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 of receiving a user instruction; the beverage output port moves to a preset position; the sensing assembly collects a sensing signal at a preset position, and judges whether the signal intensity of the sensing signal is greater than or equal to first preset signal intensity; if yes, outputting a first type of beverage ingredients and / or outputting a second type of beverage ingredients to a container receiving the beverage according to a user instruction, and stopping outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients in response to the detection that the detection information meets a preset condition; and if not, controlling the beverage output port to move towards the first end to the target position, and executing the steps of outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients to the container receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients in response to the detection that the detection information meets the preset condition.

Description

Technical Field

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

[0002] In the prior art, when a beverage dispensing device dispenses beverage ingredients, splashing of beverage ingredients often occurs, for example, ice cubes and / or liquids from the beverage dispensing device. Therefore, how to improve the splashing of beverage ingredients is a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application provides a control method for a beverage dispensing device, a beverage dispensing device and a storage medium, which can improve the technical problem of beverage splashing during the beverage dispensing process of the beverage dispensing device.

[0004] The present application provides a control method for a beverage dispensing device, wherein the beverage dispensing device comprises a carrying platform, a beverage dispensing port and a sensing component, the carrying platform is used to carry a container, the container is used to receive the beverage, the beverage dispensing port has a motion track, the motion track has a first end away from the carrying platform and a second end close to the carrying platform, the beverage dispensing port and the sensing component are located above the carrying platform, and the sensing component is used to move synchronously with the beverage dispensing port. The control method comprises receiving a user instruction, the user instruction comprises a first instruction, a second instruction and a third instruction, the first instruction is an instruction for outputting a first type of beverage ingredient, the second instruction is an instruction for outputting a second type of beverage ingredient, and the third instruction is an instruction for outputting the first type of beverage ingredient and the second type of beverage ingredient; The beverage output port moves to a preset position; the sensing component collects a sensing signal at the preset position to determine whether the signal strength of the sensing signal is greater than or equal to a first preset signal strength; if so, the first category of beverage ingredients and / or the second category of beverage ingredients are output to the container for receiving the beverage according to the user's instructions, and in response to detecting that the detection information meets the preset conditions, the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients are stopped; if not, the beverage output port is controlled to move toward the first end to the target position, and the steps of outputting the first category of beverage ingredients and / or the second category of beverage ingredients to the container for receiving the beverage according to the user's instructions and in response to detecting that the detection information meets the preset conditions, the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients are stopped.

[0005] Among them, in response to the user instruction being the first instruction, the preset position is the first sub-position; in response to the user instruction being the second instruction, the preset position is the second sub-position; in response to the user instruction being the third instruction, the preset position includes the first sub-position and the second sub-position; wherein, the first sub-position and the second sub-position are located at the first end, the second end, or between the first end and the second end, the second sub-position is the same as the first sub-position or is located between the first sub-position and the first end, the first sub-position is for the beverage outlet to output the first type of beverage ingredient, and the second sub-position is for the beverage outlet to output the second type of beverage ingredient.

[0006] Among them, in the step of the sensing component collecting a sensing signal at the preset position and judging whether the signal intensity of the sensing signal is greater than or equal to the first preset signal intensity, it includes the transmitting end of the sensing component emitting a detection wave; the receiving end of the sensing component receiving the echo of the detection wave; judging whether the signal intensity of the echo is greater than or equal to the first preset signal intensity.

[0007] Among them, in the step of controlling the beverage outlet to move to the target position towards the first end, it includes controlling the beverage outlet to move towards the first end; judging whether the signal intensity of the sensing signal collected by the sensing component is greater than or equal to the second preset signal intensity, and the first preset signal intensity and the second preset signal intensity are the same or different; if so, stop moving the beverage outlet, and the position where the beverage outlet is located is the target position; if not, maintain the state of the beverage outlet moving towards the first end, and return to execute the step of judging whether the signal intensity of the sensing signal collected by the sensing component is greater than or equal to the second preset signal intensity.

[0008] Among them, in the step of judging whether the signal intensity of the sensing signal collected by the sensing component is greater than or equal to the second preset signal intensity, it includes the transmitting end of the sensing component emitting a detection wave; the receiving end of the sensing component receiving the echo of the detection wave; judging whether the signal intensity of the echo is greater than or equal to the second preset signal intensity.

[0009] Among them, between any two adjacent steps of judging whether the signal intensity of the echo is greater than or equal to the second preset signal intensity, it includes judging whether the time value between the time point when the detection wave was emitted last time and the current time point reaches the preset duration; if so, perform the step of the transmitting end of the sensing component emitting a detection wave; if not, return to execute the step of judging whether the time value between the time point when the detection wave was emitted last time and the current time point reaches the preset duration.

[0010] Wherein, the preset duration is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the bearing platform by the speed of sound, where N is 1 - 1000.

[0011] Among them, the detection information includes the first information and / or the second information. In the step of outputting the first type of drink ingredients and / or outputting the second type of drink ingredients to the container for receiving the drink according to the user instruction, and stopping outputting the first type of drink ingredients and / or outputting the second type of drink ingredients in response to detecting that the detection information meets the preset conditions, it includes: in response to the user instruction being the first instruction, outputting the first type of drink ingredients according to the first instruction, and stopping outputting the first type of drink ingredients in response to detecting that the first information meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of drink ingredients according to the second instruction, and stopping outputting the second type of drink ingredients in response to detecting that the second information meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of drink ingredients according to the third instruction, and stopping outputting the first type of drink ingredients in response to detecting that the first information meets the first preset condition; outputting the second type of drink ingredients according to the third instruction, and stopping outputting the second type of drink ingredients in response to detecting that the second information meets the second preset condition.

[0012] Among them, the first information is the vertical distance between the opening edge of the container and the top of the first type of drink ingredients, the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of drink ingredients is less than or equal to the 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 drink ingredients, and 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 drink ingredients is less than or equal to the second preset value; among them, the first preset value is greater than the second preset value.

[0013] Among them, the drink 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. The control method further includes the step of responding to receiving the user instruction, and 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 the step of moving the drink output port to the preset position, and the prompt component outputs prompt information; if not, then executing the step of moving the drink output port to the preset position; or the control method further includes that in response to the signal intensity of the sensing signal being greater than or equal to the first preset signal intensity, or after the first end moves to the target position, 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, then executing outputting the first type of drink ingredients and / or outputting the second type of drink ingredients to the container for receiving the drink according to the user instruction, and continuously keeping 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 drink ingredients and / or outputting the second type of drink ingredients and outputting prompt information.

[0014] Wherein, in response to stopping outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients, the beverage output port is controlled to move to the initial position.

[0015] Wherein, the detection information includes the vertical distance between the top of the receptacle in the container and the edge of the container opening.

[0016] The present application provides a beverage output device, which includes an instruction receiving component, a beverage output port, a moving component, a sensing component and a processor. The instruction receiving component is used to receive user instructions, and the user instructions include a first instruction, a second instruction and a third instruction; the beverage output port is used to output beverages, and the beverages include the first type of beverage ingredients and / or the second type of beverage ingredients; the moving component is connected to the beverage output port, and the moving component is used to move the beverage output port; the beverage output port and the sensing component are located above the carrying platform, the carrying platform is used to carry a container, the container is used to receive the beverage, and the sensing component is used to move down synchronously with the beverage output port; the processor is connected to the instruction receiving component, the moving component and the sensing component, and the processor is used to execute the above control method.

