H2 - Hc ≤ h2 is satisfied. In this embodiment, h2 can be set as the second preset value, and the second preset condition is to stop outputting the second type of drink ingredient when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of drink ingredient is less than or equal to the second preset value.

[0181] Method 3: Alternatively, in response to the user instruction being the third instruction, output the first type of drink ingredients according to the user instruction, and stop outputting the first type of drink ingredients when it is detected that the first information in container 26 meets the first preset condition; output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 26 meets the second preset condition.

[0182] Refer to Figure 17 , when the user instruction is the third instruction, first output the first type of drink ingredients. The vertical distance between the second transmitting part 2431, the second receiving part 2432 and the drink output port 22 is a fixed distance Hc. When stopping outputting the first type of drink ingredients, the distance between the drink output port 22 and the top of the first type of drink ingredients is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first type of drink ingredients when the first type of drink ingredients cannot splash out of container 26 based on data statistics or experience. When outputting the first type of drink ingredients according to the user instruction, the first sensing component 241 continuously detects and confirms the vertical distance H1 between the drink output port 22 and the top of the first type of drink ingredients. When it is determined that H1 - Hc > h1, continue to output the first type of drink ingredients; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of drink ingredients will occur if the first type of drink ingredients are further filled, and at this time, stop outputting the first type of drink ingredients. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0183] After the output of the first type of drink ingredients is completed, output the second type of drink ingredients. When stopping outputting the second type of drink ingredients, the distance between the drink output port 22 and the liquid level of the second type of drink ingredients is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of drink ingredients when the second type of drink ingredients cannot splash out of container 26 based on data statistics or experience. When outputting the second type of drink ingredients according to the user instruction, the first sensing component 241 continuously detects and confirms the vertical distance H2 between the drink output port 22 and the liquid level of the second type of drink ingredients. When it is determined that H2 - Hc > h2, continue to output the second type of drink ingredients; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of drink ingredients will occur if the second type of drink ingredients are further filled, and at this time, stop outputting the second type of drink ingredients. The second information meeting the second preset condition means that H2 - Hc ≤ h2 is satisfied.

[0184] It should be noted that outputting the first type of beverage ingredient first and then the second type of beverage ingredient can prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing. In other embodiments, it may also be to output the second type of beverage ingredient first and then the first type of beverage ingredient. In other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient being less than or equal to the second preset value. It may also be less than other distances, which is not limited herein.

[0185] In other embodiments, continue to refer to Figure 14 , between the step of determining whether the second receiving portion 2432 receives the second detection wave and maintaining the state of the beverage outlet 22 moving downward, and returning to execute the step of the second transmitting portion 2431 emitting the second detection wave, it includes: determining whether the beverage outlet 22 reaches the second end; if so, executing to stop the beverage outlet 22 from moving downward; if not, executing to maintain the state of the beverage outlet 22 moving downward and returning to execute the step of the second transmitting portion 2431 emitting the second detection wave.

[0186] Specifically, after determining whether the second receiving portion 2432 receives the second detection wave, the following steps are further included:

[0187] S3321: Determine whether the beverage outlet 22 reaches the second end.

[0188] The beverage outlet 22 continues to move downward, and the second receiving portion 2432 can always receive the second detection wave. At this time, it is necessary to determine whether the beverage outlet 22 reaches the second end. The second end is the lowest position that the beverage outlet 22 can move down to. If the height of the opening edge of the container 26 is relatively low, even if the beverage outlet 22 continues to descend, the second transmitting portion 2431 and the second receiving portion 2432 of the third sensing component cannot sense the existence of the container 26. At this time, it is necessary to determine whether the beverage outlet 22 reaches the extreme lowest position, that is, the second end.

[0189] If so, execute to stop the beverage outlet 22 from moving downward.

[0190] If it is determined that the beverage outlet 22 has reached the second end, at this time, the downward movement of the beverage outlet 22 is stopped, and the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container 26 for receiving the beverage according to the user instruction. When the detection information in the container 26 detected by the first sensing component 241 meets the preset conditions, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient is stopped. The detection information includes the first information and the second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient. When the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is detected to meet the preset conditions, the output of the first type of beverage ingredient is stopped; the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient. When the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is detected to meet the preset conditions, the output of the second type of beverage ingredient is stopped. After the beverage outlet 22 of the present embodiment reaches the second end and the trigger portion 2421 never touches the opening edge of the container 26, the specific methods for stopping the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient after outputting the first type of beverage ingredient and / or the second type of beverage ingredient include:

[0191] Method 1: In response to the user instruction being the first instruction, the first type of beverage ingredient is output according to the user instruction. When it is detected that the first information in the container 26 meets the first preset condition, the output of the first type of beverage ingredient is stopped.

[0192] Refer to Figure 18 , the first sensing component 241 detects the distance Hc, and the distance Hc is the vertical distance between the beverage outlet 22 and the opening edge of the container 26. When the output of the first type of beverage ingredient is stopped, the distance between the beverage outlet 22 and the top of the first type of beverage ingredient is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient when the first type of beverage ingredient cannot splash out of the container 26 obtained according to data statistics or experience. When the first type of beverage ingredient is output according to the user instruction, the first sensing component 241 continuously detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first type of beverage ingredient. When it is determined that H1 - Hc > h1, the output of the first type of beverage ingredient continues; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of beverage ingredient will occur if the first type of beverage ingredient is further loaded. At this time, the output of the first type of beverage ingredient is stopped. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied. In the present embodiment, h1 can be set as the first preset value, and the first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the output of the first type of beverage ingredient is stopped.

[0193] Method 2: Alternatively, in response to the user instruction being the second instruction, output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 26 meets the second preset condition.

[0194] Refer to Figure 19 , the first sensing component 241 detects the distance Hc, where the distance Hc is the vertical distance between the drink outlet 22 and the opening edge of container 26. When stopping the output of the second type of drink ingredients, the distance between the drink outlet 22 and the liquid level of the second type of drink ingredients is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of drink ingredients when the second type of drink ingredients cannot splash out of container 26, obtained based on data statistics or experience. When outputting the second type of drink ingredients according to the user instruction, the first sensing component 241 continuously detects and confirms the vertical distance H2 between the drink outlet 22 and the liquid level of the second type of drink ingredients. When it is determined that H2 - Hc > h2, continue to output the second type of drink ingredients; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of drink ingredients will occur if the second type of drink ingredients are further loaded, and at this time, stop outputting the second type of drink ingredients. The second information meeting the second preset condition means that H2 - Hc ≤ h2 is satisfied. In this embodiment, h2 can be set as the second preset value, and the second preset condition is to stop outputting the second type of drink ingredients when the vertical distance between the opening edge of container 26 and the liquid level of the second type of drink ingredients is less than or equal to the second preset value.

[0195] Method 3: Alternatively, in response to the user instruction being the third instruction, output the first type of drink ingredients according to the user instruction, and stop outputting the first type of drink ingredients when it is detected that the first information in container 26 meets the first preset condition; output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 26 meets the second preset condition.

