Coffee beverage dispenser three-mechanical-arm cooperative control method and system combined with energy consumption analysis

Abstract

The invention provides a coffee beverage machine three-mechanical-arm cooperative control method and system combined with energy consumption analysis, and relates to the technical field of mechanical arm energy consumption optimizing.The method comprises the steps that real-time order information is decomposed to obtain double-state component requirements for driving base material carrying sub-arms of a process mechanical arm and a spiral base duplex mechanical arm to receive double-state process raw materials in advance; and a double-arm energy consumption balance track is adopted to cooperatively control the process mechanical arm and the base material carrying sub-arm to move the double-state process raw materials to the process butt joint coordinates to execute time-space synchronous processing, and order coffee drinks are obtained. The technical problem that in the prior art, in the coffee making process of a coffee beverage machine, energy consumption of a mechanical arm is high, and the production cost is indirectly increased is solved. The technical effects that the operation energy consumption and the cost of the mechanical arm in the coffee making process are reduced, and meanwhile the liquid splashing risk in the coffee cup clamping and displacement process is reduced are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of energy consumption optimization of robotic arms, and in particular to a method and system for collaboratively controlling three robotic arms of a coffee beverage machine in combination with energy consumption analysis. Background Art

[0002] The automation of traditional coffee beverage machines generally relies on robotic arms to perform raw material transportation, processing and distribution tasks, but faces significant challenges in energy efficiency and process stability.

[0003] In the existing technology, the robotic arms of coffee beverage machines mostly use single-target trajectory planning, which causes the joint motors to frequently start and stop, causing torque peaks. Especially during the transportation of liquid raw materials, in order to suppress liquid shaking, the motion parameters need to be repeatedly adjusted, further exacerbating energy loss.

[0004] In summary, the existing technology has a technical problem in that the energy consumption of the robotic arm during the coffee making process of the coffee beverage machine is high, which indirectly leads to an increase in production costs. Summary of the Invention

[0005] The present invention provides a method and system for collaborative control of three robotic arms of a coffee beverage machine combined with energy consumption analysis, which is used to solve the technical problem in the prior art that the robotic arms of the coffee beverage machine have high energy consumption during the coffee making process, which indirectly leads to increased production costs.

[0006] In view of the above problems, the present invention provides a three-arm collaborative control method and system for a coffee beverage machine combined with energy consumption analysis.

[0007] A first aspect of the present invention provides a method for collaboratively controlling three robotic arms of a coffee beverage machine in combination with energy consumption analysis, the method comprising:

[0008] After receiving a new real-time order, the coffee beverage machine locates the process docking coordinates by parsing the order process features of the real-time order information, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm; decomposes the real-time order information to obtain the two-state component demand, and drives the process robot arm and the substrate carrying sub-arm of the spin-based duplex robot arm to pre-accept the two-state process raw materials according to the two-state component demand; performs docking control energy consumption balance analysis based on the process docking coordinates, and outputs a two-arm energy consumption balance trajectory; adopts the two-arm energy consumption balance trajectory to collaboratively control the process robot arm and the substrate carrying sub-arm to move the two-state process raw materials to the process docking coordinates to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage; by flipping the rotatable body, aligning the capping robot sub-arm with the ordered coffee beverage to perform the capping operation, wherein the spin-based duplex robot arm integrates the capping robot sub-arm and the substrate carrying sub-arm through the rotatable body.

[0009] In one embodiment, the real-time order information is decomposed to obtain a binary component demand, and the process robot and the substrate carrying sub-arm of the spin-base duplex robot are driven to pre-accept the binary process raw materials based on the binary component demand. The following processing is also performed:

[0010] Decomposing the real-time order information to obtain liquid component demand and non-liquid component demand, forming the two-state component demand; sending the liquid component demand and non-liquid component demand to the fluid infusion station and the state adjustment preparation station respectively, driving the pre-preparation of the two-state process raw materials, wherein the two-state process raw materials include a fluid base material and a state adjustment auxiliary material; controlling the substrate carrying sub-arm to clamp the coffee cup at the fluid infusion station to receive the fluid base material; controlling the process robot arm to clamp the auxiliary material cup at the state adjustment preparation station to receive the state adjustment auxiliary material.

[0011] In one embodiment, a docking control energy consumption balance analysis is performed based on the process docking coordinates, a dual-arm energy consumption balance trajectory is output, and the following processing is also performed:

[0012] According to the fluid characteristics of the fluid base material in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid infusion station and the process docking coordinates, and the base material transportation balance trajectory is output; according to the fluid characteristics of the state-adjusted auxiliary material in the auxiliary material cup, a docking control energy consumption balance analysis is performed between the state-adjusting preparation station and the process docking coordinates, and the auxiliary material transportation balance trajectory is output; the base material transportation balance trajectory and the auxiliary material transportation balance trajectory are time-aligned and balanced, and the dual-arm energy consumption balance trajectory is output.

