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 beverage output device is provided with a beverage output port arranged above the bearing table and a first sensing assembly. The control method comprises the steps that a user instruction is received; the beverage output port moves from the first end to the second end, and a sensing signal of the first sensing assembly and positioning information of the position, corresponding to the sensing signal, of the beverage output port are obtained; moving the beverage output port to a target position, wherein the target position is a position corresponding to the positioning information corresponding to the sensing signal meeting a preset condition; and outputting the first type of beverage ingredients and / or the second type of beverage ingredients to the container according to a user instruction, and stopping outputting the first type of beverage ingredients and / or the second type of beverage ingredients in response to detection that the detection information in the container meets a preset condition. After the beverage output port descends to the target position, the first type of beverage ingredients and / or the second type of beverage ingredients are output, and the beverage ingredients in the container can be prevented from splashing.

Description

Technical Field

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

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

[0003] In view of this, this application provides a control method for a beverage output device, a beverage output device, and a storage medium to solve the problems of inaccurate distance measurement of the beverage output device and splashing of the first type of beverage ingredient and / or the second type of beverage ingredient in the prior art.

[0004] To solve the above technical problems, a technical solution adopted by this application is: to provide a control method for a beverage output device, the beverage output device including a carrier and a beverage output port, the carrier being used to carry a container, the container being used to receive the beverage, the beverage output port having a movement track, the movement track having a first end far from the carrier and a second end close to the carrier, the beverage output device having a first sensing component, the beverage output port and the first sensing component being located above the carrier, the first sensing component being used to move synchronously with the beverage output port, the control method including: receiving a user instruction, the user instruction including a first instruction, a second instruction, and a third instruction, the first instruction being an instruction to output a first type of beverage ingredient, the second instruction being an instruction to output a second type of beverage ingredient, and the third instruction being an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; moving the beverage output port from the first end to the second end, obtaining a sensing signal of the first sensing component and positioning information of the position of the beverage output port corresponding to the sensing signal; moving the beverage output port to a target position, the target position being the position corresponding to the positioning information corresponding to the sensing signal that meets a preset condition; 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 stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to the detected detection information meeting the preset condition.

[0005] According to an embodiment of this application, the sensing signal that meets the preset condition includes: among the sensing signals, the sensing signal corresponding to the maximum signal intensity; or, among the sensing signals, the sensing signal whose signal intensity ranks among the 2nd to 20th.

[0006] According to an embodiment of the present application, in the step of obtaining the sensing signal of the first sensing component and the positioning information of the position of the beverage outlet corresponding to the sensing signal, it includes: the first transmitting part of the first sensing component emits a first detection wave; determining whether the first receiving part of the first sensing component receives the echo of the first detection wave within a first preset time period; if so, obtaining the signal intensity of the echo and the positioning information of the position of the beverage outlet corresponding to the echo; if not, returning to execute the step of the first transmitting part of the first sensing component emitting the first detection wave.

[0007] According to an embodiment of the present application, between the step of determining whether the first receiving part of the first sensing component receives the echo of the first detection wave within a first preset time period and the step of returning to execute the step of the first transmitting part of the first sensing component emitting the first detection wave, it includes: determining whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches a second preset time period, where the second preset time period is greater than or equal to the first preset time period; if so, then perform the step of returning to execute the first transmitting part of the first sensing component emitting the first detection wave; if not, then return to execute the step of determining whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches the second preset time period.

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

[0009] According to an embodiment of the present application, the positioning information includes the distance or coordinates of the beverage outlet or the first sensing component relative to the identification position, and the identification position includes the first end, the second end, the carrier, or the edge of the container opening.

[0010] According to an embodiment of the present application, the detection information includes first information and / or second information; in the step of outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient to the container for receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information in the container meets the preset condition, it includes: in response to the user instruction being the first instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient when it is detected that the first information in the container meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient when it is detected that the second information in the container meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping outputting the first type of beverage ingredient when it is detected that the first information in the container meets the first preset condition; outputting the second type of beverage ingredient according to the user instruction, and stopping outputting the second type of beverage ingredient when it is detected that the second information in the container meets the second preset condition.

[0011] According to an embodiment of the present application, the first information is the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient, the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of beverage ingredient is less than or equal to a first preset value, the second information is the vertical distance between the opening edge of the container and the liquid level of the second type of beverage ingredient, 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 beverage ingredient is less than or equal to a second preset value.

[0012] According to an embodiment of the present application, the beverage output device further includes a water receiving box and a prompting component. A water level sensor is disposed 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 stopping the downward movement of the beverage output port, determining whether the water level in the water receiving box reaches a preset water level according to the signal obtained by the water level sensor; if so, the prompting component outputs a prompting message; if not, outputting a first type of beverage ingredient and / or a second type of beverage ingredient to the container for receiving the beverage according to a user instruction, and continuously determining whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor. If so, stop outputting the first type of beverage ingredient and / or output the second type of beverage ingredient and output the prompting message; or the control method further includes: in response to the step of receiving the user instruction, determining whether the presence of a container is detected on the bearing platform according to the detection signal obtained by the water level sensor; if so, execute the step of moving the beverage output port from the first end to the second end; if not, the beverage output port stops moving.

[0013] According to an embodiment of the present application, in response to stopping the output of the first type of beverage ingredient and / or outputting the second type of beverage ingredient, control the beverage output port to move towards the first end.

[0014] According to an embodiment of the present application, the control method further includes: in response to the step of receiving the user instruction, determining whether the presence of a container is detected on the bearing platform; if so, execute the step of moving the beverage output port from the first end to the second end; if not, the beverage output port stops moving.

[0015] According to an embodiment of the present application, the detection information includes the vertical distance between the top of the content in the container and the edge of the container opening.

[0016] To solve the above technical problems, another technical solution adopted by this application is: to provide a beverage output device, including: an instruction receiving component, configured to receive user instructions, where the user instructions include a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output the first type of beverage ingredient and the second type of beverage ingredient; a beverage output port, configured to output beverages, where the beverages include the first type of beverage ingredient and / or the second type of beverage ingredient; a moving component, connected to the beverage output port, and the moving component is configured to move the beverage output port; a first sensing component, the beverage output port and the first sensing component are located above a carrying platform, the carrying platform is configured to carry a container, the container is configured to receive beverages, and the first sensing component is configured to move downward synchronously with the beverage output port; a processor, connected to the instruction receiving component, the moving component, and the first sensing component, and the processor is configured to execute the control method for the beverage output device described in any one of the above.

[0017] According to an embodiment of the present application, 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] According to an embodiment of the present application, the first sensing component is an ultrasonic detector or a time-of-flight detector.