[0017] Wherein, the beverage output port has a movement track, and the movement track has a first end away from the carrying platform and a second end close to the carrying platform.

[0018] Wherein, the sensing component is an ultrasonic detector or a time-of-flight detector.

[0019] Wherein, 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, the water level sensor is connected to the processor, the water receiving box is located under the carrying platform, and the prompting component is connected to the processor, and the prompting component is used to output a prompt message under the control of the processor.

[0020] The present application provides a storage medium, which stores program instructions that can be executed to implement the above control method.

[0021] The beneficial effects of the present application are as follows: The present application provides a control method for a beverage output device. The beverage output device includes a carrier, a beverage output port, and a sensing component. The carrier is used to carry a container, the container is used to hold the beverage, the beverage output port has a movement track, the movement track has a first end far from the carrier and a second end close to the carrier, the beverage output port and the sensing component are located above the carrier, and the sensing component is used to move synchronously with the beverage output port. The control method for the beverage output device 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 moves to a preset position; the sensing component collects a sensing signal at the preset position and determines whether the signal intensity of the sensing signal is greater than or equal to a first preset signal intensity; if so, the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container holding the beverage according to the user instruction, and in response to detecting that the detection information meets the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is stopped; if not, the beverage output port is controlled to move to a target position at the first end, and the steps of outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container holding the beverage according to the user instruction and stopping the output of the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions are executed. Through the above method, the distance between the beverage output port and the opening edge of the container on the carrier is variable. After receiving the user instruction, the beverage output device controls the beverage output port to move to the preset position, and determines whether the preset position is a suitable beverage output position for the current container by the intensity of the sensing signal at the preset position and the first preset signal intensity. When the preset position is not a suitable beverage output position for the current container, the beverage output port is controlled to move to the target position at the first end, so that the opening edge of the container, the top of the first type of beverage ingredient in the container and / or the liquid level of the second type of beverage ingredient during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient are all within the sensing range of the sensing component. Thus, during the process of the beverage output device outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container, when the detection information detected by the sensing component meets the preset conditions, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is stopped, which can avoid the splashing and overflow of the first type of beverage ingredient and / or the second type of beverage ingredient in the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings, where:

[0023] Figure 1 is a schematic diagram of the electrical connection structure of an embodiment of the beverage output device provided by the present application;

[0024] Figure 2 is a schematic diagram of the structure of an embodiment of the beverage output device provided by the present application;

[0025] Figure 3 is a schematic diagram of the structure of an embodiment of the moving track provided by the present application;

[0026] Figure 4 is a schematic flowchart of an embodiment of the control method for the beverage output device provided by the present application;

[0027] Figure 5 is a schematic flowchart of another embodiment of the control method for the beverage output device provided by the present application;

[0028] Figure 6 is a schematic flowchart of yet another embodiment of the control method for the beverage output device provided by the present application;

[0029] Figure 7 is a schematic flowchart of an embodiment of step S130 (or S230, or S330) provided by the present application;

[0030] Figure 8 is a schematic diagram of the top distance detection of the first type of beverage ingredient in an embodiment of the control method for the beverage output device provided by the present application;

[0031] Figure 9 is a schematic diagram of the liquid level distance detection of the second type of beverage ingredient in an embodiment of the control method for the beverage output device provided by the present application;

[0032] Figure 10 is a schematic diagram of the top distance detection of the first type of beverage ingredient / the liquid level distance detection of the second type of beverage ingredient in an embodiment of the control method for the beverage output device provided by the present application;

[0033] Figure 11 is a schematic flowchart of an embodiment of step S150 (or S250, or S350) provided by the present application;

[0034] Figure 12 is a schematic flowchart of an embodiment of step S154 provided by the present application;

[0035] Figure 13 It is a schematic flowchart of an embodiment of step S43 provided by this application;

[0036] Figure 14 It is a schematic structural diagram of an embodiment of the storage medium provided by this application. Specific Embodiments

[0037] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0038] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, then the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0039] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of this application, then the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by this application.

[0040] This application provides a beverage output device. Refer to Figures 1 to 3 , Figure 1 It is a schematic electrical connection structure diagram of an embodiment of the beverage output device provided by this application, Figure 2 It is a schematic structural diagram of an embodiment of the beverage output device provided by this application, Figure 3 It is a schematic structural diagram of an embodiment of the motion track provided by this application, as Figures 1 to 3As shown in the figure, the beverage output device 10 provided by this application includes an instruction receiving component 110, a beverage output port 120, a moving component 130, a sensing component 140, and a processor 180. Among them, the instruction receiving component 110 is used to receive user instructions, and 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. Among them, the instruction receiving component 110 may include an input area of a button, a knob, a microphone, a camera, or a display screen provided on the beverage output device 10; or the beverage output device 10 is used to be connected to the user's client in a wired or wireless manner, and the instruction receiving component 110 includes an antenna, a connector provided on the beverage output device 10, and an input area of a button, a knob, a microphone, a camera, or a display screen provided on the client.

[0041] The beverage output port 120 is used to output beverages. Among them, the beverages include the first type of beverage ingredient and / or the second type of beverage ingredient. Specifically, the first type of beverage ingredient may include 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 may include ingredients with high fluidity. For example, water, fruit juice, milk, coffee, cola, soy milk, etc.

[0042] The moving component 130 is connected to the beverage output port 120, and the moving component 130 is used to move the beverage output port 120. The beverage output port 120 and the sensing component 140 are located above the carrying platform 160. The carrying platform 160 is used to carry the container 150, and the container 150 is used to receive the beverage. The sensing component 140 is relatively fixed with respect to the beverage output port 120, that is, during the synchronous movement of the sensing component 140 and the beverage output port 120, the relative positional relationship between the sensing component 140 and the beverage output port 120 remains unchanged. Among them, the sensing component 140 is used to collect sensing signals. The processor 180 is connected to the instruction receiving component 110, the moving component 130, and the sensing component 140.

[0043] Among them, the processor 180 is used to execute the control method of the beverage output device. The processor 180 receives user instructions, which 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 processor 180 controls the moving component 130 to move the beverage outlet 120 to a preset position; the beverage outlet 120 and the sensing component 140 move synchronously. After the beverage outlet 120 moves to the preset position, the processor 180 controls the sensing component 140 to collect a sensing signal at the preset position and determines whether the signal strength of the sensing signal is greater than or equal to a first preset signal strength; if so, the beverage outlet 120 outputs a beverage corresponding to the user instruction to the container 150 for receiving the beverage, and in response to detecting that the detection information meets the preset conditions, the beverage outlet 120 stops outputting the first type of beverage ingredient and / or outputs the second type of beverage ingredient; if not, the processor 180 controls the moving component 130 to move the beverage outlet 120 to a target position at the first end and executes the step of outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient from the beverage outlet 120 to the container 150 for receiving the beverage according to the user instruction. In response to detecting that the detection information meets the preset conditions, the beverage outlet 120 stops outputting the first type of beverage ingredient and / or outputs the second type of beverage ingredient.

[0044] For the specific control method of the beverage output device, please refer to the following text.

