Method and device for optimizing garland effect

Abstract

The invention discloses a method and device for optimizing a garland effect, and the method comprises the steps: obtaining a to-be-optimized garland track; acquiring parameters of a target processing operation, wherein the target processing operation comprises compression and / or offset; and based on the obtained parameters of the target processing operation, the target processing operation is carried out on the to-be-optimized garland track, and the garland track subjected to the target processing operation is used for garland of the mechanical arm. According to the method, local adjustment is directly carried out on the garland track, local compression and / or offset are / is carried out on the garland track, and local optimization of the garland effect can be carried out without integrally re-recording to generate a new garland track or adjusting the pose of the mechanical arm.

Description

Technical Field

[0001] This application relates to the field of robot technology, and more specifically, to a method and device for optimizing latte art effects. Background Art

[0002] With the development of robot technology, automated equipment has gradually penetrated into people's daily production and life, replacing repetitive labor or collaborating with people to reduce labor intensity. For example, intelligent coffee machines, coffee kiosks, and semi-intelligent coffee machines have rapidly emerged, reducing costs and professional thresholds for entrepreneurship in the coffee industry. Through robotic arms, intelligent coffee machines can also perform complex operations such as latte art. By recording a large number of master latte art movements to generate latte art trajectories, the robotic arm performs latte art operations according to the latte art trajectories.

[0003] Due to the differences in the spatial consistency of the robotic arm, there are slight differences in the actual spatial postures of the coffee cup and the milk jug, resulting in latte art effects that do not match those of master baristas. When optimizing latte art effects, the existing technology usually involves re-recording latte art movements to generate new latte art trajectories or correcting latte art effects by fine-tuning the pose of the robotic arm. However, this solution cannot achieve precise local correction or beautification. Summary of the Invention

[0004] To overcome the problems in the related art, embodiments of the present invention provide a method and device for optimizing latte art effects. The technical solutions are as follows:

[0005] According to the first aspect of the embodiments of the present invention, a method for optimizing latte art effects is provided, including:

[0006] Obtain the latte art trajectory to be optimized;

[0007] Obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset;

[0008] Based on the obtained parameters of the target processing operation, perform the target processing operation on the latte art trajectory to be optimized. The latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0009] Preferably, when the target processing operation includes compression, the obtaining of the parameters of the target processing operation of the latte art trajectory includes:

[0010] Obtain the target compression direction of the latte art trajectory, the compression center point on the target compression direction, the compression start point and the compression end point, and the compression ratio.

[0011] Preferably, when the target processing operation includes offset, the obtaining of the parameters of the target processing operation of the latte art trajectory includes:

[0012] Obtain the target offset direction of the latte art trajectory, the starting point and ending point of the offset on the target offset direction, and the offset increment.

[0013] Preferably, the obtaining of the latte art trajectory to be optimized includes:

[0014] Obtain the recording data of the latte art device recorded during the latte art teaching process;

[0015] Convert the recording data into the robotic arm coordinate system to generate the latte art trajectory.

[0016] According to the second aspect of the embodiments of the present invention, there is provided a device for optimizing the latte art effect, the device includes:

[0017] The first obtaining module is used to obtain the latte art trajectory to be optimized;

[0018] The second obtaining module is used to obtain the parameters of the target processing operation, and the target processing operation includes compression and / or offset;

[0019] The processing module is used to perform the target processing operation on the latte art trajectory to be optimized based on the obtained parameters of the target processing operation, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0020] Preferably, when the target processing operation includes compression, the second obtaining module is used for:

[0021] Obtain the target compression direction of the latte art trajectory, the compression center point, the starting point and ending point of the compression on the target compression direction, and the compression ratio.

[0022] Preferably, when the target processing operation includes offset, the second obtaining module is used for:

[0023] Obtain the target offset direction of the latte art trajectory, the starting point and ending point of the offset on the target offset direction, and the offset increment.

[0024] Preferably, the first obtaining module is used for:

[0025] Obtain the recording data of the latte art device recorded during the latte art teaching process;

[0026] Convert the recording data into the robotic arm coordinate system to generate the latte art trajectory.