[0019] According to an embodiment of the present application, the beverage output device further includes a water receiving box and a prompting component. A water level sensor is arranged in the water receiving box, the water level sensor and the prompting component are connected to the processor, the water receiving box is located under the carrying platform, and the prompting component is configured to output a prompt message.

[0020] To solve the above technical problems, another technical solution adopted by this application is: to provide a storage medium, and the storage medium stores program instructions that can be executed to implement the control method for the beverage output device described in any one of the above.

[0021] The beneficial effects of the present application are as follows: A control method for a beverage output device is provided. The first sensing component of the beverage output device is used to move synchronously with the beverage outlet. After receiving a user instruction, the beverage outlet moves from the first end to the second end, and at the same time, the sensing signal of the first sensing component and the position positioning information of the beverage outlet corresponding to the sensing signal are obtained. The position corresponding to the positioning information corresponding to the sensing signal that meets the preset conditions is selected as the target position. After moving the beverage outlet to the target position, the first type of beverage ingredient and / or the second type of beverage ingredient is output, and after 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 automatically stopped. By moving the beverage outlet of the beverage output device of the present application from the first end to the second end, and at the same time obtaining the sensing signal of the first sensing component and the position positioning information of the beverage outlet corresponding to the sensing signal, the target position is selected as the preferred position suitable for outputting the first type of beverage ingredient and / or the second type of beverage ingredient. At this time, the output of the first type of beverage ingredient and / or the second type of beverage ingredient is started, and after 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 automatically stopped, improving the operation convenience and avoiding the splashing of the first type of beverage ingredient and / or the second type of beverage ingredient. Description of the Drawings

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

[0023] Figure 1 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

[0024] Figure 2 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

[0025] Figure 3 is a schematic flowchart of an embodiment of the control method for the beverage output device of the present application;

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

[0027] Figure 5 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 of the present application;

[0028] Figure 6It is a schematic diagram for detecting the liquid level distance of the second type of beverage ingredient in an embodiment of the control method for a beverage output device of the present application;

[0029] Figure 7 It is a schematic diagram for detecting the distance from the top of the first type of beverage ingredient / the liquid level of the second type of beverage ingredient in an embodiment of the control method for a beverage output device of the present application;

[0030] Figure 8 It is a schematic structural diagram of an embodiment of a beverage output device of the present application;

[0031] Figure 9 It is a schematic structural diagram of an embodiment of a beverage output device of the present application;

[0032] Figure 10 It is a schematic diagram of the movement trajectory of an embodiment of a beverage output device of the present application;

[0033] Figure 11 It is a schematic structural diagram of an embodiment of a beverage output device of the present application. Detailed implementation manners

[0034] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application in conjunction with the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only the parts related to the present application rather than all the structures are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0035] Referring to "embodiment" in this article means that the specific features, structures, or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0036] The present application provides a control method for a beverage output device 20. The beverage output device 20 includes a carrying platform 24 for carrying a container 25, and the container 25 is used to hold the beverage. The beverage outlet 21 has a movement track with a first end a away from the carrying platform 24 and a second end b close to the carrying platform 24. The beverage output device 20 has a first sensing component 23. The beverage outlet 21 and the first sensing component 23 are located above the carrying platform 24, and the first sensing component 23 is used to move synchronously with the beverage outlet 21. 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; moving the beverage outlet 21 from the first end a to the second end b, obtaining the sensing signal of the first sensing component 23 and the positioning information of the position of the beverage outlet 21 corresponding to the sensing signal; moving the beverage outlet 21 to a target position, where the target position is the position corresponding to the positioning information corresponding to the sensing signal that meets the preset conditions; outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container 25 for holding the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to detecting that the detection information in the container 25 meets the preset conditions.

[0037] Specifically, the beverage outlet 21 and the first sensing component 23 of the beverage output device 20 are located above the carrying platform 24. The first sensing component 23 is fixedly arranged relative to the beverage outlet 21, and the first sensing component 23 can be arranged on the outer periphery of the beverage outlet 21. The beverage outlet 21 has a movement track from the first end a to the second end b. The starting position of the beverage outlet 21 is the first end a, and the position where the beverage outlet 21 can move down to the closest position to the carrying platform 24 is the second end b. During the process of the beverage outlet 21 moving from the first end a to the second end b, the first sensing component 23 descends synchronously with the beverage outlet 21. The beverage output device 20 obtains the distance between the beverage outlet 21 and the opening edge of the container 25 through the sensing signal of the first sensing component 23, and detects the distance between the beverage outlet 21 and the top of the first type of beverage ingredient or the liquid level of the second type of beverage ingredient in the container 25. The sensing signal of the first sensing component 23 has the positioning information of the corresponding position of the beverage outlet 21.

[0038] Referring to Figure 1 , the control method for the beverage output device 20 includes the following steps:

[0039] S1: Receive a user instruction, where the user instruction includes a first instruction, a second instruction, and a third instruction. The first instruction is an instruction to output 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 both the first type of beverage ingredient and the second type of beverage ingredient.

[0040] The user places the container 25 for receiving the beverage on the carrier 24. The beverage output device 20 can receive the user instruction through human body sensing or a switch signal. The instructions include an instruction to output the first type of beverage ingredient, an instruction to output the second type of beverage ingredient, and an instruction to output both the first type of beverage ingredient and the second type of beverage ingredient. Among them, the instruction to output both the first type of beverage ingredient and the second type of beverage ingredient is an instruction to first output the first type of beverage ingredient and then output the second type of beverage ingredient. A mixture of the first type of beverage ingredient and the second type of beverage ingredient can be obtained through one instruction, without the user clicking or controlling the switch twice.

[0041] The first type of beverage ingredient includes ingredients with a fixed shape, elastic ingredients, and ingredients with poor fluidity. For example, ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, nata de coco, taro balls, milk jelly, jelly, turtle jelly, fruit puree, taro puree, ice cream, puffed food, baked food, etc. The second type of beverage ingredient includes ingredients with high fluidity. For example, water, fruit juice, milk, coffee, cola, soy milk, etc.

[0042] In some embodiments, the user instruction includes an instruction newly input by the user, such as the first instruction, the second instruction, and the third instruction. The user instruction also includes an instruction obtained from the user's habit, an instruction according to different time periods such as morning, noon, and evening, an instruction according to different seasons, and an instruction according to different ambient temperatures.

[0043] S2: The beverage output port 21 moves from the first end a to the second end b, and obtains the sensing signal of the first sensing component 23 and the positioning information of the position of the beverage output port 21 corresponding to the sensing signal.