[0045] After receiving a user instruction, the beverage output device 10 of this embodiment controls the moving component 130 to move the beverage output port 120 to a preset position, and determines whether the signal strength of the sensing signal collected by the sensing component 140 at the preset position is greater than or equal to a first preset signal strength. When the strength of the sensing signal is greater than or equal to the first preset signal strength, the beverage corresponding to the user instruction is output to the container 150 for receiving the beverage according to the user instruction. In response to detecting that 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 is stopped; when the strength of the sensing signal is less than the first preset signal strength, it means that the distance between the opening edge of the container and the sensing component 140 is small, and the opening edge of the container may be in the blind area of the sensing component 140 or in an area with low accuracy. Then, the beverage output port 120 is controlled to move to the target position at the first end, and the steps of outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container 150 for receiving the beverage according to the user instruction are executed. In response to detecting that 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 is stopped. In the above manner, after receiving the user instruction, the beverage output device 10 provided in this application moves the beverage output port 120 to the preset position, and determines whether the preset position is the appropriate beverage output position of the current container 150 by the strength of the sensing signal at the preset position and the first preset signal strength, that is, by judging the distance between the beverage output port 120 and the opening edge of the container 150 at the preset position. When the preset position does not belong to the appropriate beverage output position of the current container 150, the beverage output port 120 is controlled to move to the target position, thereby improving the accuracy of the sensing component 140 and reducing the probability of beverage splashing; further, improving the user experience of the beverage output device 10.

[0046] Optionally, the beverage output port 120 of this embodiment has a movement track 121. The movement track 121 has a first end 1211 away from the carrier 160 and a second end 1212 close to the carrier 160. The processor 180 controls the moving component 130 to move so that the beverage output port 120 moves on the movement track 121 between the first end 1211 and the second end 1212, thereby changing the distance between the beverage output port 120 and the opening edge of the container 150, and further reducing the probability of beverage ingredients splashing during the process of the beverage output port 120 outputting beverages to the container 150; further, improving the user experience of the beverage output device 10.

[0047] Optionally, the sensing component 140 is an ultrasonic detector or a time-of-flight detector.

[0048] Optionally, the beverage output device 10 of this embodiment further includes a water receiving box 170 and a prompting component 190. Among them, the prompting component 190 is connected to the processor 180, and the prompting component 190 is used to output a prompt message under the control of the processor 180. Specifically, the prompting component 190 may include: a buzzer, a speaker, an indicator light, etc. The prompt message can be output in ways such as buzzer prompt, speaker voice broadcast, indicator light lighting or flashing, display on a display, touch screen display, APP remote reminder, etc. A water level sensor 171 is arranged in the water receiving box 170, and the water level sensor 171 is connected to the processor 180. The water receiving box 170 is located under the carrying platform 160. Among them, the water receiving box 170 is used to receive the liquid flowing out of the carrying platform 160, so as to avoid the beverage output from the beverage output port 120 staying on the carrying platform 160 due to situations such as the user temporarily taking away the container 150, moving the container 150, or replacing the container 150. Further, the processor 180 obtains the water volume of the water receiving box 170 from the water level sensor 171, and stops outputting the first type of beverage ingredient and / or outputs the second type of beverage ingredient when the water receiving box 170 reaches the preset carrying capacity, and reminds the user to pour water, so as to avoid the water in the water receiving box 170 overflowing during the process of the beverage output device 10 outputting the first type of beverage ingredient and / or the second type of beverage ingredient.

[0049] For example, the processor 180 obtains a signal from the water level sensor 171, determines that the current water volume of the water receiving box 170 reaches the preset carrying capacity, the beverage output port 120 stops outputting the first type of beverage ingredient and / or the second type of beverage ingredient, and the processor 180 controls the prompting component 190 to output a prompt message, which can remind the user to clean the water receiving box 170 in time. The prompt message can be text or a picture output by the display screen; the indicator light emits light or flashes; the speaker plays sound; the vibrator generates vibration, etc.

[0050] Among them, the beverage output device 10 can be independently set up to realize a movable beverage output device 10, or the beverage output device 10 can also be set on the door body of other household electrical appliances, on the wall, on the workbench surface, etc.

[0051] This application provides a control method for a beverage output device, where the beverage output device is any one of the beverage output devices in the above beverage output device embodiments. The beverage output device of this embodiment includes a carrying platform, the carrying platform is used to carry a container, the container is used to receive the beverage, the beverage output port has a movement track, the movement track has a first end far from the carrying platform and a second end close to the carrying platform, the beverage output device has a sensing component, the beverage output port and the sensing component are located above the carrying platform, and the sensing component is used to move synchronously with the beverage output port. Refer to Figure 4 , Figure 4 is a schematic flowchart of an embodiment of the control method for a beverage output device provided by this application. As Figure 4As shown, the control method includes the following steps:

[0052] Step S110: Receive a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction.

[0053] The first instruction is an instruction to output the first type of drink ingredients, the second instruction is an instruction to output the second type of drink ingredients, and the third instruction is an instruction to output the first type of drink ingredients and the second type of drink ingredients. Among them, the third instruction is an instruction to output the first type of drink ingredients first and then the second type of drink ingredients. Among them, the first type of drink ingredients may include 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 drink ingredients may include ingredients with high fluidity. For example, water, fruit juice, milk, coffee, cola, soy milk, etc.

[0054] Step S120: Move the drink outlet to a preset position.

[0055] It can be understood that the movement track of the drink outlet has a first end far from the carrier and a second end close to the carrier. When the drink outlet moves on the movement track between the first end and the second end, the drink outlet moves upward when moving toward the first end, and the drink outlet moves downward when moving toward the second end. Correspondingly, when the drink outlet moves toward the second end, it can approach the container placed on the carrier, and when the drink outlet moves toward the first end, it can move away from the container placed on the carrier. Among them, the initial position of the drink outlet can be at the first end, the second end, or between the first end and the second end. In order to be compatible with containers of different heights so that containers with a higher height can be directly placed on the loading platform without the user holding the container by hand, the initial position of the drink outlet can be set at the first end far from the loading platform. The specific position of the initial position of the drink outlet is not limited here.

[0056] After the drink output device receives the user instruction, the drink outlet moves to a preset position. Among them, the preset position can be a drink outlet position preset according to the height of the user's commonly used container obtained through data statistics or experience, which can reduce drink splashing.

[0057] Optionally, when the drink output device outputs different types of drinks, the appropriate drink output positions of the containers are different.

[0058] In some embodiments, in response to the user instruction being the first instruction, the preset position is the first sub-position. In response to the user instruction being the second instruction, the preset position is the second sub-position. In response to the user instruction being the third instruction, the preset position includes the first sub-position and the second sub-position. Wherein, the first sub-position and the second sub-position are located at the first end, the second end, or between the first end and the second end, the second sub-position is the same as the first sub-position or is located between the first sub-position and the first end, the first sub-position is for the beverage outlet to output the first type of beverage ingredient, and the second sub-position is for the beverage outlet to output the second type of beverage ingredient.

[0059] Understandably, when the user instruction is the first instruction, the beverage output device controls the beverage outlet to move to the first sub-position. Wherein, the first sub-position can be set according to the distance between the opening edge of the container and the beverage outlet, so that the probability of the first type of beverage ingredient splashing during the process of the beverage outlet outputting the first type of beverage ingredient to the container at the first sub-position is small. Wherein, the first sub-position is located at the first end, the second end, or between the first end and the second end.