[0027] According to the third aspect of the embodiments of the present invention, there is provided a device for optimizing the latte art effect, including:

[0028] A processor;

[0029] A memory for storing instructions executable by the processor;

[0030] Wherein, the processor is configured to:

[0031] Obtain the latte art trajectory to be optimized;

[0032] Obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset;

[0033] Based on the obtained parameters of the target processing operation, perform the target processing operation on the latte art trajectory to be optimized. The latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0034] According to the fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having computer instructions stored thereon, and when the instructions are executed by a processor, the steps of any one of the methods in the first aspect of the embodiments of the present invention are implemented.

[0035] The technical solution provided by the embodiments of the present invention, when it is necessary to optimize the latte art effect, instead of re-recording the latte art video to generate a new latte art trajectory, nor fine-tuning the robotic arm, directly perform local adjustment on the latte art trajectory. The adjustment of the latte art trajectory includes local compression or offset, or compression and offset. The present invention can perform local effect processing on the latte art trajectory, and can locally optimize the latte art effect without re-recording a new latte art trajectory as a whole or adjusting the pose of the robotic arm.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] 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 drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0038] Figure 1 It is a flowchart of a method for optimizing the latte art effect provided by an embodiment of the present application;

[0039] Figure 2 It is a schematic diagram of a CNN model provided by an embodiment of the present application;

[0040] Figure 3 It is a schematic diagram of the processing of an exemplary latte art trajectory of a swan pattern;

[0041] Figure 4 It is a schematic diagram of the processing of an exemplary latte art trajectory of a swan pattern;

[0042] Figure 5 It is a schematic diagram of the processing of an exemplary latte art trajectory of a swan pattern;

[0043] Figure 6 Schematic diagram for processing the drawing trajectory of an exemplary swan pattern;

[0044] Figure 7 Schematic diagram for processing the drawing trajectory of an exemplary swan pattern;

[0045] Figure 8 Schematic diagram for processing the drawing trajectory of an exemplary swan pattern;

[0046] Figure 9 Exemplary swan pattern for drawing based on the initial drawing trajectory;

[0047] Figure 10 As shown; Figure 9 Effect after stretching the drawing trajectory of the swan wing part along the x-axis;

[0048] Figure 11 As shown; Figure 10 Overall effect of stretching the drawing trajectory of the neck and head along the y-axis and shifting downward along the z-axis;

[0049] Figure 12 Structural diagram of a device for optimizing the drawing effect provided by an embodiment of the present application;

[0050] Figure 13 Structural diagram of a device for optimizing the drawing effect provided by an embodiment of the present application. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0052] The terms "first" and "second" etc. in the description and claims of the present application and the above accompanying drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may include unlisted steps or units.

[0053] The present application is applied to a coffee robot, which may include a base and a robotic arm disposed on the base. Accessories such as a coffee machine and a cup dispenser may also be disposed on the base. In an embodiment of the present application, the robotic arm may include two left and right robotic arms, and the two left and right robotic arms can cooperate to achieve a drawing effect.

[0054] As Figure 1 shown in the flowchart of a method for optimizing the latte art effect provided by an embodiment of the present invention, the method includes the following steps S101 to S103:

[0055] In step S101, obtain the latte art trajectory to be optimized.

[0056] In step S102, obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset.

[0057] In step S103, based on the obtained parameters of the target processing operation, perform the target processing operation on the latte art trajectory to be optimized. The latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0058] For the method for optimizing the latte art effect proposed in this application, when the latte art effect needs to be optimized, instead of re-recording the latte art video to generate a new latte art trajectory, nor fine-tuning the robotic arm, it directly performs local adjustment on the latte art trajectory. The adjustment of the latte art trajectory includes local compression or offset, or both compression and offset. The present invention can perform local effect processing on the latte art trajectory, and can perform local optimization of the latte art effect without re-recording the whole to generate a new latte art trajectory or adjusting the pose of the robotic arm.

[0059] In an embodiment of this application, obtaining the latte art trajectory to be optimized in step S101 includes the following steps A1 - A2:

[0060] Step A1: Obtain the recording data of the latte art device recorded during the latte art teaching process.

[0061] Step A2: Convert the recording data to the robotic arm coordinate system to generate the latte art trajectory.