[0196] Refer to Figure 20When the response to the user instruction is the third instruction, first output the first type of beverage ingredient. The first sensing component 241 detects the distance Hc, where Hc is the vertical distance between the beverage outlet 22 and the opening edge of the container 26. When stopping the output of the first type of beverage ingredient, the distance between the beverage outlet 22 and the top of the first type of beverage ingredient is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredient obtained based on data statistics or experience when the first type of beverage ingredient cannot splash out of the container 26. When outputting the first type of beverage ingredient according to the user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H1 between the beverage outlet 22 and the top of the first type of beverage ingredient. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredient; when it is determined that H1 - Hc ≤ h1, it means that continuing to fill the first type of beverage ingredient will cause the first type of beverage ingredient to splash, and at this time, stop outputting the first type of beverage ingredient. The first information conforming to the first preset condition means satisfying H1 - Hc ≤ h1.

[0197] After the output of the first type of beverage ingredient is completed, output the second type of beverage ingredient. When stopping the output of the second type of beverage ingredient, the distance between the beverage outlet 22 and the liquid level of the second type of beverage ingredient is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredient obtained based on data statistics or experience when the second type of beverage ingredient cannot splash out of the container 26. When outputting the second type of beverage ingredient according to the user instruction, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the beverage outlet 22 and the liquid level of the second type of beverage ingredient. When it is determined that H2 - Hc > h2, continue to output the second type of beverage ingredient; when it is determined that H2 - Hc ≤ h2, it means that continuing to fill the second type of beverage ingredient will cause the second type of beverage ingredient to splash, and at this time, stop outputting the second type of beverage ingredient. The second information conforming to the second preset condition means satisfying H2 - Hc ≤ h2.

[0198] If not, execute the state of maintaining the downward movement of the beverage outlet 22, and return to execute the step S331 of the second transmitting part 2431 emitting the second detection wave.

[0199] It should be noted that outputting the first type of beverage ingredient first and then the second type of beverage ingredient can prevent the second type of beverage ingredient from splashing. In other embodiments, it can also be to output the second type of beverage ingredient first and then the first type of beverage ingredient. In this embodiment, h1 can be set as the first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the output of the first type of beverage ingredient stops. Set h2 as the second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value, the output of the second type of beverage ingredient stops. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredient being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredient being less than or equal to the second preset value. It can also be less than other distances, which is not limited here.

[0200] According to an embodiment of the present application, the beverage output device 20 has a fourth sensing component 244. The fourth sensing component 244 is located above the carrier 27. The fourth sensing component 244 is used to judge whether the beverage output port 22 moves downward to the target position through image information and obtain detection information. Specifically, in this embodiment, the beverage output device 20 has a fourth sensing component 244. The fourth sensing component 244 judges whether the beverage output port 22 moves downward to the target position through the obtained image information, and real-time feedbacks the detection information through the picture information. When the detection information meets the preset conditions, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient stops.

[0201] According to an embodiment of the present application, the beverage output device 20 further includes a water receiving box 28 and a prompt component 282. A water level sensor 281 is arranged in the water receiving box 28. The water receiving box 28 is located under the carrier 27. The prompt component 282 is used to output prompt information. The control method further includes: in response to the step of stopping the downward movement of the beverage output port 22, judging whether the water level in the water receiving box 28 reaches the preset water level according to the detection signal obtained by the water level sensor 281; if so, the prompt component 282 outputs prompt information; if not, output the first type of beverage ingredient and / or the second type of beverage ingredient to the container 26 for receiving the beverage according to the user instruction, and at the same time continuously keep judging whether the water level in the water receiving box 28 reaches the preset water level according to the detection signal obtained by the water level sensor 281. If so, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient and output the prompt information.

[0202] Specifically, referring to Figure 5 or Figure 6, the beverage output device 20 further includes a water receiving box 28 located under the carrying platform 27. A water level sensor 281 is provided in the water receiving box 28. The control method further includes the following steps:

[0203] S51: In response to the step of stopping the downward movement of the beverage output port 22, determine whether the water level in the water receiving box 28 reaches a preset water level according to the detection signal obtained by the water level sensor 281.

[0204] Generally, after the beverage output port 22 moves downward to a suitable position, the beverage output device 20 outputs the first type of beverage ingredients and / or the second type of beverage ingredients to the container 26 according to the user's instruction. To avoid situations such as the user temporarily removing the container 26, moving the container 26, or replacing the container 26, it is easy to cause the first type of beverage ingredients and / or the second type of beverage ingredients output by the beverage output port 22 to fill the water receiving box 28 and then cause the second type of beverage ingredients to overflow. Therefore, by setting the water level sensor 281, the water level in the water receiving box 28 can be detected to control the output or closing of the beverage output port 22.

[0205] If so, execute step S52: The prompting component 282 outputs a prompt message.

[0206] If the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 reaches the preset water level, it means that if the first type of beverage ingredients and / or the second type of beverage ingredients enter the water receiving box 28, it will cause the second type of beverage ingredients in the water receiving box 28 to overflow. Therefore, at this time, the beverage output device 20 does not output the first type of beverage ingredients and / or the second type of beverage ingredients, and the prompting component 282 outputs a prompt message to remind the user to clean the water receiving box 28 in time. The prompting component 282 can be a display screen, an LED lamp, a speaker, a vibrator, etc. The prompt message can be the text or picture output by the display screen; the LED lamp emits light and flashes; the speaker plays sound; the vibrator generates vibration, etc.

[0207] If not, output the first type of beverage ingredients and / or the second type of beverage ingredients to the container 26 for receiving the beverage according to the user's instruction, and at the same time continuously determine whether the water level in the water receiving box 28 reaches the preset water level according to the detection signal obtained by the water level sensor 281. If so, stop outputting the first type of beverage ingredients and / or the second type of beverage ingredients and outputting the prompt message.

[0208] According to an embodiment of the present application, in response to stopping outputting the first type of beverage ingredients and / or the second type of beverage ingredients, the beverage output port can also be controlled to move in the initial direction to facilitate the removal of the container and the cleaning of the water receiving box.

[0209] In this embodiment, it can be understood that after the beverage outlet 22 moves downward to an appropriate position, if the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 has not reached the preset water level, then according to the user instruction, the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container 26 for receiving the beverage. During the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient, the detection signal of the water level sensor 281 is continuously obtained and it is determined whether the water level in the water receiving box 28 has reached the preset water level. If the water level in the water receiving box 28 has not reached the preset water level, then the output of the first type of beverage ingredient and / or the second type of beverage ingredient is continued; if the water level in the water receiving box 28 has reached the preset water level, then the output of the first type of beverage ingredient and / or the second type of beverage ingredient and the output of the prompt message are immediately stopped. In this embodiment, by continuously detecting whether the water level in the water receiving box 28 reaches the preset water level during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient, it is possible to avoid situations such as the user temporarily removing the container 26, moving the container 26, or replacing the container 26 during the process of outputting the beverage ingredients, which may easily cause the first type of beverage ingredient and / or the second type of beverage ingredient output by the beverage outlet 22 to fill the water receiving box 28 and then cause the second type of beverage ingredient to overflow. Therefore, by continuously detecting the water level in the water receiving box 28 through the water level sensor 281, the output or closing of the beverage outlet 22 is controlled. After stopping the output of the first type of beverage ingredient and / or the second type of beverage ingredient, the beverage outlet can also be controlled to move in the initial direction to facilitate the removal of the container 26 and the cleaning of the water receiving box 28.