[0060] In some embodiments, when the user instruction is the second instruction, the beverage output device controls the beverage outlet to move to the second sub-position.

[0061] When the user instruction is the third instruction, the beverage output device controls the beverage outlet to move to the first sub-position for the beverage outlet to output the first type of beverage ingredient; and then moves to the second sub-position for the beverage outlet to output the second type of beverage ingredient.

[0062] Step S130: The sensing component collects a sensing signal at the preset position and determines whether the signal intensity of the sensing signal is greater than or equal to the first preset signal intensity.

[0063] The sensing component moves synchronously with the beverage outlet, so when the beverage outlet moves to the preset position, the sensing component also moves to the preset position at the same time. The beverage output device controls the sensing component to emit a detection wave to detect the distance between the beverage outlet and the opening edge of the container. Wherein, the detection wave can be emitted in real time, can be emitted at intervals, or can be emitted after being triggered by other means. Wherein, the sensing signal is the detection wave returned when the detection wave emitted by the sensing component encounters an obstacle.

[0064] For example, acoustic waves are emitted towards the stage at a preset position. The acoustic waves are reflected back to the sensing component when they encounter the edge of the container opening. Since the distances between the edge of the container opening and the sensing component are different, the intensities of the sensing signals received by the sensing component are different. Then, based on the intensity of the sensing signal, the distance between the beverage outlet and the edge of the container opening can be obtained. The beverage output device controls the sensing component to collect sensing signals at the preset position and determines whether the sensing signal is greater than or equal to a first preset signal intensity, so as to determine whether the preset position is a suitable beverage output position for the current container. Herein, the suitable beverage output position can be understood as a position where the probability of beverage splashing is small and the accuracy of the sensing component is appropriate during the process of the beverage outlet outputting beverages to the container at this position.

[0065] Step S140: If so, 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, and stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions.

[0066] If the signal intensity of the sensing signal is greater than or equal to the first preset signal intensity, that is, the preset position is a suitable beverage output position for the current container, the beverage output device controls the beverage outlet to output the beverage corresponding to the user instruction to the container for receiving the beverage. Herein, the detection information may be the distance between the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient and the bottom of the container, or may be the distance between the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient and the beverage outlet, or may be the distance between the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient and the sensing component.

[0067] Specifically, the detection information includes first information and second information. The first information in this embodiment is the vertical distance between the edge of the container opening and the top of the first type of beverage ingredient, and the second information is the vertical distance between the edge of the container opening and the liquid level of the second type of beverage ingredient. By setting the preset conditions in this implementation manner, when it is detected that the first information and / or the second information in the container meets the preset conditions, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, so as to avoid splashing and overflowing of the first type of beverage ingredient and / or the second type of beverage ingredient. In order to avoid beverage overflowing from the container or splashing, during the process of beverage output, it is determined whether the first information and / or the second information in the container meets the preset conditions. When the sensing component detects that the vertical distance between the edge of the container opening and the top of the first type of beverage ingredient meets the first preset condition, the beverage outlet stops outputting the first type of beverage ingredient; when the sensing component detects that the vertical distance between the edge of the container opening and the liquid level of the second type of beverage ingredient meets the second preset condition, the beverage outlet stops outputting the second type of beverage ingredient.

[0068] For example, when the user instruction is the second instruction and the signal intensity of the sensing signal is greater than or equal to the first preset signal intensity, the beverage output device controls the beverage output port to output the second type of beverage ingredient to the container for receiving the beverage, and controls the beverage output port to stop outputting the second type of beverage ingredient when the second information meets the first preset condition.

[0069] Step S150: If not, then control the beverage output port to move to the target position towards the first end, and execute the step of 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 stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information meets the preset condition.

[0070] If the signal intensity of the sensing signal is less than the first preset signal intensity, the beverage output device controls the moving component to move the beverage output port to the target position towards the first end, that is, the beverage output port gradually moves upward from the preset position to the target position, and the target position is the position where the beverage output port is closest to the edge of the container opening. The beverage output device controls the beverage output port to move to the target position towards the first end when it determines that the preset position is not a suitable position for outputting the beverage for the current container. At the target position, the edge of the container opening, the top of the first type of beverage ingredient in the container and / or the liquid level of the second type of beverage ingredient are all within the sensing range of the sensing component during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient. At the same time, the probability of beverage splashing is small. The target position can be obtained through data statistics or experience. After the beverage output port reaches the target position, step S140 is executed.

[0071] The present application provides a control method for a beverage output device. The beverage output device includes a carrier, a beverage output port, and a sensing component. The carrier is used to carry a container, the container is used to hold the beverage, 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 beverage output port and the sensing component are located above the carrier, and the sensing component is used to move synchronously with the beverage output port. The control method 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 moves to a preset position. The sensing component collects a sensing signal at the preset position and determines whether the signal intensity of the sensing signal is greater than or equal to a first preset signal intensity. If so, the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container holding the beverage according to the user instruction, and in response to detecting that 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 is stopped. If not, the beverage output port is controlled to move to a target position at the first end, and the steps of outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container holding the beverage according to the user instruction and stopping the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions are executed. Through the above method, the distance between the beverage output port and the opening edge of the container on the carrier is variable. After receiving the user instruction, the beverage output device controls the beverage output port to move to a preset position, and determines whether the preset position is a suitable beverage output position for the current container by the intensity of the sensing signal at the preset position and the first preset signal intensity. When the preset position does not belong to the suitable beverage output position of the current container, the beverage output port is controlled to move to a target position at the first end, so that the opening edge of the container, the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient in the container during the process of outputting the first type of beverage ingredient and / or the second type of beverage ingredient are all within the sensing range of the sensing component, so that during the process of the beverage output device outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container, when the detection information detected by the sensing component 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, which can avoid the first type of beverage ingredient and / or the second type of beverage ingredient in the container from splashing and overflowing the container.

[0072] Refer to Figure 5 , Figure 5 is a schematic flowchart of another embodiment of the control method for a beverage output device provided by the present application. As Figure 5 shown, the control method for the beverage output device in this embodiment includes steps S210 - step S270:

[0073] Step S210: Receive a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction.

[0074] Specifically, for the implementation of step S210, reference can be made to any of the implementation manners of step S110, which will not be elaborated here.

[0075] Step S220: Move the beverage outlet to a preset position.

[0076] Specifically, for the implementation of step S220, reference can be made to any of the implementation manners of step S120, which will not be elaborated here.

[0077] Step S230: The sensing component collects a sensing signal at the preset position and determines whether the signal strength of the sensing signal is greater than or equal to a first preset signal strength.

[0078] Specifically, for the implementation of step S230, reference can be made to any of the implementation manners of step S130, which will not be elaborated here.

[0079] Step S240: If so, output a first type of beverage ingredient and / or a second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions.

[0080] Specifically, for the implementation of step S240, reference can be made to any of the implementation manners of step S140, which will not be elaborated here.

[0081] Step S250: If not, control the beverage outlet to move to a target position at the first end, execute the step of outputting a first type of beverage ingredient and / or a second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions.