[0044] After receiving the user instruction to output the first type of beverage ingredient and / or the second type of beverage ingredient, the beverage outlet 21 moves from the first end a to the second end b. The beverage outlet 21 descends to get closer to the opening edge of the container 25, to find the most suitable position for outputting the first type of beverage ingredient and / or the second type of beverage ingredient, and to prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage outlet 21 being too high from the opening edge of the container 25. During the downward movement of the beverage outlet 21, the first sensing component 23 descends synchronously, and is used to emit a sensing signal to detect the distance between the beverage outlet 21 and the opening edge of the container 25. At different distance positions of the beverage outlet 21, the strength of the sensing signal of the first sensing component 23 is different. The stronger the sensing signal, the closer the distance between the beverage outlet 21 and the opening edge of the container 25. Obtain multiple sensing signals of the movement track of the beverage outlet 21 from the first end a to the second end b, and obtain the positioning information of the position of the beverage outlet 21 corresponding to each sensing signal in the entire movement track.

[0045] The first sensing component 23 is relatively fixed with the beverage outlet 21, that is, during the synchronous movement of the first sensing component 23 and the beverage outlet 21, the relative position relationship between the first sensing component 23 and the beverage outlet 21 remains unchanged.

[0046] S3: Move the beverage outlet 21 to the target position, where the target position is the position corresponding to the positioning information corresponding to the sensing signal that meets the preset conditions.

[0047] Among the multiple sensing signals of the movement track of the beverage outlet 21 from the first end a to the second end b obtained, select the sensing signal that meets the preset conditions, and obtain the position corresponding to the positioning information corresponding to the sensing signal that meets the preset conditions. This position is the target position of the beverage outlet 21. The target position is the most suitable position for outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, which can avoid the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage outlet 21 being too high from the opening edge of the container 25. Move the beverage outlet 21 to the target position: on the one hand, the target position can be the second end b; on the other hand, the target position can be higher than the second end b, and at this time, the beverage outlet 21 needs to be retracted from the second end b to the target position.

[0048] The target position includes positions where the vertical distance between the beverage outlet 21 and the opening edge of the container 25 is within 0 - 60 cm. This vertical distance can be 0 cm, 4 cm, 5.6 cm, 10 cm, 14.6 cm, 17.6 cm, 25.6 cm, 27.1 cm, 29.8 cm, 36 cm, 44 cm, 57 cm, 60 cm. Among them, when the beverage output device 20 is a household device, the target position can be where the vertical distance between the beverage outlet 21 and the opening edge of the container 25 is within 0 - 40 cm; when the beverage output device 20 is a commercial device, the target position can be where the vertical distance between the beverage outlet 21 and the opening edge of the container 25 is within 0 - 60 cm.

[0049] S4: Output the first type of beverage ingredient and / or output the second type of beverage ingredient to the container 25 that receives the beverage according to the user instruction.

[0050] After the beverage outlet 21 moves to the target position, the beverage output device 20 outputs the first type of beverage ingredient and / or outputs the second type of beverage ingredient to the container 25 according to the user instruction in step S1.

[0051] S5: In response to detecting that the detection information in the container 25 meets the preset condition, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient.

[0052] When it is detected that the vertical distance between the opening edge of the container 25 and the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient meets the preset condition, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient. In this embodiment, by setting the preset condition, when it is detected that the detection information in the container 25 meets the preset condition, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient is automatically stopped, which can avoid beverage overflow and improve the portability of the operation at the same time. The preset condition can be obtained through data statistics or experience. By comparing the detection information with the preset condition, the output of the first type of beverage ingredient and / or the second type of beverage ingredient can be stopped in time to reduce beverage splashing or overflow.

[0053] According to an embodiment of the present application, the sensing signal that meets the preset condition includes: among the sensing signals, the sensing signal corresponding to the maximum signal intensity; or, among the sensing signals, the sensing signal whose signal intensity ranks among the 2nd - 20th.

[0054] Specifically, among the multiple sensing signals of the movement track of the beverage outlet 21 from the first end a to the second end b obtained, selecting the sensing signal that meets the preset condition specifically includes two situations.

[0055] In the first case, among all the sensing signals, the sensing signal corresponding to the maximum signal intensity is selected. When the signal intensity is the maximum, it indicates that the distance between the beverage outlet 21 and the opening edge of the container 25 is the closest, and the sensing signal received by the first sensing component 23 is the clearest. At this time, it is the optimal position for outputting the first type of beverage ingredient and / or the second type of beverage ingredient.

[0056] In the second case, among all the sensing signals, the sensing signal whose signal intensity ranks among the 2nd to 20th is selected. In this embodiment, it is not limited to selecting the sensing signal with the maximum signal intensity as the position suitable for outputting the first type of beverage ingredient and / or the second type of beverage ingredient. At this time, it shows that the distance between the beverage outlet 21 and the opening edge of the container 25 is not the closest but is also within a reasonable distance, and this distance will not cause the first type of beverage ingredient and / or the second type of beverage ingredient to splash. At this time, the beverage outlet 21 needs to be retracted a certain distance to reach the target position corresponding to this sensing signal.

[0057] According to an embodiment of the present application, in the step of obtaining the sensing signal of the first sensing component 23 and the positioning information of the position of the beverage outlet 21 corresponding to the sensing signal, it includes: the first transmitting part of the first sensing component 23 emits a first detection wave; determining whether the first receiving part of the first sensing component 23 receives the echo of the first detection wave within a first preset time period; if so, obtaining the signal intensity of the echo and the positioning information of the position of the beverage outlet 21 corresponding to the echo; if not, returning to execute the step of the first transmitting part of the first sensing component 23 emitting the first detection wave.

[0058] Specifically, referring to Figure 2 , step S2 in obtaining the sensing signal of the first sensing component 23 and the positioning information of the position of the beverage outlet 21 corresponding to the sensing signal, in some embodiments, further includes the following steps:

[0059] S21: The first transmitting part of the first sensing component 23 emits a first detection wave.

[0060] The beverage output device 20 controls the first transmitting part of the first sensing component 23 to emit a first detection wave to detect the distance between the beverage outlet 21 and the opening edge of the container 25. Among them, the first detection wave can be emitted in real time, can be emitted at intervals, or can be emitted after being triggered by other means.

[0061] S22: Determine whether the first receiving part of the first sensing component 23 receives the echo of the first detection wave within a first preset time period.

[0062] After the first transmitting unit emits the first detection wave, the first receiving unit receives the echo of the first detection wave. During the downward movement of the beverage outlet 21, the distance between the beverage outlet 21 and the opening edge of the container 25 is different, and the intensity and time of the echo of the first detection wave received by the first receiving unit are both different. The formula for calculating the time of the echo of the first detection wave received by the first receiving unit is t = 2S t / V, where S t is the distance between the beverage outlet 21 and the opening edge of the container 25, and V is the propagation speed of the detection wave of the first sensing component 23 in the air. When the first receiving unit of the first sensing component 23 receives the echo of the first detection wave within the first preset time period, it indicates that the opening edge of the container 25 is within the sensing range of the first sensing component 23; at the same time, when the container 25 contains the first type of beverage ingredient and / or the second type of beverage ingredient, when observing from the top view perspective, the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient are located within the opening edge of the container 25. Therefore, when the container 25 contains the first type of beverage ingredient and / or the second type of beverage ingredient, the top of the first type of beverage ingredient and / or the liquid level of the second type of beverage ingredient are also within the sensing range of the first sensing component 23.