[0210] According to an embodiment of the present application, referring to Figure 21 , the beverage output device 20 further includes a water receiving box 28 and a prompt component 282 located under the carrying platform 27. A water level sensor 281 is arranged in the water receiving box 28. The control method further includes the following steps:

[0211] S51: In response to the step of receiving the user instruction, determine whether the water level in the water receiving box 28 reaches the preset water level according to the detection signal obtained by the water level sensor 281.

[0212] Specifically, after the beverage output device 20 receives the user instruction, in order to avoid situations such as the user temporarily removing the container 26, moving the container 26, or replacing the container 26, which may easily cause the first type of beverage ingredient and / or the second type of beverage ingredient output by the beverage outlet 22 to fill the water receiving box 28 and then cause the second type of beverage ingredient to overflow. Therefore, by setting the water level sensor 281, the water level in the water receiving box 28 can be detected to determine whether it is necessary to remind the user to clean the water receiving box 28.

[0213] If so, execute step S52: The prompt component 282 outputs a prompt message.

[0214] If the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 reaches the preset water level, it means that if the first type of drink ingredient and / or the second type of drink ingredient enter the water receiving box 28, the second type of drink ingredient in the water receiving box 28 will overflow. Therefore, at this time, the prompt component 282 outputs a prompt message to remind the user to clean the water receiving box 28 in time.

[0215] If not, then execute the step of moving the drink outlet 22 downward from the initial position.

[0216] According to an embodiment of the present application, the control method further includes: in response to receiving a user instruction, determining whether a container 26 is detected on the carrier 27; if so, then execute the step of moving the drink outlet 22 downward from the initial position; if not, then the drink outlet 22 stops moving.

[0217] Specifically, when the drink output device 20 receives a user instruction, in order to avoid situations such as the user accidentally touching the device or temporarily removing the container 26, resulting in the actual absence of the container 26 that needs to receive the first type of drink ingredient and / or the second type of drink ingredient, it is necessary to determine whether a container 26 is detected on the carrier 27 before the drink outlet 22 moves downward from the initial position.

[0218] If so, then execute the step of moving the drink outlet 22 downward from the initial position.

[0219] If not, it means that there is no container 26 on the carrier 27. At this time, the drink outlet 22 will not descend, and the output of the first type of drink ingredient and / or the second type of drink ingredient will stop.

[0220] In this embodiment, by detecting whether there is a container 26 on the carrier 27 after receiving a user instruction, situations such as the splashing or overflow of drink ingredients caused by accidental touch can be avoided. It should be noted that in this embodiment, the presence of the container 26 can be detected by means such as a micro switch, an infrared pair tube, infrared transceiver (installed on the same side, receiving reflected light), and ultrasonic induction.

[0221] In some embodiments, the detection information includes the vertical distance between the top of the receptacle in the container and the edge of the container opening.

[0222] Among them, when there is only the first type of drink ingredient in the receptacle in the container, the vertical distance between the top of the receptacle in the container and the edge of the container opening is the first information.

[0223] When there is only the second type of drink ingredient in the receptacle in the container, the vertical distance between the top of the receptacle in the container and the edge of the container opening is the second information.

[0224] When the contents in the container include a first type of beverage ingredient and a mixture of a second type of beverage ingredient, if the first type of beverage ingredient sinks to the bottom of the second type of beverage ingredient or is suspended in the second type of beverage ingredient, the vertical distance between the top of the contents in the container and the opening edge of the container is the second information; if the first type of beverage ingredient floats on the second type of beverage ingredient and the distance between the top of the first type of beverage ingredient protruding from the liquid level of the second beverage ingredient and the liquid level of the second beverage ingredient is small, for example, it can be less than 2 mm, less than 3 mm, less than 5 mm, etc., the vertical distance between the top of the contents in the container and the opening edge of the container is the second information or the first information; if the first type of beverage ingredient floats on the second type of beverage ingredient and the distance between the top of the first type of beverage ingredient protruding from the liquid level of the second beverage ingredient and the liquid level of the second beverage ingredient is large, for example, it can be greater than or equal to 5 mm, greater than or equal to 8 mm, greater than or equal to 1 cm, etc., the vertical distance between the top of the contents in the container and the opening edge of the container is the first information.

[0225] To solve the above technical problems, the present application also provides a beverage output device 20. Referring to Figure 22 and Figure 23 the beverage output device 20 includes an instruction receiving component 21, a beverage output port 22, a moving component 2323, a detection component 24, and a processor 25. The instruction receiving component 21 is configured to receive user instructions. The user instructions include a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output the first type of beverage ingredient, the second instruction is an instruction to output the second type of beverage ingredient, and the third instruction is an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; the beverage output port 22 is used to output beverages to the container 26. The beverages include the first type of beverage ingredient and / or the second type of beverage ingredient; the first type of beverage ingredient includes ingredients with a fixed shape, elastic ingredients, ingredients with poor fluidity, for example, ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, coconut jelly, taro balls, milk jelly, jelly, turtle jelly, fruit puree, taro puree, ice cream, puffed food, baked food, etc., and the second type of beverage ingredient includes ingredients with high fluidity, for example, water, fruit juice, milk, coffee, cola, soy milk, etc. The moving component 2323 is connected to the beverage output port 22, and the moving component 2323 is used to move the beverage output port 22; the detection component 24 is used to detect the opening edge of the container 26 and the detection information in the container 26; the processor 25 is connected to the instruction receiving component 21, the moving component 2323, and the detection component 24, and the processor 25 is configured to execute the control method for the beverage output device 20 described in any one of the above.

[0226] Specifically, the instruction receiving component 21 receives user instructions. The moving component 23 controls the rising or falling of the beverage outlet 22, and the detection component 24 moves synchronously with the beverage outlet 22. The detection component 24 emits a first detection wave and receives the echo of the first detection wave, which is used to detect the opening edge of the container 26 and the detection information inside the container 26. The detection information includes first information and second information. When the detection component 24 is in a suitable position where it can detect the opening edge of the container 26 and the detection information inside the container 26, it controls the beverage outlet 22 to output the first type of beverage ingredient and / or the second type of beverage ingredient. During the process of the beverage output device 20 outputting the first type of beverage ingredient and / or the second type of beverage ingredient, when the detection information of the first type of beverage ingredient in the container 26 meets the preset conditions, it automatically stops outputting the first type of beverage ingredient and / or the second type of beverage ingredient to avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient.