[0062] Among them, an action recording system and a motion capture system are used, and a model of the latte art device is made. The latte art device includes, for example, a coffee cup and a milk pitcher. For the latte art teaching process, a coffee master can be invited to perform latte art action demonstrations, and recording and motion capture are performed during the action demonstrations to obtain the recording data of the latte art device, such as the motion trajectories of the coffee cup and the milk pitcher. Then, the recording data is converted to the coordinate system of the robotic arm movement through algorithms to generate the initial latte art trajectory. The left robotic arm and the right robotic arm can hold the coffee cup and the milk pitcher respectively, and the latte art trajectory can include the latte art trajectories of the left robotic arm and the right robotic arm respectively. The initial latte art trajectory can be used as the latte art trajectory to be optimized, or the processed latte art trajectory can be used as the latte art trajectory to be optimized this time. In the embodiments of this application, the latte art effect can be changed by only performing compression and / or offset processing on one of the latte art trajectories. In an embodiment of this application, compression and / or offset processing can also be performed on the latte art trajectories of the left robotic arm and the right robotic arm respectively.

[0063] In an embodiment of the present application, when the target processing operation includes compression, the parameters of the target processing operation obtained in step S102 include:

[0064] Obtain the target compression direction of the latte art trajectory, the compression center point, the compression start point and the compression end point, and the compression ratio in the target compression direction.

[0065] Among them, the latte art trajectory can be a latte art trajectory based on TCP (Tool Center Point) coordinates. The target compression direction of the latte art trajectory can be, for example, the direction along the x-axis in the TCP coordinate system, the direction along the y-axis in the TCP coordinate system, or the direction along the z-axis in the TCP coordinate system. After determining the target compression direction, determine the compression center point, the compression start point and the compression end point, and the compression ratio in the target compression direction. The above parameters can be determined by the user according to the desired optimization effect and empirical values.

[0066] In an embodiment of the present application, when the target processing operation includes offset, the parameters of the target processing operation obtained in step S102 include:

[0067] Obtain the target offset direction of the latte art trajectory, the offset start point and the offset end point, and the offset increment in the target offset direction.

[0068] Among them, the target offset direction of the latte art trajectory can be, for example, the direction along the x-axis in the TCP coordinate system, the direction along the y-axis in the TCP coordinate system, or the direction along the z-axis in the TCP coordinate system. The above parameters can be determined by the user according to the desired optimization effect and empirical values.

[0069] The method for optimizing the latte art effect proposed in the present application is described below through specific embodiments.

[0070] As Figure 2 shown is a flowchart of a method for optimizing the latte art effect provided by an embodiment of the present invention, which is applied to a terminal and includes the following steps:

[0071] Step S201: Obtain the latte art trajectory to be optimized.

[0072] Step S202: Obtain the compression center point, the compression start point and the compression end point, and the compression ratio in the x-axis direction selected by the user.

[0073] As Figure 3 shown is a schematic diagram of the processing of the latte art trajectory of an exemplary swan pattern, where the compression axis is the compression center point, and this point is the x coordinate value of the 800th point of the latte art trajectory of the swan pattern. As Figure 3Shown: With the x - coordinate of the 800th point as the compression center point, the x - coordinate values of all data within the range from the 100th point at the start of the trajectory to the 150th point before the end of the trajectory are compressed by 1 time.

[0074] Step S203: Obtain the compression center point, compression start point, compression end point, and compression ratio selected by the user along the y - axis direction.

[0075] As Figure 4 shown is a schematic diagram of the processing of the latte art trajectory of an exemplary swan pattern. Figure 4 The compression axis in Figure 4 is the compression center point, which is the y - coordinate value of the 800th point of the swan trajectory. As

[0076] Step S204: Obtain the compression center point, compression start point, compression end point, and compression ratio selected by the user along the z - axis direction.

[0077] As Figure 5 shown is a schematic diagram of the processing of the latte art trajectory of an exemplary swan pattern. Figure 5 The compression axis in Figure 5 is the compression center point, which is the z - coordinate value of the 800th point of the swan trajectory. As

[0078] Step S205: Obtain the offset start point, offset end point, and offset increment selected by the user along the x - axis direction.

[0079] As Figure 6 shown is a schematic diagram of the processing of the latte art trajectory of an exemplary swan pattern. As Figure 6 shown, the offset start point is the 1st point of the trajectory, and the offset end point is the x - coordinate value of the 150th point before the end of the trajectory. If the offset increment along the x - axis direction is 0.01 mm, the offset of the first point is 0.01 mm, the offset of the second point is 0.02 mm, the offset of the third point is 0.03 mm, …, and so on. The offset of the 150th point before the end of the trajectory (assumed to be the 1200th point of the trajectory) is 1.2 cm.