[0013] In one embodiment, based on the fluid characteristics of the fluid base in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid filling station and the process docking coordinates, and a base material transport balance trajectory is output. The following processing is also performed:

[0014] Based on the spatiotemporal reachability constraints of the process docking coordinates, a transport time window is initialized; a sway suppression model is called based on the fluid feature matching of the fluid base material in the coffee cup, wherein the sway suppression model has a safety inclination angle threshold identifier; in a CFD simulation environment, multiple rounds of displacement of the substrate carrying sub-arm clamping the sway suppression model between the fluid infusion station and the process docking coordinates are simulated to obtain multiple initial candidate trajectories; the safety inclination angle threshold and the transport time window are used to traverse multiple initial fluid inclination angle sequences and multiple controlled transport durations of the multiple initial candidate trajectories to screen and obtain W candidate control trajectories; energy consumption balance is quantified for the W candidate control trajectories, and the base material transport balance trajectory is screened and located based on the quantification results.

[0015] In one embodiment, the energy consumption balance quantification is performed on the W candidate control trajectories, and the base material transport balance trajectory is screened and located according to the quantification result. The following processing is also performed:

[0016] Torque integration is performed on the W candidate control trajectories to output W candidate torque integrals; acceleration features of the W candidate control trajectories are extracted to output W candidate acceleration distributions; W control energy consumptions, the W candidate torque integrals, and W candidate acceleration distributions of the W candidate control trajectories are weightedly fused to output W quantized docking control energy consumptions; and based on the sorting results of the W quantized docking control energy consumptions, the base material transport balancing trajectory is extracted from the W candidate control trajectories.

[0017] In one embodiment, the rotatable body is flipped over, and the capping robot sub-arm is aligned with the ordered coffee beverage to perform the capping operation, and the following processes are also performed:

[0018] An adaptability analysis of the pickup distance is performed based on the real-time user coordinates of the ordering user to locate the target receiving tray on the pickup counter; based on the fluid characteristics of the ordered coffee beverage, the energy consumption of the robotic arm displacement is optimized between the process docking coordinates and the target receiving tray, and a single-arm energy consumption balance trajectory is output; using the single-arm energy consumption balance trajectory, the substrate carrying sub-arm is controlled to move the ordered coffee beverage to the target receiving tray, and then the rotatable body is flipped to drive the capping robotic sub-arm to align with the ordered coffee beverage and perform semi-sealed capping.

[0019] In one embodiment, a pickup distance adaptability analysis is performed based on the real-time coordinates of the ordering user to locate the target receiving tray at the pickup counter, and the following processing is also performed:

[0020] Locally call multiple cup receiving coordinate points of multiple sunken circular receiving trays pre-punched on the food pickup table; calculate multiple spatial distance features between the real-time user coordinates and the multiple cup receiving coordinate points, and locate P alternative receiving coordinate points; perform food pickup obstacle check on the P alternative receiving coordinate points according to the boundary structure of the coffee beverage machine, and locate the target receiving tray.

[0021] The second aspect of the present invention provides a three-manipulator collaborative control system for a coffee beverage machine combined with energy consumption analysis, the system comprising: a docking positioning unit for locating the process docking coordinates by parsing the order process characteristics of the real-time order information after the coffee beverage machine receives a new real-time order, wherein the coffee beverage machine comprises a spin-based duplex robot arm and a process robot arm; a demand driving unit for decomposing the real-time order information to obtain a two-state component demand, and driving the process robot arm and the substrate carrying sub-arm of the spin-based duplex robot arm to pre-accept the two-state process raw materials according to the two-state component demand; an energy consumption balancing unit. An analysis unit is used to perform docking control energy consumption balance analysis based on the process docking coordinates and output a dual-arm energy consumption balance trajectory; a collaborative processing unit is used to adopt the dual-arm energy consumption balance trajectory to collaboratively control the process robot arm and the substrate carrying sub-arm to move the dual-state process raw material to the process docking coordinates to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage; a capping execution unit is used to perform a capping operation by flipping the rotatable body and aligning the capping robot sub-arm with the ordered coffee beverage, wherein the spin-based duplex robot arm integrates the capping robot sub-arm and the substrate carrying sub-arm through the rotatable body.

[0022] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0023] The method provided by an embodiment of the present invention locates the process docking coordinates by analyzing the order process features of the real-time order information after the coffee beverage machine receives a new real-time order, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm; decomposes the real-time order information to obtain a two-state component demand, and drives the process robot arm and the substrate carrying sub-arm of the spin-based duplex robot arm to pre-accept the two-state process raw materials according to the two-state component demand; performs docking control energy consumption balance analysis based on the process docking coordinates, and outputs a two-arm energy consumption balance trajectory; uses the two-arm energy consumption balance trajectory to collaboratively control the process robot arm and the substrate carrying sub-arm to move the two-state process raw materials to the process docking coordinates to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage; and by flipping the rotatable body, aligns the capping robot sub-arm with the ordered coffee beverage to perform the capping operation, wherein the spin-based duplex robot arm integrates the capping robot sub-arm and the substrate carrying sub-arm through the rotatable body. The technical effect of reducing the energy consumption and cost of the robot arm operation during the coffee making process and reducing the risk of liquid spillage during the coffee cup clamping and displacement process is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic flow chart of a method for collaboratively controlling three robotic arms of a coffee beverage machine in combination with energy consumption analysis provided by the present invention is shown;

[0025] Figure 2A structural schematic diagram of a three-manipulator collaborative control system for a coffee beverage machine combined with energy consumption analysis provided by the present invention is shown.