[0227] The instruction receiving component 21 may include a button, a knob, a microphone, a camera, or an input area of a display screen provided on the beverage output device 20; or the beverage output device 20 is used to be connected to the user's client device wired or wirelessly, and the instruction receiving component 21 includes an antenna, a connector provided on the beverage output device 20, a button, a knob, a microphone, a camera, or an input area of a display screen provided on the client device.

[0228] The processor 25 is the operation and control core and is the execution unit for information processing and program running.

[0229] According to an embodiment of the present application, referring to Figure 24 , the beverage output device 20 further includes a carrier 27 for carrying the container 26. The beverage outlet 22 is located above the carrier 27. The beverage outlet 22 has a movement track with a first end a away from the carrier 27 and a second end b close to the carrier 27. Specifically, the container 26 is placed on the carrier 27, and the beverage outlet 22 moves downward in the direction towards the carrier 27. The starting position of the beverage outlet 22 is the first end a, and one end after the beverage outlet 22 reaches the lowest limit position is the second end b.

[0230] According to an embodiment of the present application, the detection component 24 includes a first sensing component 241. The first sensing component 241 is located above the carrier 27, is relatively fixed to the beverage outlet 22, and is connected to the processor 25. The first sensing component 241 is used to move synchronously with the beverage outlet 22. Specifically, the first sensing component 241 is located above the carrier 27 and is used to move synchronously with the beverage outlet 22, emit a first detection wave, and receive the echo of the first detection wave.

[0231] According to an embodiment of the present application, the first sensing component 241 is an ultrasonic detector or a time-of-flight detector (TOF).

[0232] According to an embodiment of the present application, the first sensing component 241 is used to detect the opening edge of the container 26 and the detection information inside the container 26. The detection information includes first information and second information. The first information is the top information of the first type of beverage ingredient, and the second information is the liquid level information of the second type of beverage ingredient. Specifically, when the first sensing component 241 is located at a suitable position where it can detect the opening edge of the container 26 and the detection information inside the container 26, the beverage output port 22 is controlled to output the first type of beverage ingredient and / or the second type of beverage ingredient. During the process of the beverage output device 20 outputting the first type of beverage ingredient and / or the second type of beverage ingredient, when the detection information inside the container 26 meets the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is automatically stopped to avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient.

[0233] According to an embodiment of the present application, continue to refer to Figure 23 , the detection component 24 further includes a second sensing component 242. The second sensing component 242 is located above the carrier 27. The second sensing component 242 is relatively fixed with the beverage output port 22. The second sensing component 242 is used to move synchronously with the beverage output port 22. The second sensing component 242 includes a triggering part 2421 and a microswitch 2422. The triggering part 2421 is used to trigger the microswitch 2422 when it touches the opening edge of the container 26. The microswitch 2422 is connected to the processor 25. Specifically, the triggering part 2421 protrudes in the direction towards the container 26 relative to the beverage output port 22. During the downward movement of the beverage output port 22, the triggering part 2421 is used to trigger the microswitch 2422 when it touches the opening edge of the container 26.

[0234] According to an embodiment of the present application, the second sensing component 242 is used to detect the opening edge of the container 26, and the first sensing component 241 is used to detect the detection information inside the container 26. Specifically, the second sensing component 242 is used to detect the opening edge of the container 26. If the triggering part 2421 of the second sensing component 242 triggers the microswitch 2422, it means that the triggering part 2421 abuts against the opening edge of the container 26. At this time, the downward movement of the beverage output port 22 is stopped, and the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container 26 for receiving the beverage according to the user instruction. After the first sensing component 241 detects that the detection information inside the container 26 meets the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is stopped.

[0235] According to an embodiment of the present application, continue to refer to Figure 15 、 Figure 23The detection component 24 further includes a third sensing component 243, which is used to move synchronously with the beverage outlet 22. The two sides of the carrier 27 of the beverage outlet device 20 further include a first side wall 271 and a second side wall 272 that are arranged oppositely. The third sensing component 243 includes a second transmitting part 2431 and a second receiving part 2432 that are arranged oppositely. The second transmitting part 2431 is movably arranged on the first side wall 271, and the second receiving part 2432 is movably arranged on the second side wall 272. The third sensing component 243 is connected to the processor 25. Specifically, during the downward movement of the beverage outlet 22, the third sensing component 243 moves downward synchronously with the second transmitting part 2431 and the second receiving part 2432 that are arranged oppositely. The second transmitting part 2431 sends a second detection wave to determine whether the second receiving part 2432 receives the second detection wave. In response to the second receiving unit 2432 not receiving the second detection wave, it means that the third sensing component 243 detects the opening edge of the container 26, indicating that the beverage outlet 22 has reached the target position. At this time, the beverage outlet 22 stops moving downward, and the first type of beverage ingredients and / or the second type of beverage ingredients are output to the container 26 according to the user's instructions.

[0236] The second transmitting portion 2431 is movably disposed on the first side wall 271. The second transmitting portion 2431 may be directly and movably connected to the first side wall 271, or the second transmitting portion 2431 may be movably located on the side of the first side wall 271 facing the carrier 27 or on the side away from the carrier 27. The second receiving portion 2432 is movably disposed on the second side wall 272. The second receiving portion 2432 may be directly and movably connected to the second side wall 272, or the second receiving portion 2432 may be movably located on the side of the second side wall 272 facing the carrier 27 or on the side away from the carrier 27.

[0237] According to one embodiment of the present application, the third sensing component is an infrared pair tube.

[0238] According to an embodiment of the present application, the third sensing component 243 is used to detect the opening edge of the container 26, and the first sensing component 241 is used to detect the detection information in the container 26, and the detection information includes the first information and the second information. Specifically, the third sensing component 243 detects the opening edge of the container 26, indicating that the beverage outlet 22 has reached the target position, and the first sensing component 241 stops outputting the first type of beverage ingredients and / or outputs the second type of beverage ingredients after detecting that the detection information in the container 26 meets the preset conditions.

[0239] According to an embodiment of the present application, the detection component 24 includes a fourth sensing component 244. The fourth sensing component 244 is located above the carrier table 27. The fourth sensing component 244 is configured to detect the opening edge of the container 26 and the detection information inside the container 26 through image information. The fourth sensing component 244 is connected to the processor 25. Specifically, in this embodiment, the beverage output device 20 has a fourth sensing component 244. The fourth sensing component 244 determines whether the beverage output port 22 moves downward to a target position through the acquired image information, and feeds back the detection information in real time through the picture information. When the detection information meets the preset conditions, the output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients is stopped.

[0240] According to an embodiment of the present application, the fourth sensing component 244 is a camera.