[0063] S23: If so, obtain the signal intensity of the echo and the positioning information of the position of the beverage outlet 21 corresponding to the echo.

[0064] If the first receiving unit of the first sensing component 23 receives the echo of the first detection wave within the first preset time period, it indicates that the first sensing component 23 is located at a suitable position where it can detect the opening edge of the container 25 and the detection information inside the container 25. At this time, obtain the signal intensity of the echo and the positioning information of the position of the beverage outlet 21 corresponding to the echo. Outputting the first type of beverage ingredient and / or the second type of beverage ingredient at this position can avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient. At the same time, at this position, the distance of the opening edge of the container 25 obtained by the first sensing component 23 is relatively accurate, and the distance detection of the top of the first type of beverage ingredient or the liquid level of the second type of beverage ingredient inside the container 25 is also relatively accurate.

[0065] S24: If not, return to execute step S21 where the first transmitting unit of the first sensing component 23 emits the first detection wave.

[0066] If the first receiving unit of the first sensing component 23 does not receive the echo of the first detection wave within the first preset time period, it indicates that the first sensing component 23 has not yet moved down to a suitable position where it can detect the opening edge of the container 25 and the detection information inside the container 25. Keep the beverage outlet 21 in the state of moving downward, and at the same time, the first transmitting unit of the first sensing component 23 emits the first detection wave to continue the detection.

[0067] According to an embodiment of the present application, between the step of determining whether the first receiving portion of the first sensing component 23 receives the echo of the first detection wave within the first preset duration and the step of returning to execute the step of the first transmitting portion of the first sensing component 23 emitting the first detection wave, it includes: determining whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches a second preset duration, where the second preset duration is greater than or equal to the first preset duration; if so, then return to execute the step of the first transmitting portion of the first sensing component 23 emitting the first detection wave; if not, then return to execute the step of determining whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches the first preset duration.

[0068] Specifically, referring to Figure 2 , in some embodiments, the following steps are further included between step S22 and step S24:

[0069] S221: Determine whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches a second preset duration, where the second preset duration is greater than or equal to the first preset duration.

[0070] Control the first sensing component 23 to send the first detection wave at every predetermined time interval. The predetermined time interval is the time difference between the time point of the previous emission of the first detection wave and the current time point. Determine whether the predetermined time interval reaches the second preset duration, thereby controlling whether the first sensing component 23 needs to emit the first detection wave at the current time point. The second preset duration is greater than or equal to the first preset duration.

[0071] Wherein, the second preset duration is greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier 24 by the speed of sound, where N is 1 - 1000, preferably 5 - 100. The distance between the initial position and the carrier 24 can be obtained according to the actual structure of the beverage output device 20. N can be any value between 1 - 1000, such as 1, 5, 68, 100, 198, 280, 374, 498, 500, 680, 750, 830, 980, 1000, etc. By limiting the value of N, the second preset duration being greater than or equal to the value obtained by dividing 2N times the distance between the initial position and the carrier 24 by the speed of sound can effectively control the interval time between two adjacent emissions of the first detection wave, thereby eliminating the interference caused by the echo signal of the previous emission of the first detection wave to the echo signal of the subsequent emission of the first detection wave, that is, emitting the subsequent first detection wave after the intensity of the echo signal generated by the previous emission of the first detection wave is weak enough to avoid interfering with the echo signal of the subsequent emission of the first detection wave.

[0072] Specifically, the distance between the initial position and the carrier table 24 is S. When the beverage outlet 21 is at the initial position, the time t between the time point when the first sensing component 23 emits the first detection wave and the time point when the echo of the received first detection wave is received 1 = 2S / V, where V is the propagation speed of the detection wave of the first sensing component 23 in the air. The second preset duration t of this embodiment 2 ≥ N×t 1 .

[0073] The first sensing component 23 emits the first detection wave and receives the echo as one cycle. If the distance S between the initial position and the carrier table 24 is 20 cm, the duration from when the first sensing component 23 emits the first detection wave to when it receives the echo is less than 0.002 seconds. If the time interval between two adjacent emissions of the first detection wave is short, then the echo signal received by the first sensing component 23 at a certain time point may be the echo signal generated by the first detection wave emitted in previous cycles hitting other objects with a distance greater than 20 cm. These signals will interfere with the echo signal to be received this time. Therefore, to avoid this interference, in this embodiment, the cycle is extended to N times and then the first sensing component 23 is controlled to emit the next set of first detection waves, stretching the time interval from the previous emission of the first detection wave. That is, the time difference between the time point of the previous emission of the first detection wave and the current time point needs to reach the second preset duration t 2 , and the second preset duration t 2 ≥ N×t 1 .

[0074] If so, return to execute step S21 where the first emission part of the first sensing component 23 emits the first detection wave

[0075] If the predetermined time interval reaches the second preset duration, control the first sensing component 23 to emit the first detection wave

[0076] If not, return to execute step S221 to judge whether the time value between the time point of the previous emission of the first detection wave and the current time point reaches the second preset duration

[0077] If the predetermined time interval does not reach the second preset duration, it means that it is not yet the time point to send the first detection wave, and return to execute step S221

[0078] According to an embodiment of the present application, the positioning information includes the distance or coordinates of the beverage outlet 21 or the first sensing component 23 relative to the marked position, and the marked position includes the first end a, the second end b, the carrying platform 24 or the opening edge of the container 25. Specifically, the positioning information of the position of the beverage outlet 21 corresponding to the sensing signal of the first sensing component 23 includes the distance or coordinates of the beverage outlet 21 relative to the marked position, or the distance or coordinates of the first sensing component 23 relative to the marked position. The marked position includes the first end a, the second end b, the carrying platform 24 or the opening edge of the container 25. By obtaining the positioning information, a preferred position can be selected to output the first type of beverage ingredient and / or the second type of beverage ingredient.

[0079] According to an embodiment of the present application, the detection information includes the first information and / or the second information. In the step of stopping the output of the first type of beverage ingredient and / or the second type of beverage ingredient in response to the detection information in the container 25 meeting the preset conditions according to the user instruction, it includes: in response to the user instruction being the first instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping the output of the first type of beverage ingredient when it is detected that the first information in the container 25 meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of beverage ingredient according to the user instruction, and stopping the output of the second type of beverage ingredient when it is detected that the second information in the container 25 meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of beverage ingredient according to the user instruction, and stopping the output of the first type of beverage ingredient when it is detected that the first information in the container 25 meets the first preset condition; outputting the second type of beverage ingredient according to the user instruction, and stopping the output of the second type of beverage ingredient when it is detected that the second information in the container 25 meets the second preset condition.