[0026] Explanation of the accompanying symbols: docking and positioning unit 1, demand driving unit 2, energy consumption balance analysis unit 3, collaborative processing unit 4, and cover execution unit 5. DETAILED DESCRIPTION

[0027] The present invention provides a method and system for collaborative control of three robotic arms of a coffee beverage machine combined with energy consumption analysis, which is used to solve the technical problem in the prior art that the robotic arms of the coffee beverage machine have high energy consumption during the coffee making process, which indirectly leads to increased production costs.

[0028] Below, the technical solutions of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited to the example embodiments described herein. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention, rather than all, are shown in the accompanying drawings.

[0029] Example 1, a flowchart of a method for collaborative control of three robotic arms of a coffee beverage machine combined with energy consumption analysis provided by an embodiment of the present invention, see Figure 1 , the method comprising:

[0030] Step A100: After receiving a new real-time order, the coffee beverage machine locates the process docking coordinates by parsing the order process features of the real-time order information, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm.

[0031] First of all, it should be understood that the three-arm system of the coffee beverage machine involved in this embodiment is composed of a rotary-based duplex robot arm and a process robot arm. Among them, the main body of the rotary-based duplex robot arm can rotate 360 ​​degrees, and the front end is integrated with two functional sub-arms: the substrate carrying sub-arm (responsible for clamping the coffee cup and transporting raw materials such as milk and coffee liquid) and the capping robot sub-arm (equipped with an electromagnetic suction cup or sensor for precise pressing of the cup lid). The process robot arm is independently deployed in the side work area, and the end is equipped with tools such as a milk frother and a latte art needle, which are specially used to perform fine processes such as milk foaming and latte art.

[0032] Specifically, when the coffee beverage machine receives a new real-time order (such as a cup of cappuccino that requires latte art), it will parse the process requirement features in the order, such as "milk foaming" and "latte art pattern", and determine the precise position of the robotic arm operation (i.e., the process docking coordinates) based on these features.

[0033] For example, milk frothing requires the process robot arm to move to the milk frothing station, while the coffee cup needs to be sent to the latte art station by the substrate carrying sub-arm. The spin-based duplex robot arm and the process robot arm will work together according to these coordinates to ensure that the raw materials and tools are precisely aligned to avoid liquid spillage or process conflicts due to position deviation.

[0034] Step A200: Decomposing the real-time order information to obtain binary component requirements, and driving the process robot arm and the substrate carrying sub-arm of the spin-base duplex robot arm to pre-accept binary process raw materials according to the binary component requirements.

[0035] In one embodiment, the real-time order information is decomposed to obtain a binary component demand, and the process robot and the substrate carrying sub-arm of the spin-base duplex robot are driven to pre-accept the binary process raw material based on the binary component demand. The method step A200 provided by the present invention includes:

[0036] Step A210: Decompose the real-time order information to obtain liquid component demand and non-liquid component demand, forming the dual-state component demand.

[0037] Step A220: Send the liquid component demand and the non-liquid component demand to the fluid infusion station and the state adjustment preparation station respectively to drive the pre-preparation of the dual-state process raw materials, wherein the dual-state process raw materials include a fluid base material and a state adjustment auxiliary material.

[0038] Step A230: Control the substrate carrying sub-arm to clamp the coffee cup and receive the fluid base material at the fluid filling station.

[0039] Step A240: Control the process robot arm to clamp the auxiliary material cup and receive the conditioning auxiliary material at the conditioning preparation station.

[0040] Specifically, when the coffee beverage machine (robot) receives an order, it will parse out the liquid component requirements and non-liquid component requirements required for the beverage, forming the two-state component requirements. For example, a user orders an iced latte. The liquid requirements include milk and espresso liquid, while the non-liquid requirements are ice cubes. This classification is based on the difference in the physical form of the raw materials - liquid raw materials need to be pumped and infused, while non-liquid materials (such as ice cubes or milk foam) require grasping or molding processes. Through this decomposition, the foundation is laid for subsequent parallel processing, ensuring that the substrate carrier arm and the process robot arm perform their respective duties to avoid resource competition.

[0041] Liquid component requests are assigned to the fluid infusion station (such as the metered pumping station for milk and coffee liquid), while non-liquid component requests are sent to the conditioning station (such as the milk frother or the auxiliary material bin). For example, the caramel sauce for the caramel macchiato needs to be heated and melted at the conditioning station, while the milk foam requires dedicated whipping equipment. This step achieves parallel pre-processing of raw materials through the division of labor between stations. The substrate carrier arm is already holding an empty cup at the fluid station, waiting to receive the coffee liquid, while the process robot arm goes to the auxiliary material bin to grab the caramel sauce container, shortening the overall preparation time.