[0082] Specifically, for the implementation of step S250, reference can be made to any of the implementation manners of step S150, which will not be elaborated here.

[0083] Step S260: In response to receiving the user instruction, determine 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.

[0084] Among them, the water receiving box is used to hold the drink ingredients flowing out of the bearing platform, so as to avoid the drink ingredients output from the drink output port staying on the bearing platform due to situations such as the user temporarily taking away the container, moving the container, or replacing the container. Further, the drink output device obtains the water volume of the water receiving box from the water level sensor, and stops outputting the first type of drink ingredients and / or outputs the second type of drink ingredients when the water level in the water receiving box reaches the preset water level, so as to avoid the water in the water receiving box overflowing during the process of the drink output device outputting the first type of drink ingredients and / or outputting the second type of drink ingredients. In response to receiving a user instruction, the drink output device obtains a detection signal from the water level sensor, and determines whether the water level in the water receiving box reaches the preset water level according to the detection signal.

[0085] Step S270: If so, the prompting component outputs a prompt message.

[0086] If the water level in the water receiving box reaches the preset water level, in order to avoid the water in the water receiving box overflowing during the subsequent process of outputting the first type of drink ingredients and / or outputting the second type of drink ingredients, the prompting component outputs a water receiving box prompt message to remind the user to clean the water receiving box.

[0087] If not, execute the step of moving the drink output port to the preset position.

[0088] If the water level in the water receiving box does not reach the preset water level, that is, a certain amount of drink ingredients can continue to be received in the water receiving box without overflowing, then continue to execute step S220.

[0089] In this embodiment, after receiving a user instruction, it is judged whether the water level in the water receiving box reaches the preset water level. When the water level in the water receiving box reaches the preset water level, the step of moving the drink output port to the preset position is stopped, and the prompting component outputs a water receiving box prompt message to remind the user to clean the water receiving box, so as to avoid the drink ingredients in the water receiving box overflowing during the process of the drink output device outputting the first type of drink ingredients and / or outputting the second type of drink ingredients.

[0090] Optionally, refer to Figure 6 , Figure 6 is a schematic flowchart of another embodiment of the control method for a drink output device provided by the present application. The control method for the drink output device in this embodiment includes steps S310 - step S370:

[0091] Step S310: Receive a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction.

[0092] Among them, the specific implementation manner of step S310 can refer to any one of the implementation manners of step S110, which will not be elaborated here.

[0093] Step S320: Move the drink output port to the preset position.

[0094] For the specific implementation of step S320, any implementation of step S120 can be referred to and will not be elaborated here.

[0095] Step S330: The sensing component collects a sensing signal at a preset position and determines whether the signal intensity of the sensing signal is greater than or equal to a first preset signal intensity.

[0096] For the specific implementation of step S330, any implementation of step S130 can be referred to and will not be elaborated here.

[0097] Step S340: Then, according to the user instruction, a first type of beverage ingredient and / or a second type of beverage ingredient is output to the container for receiving the beverage. In response to detecting that 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 is stopped.

[0098] For the specific implementation of step S340, any implementation of step S140 can be referred to and will not be elaborated here.

[0099] Step S350: If not, then control the beverage outlet to move to the target position at the first end, execute the step of outputting a first type of beverage ingredient and / or a 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 meets the preset conditions, stop the step of outputting the first type of beverage ingredient and / or the output of the second type of beverage ingredient.

[0100] For the specific implementation of step S350, any implementation of step S150 can be referred to and will not be elaborated here.

[0101] Step S360: In response to the signal intensity of the sensing signal being greater than or equal to the first preset signal intensity, or after the first end moves to the target position, determine 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.

[0102] In response to the signal intensity of the sensing signal being greater than or equal to the first preset signal intensity, determine 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, that is, when the beverage outlet moves to the preset position and the preset position is the appropriate beverage output position of the current container, before the beverage outlet outputs the beverage to the container, determine 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.

[0103] Or, after the beverage outlet moves from the first end to the target position, determine 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. That is, before the beverage output device outputs a first type of beverage ingredient and / or a second type of beverage ingredient at the target position, determine 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.

[0104] Step S370: If so, the prompting component outputs a prompting message.

[0105] If the water level in the water receiving box reaches the preset water level, in order to prevent the beverage ingredients in the water receiving box from overflowing during the subsequent output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients, the prompting component outputs a water receiving box prompting message to remind the user to clean the water receiving box.

[0106] If not, then according to the user instruction, the first type of beverage ingredients and / or the second type of beverage ingredients are output to the container for receiving the beverage, and at the same time, it is continuously determined 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 output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients and the output of the prompting message are stopped.

[0107] In the beverage output device of this embodiment, when the beverage output port moves to the preset position and the signal intensity of the sensing signal at the preset position is greater than or equal to the first preset signal intensity, it is determined whether the water volume in the water receiving box reaches the preset water level. When the water level in the water receiving box reaches the preset water level, the prompting component outputs a water receiving box prompting message to remind the user to clean the water receiving box. Or after the beverage output port moves to the target position, it is determined whether the water level in the water receiving box reaches the preset water level. When the water level in the water receiving box reaches the preset water level, the prompting component outputs a water receiving box prompting message to remind the user to clean the water receiving box. By the above method, it is possible to prevent the beverage ingredients in the water receiving box from overflowing during the output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients by the beverage output device.

[0108] Optionally, in response to stopping the output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients, the beverage output port is controlled to move to the initial position. That is, after stopping the output of the first type of beverage ingredients and / or the output of the second type of beverage ingredients, the beverage output port can also be controlled to move to the initial position to facilitate the removal of the container and the cleaning of the water receiving box.

[0109] Optionally, refer to Figure 7 , Figure 7 is a schematic flowchart of an embodiment of step S130 (or S230, or S330) provided by the present application. As Figure 7 shown, the specific implementation manner of step S130 may include steps S131 - S133:

[0110] Step S131: The transmitting end of the sensing component emits a detection wave.

[0111] After the beverage output port reaches the preset position, the beverage output device controls the transmitting end of the sensing component to emit a detection wave to determine whether the opening edge of the container is within the sensing range of the sensing component. Among them, the detection wave can be emitted in real time, can be emitted at intervals, or can be emitted after being triggered by other means.

[0112] Step S132: The receiving end of the sensing component receives the echo of the detection wave.

[0113] After the detection wave encounters an obstacle, it is reflected, and the receiving end of the sensing component receives the reflected detection wave, which is the echo of the detection wave received by the receiving end of the sensing component. In this embodiment, the detection wave is reflected back to the receiving end of the sensing component after encountering the opening edge of the container.

[0114] Step S133: Determine whether the signal intensity of the echo is greater than or equal to the first preset signal intensity.

[0115] The detection wave is reflected when it encounters the opening edge of the container. Among them, the signal intensity of the echo received by the sensing component at different positions is different. Therefore, the distance between the opening edge of the container and the beverage outlet can be confirmed according to the signal intensity of the echo. The beverage output device determines whether the signal intensity of the echo is greater than or equal to the first preset signal intensity at a preset position to determine whether the preset position is a suitable beverage output position for the current container.