[0080] Specifically, in steps S4 and S5, outputting the first type of beverage ingredient and / or the second type of beverage ingredient to the container 25 for receiving 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 the detection information in the container 25 meeting the preset conditions, the specific method includes:

[0081] The detection information includes the first information and / or the second information. The first information is the top information of the first type of beverage ingredient, that is, the vertical distance between the opening edge of the container 25 and the top of the first type of beverage ingredient. When it is detected that the vertical distance between the opening edge of the container 25 and the top of the first type of beverage ingredient meets the preset condition, the output of the first type of beverage ingredient is stopped; the second information is the liquid level information of the second type of beverage ingredient, that is, the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient; when it is detected that the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient meets the preset condition, the output of the second type of beverage ingredient is stopped.

[0082] Method 1: In response to the user instruction being the first instruction, output the first type of beverage ingredients according to the user instruction. When it is detected that the first information in container 25 meets the first preset condition, stop outputting the first type of beverage ingredients.

[0083] Refer to Figure 5 , the first sensing component 23 detects the distance Hc. The distance Hc is the vertical distance between the beverage outlet 21 and the opening edge of container 25. When stopping to output the first type of beverage ingredients, the distance between the beverage outlet 21 and the top of the first type of beverage ingredients is Hc + h1. h1 is the minimum vertical distance between the opening edge and the top of the first type of beverage ingredients when the first type of beverage ingredients cannot splash out of container 25, obtained based on data statistics or experience. When outputting the first type of beverage ingredients according to the user instruction, the first sensing component 23 continuously detects and confirms the vertical distance H1 between the beverage outlet 21 and the top of the first type of beverage ingredients. When it is determined that H1 - Hc > h1, continue to output the first type of beverage ingredients; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of beverage ingredients will occur if the first type of beverage ingredients are further filled. At this time, stop outputting the first type of beverage ingredients. The first information meeting the first preset condition means satisfying H1 - Hc ≤ h1.

[0084] Method 2: Alternatively, in response to the user instruction being the second instruction, output the second type of beverage ingredients according to the user instruction. When it is detected that the second information in container 25 meets the second preset condition, stop outputting the second type of beverage ingredients.

[0085] Refer to Figure 6 , the first sensing component 23 detects the distance Hc. The distance Hc is the distance between the beverage outlet 21 and the opening edge of container 25. When stopping to output the second type of beverage ingredients, the distance between the beverage outlet 21 and the liquid level of the second type of beverage ingredients is Hc + h2. h2 is the minimum vertical distance between the opening edge and the liquid level of the second type of beverage ingredients when the second type of beverage ingredients cannot splash out of container 25, obtained based on data statistics or experience. When outputting the second type of beverage ingredients according to the user instruction, the beverage output device 20 continuously detects and confirms the vertical distance H2 between the beverage outlet 21 and the liquid level of the second type of beverage ingredients. When it is determined that H2 - Hc > h2, continue to output the second type of beverage ingredients; when it is determined that H2 - Hc ≤ h2, it means that splashing or overflow of the second type of beverage ingredients will occur if the second type of beverage ingredients are further filled. At this time, stop outputting the second type of beverage ingredients. The second information meeting the second preset condition means satisfying H2 - Hc ≤ h2.

[0086] Method 3: Alternatively, in response to the user instruction being the third instruction, output the first type of drink ingredients according to the user instruction, and stop outputting the first type of drink ingredients when it is detected that the first information in container 25 meets the first preset condition; output the second type of drink ingredients according to the user instruction, and stop outputting the second type of drink ingredients when it is detected that the second information in container 25 meets the second preset condition.

[0087] Refer to Figure 7 , when the user instruction is the third instruction, first output the first type of drink ingredients. The first sensing component 23 detects the distance Hc, where the distance Hc is the vertical distance between the drink outlet 21 and the opening edge of container 25. When stopping the output of the first type of drink ingredients, the distance between the drink outlet 21 and the top of the first type of drink ingredients is Hc + h1, and h1 is the minimum vertical distance between the opening edge and the top of the first type of drink ingredients obtained based on data statistics or experience when the first type of drink ingredients cannot splash out of container 25. When outputting the first type of drink ingredients according to the user instruction, the first sensing component 23 continuously detects and confirms the vertical distance H1 between the drink outlet 21 and the top of the first type of drink ingredients. When it is determined that H1 - Hc > h1, continue to output the first type of drink ingredients; when it is determined that H1 - Hc ≤ h1, it means that splashing of the first type of drink ingredients will occur if the first type of drink ingredients are further filled, and at this time, stop outputting the first type of drink ingredients. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0088] After the output of the first type of drink ingredients is completed, output the second type of drink ingredients. When stopping the output of the second type of drink ingredients, the distance between the drink outlet 21 and the liquid level of the second type of drink ingredients is Hc + h2, and h2 is the minimum vertical distance between the opening edge 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 cannot splash out of container 25. When outputting the second type of drink ingredients according to the user instruction, the first sensing component 23 continuously detects and confirms the vertical distance H2 between the drink outlet 21 and the liquid level of the second type of drink ingredients. When it is determined that H2 - Hc > h2, continue to output the second type of drink ingredients; when it is determined that H2 - Hc ≤ h2, it means that splashing of the second type of drink ingredients will occur if the second type of drink ingredients are further filled, and at this time, stop outputting the second type of drink ingredients. The second information meeting the second preset condition means that H2 - Hc ≤ h2 is satisfied.

[0089] It should be noted that outputting the first type of drink ingredients first and then the second type of drink ingredients can prevent splashing of the first type of drink ingredients and / or the liquid level of the second type of drink ingredients. In other embodiments, it can also be outputting the second type of drink ingredients first and then the first type of drink ingredients.

[0090] According to an embodiment of the present application, the first information is the vertical distance between the opening edge of the container 25 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 25 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the second information is the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient, and the second preset condition is that the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value. Wherein, the first preset value is greater than the second preset value. The first preset value can be 3 cm, 5 cm, 8 cm, 10 cm, 15 cm, etc., and the second preset value can be 1 cm, 2 cm, 4 cm, 5 cm, 7 cm, etc. The first information is the vertical distance between the opening edge of the container 25 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 25 and the top of the first type of beverage ingredient is less than or equal to the first preset value, the output of the first type of beverage ingredient is stopped. The second information is the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient, that is, H2 - Hc. The second preset condition is H2 - Hc ≤ the second preset value, that is, when the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value, the output of the second type of beverage ingredient is stopped. It should be noted that in other embodiments, it is not limited that the first preset condition is that the vertical distance between the opening edge of the container 25 and the top of the first type of beverage ingredient is less than or equal to the first preset value, and the second preset condition is that the vertical distance between the opening edge of the container 25 and the liquid level of the second type of beverage ingredient is less than or equal to the second preset value. It can also be less than other distances, which is not limited here.