[0241] According to an embodiment of the present application, with reference to Figure 25 、 Figure 26 、 Figure 27, the beverage output device 20 includes a first sleeve group 231. Among them, the first sleeve group 231 includes a plurality of first sleeves 2311 sleeved hierarchically. The innermost first sleeve 2311 is fixedly arranged at the first end a. The remaining first sleeves 2311 can move relative to each other along the first direction X to achieve telescoping. The first direction X is the direction of approaching or departing from the container 26. Among them, the first sleeve 2311 fixedly arranged at the first end a is the first fixed sleeve. The first sleeve 2311 farthest from the first fixed sleeve in the first sleeve group 231 is the first moving sleeve. The first moving sleeve is also the outermost first sleeve 2311 in the first sleeve group 231. The beverage output port 22 is located at the first moving sleeve. The first sleeve group 231 of this embodiment is in the form of being smaller at the top and larger at the bottom, that is, the innermost first sleeve 2311 is fixedly arranged at the first end a, and the remaining first sleeves 2311 are hierarchically sleeved outside the innermost first sleeve 2311 and move relative to each other along the first direction X to achieve telescoping. Since the plurality of first sleeves 2311 move relative to each other along the first direction X to achieve telescoping, and the innermost first sleeve 2311 is fixedly arranged at the first end a, therefore, when the first type of beverage ingredient and / or the second type of beverage ingredient is output, the first moving sleeve extends toward the second end b close to the container 26. At this time, the first moving sleeve can drive other first sleeves 2311 located between the first fixed sleeve and the first moving sleeve to all extend toward the second end b close to the container 26. At this time, splashing can be avoided during the output of the first type of beverage ingredient and / or the second type of beverage ingredient. After the output of the first type of beverage ingredient and / or the second type of beverage ingredient is completed, the first moving sleeve retracts from the second end b close to the container 26 toward the first end a away from the container 26, and then can drive other first sleeves 2311 located between the first fixed sleeve and the first moving sleeve to retract toward the first end a away from the container 26. At this time, the user can avoid touching the beverage output port 22 after taking the first type of beverage ingredient and / or the second type of beverage ingredient, affecting the user experience. And since the innermost first sleeve 2311 is fixed to the first end a, during the telescoping process of the first sleeve group 231, the first sleeve group 231 can remain relatively fixed with the first end a away from the container 26, and thus the entire telescoping process can be more stable. Therefore, with the setting of this structure, it is possible to facilitate the user to take the first type of beverage ingredient and / or the second type of beverage ingredient through the telescoping of the first sleeve group 231, so as to avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient and affect the user experience.

[0242] According to an embodiment of the present application, a conveying channel (not shown in the figure) is formed inside the first sleeve group 231, and a first type of beverage ingredient output port 221 is formed at the bottom of the first moving sleeve. The beverage output port 22 includes the first type of beverage ingredient output port 221, and the first type of beverage ingredient output port 221 is formed at the bottom of the first moving sleeve. When the user takes the first type of beverage ingredient, the first type of beverage ingredient moves from the conveying channel toward the first type of beverage ingredient output port 221 and is output from the output port. The first sleeve group 231 with a hollow structure inside forms a conveying channel, which can also facilitate the output of the first type of beverage ingredient during the process of the user taking the first type of beverage ingredient, and can make the output process of the first type of beverage ingredient smoother.

[0243] According to an embodiment of the present application, when the first sleeve group 231 is in the extended state, the inner diameter of the conveying channel gradually increases in the direction close to the beverage output port 22. The setting of the gradually increasing inner diameter of the conveying channel can prevent the first type of beverage ingredient from getting stuck.

[0244] According to an embodiment of the present application, the beverage output device 20 further includes a second sleeve group 232. The second sleeve group 232 is sleeved outside the first sleeve group 231. The second sleeve group 232 includes a plurality of second sleeves 2322 sleeved in layers. The second sleeve 2322 located on the outermost side or the second sleeve 2322 located on the innermost side is fixedly arranged at the first end a, and the remaining second sleeves 2322 are relatively movable along the first direction X to achieve expansion and contraction. The first direction X is the direction of approaching or departing from the container 26. The second sleeve 2322 fixedly arranged at the first end a is the second fixed sleeve, and the second sleeve 2322 in the second sleeve group 232 that is farthest from the second fixed sleeve is the second movable sleeve, and the second movable sleeve is relatively fixed to the first movable sleeve in the first sleeve group 231. Specifically, when the second sleeve 2322 located on the outermost side is fixedly arranged at the first end a, the second sleeve group 232 has a structure that is larger at the top and smaller at the bottom; when the second sleeve 2322 located on the innermost side is fixedly arranged at the first end a, the second sleeve group 232 has a structure that is smaller at the top and larger at the bottom. When the user is taking the first type of beverage ingredient and / or the second type of beverage ingredient, since the second fixed sleeve is fixedly arranged at the first end a, and the second sleeve 2322 that is farthest from the second fixed sleeve, that is, the second movable sleeve, is relatively fixed to the first movable sleeve, at this time, as the first movable sleeve extends towards the end close to the container 26, the first movable sleeve will drive the second movable sleeve to extend towards the end close to the container 26. Since the plurality of second sleeves 2322 are sleeved in layers, the other second sleeves 2322 will also extend towards the end close to the container 26. When the second sleeve group 232 and the first sleeve group 231 both extend towards the second end b, the distance between the first sleeve group 231 and the second sleeve group 232 and the container 26 is reduced. Further, when the first type of beverage ingredient and / or the second type of beverage ingredient is output, the first type of beverage ingredient and / or the second type of beverage ingredient will not splash everywhere, and the user experience is better. Further, since the second fixed sleeve is fixedly arranged at the first end a, the second sleeve group 232 can be more stable during the expansion and contraction process of the second sleeve group 232.

[0245] According to an embodiment of the present application, in order for the second type of beverage ingredient to be output from the beverage outlet 22, the beverage outlet 22 further includes a second type of beverage ingredient outlet 222. The beverage output device 20 further includes a delivery pipe 29, and the output end 291 of the delivery pipe 29 forms the second type of beverage ingredient outlet 222, and the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve. Specifically, when the user is taking the second type of beverage ingredient, the second type of beverage ingredient flows in the delivery pipe 29. When the second type of beverage ingredient flows to the output end 291 of the delivery pipe 29, at this time, the second type of beverage ingredient is output from the second type of beverage ingredient outlet 222. Since the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve, when the user is taking the second type of beverage ingredient, the first movable sleeve or the second movable sleeve extends toward the end close to the container 26, and thus the output end 291 can be close to the container 26, so that the second type of beverage ingredient will not splash everywhere when flowing into the container 26, thereby improving the user's operation experience. At the same time, the delivery pipe 29 is arranged between the first sleeve group 231 and the second sleeve group 232. At this time, the second sleeve group 232 can play a certain role in shielding and protecting the first sleeve group 231 and other structural members such as the delivery pipe 29 located outside the first sleeve group 231, making the overall appearance more beautiful, and at the same time, it can also extend the service life of the first sleeve group 231 and the delivery pipe 29 and other structures.

[0246] In other embodiments, the delivery pipe 29 is arranged in the delivery channel formed in the first sleeve group 231, and the second type of beverage ingredient outlet 222 formed by the output end 291 of the delivery pipe 29 is embedded in the first type of beverage ingredient outlet 221.