[0116] For example, the beverage output device controls the transmitting end of the sensing component to emit ultrasonic waves to the carrying platform. The ultrasonic waves are reflected by the opening edge of the container, and the receiving end of the sensing component receives the echo of the ultrasonic waves. The beverage output device determines whether the signal intensity of the echo is greater than or equal to the first preset signal intensity to determine whether the preset position is a suitable beverage output position for the current container.

[0117] In this embodiment, after the beverage outlet of the beverage output device moves to the preset position, it controls the transmitting end of the sensing component to emit a detection wave, and controls the receiving end of the sensing component to receive the echo of the detection wave. Then the beverage output device determines whether the signal intensity of the echo is greater than or equal to the first preset signal intensity, so as to determine whether the preset position is a suitable beverage output position for the current container. The above implementation process is simple and easy to implement, and can improve the beverage output rate of the beverage output device.

[0118] Optionally, the detection information includes first information and / or second information. The specific implementation manner of step S140 for outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients to the container for holding the beverage according to the user instruction and stopping outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients in response to detecting that the detection information meets the preset conditions may include:

[0119] In response to the user instruction being the first instruction, output the first type of beverage ingredients according to the first instruction, and stop outputting the first type of beverage ingredients when it is detected that the first information meets the first preset condition.

[0120] Specifically, in response to the user instruction being the first instruction, the beverage output device outputs the first type of beverage ingredients according to the first instruction. Among them, refer to Figure 8, Figure 8 is a schematic diagram of detecting the top distance of the first type of drink ingredient in an embodiment of the control method for a drink output device provided by this application. As Figure 8 shown, the sensing component detects the distance Hc, and the distance Hc is the vertical distance between the drink output port and the edge of the container opening. When stopping the output of the first type of drink ingredient, the distance between the drink output port and the top of the first type of drink ingredient is Hc + h1, where h1 is the minimum vertical distance between the edge of the container opening and the top of the first type of drink ingredient when the first type of drink ingredient will not splash out of the container, obtained based on data statistics or experience. During the process of the drink output device outputting the first type of drink ingredient to the container, the sensing component continuously detects and confirms the vertical distance H1 between the drink output port 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 filled. 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.

[0121] In response to the user instruction being the second instruction, output the second type of drink ingredient according to the second instruction, and stop outputting the second type of drink ingredient in response to detecting that the second information conforms to the second preset condition.

[0122] Specifically, in response to the user instruction being the second instruction, the drink output device outputs the second type of drink ingredient according to the second instruction. Among them, referring to Figure 9 , Figure 9 is a schematic diagram of detecting the liquid level distance of the second type of drink ingredient in an embodiment of the control method for a drink output device provided by this application. As Figure 9 shown, the sensing component detects the distance Hc, and the distance Hc is the vertical distance between the drink output port and the edge of the container opening. When stopping the output of the second type of drink ingredient, the distance between the drink output port and the liquid level of the second type of drink ingredient is Hc + h2, where h2 is the minimum vertical distance between the edge of the container opening and the liquid level of the second type of drink ingredient when the second type of drink ingredient will not splash out of the container, obtained based on data statistics or experience. During the process of the drink output device outputting the second type of drink ingredient to the container, the sensing component continuously detects and confirms the vertical distance H2 between the drink output port 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 filled. 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.

[0123] In response to the user instruction being the third instruction, output the first type of drink ingredients according to the third instruction, and stop outputting the first type of drink ingredients when it is detected that the first information meets the first preset condition; output the second type of drink ingredients according to the third instruction, and stop outputting the second type of drink ingredients when it is detected that the second information meets the second preset condition.

[0124] Specifically, in response to the user instruction being the third instruction, the drink output device first outputs the first type of drink ingredients according to the third instruction, and then outputs the second type of drink ingredients. Among them, refer to Figure 10 , Figure 10 is a schematic diagram of the detection of the distance from the top of the first type of drink ingredients / the liquid level of the second type of drink ingredients in an embodiment of the control method for a drink output device provided by the present application. As Figure 10 shown, the induction component detects the distance Hc, and the distance Hc is the vertical distance between the drink output port and the edge of the container opening. When stopping outputting the first type of drink ingredients, the distance between the drink output port and the top of the first type of drink ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first type of drink ingredients obtained based on data statistics or experience when the first type of drink ingredients will not splash out of the container. When outputting the first type of drink ingredients according to the user instruction, the induction component detects and confirms in real time the vertical distance H1 between the drink output port and the top of the first type of drink ingredients. When it is judged that H1 - Hc > h1, continue to output the first type of drink ingredients; when it is judged 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 continued to be filled. 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.

[0125] 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 and the liquid level of the second type of drink ingredients is Hc + h2, where h2 is the minimum vertical distance between the edge of the opening and the liquid level of the second type of drink ingredients obtained based on data statistics or experience when the second type of drink ingredients will not splash out of the container. When outputting the second type of drink ingredients according to the user instruction, the induction component detects and confirms in real time the vertical distance H2 between the drink output port and the liquid level of the second type of drink ingredients. When it is judged that H2 - Hc > h2, continue to output the second type of drink ingredients; when it is judged 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 continued to be filled. 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.

[0126] 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 implementation manners, it can also be outputting the second type of beverage ingredient first and then the first type of beverage ingredient.

[0127] Optionally, the first information in this embodiment 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 surface of the second type of beverage ingredient, and the second preset condition is that the vertical distance between the opening edge of the container and the liquid surface of the second type of beverage ingredient is less than or equal to a second preset value. Among them, 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. Specifically, the first information is the vertical distance between the opening edge of the container 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 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. The second information is the vertical distance between the opening edge of the container and the liquid surface 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 and the liquid surface of the second type of beverage ingredient is less than or equal to the second preset value, stop outputting the second type of beverage ingredient.

[0128] Optionally, refer to Figure 11 , Figure 11 is a schematic flowchart of an embodiment of step S150 (or S250, or S350) provided by this application. As Figure 11 shown, the specific implementation manner of controlling the beverage output port to move to the first end to the target position in step S150 (or S250, or S350) provided by this embodiment may include steps S151 - step S154:

[0129] Step S151: Control the beverage output port to move to the first end.

[0130] When the sensing signal collected by the sensing component at the preset position is less than the first preset signal strength, during the process of the opening edge of the container, outputting the first type of beverage ingredient and / or outputting 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 in the container are not within the sensing range of the sensing component or the sensing accuracy is low. The beverage output device controls the beverage output port to move towards the first end, changing the position of the beverage output port so that during the process of the opening edge of the container, outputting the first type of beverage ingredient and / or outputting 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 in the container are all within the sensing range of the sensing component or the sensing accuracy is improved.

[0131] Step S152: Determine whether the signal strength of the sensing signal collected by the sensing component is greater than or equal to the second preset signal strength, where the first preset signal strength and the second preset signal strength may be the same or different.

[0132] During the movement towards the first end, continue to collect the sensing signal and determine whether the signal strength of the sensing signal is greater than or equal to the second preset signal strength. Herein, the first preset signal strength and the second preset signal strength may be the same or different.

[0133] Step S153: If so, stop moving the beverage output port, and the position where the beverage output port is located is the target position.