[0091] According to an embodiment of the present application, the beverage output device 20 further includes a water receiving box 26 and a prompt component 262. A water level sensor 261 is arranged in the water receiving box 26. The water receiving box 26 is located under the carrying platform 24. The prompt component 262 is used to output a prompt message. The control method further includes: in response to the step of stopping the downward movement of the beverage output port 21, judging whether the water level in the water receiving box 26 reaches the preset water level according to the signal obtained by the water level sensor 261; if so, the prompt component 262 outputs a prompt message; if not, the first type of beverage ingredient and / or the second type of beverage ingredient is output to the container 25 for receiving the beverage according to the user instruction, and at the same time, continuously keep judging whether the water level in the water receiving box 26 reaches the preset water level according to the detection signal obtained by the water level sensor 261. If so, stop outputting the first type of beverage ingredient and / or the second type of beverage ingredient and output the prompt message.

[0092] Specifically, referring to Figure 2 or Figure 3, the beverage output device 20 further includes a water receiving box 26 located under the carrying platform 24. A water level sensor 261 is provided in the water receiving box 26. The control method further includes the following steps:

[0093] S41: In response to the step of stopping the downward movement of the beverage output port 21, determine whether the water level in the water receiving box 26 reaches a preset water level according to the detection signal obtained by the water level sensor 261.

[0094] Generally, after the beverage output port 21 reaches the target position, the beverage output device 20 will output the first type of beverage ingredient and / or the second type of beverage ingredient to the container 25 according to the user's instruction. To avoid situations such as the user temporarily taking away the container 25, moving the container 25, or replacing the container 25, which may easily cause the first type of beverage ingredient and / or the second type of beverage ingredient output from the beverage output port 21 to fill the water receiving box 26 and then cause the second type of beverage ingredient to overflow. Therefore, by setting the water level sensor 261, the water level in the water receiving box 26 can be detected to control the output or closing of the beverage output port 21.

[0095] If so, execute step S42: The prompting component 262 outputs a prompt message.

[0096] If the detection signal obtained by the water level sensor 261 determines that the water level in the water receiving box 26 reaches the preset water level, it means that if the first type of beverage ingredient and / or the second type of beverage ingredient enters the water receiving box 26, it will cause the second type of beverage ingredient in the water receiving box 26 to overflow. Therefore, at this time, the beverage output device 20 will not output the first type of beverage ingredient and / or output the second type of beverage ingredient, and the prompting component 262 outputs a prompt message to remind the user to clean the water receiving box 26 in time. The prompting component 262 can be a display screen, an LED lamp, a speaker, a vibrator, etc. The prompt message can be the text or picture output by the display screen; the light emitted or flashed by the LED lamp; the sound played by the speaker; the vibration generated by the vibrator, etc.

[0097] If not, output the first type of drink ingredients and / or the second type of drink ingredients to the container 25 for receiving the drink according to the user instruction, and at the same time, continuously determine whether the water level in the water receiving box 26 reaches the preset water level according to the detection signal obtained by the water level sensor 261. If so, stop outputting the first type of drink ingredients and / or the second type of drink ingredients and output a prompt message. This embodiment can be understood as follows: after the drink outlet 21 moves downward to a suitable position, if the detection signal obtained by the water level sensor 261 determines that the water level in the water receiving box 26 does not reach the preset water level, output the first type of drink ingredients and / or the second type of drink ingredients to the container 25 for receiving the drink according to the user instruction. During the process of outputting the first type of drink ingredients and / or the second type of drink ingredients, continue to obtain the detection signal of the water level sensor 261 and determine whether the water level in the water receiving box 26 reaches the preset water level. If the water level in the water receiving box 26 does not reach the preset water level, continue to output the first type of drink ingredients and / or the second type of drink ingredients; if the water level in the water receiving box 26 reaches the preset water level, immediately stop outputting the first type of drink ingredients and / or the second type of drink ingredients and output a prompt message. By continuously detecting whether the water level in the water receiving box 26 reaches the preset water level during the process of outputting the first type of drink ingredients and / or the second type of drink ingredients, this embodiment can avoid situations such as the user temporarily taking away the container 25, moving the container 25, or replacing the container 25 during the process of outputting drink ingredients, which may easily cause the first type of drink ingredients and / or the second type of drink ingredients output by the drink outlet 21 to fill the water receiving box 26 and then cause the second type of drink ingredients to overflow. Therefore, the water level in the water receiving box 26 is continuously detected by the water level sensor 261 to control the output or closing of the drink outlet 21.

[0098] According to an embodiment of the present application, in response to stopping outputting the first type of drink ingredients and / or the second type of drink ingredients, control the drink outlet 21 to move towards the first end a. This is convenient for removing the container 25 and cleaning the water receiving box 26.

[0099] According to an embodiment of the present application, with reference to Figure 4 , the drink output device 20 further includes a water receiving box 26 and a prompt component 262 located under the carrying platform 24. A water level sensor 261 is provided in the water receiving box 26. The control method further includes the following steps:

[0100] S41: In response to the step of receiving the user instruction, determine whether the water level in the water receiving box 26 reaches the preset water level according to the detection signal obtained by the water level sensor 261.

[0101] Specifically, after the beverage output device 20 receives a user instruction, to avoid situations such as the user temporarily taking away the container 25, moving the container 25, or replacing the container 25, which may easily cause the first type of beverage ingredient and / or the second type of beverage ingredient output from the beverage outlet 21 to fill the water receiving box 26 and then cause the second type of beverage ingredient to overflow. Therefore, by setting a water level sensor 261, the water level in the water receiving box 26 can be detected to determine whether to remind the user to clean the water receiving box 26.

[0102] If so, step S42 is executed: the prompting component 262 outputs a prompt message.

[0103] If the detection signal obtained by the water level sensor 261 determines that the water level in the water receiving box 26 reaches the preset water level, it means that if the first type of beverage ingredient and / or the second type of beverage ingredient enters the water receiving box 26, the second type of beverage ingredient in the water receiving box 26 will overflow. Therefore, at this time, the prompting component 262 outputs a prompt message to remind the user to clean the water receiving box 26 in time.

[0104] If not, the step of moving the beverage outlet 21 from the first end a to the second end b is executed.

[0105] According to an embodiment of the present application, the control method further includes: in response to the step of receiving a user instruction, determining whether a container 25 is detected on the carrier 24; if so, executing the step of moving the beverage outlet 21 downward from the initial position; if not, the beverage outlet 21 stops moving.