[0247] The innermost first sleeve 2311 of the first sleeve group 231 is relatively fixed to the first end a, and the remaining first sleeves 2311 can move relatively in a direction close to or away from the container 26 to achieve expansion and contraction. The first sleeve group 231 has a structure that is smaller at the top and larger at the bottom.

[0248] The following lists the cases where the first sleeve group 231 has a structure that is larger at the top and smaller at the bottom.

[0249] According to an embodiment of the present application, the beverage output device 20 includes a first sleeve group 231. The first sleeve group 231 includes a plurality of first sleeves 2311 sleeved in layers. The outermost first sleeve 2311 is fixedly arranged at the first end a. The remaining first sleeves 2311 can move relative to each other along the first direction X to achieve expansion and contraction. The first direction X is the direction of approaching or departing from the container 26. Among them, the outermost first sleeve 2311 fixedly arranged at the first end a is the first fixed sleeve. The first sleeve 2311 farthest from the first fixed sleeve in the first sleeve group 231 is the first movable sleeve, and the first movable sleeve is also the innermost first sleeve 2311 in the first sleeve group 231. The beverage outlet 22 is located at the second movable sleeve. The first sleeve group 231 in this embodiment is in the form of being larger at the top and smaller at the bottom, that is, the outermost first sleeve 2311 is fixedly arranged at the first end a, and the remaining first sleeves 2311 are hierarchically embedded in the outermost first sleeve 2311 and move relative to each other along the first direction X to achieve expansion and contraction. Since the plurality of first sleeves 2311 move relative to each other along the first direction X to achieve expansion and contraction, and the outermost first sleeve 2311 is fixedly arranged at the first end a, during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient, the first movable sleeve extends towards the second end b close to the container 26. At this time, the first movable sleeve can drive other first sleeves 2311 between the first fixed sleeve and the first movable sleeve to all extend towards the second end b close to the container 26. At this time, splashing can be avoided during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient. After the output of the first type of beverage ingredient and / or the second type of beverage ingredient is completed, the first movable sleeve retracts from the second end b close to the container 26 towards the first end a away from the container 26, and then can drive other first sleeves 2311 between the first fixed sleeve and the first movable sleeve to retract towards the first end a away from the container 26. At this time, the user can avoid touching the beverage outlet 22 after taking the first type of beverage ingredient and / or the second type of beverage ingredient, which affects the user experience. And the first fixed sleeve is fixed to the first end a. Therefore, during the expansion and contraction process of the first sleeve group 231, the first sleeve group 231 can remain relatively fixed with the first end a away from the container 26, and thus the entire expansion and contraction process can be more stable. Therefore, with the setting of this structure, it is possible to facilitate the user to take the first type of beverage ingredient and / or the second type of beverage ingredient through the expansion and contraction of the first sleeve group 231, so as to avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient and affect the user experience.

[0250] According to an embodiment of the present application, a conveying channel (not shown in the figure) is formed inside the first sleeve group 231, and a first type of beverage ingredient output port 221 is formed at the bottom of the first moving sleeve. When the user takes the first type of beverage ingredient, the first type of beverage ingredient moves from the conveying channel toward the first type of beverage ingredient output port 221 and is output from the output port. The first sleeve group 231 with a hollow structure inside forms a conveying channel, which can also facilitate the output of the first type of beverage ingredient during the process of the user taking the first type of beverage ingredient, and can make the output process of the first type of beverage ingredient smoother.

[0251] According to an embodiment of the present application, when the first sleeve group 231 is in the extended state, the inner diameter of the conveying channel gradually decreases in the direction close to the beverage output port 22. The setting of the gradually decreasing inner diameter of the conveying channel can converge the conveying path of the first type of beverage ingredient.

[0252] According to an embodiment of the present application, the beverage output device 20 further includes a second sleeve group 232. Among them, the second sleeve group 232 is sleeved outside the first sleeve group 231. The second sleeve group 232 includes a plurality of second sleeves 2322 sleeved hierarchically. The second sleeve 2322 located on the outermost side or the second sleeve 2322 located on the innermost side is fixedly arranged at the first end a. The second sleeve 2322 fixedly arranged at the first end a is the second fixed sleeve. The second sleeve 2322 farthest from the second fixed sleeve in the second sleeve group 232 is the second moving sleeve, and the second moving sleeve is relatively fixed to the first moving sleeve in the first sleeve group 231. Specifically, when the second sleeve 2322 located on the outermost side is fixedly arranged at the first end a, the second sleeve group 232 has an upper-large and lower-small structure; when the second sleeve 2322 located on the innermost side is fixedly arranged at the first end a, the second sleeve group 232 has an upper-small and lower-large structure. When the user takes the first type of beverage ingredient and / or the second type of beverage ingredient, since the second fixed sleeve is fixedly arranged at the first end a, and the second moving sleeve, which is the second sleeve 2322 farthest from the second fixed sleeve, is relatively fixed to the first moving sleeve, at this time, as the first moving sleeve extends toward the end close to the container 26, the first moving sleeve will drive the second moving sleeve to extend toward the end close to the container 26. Since a plurality of second sleeves 2322 are sleeved hierarchically, other second sleeves 2322 will also extend toward the end close to the container 26. When the second sleeve group 232 and the first sleeve group 231 both extend toward the second end b, at this time, the distance between the first sleeve group 231 and the second sleeve group 232 and the container 26 is reduced. Further, when the first type of beverage ingredient and / or the second type of beverage ingredient is output, the first type of beverage ingredient and / or the second type of beverage ingredient will not splash everywhere, and the user experience is better. Further, since the second fixed sleeve is fixedly arranged at the first end a, the second sleeve group 232 can be more stable during the telescopic process of the second sleeve group 232.

[0253] According to an embodiment of the present application, the first sleeve 2311 and the second sleeve 2322 correspond to each other one by one and are relatively fixed. Specifically, the first sleeve 2311 and the second sleeve 2322 can be connected in a one-to-one correspondence by adding a connecting member.

[0254] According to an embodiment of the present application, in order for the second type of beverage ingredient to be output from the beverage outlet 22, the beverage outlet 22 further includes a second type of beverage ingredient outlet 222. The beverage output device 20 further includes a delivery pipe 29. The output end 291 of the delivery pipe 29 forms the second type of beverage ingredient outlet 222, and the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve. Specifically, when the user is taking the second type of beverage ingredient, the second type of beverage ingredient flows in the delivery pipe 29. When the second type of beverage ingredient flows to the output end 291 of the delivery pipe 29, the second type of beverage ingredient is output from the second type of beverage ingredient outlet 222 at this time. Since the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve, when the user is taking the second type of beverage ingredient, the first movable sleeve or the second movable sleeve extends toward the end close to the container 26. Furthermore, the output end 291 can be close to the container 26, so that the second type of beverage ingredient will not splash everywhere when flowing into the container 26, thereby improving the user experience. At the same time, the delivery pipe 29 is disposed between the first sleeve group 231 and the second sleeve group 232. At this time, the second sleeve group 232 can play a certain role in shielding and protecting the first sleeve group 231 and other structural members such as the delivery pipe 29 located outside the first sleeve group 231, making the overall appearance more beautiful and also extending the service life of the first sleeve group 231 and the delivery pipe 29 and other structures.