[0042] The substrate carrier arm grips the coffee cup and moves it to the fluid infusion station, precisely collecting the liquid raw material (fluid base). For example, when making a cup of hot chocolate, the carrier arm positions the cup below the chocolate sauce outlet, and a flow sensor controls the injection volume (with an error of ±1.5ml). During this process, the robotic arm must maintain a stable posture to prevent liquid spillage, while dynamically adjusting its lifting speed based on the cup's capacity—decelerating for small cups to prevent overflow and accelerating for large cups to improve efficiency.

[0043] After the process robot obtains the non-liquid raw materials (conditioning auxiliary materials) at the conditioning preparation station, it needs to send them to the collaborative processing area. For example, when making matcha smoothie coffee, the process robot arm takes the mixed smoothie base from the smoothie machine, and at the same time, the base material carrier sub-arm has poured milk into the cup. The two converge at the latte art station, and the process robot arm spreads the smoothie evenly on the surface of the milk, while the carrier sub-arm synchronously fine-tunes the angle of the cup body (such as tilting 20°) to adapt to the pouring trajectory. This spatiotemporal coordination of the dual robotic arms not only avoids uneven mixing of raw materials, but also reduces the energy consumption of the robotic arms idling and waiting.

[0044] This embodiment divides the work of the robotic arms and performs tasks collaboratively based on the raw material components of the coffee order, thereby achieving the technical effect of shortening the production time of the coffee order.

[0045] Step A300: Perform docking control energy consumption balance analysis based on the process docking coordinates and output a dual-arm energy consumption balance trajectory.

[0046] In one embodiment, a docking control energy consumption balance analysis is performed based on the process docking coordinates, and a dual-arm energy consumption balance trajectory is output. The method step A300 provided by the present invention includes:

[0047] Step A310: Based on the fluid characteristics of the fluid base material in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid filling station and the process docking coordinates, and a base material transport balance trajectory is output.

[0048] Step A320: Based on the fluid characteristics of the conditioning auxiliary material in the auxiliary material cup, a docking control energy consumption balance analysis is performed between the conditioning preparation station and the process docking coordinates, and an auxiliary material transportation balance trajectory is output.

[0049] Step A330: Perform time alignment and balance on the base material transport balance trajectory and the auxiliary material transport balance trajectory, and output the dual-arm energy consumption balance trajectory.

[0050] In one embodiment, based on the fluid characteristics of the fluid base in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid filling station and the process docking coordinates, and a base transport balance trajectory is output. The method step A310 provided by the present invention includes:

[0051] Step A311: Initialize the transport time window based on the spatiotemporal reachability constraints of the process docking coordinates.

[0052] Step A312: calling a slosh suppression model based on the fluid feature matching of the fluid base in the coffee cup, wherein the slosh suppression model has a safety tilt angle threshold identifier.

[0053] Step A313: In a CFD simulation environment, simulate multiple rounds of displacement of the substrate carrying sub-arm clamping the sway suppression model between the fluid injection station and the process docking coordinate to obtain multiple initial candidate trajectories.

[0054] Step A314: Using the safety inclination angle threshold and the carrying time window, traverse the multiple initial fluid inclination angle sequences and the multiple control carrying durations of the multiple initial candidate trajectories to screen and obtain W candidate control trajectories.

[0055] Step A315: quantify the energy consumption balance of the W candidate control trajectories, and screen and locate the base material transport balance trajectory based on the quantification results.

[0056] In one embodiment, energy consumption balance is quantified for the W candidate control trajectories, and the base material transport balance trajectory is screened and located based on the quantification results. Step A315 of the method provided by the present invention includes:

[0057] Step A315a: Perform torque integration on the W candidate control trajectories and output W candidate torque integrals.

[0058] Step A315b: Extract the acceleration features of the W candidate control trajectories and output W candidate acceleration distributions.

[0059] Step A315c: Weightedly fuse the W control energy consumptions of the W candidate control trajectories, the W candidate torque integrals, and the W candidate acceleration distributions, and output W quantized docking control energy consumptions.

[0060] Step A315d: Extracting the base material transport balancing trajectory from the W candidate control trajectories based on the sorting results of the W quantified docking control energy consumptions.

[0061] Specifically, the spatiotemporal reachability constraint refers to the spatial position of the process docking coordinates and the motion capability of the robot arm (such as joint angle limitation). This embodiment obtains the transport time window by initializing the allowable transport time range based on the spatiotemporal reachability constraint.

[0062] For example, if the latte art station is far from the milk pouring station, the maximum allowable time window will be set to 8 seconds to ensure that the coffee liquid is transported at the optimal temperature. At the same time, the physical limitations of the robot arm joints (such as the pitch angle range of -15° to 75°) are taken into account to exclude path options that exceed the movement capacity. This spatiotemporal reachability constraint avoids invalid paths caused by the robot arm's inability to reach the target position, such as choosing a detour path instead of forcing movement in a straight line in a narrow workspace.

[0063] The slosh suppression model is matched to the fluid properties of the base material (such as viscosity and density). For example, when transporting an iced Americano with ice cubes, the model sets a safe tilt angle threshold of ≤15° and enforces a path curvature radius of ≥150mm to prevent ice cubes from hitting the cup wall or spilling the liquid.