[0106] Specifically, after the beverage output device 20 receives a user instruction, to avoid situations such as the user accidentally touching the device or temporarily taking away the container 25, resulting in the actual absence of a container 25 to receive the first type of beverage ingredient and / or the second type of beverage ingredient, it is necessary to determine whether a container 25 is detected on the carrier 24 before the beverage outlet 21 moves downward from the initial position.

[0107] If so, the step of moving the beverage outlet 21 downward from the initial position is executed.

[0108] If not, it means that there is no container 25 on the carrier 24. At this time, the beverage outlet 21 will not descend, and the output of the first type of beverage ingredient and / or the second type of beverage ingredient will stop.

[0109] In this embodiment, by detecting whether there is a container 25 on the carrier 24 after receiving a user instruction, situations such as beverage ingredient splashing or overflowing caused by accidental touch can be avoided. It should be noted that in this embodiment, the presence of the container 25 can be detected by means such as a micro switch, an infrared pair tube, infrared transceiver (installed on the same side, receiving reflected light), and ultrasonic induction.

[0110] In some embodiments, the detection information includes the vertical distance between the top of the contents in container 25 and the opening edge of container 25.

[0111] Wherein, when there is only the first type of beverage ingredient in the contents of container 25, the vertical distance between the top of the contents in container 25 and the opening edge of container 25 is the first information.

[0112] When there is only the second type of beverage ingredient in the contents of container 25, the vertical distance between the top of the contents in container 25 and the opening edge of container 25 is the second information.

[0113] When the contents in container 25 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 container 25 and the opening edge of container 25 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 container 25 and the opening edge of container 25 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 container 25 and the opening edge of container 25 is the first information.

[0114] To solve the above technical problems, the present application further provides a beverage output device 20, referring to Figure 8 and Figure 9, the beverage output device 20 includes an instruction receiving component 27, a beverage output port 21, a moving component 22, a first sensing component 23, and a processor 28. The instruction receiving component 27 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 a first type of beverage ingredient, the second instruction is an instruction to output a second type of beverage ingredient, and the third instruction is an instruction to output both the first type of beverage ingredient and the second type of beverage ingredient; the beverage output port 21 is used to output beverages, and the beverages include the first type of beverage ingredient and / or the second type of beverage ingredient; the first type of beverage ingredient includes ingredients with a fixed shape, elastic ingredients, and ingredients with poor fluidity. For example, ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, nata de coco, taro balls, milk jelly, jelly, turtle jelly, fruit puree, taro puree, ice cream, puffed food, baked food, etc. The second type of beverage ingredient includes ingredients with high fluidity. For example, water, fruit juice, milk, coffee, cola, soy milk, etc. The moving component 22 is connected to the beverage output port 21, and the moving component 22 is used to move the beverage output port 21; the beverage output port 21 and the first sensing component 23 are located above the carrier 24, and the carrier 24 is used to carry the container 25, and the container 25 is used to receive the beverage. The first sensing component 23 is used to move down synchronously with the beverage output port 21; the processor 28 is connected to the instruction receiving component 27, the moving component 22, and the first sensing component 23, and the processor 28 is used to execute the control method for the beverage output device 20 in any of the above items.

[0115] Specifically, the container 25 is placed on the carrier 24. The instruction receiving component 27 receives the user instruction, the moving component 22 controls the beverage output port 21 to rise or fall, and the first sensing component 23 moves synchronously with the beverage output port 21. The first sensing component 23 emits a first detection wave and receives the echo of the first detection wave for detecting information on the opening edge of the container 25 and inside the container 25. To prevent the first type of beverage ingredient and / or the second type of beverage ingredient from splashing due to the beverage output port 21 being too high from the opening edge of the container 25, the moving component 22 controls the beverage output port 21 to descend. The first sensing component 23 detects the distance between the beverage output port 21 and the opening edge of the container 25. When the target position is reached, the beverage output port 21 stops moving, and the beverage output device 20 outputs the first type of beverage ingredient and / or outputs the second type of beverage ingredient in response to the user instruction. During the process of outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient, when the detection information inside the container 25 meets the preset conditions, the output of the first type of beverage ingredient and / or the output of the second type of beverage ingredient is automatically stopped to avoid splashing of the first type of beverage ingredient and / or the second type of beverage ingredient.

[0116] The instruction receiving component 27 may include an input area of a button, a knob, a microphone, a camera or a display screen provided on the beverage output device 20; or the beverage output device 20 is used to be connected to the user's client device in a wired or wireless manner, and the instruction receiving component 27 includes an antenna, a connector provided on the beverage output device 20, and an input area of a button, a knob, a microphone, a camera or a display screen provided on the client device.

[0117] The processor 28 is the operation and control core and is the execution unit for information processing and program running.

[0118] According to an embodiment of the present application, with reference to Figure 10 , the beverage outlet 21 has a movement track, and the movement track has a first end a away from the carrier 24 and a second end b close to the carrier 24. Specifically, the starting position of the beverage outlet 21 is the first end a, and one end of the beverage outlet 21 after reaching the lowest limit position is the second end b.

[0119] According to an embodiment of the present application, the first sensing component 23 is an ultrasonic detector or a time-of-flight detector (TOF).

[0120] According to an embodiment of the present application, the beverage output device 20 further includes a water receiving box 26 and a prompting component 262. A water level sensor 261 is provided in the water receiving box 26. The water level sensor 261 and the prompting component 262 are connected to the processor 28. The water receiving box 26 is located under the carrier 24, and the prompting component 262 is used to output a prompt message. Specifically, after the beverage outlet 21 moves downward to a suitable position, the beverage output device 20 outputs the first type of beverage ingredients and / or the second type of beverage ingredients to the container 25 according to the user's instruction. In order to avoid situations such as the user temporarily taking away the container 25, moving the container 25 or replacing the container 25, etc., which may easily cause the first type of beverage ingredients and / or the second type of beverage ingredients output from the beverage outlet 21 to fill the water receiving box 26 and then cause the second type of beverage ingredients to overflow. Therefore, by providing the water level sensor 261, the water level in the water receiving box 26 can be detected to determine whether it is necessary to remind the user to clean the water receiving box 26.

[0121] If the detection signal obtained by the water level sensor 261 determines that the water level in the water receiving box 26 reaches the preset water level, it means that if the first type of beverage ingredients and / or the second type of beverage ingredients enter the water receiving box 26, it will cause the second type of beverage ingredients in the water receiving box 26 to overflow. Therefore, at this time, the beverage output device 20 will not output the first type of beverage ingredients and / or output the second type of beverage ingredients, and the prompting component 262 can remind the user to clean the water receiving box 26 in time.

[0122] The prompting component 262 can be a display screen, an LED lamp, a speaker, a vibrator, etc.; the prompting information can be the text or picture output by the display screen; the LED lamp emits light and flashes; the speaker plays sound; the vibrator generates vibration, etc.