[0255] According to an embodiment of the present application, the beverage output device 20 further includes a water receiving box 28 and a prompting component 282. A water level sensor 281 is disposed in the water receiving box 28. The water level sensor 281 and the prompting component 282 are connected to the processor 25. The water receiving box 28 is located under the carrier 27, and the prompting component 282 is used to output a prompt message. In order to avoid situations such as the user temporarily taking away the container 26, moving the container 26, or replacing the container 26, which may easily cause the first type of beverage ingredient and / or the second type of beverage ingredient output from the beverage outlet 22 to fill the water receiving box 28 and then cause the second type of beverage ingredient to overflow. Therefore, by setting the water level sensor 281, the water level in the water receiving box 28 can be detected to determine whether to remind the user to clean the water receiving box 28.

[0256] If the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 reaches the preset water level, it means that if the first type of drink ingredient and / or the second type of drink ingredient enter the water receiving box 28, it will cause the second type of drink ingredient in the water receiving box 28 to overflow. Therefore, at this time, the drink output device 20 will not output the first type of drink ingredient and / or output the second type of drink ingredient, and the reminder component 282 can remind the user to clean the water receiving box 28 in time.

[0257] The reminder component 282 can be a display screen, an LED light, a speaker, a vibrator, etc.; the reminder information can be the text or picture output by the display screen; the LED light emits light and flashes; the speaker plays sound; the vibrator generates vibration, etc.

[0258] To solve the above technical problems, referring to Figure 28 , the present application also provides a storage medium 30, and the storage medium 30 stores program instructions 31, and the program instructions 31 can be executed to implement any one of the above control methods for the drink output device 20.

[0259] In several embodiments provided by the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation manners 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, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other forms.

[0260] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can 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.

[0261] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit exists physically alone, or two or more units are integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0262] When 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 this 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 for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor 25 (processor) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium 30 includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0263] The terms "first", "second", and "third" in the present application are only used for descriptive purposes and cannot be construed 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 positional relationship and movement conditions, etc. between components in a specific posture (as shown in the drawings). If the specific posture changes, then 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 optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0264] The above are only the embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, are equally included in the patent protection scope of the present application.

Claims

1. A control method for a beverage output device, characterized in that, it includes: Receiving a user instruction, the user instruction includes a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; The beverage output port moves downward from the initial position; Determine whether the beverage output port has moved downward to the target position; If so, stop the downward movement of the beverage output port; In response to the step of stopping the downward movement of the beverage output port, output the first type of beverage ingredient and / or output the second type of beverage ingredient to the container for receiving the beverage according to the user instruction. In response to the detected detection information meeting the preset conditions, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient.

2. The control method for a beverage output device according to claim 1, characterized in that, The beverage output device includes a carrying platform for carrying the container. The beverage output port is located above the carrying platform. The beverage output port has a movement track with a first end away from the carrying platform and a second end close to the carrying platform. The initial position is at the first end. In the step of the beverage output port moving downward from the initial position, the beverage output port moves from the first end to the second end.

3. The control method for a beverage output device according to claim 2, characterized in that, The beverage output device has a first sensing component located above the carrying platform. The first sensing component is relatively fixed to the beverage output port and is used to move synchronously with the beverage output port. In the step of determining whether the beverage output port has moved downward to the target position, it includes: The first sensing component emits a first detection wave; Determine whether the first sensing component receives the echo of the first detection wave within a first preset time period; If so, execute the step of stopping the downward movement of the beverage output port; If not, maintain the state of the downward movement of the beverage output port and return to execute the step of the first sensing component emitting the first detection wave.

4. The control method for a beverage output device according to claim 3, characterized in that, In the step of maintaining the state of the downward movement of the beverage output port and returning to execute the step of the first sensing component emitting the first detection wave, it includes: Maintain the state of the downward movement of the beverage output port; Determine whether the time difference between the time point of the previous emission of the first detection wave and the current time point reaches a second preset time period, and the second preset time period is greater than or equal to the first preset time period; If so, return to execute the step of the first sensing component emitting the first detection wave; If not, return to execute the step of determining whether the time difference between the time point of the previous emission of the first detection wave and the current time point reaches the second preset time period.

5. The control method for a beverage output device according to claim 4, characterized in that, The second preset duration is greater than or equal to a value obtained by dividing 2N times the distance between the initial position and the carrier by the speed of sound, where N is an integer from 1 to 1000.

6. The control method for a beverage output device according to claim 2, wherein, the beverage output device has a second sensing component located above the carrier. The second sensing component is relatively fixed to the beverage outlet and is used to move synchronously with the beverage outlet. The second sensing component includes a triggering part and a microswitch. The triggering part is used to trigger the microswitch when it touches the edge of the container opening. In the step of determining whether the beverage outlet moves downward to a target position, it includes: judging whether the triggering part triggers the microswitch; if so, executing the step of stopping the downward movement of the beverage outlet; if not, maintaining the state of the downward movement of the beverage outlet and returning to execute the step of judging whether the triggering part triggers the microswitch.

7. The control method for a beverage output device according to claim 2, wherein, the beverage output device has a third sensing component for moving synchronously with the beverage outlet. On both sides of the carrier of the beverage output device, there are also relatively arranged a first side wall and a second side wall. The third sensing component includes a relatively arranged second transmitting part and a second receiving part. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. In the step of determining whether the beverage outlet moves downward to a target position, it includes: the second transmitting part emits a second detection wave; judging whether the second receiving part receives the second detection wave; if so, maintaining the state of the downward movement of the beverage outlet and returning to execute the step of the second transmitting part emitting the second detection wave; if not, executing the step of stopping the downward movement of the beverage outlet.

8. The control method for a beverage output device according to claim 2, wherein, the beverage output device has a fourth sensing component located above the carrier. The fourth sensing component is used to judge whether the beverage outlet moves downward to the target position through image information and detect the detection information.

9. The control method for a beverage output device according to claim 2, wherein, in the step of determining whether the beverage outlet moves downward to a target position, it further includes: if not, judging whether the beverage outlet reaches the second end; if so, executing the step of stopping the downward movement of the beverage outlet; if not, maintaining the state of the downward movement of the beverage outlet and returning to execute the step of judging whether the beverage outlet reaches the target position.

10. The control method for a beverage output device according to any one of claims 1-9, wherein, the target position includes a position where the vertical distance between the beverage outlet and the edge of the container opening is within 0-60 cm.

11. The control method for a beverage output device as described in claim 1, characterized in that, the detection information includes first information and / or second information; in the step of outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient in response to detecting that the detection information in the container meets the preset condition, it includes: in response to the user instruction being the first instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient in response to detecting that the first information in the container meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient in response to detecting that the second information in the container meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient in response to detecting that the first information in the container meets the first preset condition; outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient in response to detecting that the second information in the container meets the second preset condition.