[0064] In a CFD simulation environment, the movement of a substrate carrier arm holding a coffee cup from the fluid infusion station to the process docking coordinates is simulated. For example, 10 different paths (such as straight lines, arcs, and Z-shaped paths) are generated in the CFD simulation environment to simulate the liquid sloshing of the coffee cup under different accelerations and inclination angles. By analyzing the simulation results, multiple initial candidate trajectories with liquid sloshing amplitudes less than 0.5mm are screened. During the simulation process, the cup body inclination angle sequence and movement duration of each initial candidate trajectory are recorded to provide data support for subsequent screening.

[0065] The safety inclination angle threshold and the carrying time window are used to traverse the multiple initial fluid inclination angle sequences and the multiple control carrying times of the multiple initial candidate trajectories to screen out W candidate control trajectories. The W candidate control trajectories are subjected to energy consumption quantitative analysis, for example, the joint torque integral (reflecting the motor energy consumption) and the acceleration fluctuation frequency (reflecting the stability) of each path are calculated, and a comprehensive score is generated by weighted fusion. Although a certain path takes the shortest time, the torque integral is as high as 120J due to frequent starts and stops, while the other path that takes a slightly longer time has a torque integral of only 85J due to smooth movement and smaller acceleration fluctuations. Finally, the path with the highest total score will be selected as the base material carrying balance trajectory according to the score sorting. For example, a path with a comprehensive energy consumption of 95J and a shaking amplitude of 0.3mm was selected as the optimal solution, which reduces energy consumption by 35% compared with the traditional solution.

[0066] The specific method for determining the base material transport balance trajectory is as follows:

[0067] Torque integration is performed on the W candidate control trajectories to output W candidate torque integrals. Acceleration features of the W candidate control trajectories are extracted to output W candidate acceleration distributions. A preset weight distribution is used to weightedly fuse the W control energy consumptions, the W candidate torque integrals, and the W candidate acceleration distributions of the W candidate control trajectories to output W quantized docking control energy consumptions. The base material load balancing trajectory is then extracted from the W candidate control trajectories based on the ranking results of the W quantized docking control energy consumptions.

[0068] Similarly, using the same method, according to the fluid characteristics of the conditioning auxiliary material in the auxiliary material cup, a docking control energy consumption balance analysis is performed between the conditioning preparation station and the process docking coordinates, and an auxiliary material transportation balance trajectory is output.

[0069] The balanced trajectory of the base material and the balanced trajectory of the auxiliary material are aligned in time and space to eliminate conflicts and optimize overall efficiency, thereby outputting the balanced energy consumption trajectory of the two arms. For example, if the milk froth needs to be added within 0.5 seconds after the coffee cup arrives at the latte art station, the path delay of the process robot arm will be adjusted to ensure that the two arms seamlessly connect at the target location.

[0070] This embodiment achieves the technical effect of reducing total energy consumption while avoiding efficiency loss due to waiting or collisions by generating a dual-arm energy consumption balance trajectory based on energy consumption balance.

[0071] This embodiment performs a comprehensive optimization analysis of energy consumption and stability on the motion trajectory of the robotic arm based on the process docking coordinates, thereby achieving the technical effect of generating a dual-arm energy-balanced trajectory that takes into account both efficiency and safety, and providing robotic arm control parameters for subsequent low-energy coffee order production.

[0072] Step A400: Using the dual-arm energy consumption balance trajectory, the process robot arm and the substrate carrying sub-arm are collaboratively controlled to move the dual-state process raw material to the process docking coordinate to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage.

[0073] Specifically, this embodiment adopts an energy-optimized dual-arm collaborative trajectory (a base material transport balanced trajectory and an auxiliary material transport balanced trajectory) to control the process robot arm and the substrate transport sub-arm to accurately transport the liquid base material (such as milk, coffee liquid) and the conditioning auxiliary material (such as milk foam, ice cubes) to the process docking coordinates (such as the latte art station or the mixing station), and perform processing operations synchronously in time and space.

[0074] For example, while the substrate carrier arm delivers the coffee cup to the latte art station, the process robot simultaneously injects the whipped milk foam. The two are aligned within a time window (with an error of less than 0.2 seconds) to ensure the full integration of the milk foam and coffee liquid, avoiding liquid separation or overflow caused by timing misalignment. During this process, the robot's motion trajectory is optimized using B-spline curves to reduce torque fluctuations caused by sudden stops and starts. At the same time, a gravity compensation algorithm offsets the additional torque caused by cup tilt, ultimately completing the order.

[0075] Step A500: by flipping the rotatable body, aligning the capping robot sub-arm with the ordered coffee beverage to perform the capping operation, wherein the spin-base duplex robot arm integrates the capping robot sub-arm and the substrate carrying sub-arm through the rotatable body.

[0076] In one embodiment, the capping operation is performed by flipping the rotatable body and aligning the capping robot sub-arm with the ordered coffee beverage. Step A500 of the method provided by the present invention includes:

[0077] Step A510: Perform a pickup distance adaptability analysis based on the real-time user coordinates of the ordering user to locate the target receiving tray at the pickup counter.

[0078] Step A520: Based on the fluid characteristics of the ordered coffee beverage, the energy consumption of the robot arm displacement is optimized between the process docking coordinates and the target receiving plate, and a single-arm energy consumption balance trajectory is output.