[0123] To solve the above technical problems, referring to Figure 11 , the present application further provides a storage medium 30, and the storage medium 30 stores program instructions 31, and the program instructions 31 can be executed to implement the control method for the beverage output device 20 described in any one of the above.

[0124] In several embodiments provided by the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0125] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0126] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0127] When an integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes: various media 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 that can store program codes.

[0128] The terms "first", "second", and "third" in this application are only used for descriptive purposes and cannot be construed as indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include at least one of such features. All directional indications (such as up, down, left, right, front, back...) in the embodiments of this application are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0129] The above description is only the embodiments of this application and does not limit the patent scope of this application. Any equivalent structural 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 equally included in 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 platform and a beverage output port. The carrier platform 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 platform and a second end close to the carrier platform, the beverage output device has a first sensing component, the beverage output port and the first sensing component are located above the carrier platform, and the first sensing component is used to move synchronously with the beverage output port. 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 the first type of beverage ingredient and the second type of beverage ingredient; The beverage output port moves from the first end to the second end, obtaining the sensing signal of the first sensing component and the positioning information of the position of the beverage output port corresponding to the sensing signal; Moving the beverage output port to a target position, the target position being the position corresponding to the positioning information corresponding to the sensing signal that meets the preset conditions; Outputting the first type of beverage ingredient and / or outputting the second type of beverage ingredient to the container holding the beverage according to the user instruction, and stopping outputting the first type of beverage ingredient and / or the second type of beverage ingredient in response to the detected detection information meeting the preset conditions.

2. The control method for a beverage output device according to claim 1, characterized in that, the sensing signal that meets the preset conditions includes: among the sensing signals, the sensing signal corresponding to the maximum signal intensity; or, among the sensing signals, the sensing signal whose signal intensity ranks among the 2nd to 20th.

3. The control method for a beverage output device according to claim 2, characterized in that, in the step of obtaining the sensing signal of the first sensing component and the positioning information of the position of the beverage output port corresponding to the sensing signal, it includes: The first transmitting part of the first sensing component emits a first detection wave; Judging whether the first receiving part of the first sensing component receives the echo of the first detection wave within a first preset time period; If so, obtaining the signal intensity of the echo and the positioning information of the position of the beverage output port corresponding to the echo; If not, returning to execute the step of the first transmitting part of the first sensing component emitting the first detection wave.

4. The control method for a beverage output device according to claim 3, characterized in that, between the step of judging whether the first receiving part of the first sensing component receives the echo of the first detection wave within a first preset time period and the step of returning to execute the first transmitting part of the first sensing component emitting the first detection wave, it includes: Judging whether the time value between the time point when the first detection wave was emitted last time and the current time point reaches a second preset time period, the second preset time period being greater than or equal to the first preset time period; If so, then perform the step of returning to execute the first emitting part of the first sensing component to emit a first detection wave; If not, then return to execute the step of judging whether the time value between the time point when the first detection wave was emitted last time and the current time point reaches a second preset duration.

5. The control method for a beverage output device according to claim 4, characterized in that the second preset duration is greater than or equal to 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.

6. The control method for a beverage output device according to claim 1, characterized in that the positioning information includes the distance or coordinates of the beverage outlet or the first sensing component relative to the identification position, and the identification position includes the first end, the second end, the carrier or the edge of the container opening.

7. The control method for a beverage output device according to claim 1, characterized in that the detection information includes first information and / or second information; in the step of outputting the first type of beverage ingredients and / or the second type of beverage ingredients to the container for receiving the beverage according to the user instruction, and stopping outputting the first type of beverage ingredients and / or the second type of beverage ingredients in response to the detected detection information meeting the preset conditions, it includes: in response to the user instruction being the first instruction, outputting the first type of beverage ingredients according to the user instruction, and stopping outputting the first type of beverage ingredients in response to the detected first information in the container meeting the first preset condition; or in response to the user instruction being the second instruction, outputting the second type of beverage ingredients according to the user instruction, and stopping outputting the second type of beverage ingredients in response to the detected second information in the container meeting the second preset condition; or in response to the user instruction being the third instruction, outputting the first type of beverage ingredients according to the user instruction, and stopping outputting the first type of beverage ingredients in response to the detected first information in the container meeting the first preset condition; outputting the second type of beverage ingredients according to the user instruction, and stopping outputting the second type of beverage ingredients in response to the detected second information in the container meeting the second preset condition.

8. The control method for a beverage output device according to claim 7, characterized in that the first information is the vertical distance between the edge of the container opening and the top of the first type of beverage ingredients, the first preset condition is that the vertical distance between the edge of the container opening and the top of the first type of beverage ingredients is less than or equal to a first preset value, the second information is the vertical distance between the edge of the container opening and the liquid level of the second type of beverage ingredients, and the second preset condition is that the vertical distance between the edge of the container opening and the liquid level of the second type of beverage ingredients is less than or equal to a second preset value.

9. The control method for a beverage output device 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 carrier, the prompting component is used to output a prompting message, and the control method further includes: In response to the step of stopping the downward movement of the beverage outlet, determine whether the water level in the water receiving box reaches a preset water level according to the signal obtained by the water level sensor; If so, the prompting component outputs a prompt message; If not, output 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 at the same time continuously 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. If so, stop outputting the first type of beverage ingredient and / or output the second type of beverage ingredient and output the prompt message; or The control method further includes: In response to the step of 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; If so, the prompting component outputs a prompt message; If not, execute the step of moving the beverage outlet from the first end to the second end.

10. The control method for a beverage output device according to claim 9, wherein, 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 towards the first end.

11. The control method for a beverage output device according to claim 1, wherein, The control method further includes: In response to the step of receiving the user instruction, determine whether a container is detected on the carrier; If so, execute the step of moving the beverage outlet from the first end to the second end; If not, the beverage outlet stops moving.

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

13. A beverage output device, wherein, includes: An instruction receiving component for receiving user instructions, the user instructions including a first instruction, a second instruction, and a third instruction. The first instruction 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; A beverage outlet for outputting beverages, the beverages including the first type of beverage ingredient and / or the second type of beverage ingredient; A moving component connected to the beverage outlet, the moving component being used to move the beverage outlet; A first sensing component, the beverage outlet and the first sensing component are located above the carrier, the carrier is used to carry the container, the container is used to receive the beverage, and the first 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 first sensing component, the processor being used to execute the control method for a beverage output device according to any one of claims 1-12.

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

15. The beverage output device according to claim 13, characterized in that, the first 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, 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 level sensor and the prompting component are connected to the processor. The water receiving box is located under the bearing platform, and the prompting component is used for outputting a prompt message.

17. A storage medium, characterized in that, the storage medium stores program instructions, and the program instructions can be executed to implement the control method for the beverage output device according to any one of claims 1-12.

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