12. The control method for a beverage output device as described in claim 11, characterized in that, the first information is the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient, the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient is less than or equal to a first preset value, the second information is the vertical distance between the opening edge of the container and the liquid level of the second type of beverage ingredient, the second preset condition is that the vertical distance between the opening edge of the container and the liquid level of the second type of beverage ingredient is less than or equal to a second preset value; wherein, the first preset value is greater than the second preset value.

13. The control method for a beverage output device as described in claim 2, characterized in that, the beverage output device further includes a water receiving box and a prompt component, a water level sensor is arranged in the water receiving box, the water receiving box is located under the bearing platform, the prompt component is used to output prompt information, and the control method further includes: in response to the step of stopping the downward movement of the beverage output port, judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor; if so, the prompt component outputs prompt information; if not, outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and continuously judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor, if so, stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient and outputting the prompt information; or the control method further includes: in response to the step of receiving the user instruction, judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor; If so, the prompting component outputs a prompt message; If not, perform the step of moving the beverage outlet downward from the initial position.

14. The control method for a beverage output device according to claim 13, characterized in that, further comprising: In response to stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, controlling the beverage outlet to move towards the initial position.

15. The control method for a beverage output device according to claim 2, characterized in that, the control method further comprises: In response to the step of receiving a user instruction, determining whether a container is detected on the carrier; If so, perform the step of moving the beverage outlet downward from the initial position; If not, the beverage outlet stops moving.

16. The control method for a beverage output device according to claim 1, characterized in that, the detection information includes the vertical distance between the top of the receptacle in the container and the edge of the container opening.

17. A beverage output device, characterized in that, comprising: An instruction receiving component for receiving user instructions, the user instructions including a first instruction, a second instruction, and a third instruction, the first instruction being an instruction to output the first type of beverage ingredient, the second instruction being an instruction to output the second type of beverage ingredient, and the third instruction being an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; A beverage outlet for outputting beverages to a container, the beverages including the first type of beverage ingredient and / or the second type of beverage ingredient; A moving component connected to the beverage outlet, the moving component being used to move the beverage outlet; A detection component for detecting the edge of the container opening and the detection information inside the container; A processor connected to the instruction receiving component, the moving component, and the detection component, the processor being configured to execute the control method for the beverage output device according to any one of claims 1-16.

18. The beverage output device according to claim 17, characterized in that, the beverage output device further comprises a carrier for carrying the container, the beverage outlet is located above the carrier, and the beverage outlet has a movement track, and the movement track has a first end away from the carrier and a second end close to the carrier.

19. The beverage output device according to claim 18, characterized in that, the detection component includes a first sensing component, the first sensing component is located above the carrier, the first sensing component is relatively fixed with the beverage outlet, the first sensing component is connected to the processor, and the first sensing component is used to move synchronously with the beverage outlet.

20. The beverage output device according to claim 19, characterized in that, the first sensing component is an ultrasonic detector or a time-of-flight detector.

21. The beverage output device according to any one of claims 18-20, characterized in that, the first sensing component is used to detect the edge of the container opening and the detection information inside the container.

22. The beverage output device according to any one of claims 18-20, characterized in that, The detection component further includes a second sensing component, which is located above the carrier table. The second sensing component is fixedly opposite to the beverage outlet, and the second sensing component is used to move synchronously with the beverage outlet. The second sensing component includes a triggering part and a microswitch. The triggering part is used to trigger the microswitch when it touches the edge of the container opening, and the microswitch is connected to the processor.

23. The beverage output device according to claim 22, wherein, the second sensing component is used to detect the edge of the container opening, and the first sensing component is used to detect the detection information inside the container.

24. The beverage output device according to any one of claims 18-20, wherein, the detection component further includes a third sensing component, which is used to move synchronously with the beverage outlet. The two sides of the carrier table of the beverage output device further include a first side wall and a second side wall arranged oppositely. The third sensing component includes a second transmitting part and a second receiving part arranged oppositely. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. The third sensing component is connected to the processor.

25. The beverage output device according to claim 24, wherein, the third sensing component is an infrared pair tube.

26. The beverage output device according to claim 24, wherein, the third sensing component is used to detect the edge of the container opening, and the first sensing component is used to detect the detection information inside the container.

27. The beverage output device according to claim 18, wherein, the detection component includes a fourth sensing component, which is located above the carrier table. The fourth sensing component is used to detect the edge of the container opening and the detection information inside the container through image information, and the fourth sensing component is connected to the processor.

28. The beverage output device according to claim 27, wherein, the fourth sensing component is a camera.

29. The beverage output device according to claim 18, wherein, the beverage output device further includes: a first sleeve group, including at least two first sleeves sleeved hierarchically. The innermost first sleeve or the outermost first sleeve is fixedly arranged at the first end, and the remaining first sleeves move relative to each other in the first direction to achieve expansion and contraction. Taking the first sleeve fixedly arranged at the first end as the first fixed sleeve, the first sleeve farthest from the first fixed sleeve in the first sleeve group is the first movable sleeve, and the beverage outlet is located at the first movable sleeve; wherein, the first direction is the direction of approaching or departing from the container.

30. The beverage output device according to claim 29, wherein, a conveying channel is formed inside the first sleeve group, and a first type of beverage ingredient output port is formed at the bottom of the first movable sleeve.

31. The beverage output device according to claim 30, wherein, When the first sleeve group is in the extended state, the inner diameter of the conveying channel gradually increases or decreases in the direction close to the beverage outlet.

32. The beverage output device according to claims 29-31, characterized in that the beverage output device further comprises: a second sleeve group sleeved outside the first sleeve group, the second sleeve group comprising at least two second sleeves sleeved hierarchically, the second sleeve located on the outermost side or the second sleeve located on the innermost side is fixedly arranged at the first end, and the remaining second sleeves are relatively movably arranged along the first direction. Taking the second sleeve fixedly arranged at the first end as the second fixed sleeve, the second sleeve farthest from the second fixed sleeve in the second sleeve group is the second moving sleeve, and the second moving sleeve is relatively fixed to the first moving sleeve.

33. The beverage output device according to claim 32, characterized in that the first sleeve and the second sleeve correspond to each other one by one and are relatively fixed.

34. The beverage output device according to claim 32, characterized in that the beverage outlet further comprises a second type of beverage ingredient outlet, the beverage output device further comprises a delivery pipe, an output end of the delivery pipe forms the second type of beverage ingredient outlet, and the output end is relatively fixed to the first moving sleeve or the second moving sleeve.

35. The beverage output device according to claim 18, characterized in that the beverage output device further comprises a water receiving box and a prompting component, a water level sensor is arranged in the water receiving box, the water level sensor and the prompting component are connected to the processor, the water receiving box is located under the bearing platform, and the prompting component is used for outputting a prompting message.

36. A storage medium, characterized in that the storage medium stores program instructions, and the program instructions can be executed to implement the control method of the beverage output device according to any one of claims 1-16.

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