[0079] Step A530: Using the single-arm energy consumption balancing trajectory, control the substrate carrying sub-arm to move the ordered coffee beverage to the target receiving tray, flip the rotatable body to drive the capping mechanical sub-arm to align the ordered coffee beverage and perform semi-sealed capping.

[0080] In one embodiment, a pickup distance adaptability analysis is performed based on the real-time coordinates of the ordering user to locate the target receiving tray at the pickup counter. Step A510 of the method provided by the present invention includes:

[0081] Step A511: Locally call the multiple cup receiving coordinate points of the multiple sunken circular receiving plates pre-punched on the food pickup table.

[0082] Step A512: Calculate multiple spatial distance features between the real-time user coordinates and the multiple cup body receiving coordinate points, and locate P candidate receiving coordinate points.

[0083] Step A513: Perform meal-taking obstacle verification on the P candidate receiving coordinate points according to the boundary structure of the coffee beverage machine, and locate the target receiving plate.

[0084] It should be understood that after the beverage is prepared in this embodiment, the rotary base duplex robotic arm is flipped by the rotatable body so that the capping robotic sub-arm is aligned with the top of the coffee cup to perform the capping operation.

[0085] Before the lid is closed, this embodiment locates the optimal target receiving tray among multiple sunken circular receiving trays on the food pickup counter based on the user's real-time location (obtained through APP positioning or geo-fencing). The method for determining the target receiving tray is as follows:

[0086] A plurality of sunken circular receiving trays are pre-installed on the food pickup table. The center coordinates of each tray position have been pre-calibrated and stored in the local database. Based on this, the local area calls the multiple cup receiving coordinate points (center coordinates of the receiving tray) of the plurality of sunken circular receiving trays pre-punched on the food pickup table.

[0087] Calculate multiple spatial distance features (spatial distances) between the real-time user coordinates and the multiple cup body receiving coordinate points to screen out P candidate receiving coordinate points that meet a preset distance threshold.

[0088] Based on the coffee machine's physical structure (such as the robot's range of motion and the location of obstacles at the edge of the table) and P candidate receiving coordinate points, the candidate tray positions are checked for collision risk. For example, if tray position 5 is too close to the robot's rotation axis (less than 30 cm), potentially causing the robot to interfere with the table support during transfer, it is marked as a high-risk tray position and eliminated. Ultimately, unobstructed tray position 7 is selected as the target receiving tray.

[0089] According to the fluid characteristics of the ordered beverage (such as whether it contains ice cubes and the density of milk foam), the single-arm energy consumption balance trajectory with optimal energy consumption is planned between the process docking coordinates (such as the latte art station) and the target receiving plate. The technology for obtaining the single-arm energy consumption balance trajectory is similar to that of the double-arm energy consumption balance trajectory, so it will not be elaborated here.

[0090] By adopting the single-arm energy consumption balancing trajectory, the substrate carrying sub-arm is controlled to move the ordered coffee beverage to the target receiving plate, and then the rotatable body is flipped to drive the capping mechanical sub-arm to align the ordered coffee beverage and perform semi-sealed capping.

[0091] This embodiment achieves the technical effect of reducing the energy consumption of the robot arm during the coffee making process while reducing the risk of liquid spillage during the clamping and displacement process of the coffee cup.

[0092] Example 2, based on the same inventive concept as the method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis in the above embodiment, Figure 2 As shown, the present invention provides a three-manipulator collaborative control system for a coffee beverage machine combined with energy consumption analysis, wherein the system includes:

[0093] The docking positioning unit 1 is used for locating the process docking coordinates by analyzing the order process features of the real-time order information after the coffee beverage machine receives a new real-time order, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm.

[0094] The demand driving unit 2 is used to decompose the real-time order information to obtain the binary component demand, and drive the process robot arm and the substrate carrying sub-arm of the spin-base duplex robot arm to pre-accept the binary process raw materials according to the binary component demand.

[0095] The energy consumption balance analysis unit 3 is used to perform energy consumption balance analysis of docking control based on the process docking coordinates and output a dual-arm energy consumption balance trajectory.

[0096] The collaborative processing unit 4 is used to adopt the dual-arm energy consumption balance trajectory to collaboratively control the process robot arm and the substrate carrying sub-arm to move the dual-state process raw material to the process docking coordinate to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage.

[0097] The capping execution unit 5 is used to perform the capping operation by flipping the rotatable body and aligning the capping mechanical sub-arm with the ordered coffee beverage, wherein the spin-base duplex mechanical arm integrates the capping mechanical sub-arm and the substrate carrying sub-arm through the rotatable body.

[0098] In one embodiment, the demand driving unit 2 is further configured to:

[0099] Decomposing the real-time order information to obtain liquid component demand and non-liquid component demand, forming the two-state component demand; sending the liquid component demand and non-liquid component demand to the fluid infusion station and the state adjustment preparation station respectively, driving the pre-preparation of the two-state process raw materials, wherein the two-state process raw materials include a fluid base material and a state adjustment auxiliary material; controlling the substrate carrying sub-arm to clamp the coffee cup at the fluid infusion station to receive the fluid base material; controlling the process robot arm to clamp the auxiliary material cup at the state adjustment preparation station to receive the state adjustment auxiliary material.