[0080] Step S206: Obtain the offset start point, offset end point, and offset increment selected by the user along the y - axis direction.

[0081] As Figure 7The figure shows a schematic diagram of the processing of the drawing trajectory of an exemplary swan pattern. As Figure 7 shown, the offset starting point is the first point of the trajectory, and the offset ending point is the y - coordinate value of the 150th point before the end of the trajectory. If the offset increment in the y - axis direction is 0.01 mm, the y - coordinate offset of the 150th point (the 1200th point) before the end of the trajectory is 1.2 cm.

[0082] Step S207: Obtain the offset starting point, offset ending point, and offset increment in the z - axis direction selected by the user.

[0083] As Figure 8 The figure shows a schematic diagram of the processing of the drawing trajectory of an exemplary swan pattern. As Figure 8 shown, the offset starting point is the first point of the trajectory, and the offset ending point is the z - coordinate value of the 150th point before the end of the trajectory. If the offset increment in the z - axis direction is - 0.01 mm, the z - coordinate offset of the 150th point (the 1200th point) before the end of the trajectory is - 1.2 cm.

[0084] Step S208: Based on the parameters of the target processing operation obtained, perform the target processing operation on the drawing trajectory to be optimized. The drawing trajectory after the target processing operation is used for the robotic arm to perform drawing.

[0085] The above steps S202 - step S207 can be executed simultaneously. Or only one or more of the steps can be executed as needed. In other embodiments of the present application, coordinate compression and / or offset processing can be performed only in one direction or two directions.

[0086] As Figure 9 shown is an exemplary swan pattern drawn according to the initial drawing trajectory. As Figure 10 shown is the effect after stretching the x - axis of the drawing trajectory of the swan's wing part. As Figure 11 shown is Figure 10 the overall effect of stretching the y - axis of the neck and head, and offsetting downward in the z - axis.

[0087] The following is an embodiment of the device of the present invention, which can be used to execute the method embodiment of the present invention.

[0088] Figure 12 The figure is a block diagram of a device for optimizing the drawing effect shown according to an exemplary embodiment. The device can be a terminal or a part of a terminal, and the device can be implemented as a part or all of an electronic device through software, hardware, or a combination of both. As Figure 12 shown, the device includes:

[0089] A first acquisition module 1201, configured to acquire the drawing trajectory to be optimized;

[0090] The second acquisition module 1202 is configured to acquire parameters of a target processing operation, where the target processing operation includes compression and / or offset;

[0091] The processing module 1203 is configured to perform a target processing operation on the to-be-optimized latte art trajectory based on the acquired parameters of the target processing operation, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0092] In another embodiment of the present application, when the target processing operation includes compression, the second acquisition module 1202 is configured to:

[0093] Acquire the target compression direction of the latte art trajectory, the compression center point, the compression start point and the compression end point, and the compression ratio in the target compression direction.

[0094] In another embodiment of the present application, when the target processing operation includes offset, the second acquisition module 1202 is configured to:

[0095] Acquire the target offset direction of the latte art trajectory, the offset start point and the offset end point, and the offset increment in the target offset direction.

[0096] In another embodiment of the present application, the first acquisition module 1201 is configured to:

[0097] Acquire the recorded data of the latte art device recorded during the latte art teaching process;

[0098] Convert the recorded data into the robotic arm coordinate system to generate a latte art trajectory.

[0099] In another embodiment of the present application, there is also provided a device for optimizing the latte art effect, and the device may include:

[0100] A processor;

[0101] A memory for storing executable instructions of the processor;

[0102] Wherein, the processor is configured to:

[0103] Acquire the to-be-optimized latte art trajectory;

[0104] Acquire parameters of a target processing operation, where the target processing operation includes compression and / or offset;

[0105] Perform a target processing operation on the to-be-optimized latte art trajectory based on the acquired parameters of the target processing operation, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

[0106] It should be noted that the specific implementation of the processor in this embodiment may refer to the corresponding content in the foregoing, and will not be elaborated herein.

[0107] Figure 13 It is a block diagram of a device 800 for optimizing the latte art effect shown according to an exemplary embodiment. The device can be a computer, a server, etc.