[0134] When the signal strength of the sensing signal collected by the sensing component is greater than or equal to the second preset signal strength, the position where the beverage output port is located is the target position. It can be understood that during the process of controlling the beverage output port to move towards the first end, the sensing component can collect the sensing signal in real time or within a preset time. The beverage output device determines whether the strength of the sensing signal is greater than or equal to the second preset signal strength, and controls the beverage output port to stop when the strength of the sensing signal is greater than or equal to the second preset signal strength, and takes the position where the beverage output port is located at this time as the target position.

[0135] Step S154: If not, maintain the state of the beverage output port moving towards the first end, and return to execute the step of determining whether the signal strength of the sensing signal collected by the sensing component is greater than or equal to the second preset signal strength.

[0136] If the signal strength of the sensing signal collected by the sensing component is less than the second preset signal strength, maintain the state of the beverage output port moving towards the first end, and continue to execute step S152 during the process of the beverage output port moving towards the first end.

[0137] Optionally, refer to Figure 12 , Figure 12 is a schematic flowchart of an embodiment of step S154 provided by the present application, as Figure 12As shown, the specific implementation of step S154 includes steps S41 - S43:

[0138] Step S41: The transmitting end of the sensing component emits a detection wave.

[0139] The transmitting end of the sensing component emits a detection wave towards the edge of the container opening.

[0140] Step S42: The receiving end of the sensing component receives the echo of the detection wave.

[0141] After the detection wave encounters the edge of the container opening, it is reflected, and the receiving end of the sensing component receives the reflected detection wave, that is, the receiving end of the sensing component receives the echo of the detection wave.

[0142] Step S43: Determine whether the signal intensity of the echo is greater than or equal to the second preset signal intensity.

[0143] After the detection wave encounters the edge of the container opening, it is reflected, and the signal intensities of different echoes can be used to confirm the distance between the edge of the container opening and the receiving end. During the process of the beverage outlet of this embodiment moving from the preset position to the first end, the transmitting end of the sensing component periodically emits detection waves towards the edge of the container opening, the receiving end of the sensing component receives the echo of the detection wave, the beverage output device determines whether the signal intensity of the echo is greater than or equal to the second preset signal intensity, and takes the position where the signal intensity of the echo is greater than or equal to the second preset signal intensity as the target position.

[0144] During the process of the beverage outlet of this embodiment moving from the preset position to the first end, the beverage outlet determines the position of the edge of the container opening by judging the signal intensity of the echo. Then, the beverage outlet takes the position that is closest to the edge of the container opening and where the signal intensity of the echo is greater than or equal to the second preset signal intensity as the appropriate position for the target position to output the first type of beverage ingredient and / or output the second type of beverage ingredient to the container.

[0145] Optionally, refer to Figure 13 , Figure 13 is a schematic flowchart of an embodiment of step S43 provided by this application. As Figure 13 shown, between any two adjacent steps of determining whether the signal intensity of the echo is within the range of the second preset signal intensity, it includes steps S51 - S52:

[0146] Step S51: Determine whether the time value between the time point when the previous detection wave was emitted and the current time point reaches the preset duration.

[0147] Control the induction component to emit a detection wave at every other predetermined time interval. The predetermined time interval is the time difference between the time point when the previous detection wave was emitted and the current time point. Determine whether the predetermined time interval reaches a preset duration, and thereby control whether the induction component needs to emit a detection wave at the current time point.

[0148] Among them, the preset duration is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier by the speed of sound, where N is 1 - 1000. The distance between the initial position and the carrier can be obtained according to the actual structure of the beverage output device. N can be any value between 1 - 1000, such as 1, 1.5, 6.25, 55, 65, 105, 170, 375, 425, 470, 540, 630, 760, 880, 1000, etc. By limiting the value of N, the preset duration being greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier by the speed of sound can effectively control the time interval between two adjacent emissions of detection waves, thereby eliminating the interference caused by the echo signal generated by the previous detection wave to the echo signal generated by the subsequent detection wave, that is, emitting the subsequent detection wave only when the intensity of the echo signal generated by the current detection wave is weak enough to avoid interfering with the echo signal generated by the subsequent detection wave. Preferably, in order to improve the accuracy and detection efficiency of the target position, N can be 5 - 100.

[0149] Specifically, the distance between the initial position and the carrier is S. When the beverage outlet is at the initial position, the time t1 between the time point when the induction component emits a detection wave and the time point when the echo of the received detection wave is received is t1 = 2S / V, where V is the propagation speed of the detection wave of the induction component in the air. The preset duration t2 of this implementation mode satisfies t2 ≥ N × t1.

[0150] The emission of a detection wave and the reception of an echo by the induction component form a cycle. If the distance S between the initial position and the carrier is 20 cm, the duration of the induction component emitting a detection wave and receiving an echo is less than 0.002 seconds. If the time interval between two adjacent emissions of detection waves is lengthened, then the echo signal received by the induction component at a certain time point may be the signal of the echo generated by the detection waves emitted in previous cycles hitting other objects with a distance greater than 20 cm. These signals will interfere with the echo signal that needs to be received this time. Therefore, in order to avoid this interference, this implementation mode controls the induction component to emit the next set of detection waves after extending the cycle to N times, lengthening the time interval from the emission of the previous set of detection waves, that is, the time difference between the time point when the previous detection wave was emitted and the current time point needs to reach the preset duration t2, and t2 ≥ N × t1.

[0151] Step S52: If so, perform the step of the emission end of the induction component emitting a detection wave.

[0152] If the time value between the time point when the detection wave was last emitted and the current time point reaches a preset duration, then perform the step of the transmitting end of the sensing component emitting the detection wave, that is, when the preset duration is reached at the current time point, execute step S41 and subsequent steps.

[0153] If the time value between the time point when the detection wave was last emitted and the current time point does not reach the preset duration, then return to execute step S51.

[0154] In some embodiments, the detection information includes the vertical distance between the top of the contents in the container and the edge of the container opening.

[0155] When there is only the first type of beverage ingredient in the container, the vertical distance between the top of the contents in the container and the edge of the container opening is the first information.

[0156] When there is only the second type of beverage ingredient in the container, the vertical distance between the top of the contents in the container and the edge of the container opening is the second information.

[0157] When the contents in the container include a mixture of the first type of beverage ingredient and the 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 edge of the container opening 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 above the liquid level of the second type of beverage ingredient and the liquid level of the second type of 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 edge of the container opening 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 above the liquid level of the second type of beverage ingredient and the liquid level of the second type of 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 edge of the container opening is the first information.

[0158] This application provides a storage medium. Refer to Figure 14 , Figure 14 is a schematic structural diagram of an embodiment of the storage medium provided by this application. As Figure 14 shown, the storage medium 90 stores program instructions that can be executed to implement any one of the control methods for the beverage output device in the above embodiments of the control method for the beverage output device.

[0159] Among them, the program instructions can form a program file and be stored in the above storage medium in the form of a software product, so that an electronic device (which can be a personal computer, a server, or a network device, etc.) or a processor can execute all or part of the steps of the methods in various implementation manners of this application. The aforementioned storage medium 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, or terminal devices such as computers, servers, mobile phones, and tablets.

[0160] The storage medium 90 of this embodiment can be, but is not limited to, a USB flash drive, an SD card, a PD optical drive, a mobile hard disk, a high-capacity floppy drive, a flash memory, a multimedia memory card, a server, etc.