[0100] In one embodiment, the energy consumption balancing analysis unit 3 is further configured to:

[0101] According to the fluid characteristics of the fluid base material in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid infusion station and the process docking coordinates, and the base material transportation balance trajectory is output; according to the fluid characteristics of the state-adjusted auxiliary material in the auxiliary material cup, a docking control energy consumption balance analysis is performed between the state-adjusting preparation station and the process docking coordinates, and the auxiliary material transportation balance trajectory is output; the base material transportation balance trajectory and the auxiliary material transportation balance trajectory are time-aligned and balanced, and the dual-arm energy consumption balance trajectory is output.

[0102] In one embodiment, the energy consumption balancing analysis unit 3 is further configured to:

[0103] Based on the spatiotemporal reachability constraints of the process docking coordinates, a transport time window is initialized; a sway suppression model is called based on the fluid feature matching of the fluid base material in the coffee cup, wherein the sway suppression model has a safety inclination angle threshold identifier; in a CFD simulation environment, multiple rounds of displacement of the substrate carrying sub-arm clamping the sway suppression model between the fluid infusion station and the process docking coordinates are simulated to obtain multiple initial candidate trajectories; the safety inclination angle threshold and the transport time window are used to traverse multiple initial fluid inclination angle sequences and multiple controlled transport durations of the multiple initial candidate trajectories to screen and obtain W candidate control trajectories; energy consumption balance is quantified for the W candidate control trajectories, and the base material transport balance trajectory is screened and located based on the quantification results.

[0104] In one embodiment, the energy consumption balancing analysis unit 3 is further configured to:

[0105] Torque integration is performed on the W candidate control trajectories to output W candidate torque integrals; acceleration features of the W candidate control trajectories are extracted to output W candidate acceleration distributions; W control energy consumptions, the W candidate torque integrals, and W candidate acceleration distributions of the W candidate control trajectories are weightedly fused to output W quantized docking control energy consumptions; and based on the sorting results of the W quantized docking control energy consumptions, the base material transport balancing trajectory is extracted from the W candidate control trajectories.

[0106] In one embodiment, the cover-fastening execution unit 5 is further configured to:

[0107] An adaptability analysis of the pickup distance is performed based on the real-time user coordinates of the ordering user to locate the target receiving tray on the pickup counter; based on the fluid characteristics of the ordered coffee beverage, the energy consumption of the robotic arm displacement is optimized between the process docking coordinates and the target receiving tray, and a single-arm energy consumption balance trajectory is output; using the single-arm energy consumption balance trajectory, the substrate carrying sub-arm is controlled to move the ordered coffee beverage to the target receiving tray, and then the rotatable body is flipped to drive the capping robotic sub-arm to align with the ordered coffee beverage and perform semi-sealed capping.

[0108] In one embodiment, the cover-fastening execution unit 5 is further configured to:

[0109] Locally call multiple cup receiving coordinate points of multiple sunken circular receiving trays pre-punched on the food pickup table; calculate multiple spatial distance features between the real-time user coordinates and the multiple cup receiving coordinate points, and locate P alternative receiving coordinate points; perform food pickup obstacle check on the P alternative receiving coordinate points according to the boundary structure of the coffee beverage machine, and locate the target receiving tray.

[0110] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A three-arm collaborative control method for a coffee beverage machine combined with energy consumption analysis, characterized in that: include: After receiving a new real-time order, the coffee beverage machine locates the process docking coordinates by parsing the order process features of the real-time order information, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm; Decomposing the real-time order information to obtain a binary component demand, and driving the process robot arm and the substrate carrying sub-arm of the spin-base duplex robot arm to pre-accept the binary process raw materials according to the binary component demand; Perform docking control energy consumption balance analysis based on the process docking coordinates and output a dual-arm energy consumption balance trajectory; The dual-arm energy consumption balance trajectory is adopted to collaboratively control the process robot arm and the substrate carrying sub-arm to move the dual-state process raw material to the process docking coordinate to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage; By flipping the rotatable body, the capping robot sub-arm is aligned with the ordered coffee beverage to perform the capping operation, wherein the spin-base duplex robot arm integrates the capping robot sub-arm and the substrate carrying sub-arm through the rotatable body.

2. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 1, characterized in that: Decomposing the real-time order information to obtain a binary component demand, and driving the process robot arm and the substrate carrying sub-arm of the spin-base duplex robot arm to pre-accept the binary process raw materials according to the binary component demand, including: Decomposing the real-time order information to obtain liquid component demand and non-liquid component demand, thereby forming the dual-state component demand; Sending the liquid component demand and the non-liquid component demand to the fluid infusion station and the state adjustment preparation station respectively to drive the pre-preparation of the dual-state process raw materials, wherein the dual-state process raw materials include a fluid base material and a state adjustment auxiliary material; Controlling the substrate carrying sub-arm to clamp the coffee cup and receive the fluid base material at the fluid filling station; The process robot arm is controlled to clamp the auxiliary material cup and receive the conditioning auxiliary material at the conditioning preparation station.

3. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 2, characterized in that: Based on the process docking coordinates, docking control energy consumption balance analysis is performed, and a dual-arm energy consumption balance trajectory is output, including: Based on the fluid characteristics of the fluid base material in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid filling station and the process docking coordinates, and a base material transport balance trajectory is output; According to the fluid characteristics of the state-adjusting auxiliary material in the auxiliary material cup, a docking control energy consumption balance analysis is performed between the state-adjusting preparation station and the process docking coordinate, and an auxiliary material transportation balance trajectory is output; Perform time sequence alignment and balancing on the base material transport balance trajectory and the auxiliary material transport balance trajectory, and output the dual-arm energy consumption balance trajectory.

4. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 3, characterized in that: Based on the fluid characteristics of the fluid base material in the coffee cup, a docking control energy consumption balance analysis is performed between the fluid filling station and the process docking coordinates, and a base material transport balance trajectory is output, including: Initialize the delivery time window based on the spatiotemporal reachability constraints of the process docking coordinates; calling a slosh suppression model according to the fluid feature matching of the fluid base in the coffee cup, wherein the slosh suppression model has a safety tilt angle threshold identifier; In a CFD simulation environment, simulating multiple rounds of displacement of the substrate carrying sub-arm holding the sway suppression model between the fluid injection station and the process docking coordinates to obtain multiple initial candidate trajectories; Using the safety inclination angle threshold and the carrying time window, traversing multiple initial fluid inclination angle sequences and multiple control carrying durations of the multiple initial candidate trajectories to screen out W candidate control trajectories; Energy consumption balance is quantified for the W candidate control trajectories, and the base material transport balance trajectory is screened and located according to the quantification result.

5. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 4, characterized in that: Quantifying the energy consumption balance of the W candidate control trajectories, and screening and locating the base material transport balance trajectory according to the quantification result, including: Performing torque integration on the W candidate control trajectories and outputting W candidate torque integrals; Extracting acceleration features of the W candidate control trajectories and outputting W candidate acceleration distributions; weightedly fusing the W control energy consumptions of the W candidate control trajectories, the W candidate torque integrals, and the W candidate acceleration distributions, and outputting W quantized docking control energy consumptions; The base material transport balancing trajectory is extracted from the W candidate control trajectories according to the ranking results of the W quantified docking control energy consumptions.

6. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 1, characterized in that: By flipping the rotatable body, the capping mechanical sub-arm is aligned with the ordered coffee beverage to perform the capping operation, including: Perform pickup distance adaptability analysis based on the real-time coordinates of the ordering user to locate the target tray at the pickup counter; According to the fluid characteristics of the ordered coffee beverage, the energy consumption of the robot arm displacement is optimized between the process docking coordinates and the target receiving plate, and a single-arm energy consumption balance trajectory is output; By adopting the single-arm energy consumption balancing trajectory, the substrate carrying sub-arm is controlled to move the ordered coffee beverage to the target receiving plate, and then the rotatable body is flipped to drive the capping mechanical sub-arm to align the ordered coffee beverage and perform semi-sealed capping.

7. The method for coordinated control of three robotic arms of a coffee beverage machine combined with energy consumption analysis according to claim 6, characterized in that: Perform pickup distance adaptability analysis based on the real-time coordinates of the ordering user to locate the target tray at the pickup counter, including: Locally calling multiple cup receiving coordinate points of multiple sunken circular receiving trays pre-punched on the food pickup table; Calculating multiple spatial distance features between the real-time user coordinates and the multiple cup body receiving coordinate points, and locating P candidate receiving coordinate points; According to the boundary structure of the coffee beverage machine, the P candidate receiving coordinate points are checked for obstacles in picking up food, and the target receiving plate is positioned.

8. A three-arm collaborative control system for a coffee beverage machine combined with energy consumption analysis is characterized by: The steps for implementing the method according to any one of claims 1 to 7 include: A docking positioning unit is used for locating process docking coordinates by analyzing the order process features of the real-time order information after the coffee beverage machine receives a new real-time order, wherein the coffee beverage machine includes a spin-based duplex robot arm and a process robot arm; a demand driving unit, configured to decompose the real-time order information to obtain a binary component demand, and drive the process robot arm and the substrate carrying sub-arm of the spin-base duplex robot arm to pre-accept the binary process raw materials according to the binary component demand; An energy consumption balance analysis unit, configured to perform energy consumption balance analysis on docking control based on the process docking coordinates and output a dual-arm energy consumption balance trajectory; a collaborative processing unit, configured to adopt the dual-arm energy consumption balanced trajectory and collaboratively control the process robot arm and the substrate carrying sub-arm to move the dual-state process raw material to the process docking coordinates to perform spatiotemporal synchronous processing to obtain the ordered coffee beverage; The capping execution unit is used to perform the capping operation by flipping the rotatable body and aligning the capping mechanical sub-arm with the ordered coffee beverage, wherein the spin-base duplex mechanical arm integrates the capping mechanical sub-arm and the substrate carrying sub-arm through the rotatable body.

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