[0108] The device may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0109] The processing component 802 generally controls the overall operation of the device 800, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing element 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above methods. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0110] The memory 804 is configured to store various types of data to support the operation of the device 800. Examples of such data include instructions for any application or method operating on the device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0111] The power supply component 806 provides power to various components of the device 800. The power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 800.

[0112] The multimedia component 808 includes a screen that provides an output interface between the device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0113] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when the device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 further includes a speaker for outputting audio signals.

[0114] The I / O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which can be a keyboard, a click wheel, buttons, etc. These buttons can include but are not limited to: a home button, a volume button, a power button, and a lock button.

[0115] The sensor component 814 includes one or more sensors for providing status assessments of various aspects of the device 800. For example, the sensor component 814 can detect the on / off state of the device 800, the relative positioning of components, such as the display and keypad of the device 800. The sensor component 814 can also detect a change in the position of the device 800 or a component of the device 800, the presence or absence of user contact with the device 800, the orientation or acceleration / deceleration of the device 800, and the temperature change of the device 800. The sensor component 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 514 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0116] The communication component 816 is configured to facilitate communication between the device 800 and other devices in a wired or wireless manner. The device 800 can access a communication standard-based wireless network, such as a private walkie-talkie network, WiFi, 2G, 3G, 4G, or 5G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0117] In an exemplary embodiment, the device 800 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0118] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the above instructions can be executed by a processor 820 of the device 800 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0119] In another embodiment of the present application, a readable storage medium is also provided, on which a computer program is stored, and when the computer program is executed by a processor, the method for optimizing the latte art effect as described in any one of the above is implemented.

[0120] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0121] Those skilled in the art may further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0122] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of the two. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0123] The above description of the disclosed embodiments enables those skilled in the art to implement or use this application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for optimizing the latte art effect, characterized in that, Including: Obtain the latte art trajectory to be optimized; Obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset; Based on the obtained parameters of the target processing operation, perform the target processing operation on the latte art trajectory to be optimized, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

2. The method according to claim 1, wherein When the target processing operation includes compression, the obtaining of the parameters of the target processing operation of the latte art trajectory includes: Obtain the target compression direction of the latte art trajectory, the compression center point, the compression start point and the compression end point, and the compression ratio in the target compression direction.

3. The method according to claim 1, wherein When the target processing operation includes offset, the obtaining of the parameters of the target processing operation of the latte art trajectory includes: Obtain the target offset direction of the latte art trajectory, the offset start point and the offset end point, and the offset increment in the target offset direction.

4. The method according to claim 1, characterized in that, The obtaining of the latte art trajectory to be optimized includes: Obtain the recorded data of the latte art device recorded during the latte art teaching process; Convert the recorded data to the robotic arm coordinate system to generate the latte art trajectory.

5. A device for optimizing the latte art effect, characterized in that, Including: A first obtaining module, configured to obtain the latte art trajectory to be optimized; A second obtaining module, configured to obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset; A processing module, configured to perform the target processing operation on the latte art trajectory to be optimized based on the obtained parameters of the target processing operation, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

6. The device according to claim 5, characterized in that When the target processing operation includes compression, the second obtaining module is used to: Obtain the target compression direction of the latte art trajectory, the compression center point, the compression start point and the compression end point, and the compression ratio in the target compression direction.

7. The device according to claim 5, characterized in that, When the target processing operation includes offset, the second obtaining module is used to: Obtain the target offset direction of the latte art trajectory, the offset start point and the offset end point, and the offset increment in the target offset direction.

8. The device according to claim 5, characterized in that, The first obtaining module is used to: Obtain the recorded data of the latte art device recorded during the latte art teaching process; Convert the recorded data to the robotic arm coordinate system to generate the latte art trajectory.

9. An apparatus for optimizing the latte art effect, characterized in that, Including: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to: Obtain the latte art trajectory to be optimized; Obtain the parameters of the target processing operation, where the target processing operation includes compression and / or offset; Based on the obtained parameters of the target processing operation, perform the target processing operation on the latte art trajectory to be optimized, and the latte art trajectory after the target processing operation is used for the robotic arm to perform latte art.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that, When the instruction is executed by the processor, it implements the steps of the method according to any one of claims 1-4.

Images