[0161] In one embodiment, a computer program product or a computer program is provided. The computer program product or the computer program includes program instructions, and the program instructions are stored in a computer storage medium. The processor of the electronic device reads the computer instructions from the computer storage medium, and the processor executes the computer instructions, so that the electronic device executes the steps in the above method embodiments.

[0162] In addition, if the above functions are implemented in the form of software functions and sold or used as an independent product, they can be stored in a storage medium readable by a mobile terminal. That is, this application also provides a storage device storing program data, and the program data can be executed to implement the methods of the above embodiments. The storage device can be a USB flash drive, an optical disc, a server, etc. That is to say, this application can be embodied in the form of a software product, which includes several instructions for enabling an intelligent terminal to execute all or part of the steps of the methods described in each embodiment.

[0163] In the description of this application, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0164] The above are only the implementation manners of this application, and do not thus limit the patent scope of this application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of this application, or directly or indirectly applied in other related technical fields, shall be similarly included within the patent protection scope of this application.

Claims

1. A control method for a beverage output device, characterized in that, the beverage output device includes a carrier and a beverage output port, the carrier is used to carry a container, the container is used to receive the beverage, 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 beverage output device has a sensing component, the beverage output port and the sensing component are located above the carrier, the sensing component is used to move synchronously with the beverage output port, and the control method 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 a first type of beverage ingredient and a second type of beverage ingredient; moving the beverage output port to a preset position; the sensing component collects a sensing signal at the preset position and determines whether the signal intensity of the sensing signal is greater than or equal to a first preset signal intensity; if so, output a first type of beverage ingredient and / or output a second type of beverage ingredient to the container receiving the beverage according to the user instruction, and stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions; if not, control the beverage output port to move to a target position at the first end, execute the step of outputting a first type of beverage ingredient and / or outputting a second type of beverage ingredient to the container receiving the beverage according to the user instruction, and stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient in response to detecting that the detection information meets the preset conditions.

2. The control method according to claim 1, characterized in that, in response to the user instruction being the first instruction, the preset position is a first sub-position; in response to the user instruction being the second instruction, the preset position is a second sub-position; in response to the user instruction being the third instruction, the preset position includes the first sub-position and the second sub-position; wherein, the first sub-position and the second sub-position are located at the first end, the second end or between the first end and the second end, the second sub-position is the same as the first sub-position or is located between the first sub-position and the first end, the first sub-position is used for the beverage output port to output the first type of beverage ingredient, and the second sub-position is used for the beverage output port to output the second type of beverage ingredient.

3. The control method according to claim 1, characterized in that, in the step of the sensing component collecting a sensing signal at the preset position and determining whether the signal intensity of the sensing signal is greater than or equal to a first preset signal intensity, it includes: the transmitting end of the sensing component emits a detection wave; the receiving end of the sensing component receives the echo of the detection wave; judging whether the signal intensity of the echo is greater than or equal to a first preset signal intensity.

4. The control method according to claim 1, characterized in that, in the step of controlling the beverage output port to move to a target position at the first end, it includes: Control the beverage outlet to move towards the first end; Determine whether the signal strength of the sensing signal collected by the sensing component is greater than or equal to a second preset signal strength, where the first preset signal strength and the second preset signal strength are the same or different; If so, stop moving the beverage outlet, and the position where the beverage outlet is located is the target position; If not, maintain the state of the beverage outlet moving towards the first end, and return to execute the step of determining whether the signal strength of the sensing signal collected by the sensing component is greater than or equal to the second preset signal strength.

5. The control method according to claim 4, wherein, In the step of determining whether the signal strength of the sensing signal collected by the sensing component is greater than or equal to the second preset signal strength, it includes: The transmitting end of the sensing component emits a detection wave; The receiving end of the sensing component receives the echo of the detection wave; Determine whether the signal strength of the echo is greater than or equal to the second preset signal strength.

6. The control method according to claim 5, wherein, Between any two adjacent steps of determining whether the signal strength of the echo is greater than or equal to the second preset signal strength, it includes: Determine whether the time value between the time point when the detection wave was emitted last time and the current time point reaches a preset duration; If so, perform the step of the transmitting end of the sensing component emitting a detection wave; If not, return to execute the step of determining whether the time value between the time point when the detection wave was emitted last time and the current time point reaches the preset duration.

7. The control method according to claim 6, wherein, The preset duration is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier by the speed of sound, where N is 1 - 1000.

8. The control method according to claim 1, wherein, 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 meets the preset conditions, it includes: In response to the user instruction being the first instruction, output the first type of beverage ingredient according to the first instruction, and stop outputting the first type of beverage ingredient in response to detecting that the first information meets the first preset condition; or In response to the user instruction being the second instruction, output the second type of beverage ingredient according to the second instruction, and stop outputting the second type of beverage ingredient in response to detecting that the second information meets the second preset condition; or In response to the user instruction being the third instruction, output the first type of beverage ingredient according to the third instruction, and stop outputting the first type of beverage ingredient in response to detecting that the first information meets the first preset condition; output the second type of beverage ingredient according to the third instruction, and stop outputting the second type of beverage ingredient in response to detecting that the second information meets the second preset condition.

9. The control method according to claim 8, wherein, The first piece of 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 piece of 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.

10. The control method according to claim 1, characterized in that, 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. The water receiving box is located under the bearing platform. The prompting component is used to output a prompting message. 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 a preset water level according to the detection signal obtained by the water level sensor; If so, stop the step of moving the beverage outlet to a preset position, and the prompting component outputs a prompting message; If not, execute the step of moving the beverage outlet to a preset position; or The control method further includes: In response to the signal strength of the sensing signal being greater than or equal to a first preset signal strength, or after the first end moves to a target position, 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, execute the step of outputting the liquid level of the first type of beverage ingredient and / or outputting the liquid level of the second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and continuously keep 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, stop outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient and output the prompting message.

11. The control method according to claim 10, characterized in that, further includes: In response to stopping outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, control the beverage outlet to move to the initial position.

12. The control method according to claim 1, characterized in that, the detection information includes the vertical distance between the top of the object received in the container and the opening edge of the container.

13. A beverage output device, characterized in that, includes: An instruction receiving component for receiving a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction; A beverage outlet for outputting beverages, where the beverages include a first type of beverage ingredient and / or a second type of beverage ingredient; A moving component connected to the beverage outlet, where the moving component is used to move the beverage outlet; A sensing component. The beverage outlet and the sensing component are located above the bearing platform. The bearing platform is used to bear a container. The container is used to receive beverages. The sensing component is used to move downward synchronously with the beverage outlet; A processor, connected to the instruction receiving component, the moving component and the sensing component, for executing the control method according to any one of claims 1-12.

14. The beverage output device according to claim 13, wherein, the beverage outlet has a movement track, and the movement track has a first end away from the carrying platform and a second end close to the carrying platform.

15. The beverage output device according to claim 13, wherein, the sensing component is an ultrasonic detector or a time-of-flight detector.

16. The beverage output device according to any one of claims 13-15, wherein, 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, the water level sensor is connected to the processor, the water receiving box is located under the carrying platform, the prompting component is connected to the processor, and the prompting component is used for outputting a prompting message under the control of the processor.

17. A storage medium, wherein, the storage medium stores program instructions that can be executed to implement the control method according to any one of claims 1-12.

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