Coffee machine mechanical arm acceleration compensation control method and device based on dumping spill prevention

Abstract

The invention provides a coffee machine mechanical arm acceleration compensation control method and device based on toppling spill prevention, and relates to the technical field of mechanical arm control. A coffee machine calls a real-time acceleration sequence from an acceleration control library after receiving a real-time order, and a pipetting mechanical arm moves along a pipetting collision-free track in the process of clamping an order coffee cup to move along the pipetting collision-free track; the liquid gravity center offset is measured in real time through a six-axis force sensor integrated on a clamping jaw, and lagging shake offset of a real-time acceleration sequence is carried out according to the real-time gravity center offset. The technical problem that in the prior art, when a mechanical arm of a coffee machine transports coffee drinks containing heterogeneous liquid, the displacement control stability is insufficient, and pouring and scattering are likely to happen is solved. The technical effects that the coffee liquid is effectively prevented from spilling and leaking in the transportation process, the transportation stability of complex coffee drinks containing ice blocks, foam and the like is remarkably improved, safety and high efficiency of collaborative operation of the multiple mechanical arms are ensured, and the delay or overflow risk caused by liquid shaking is greatly reduced are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm control, and in particular to a method and device for controlling acceleration compensation of a coffee machine robotic arm based on dumping and spillage prevention. Background Art

[0002] Existing coffee machine robotic arms are mostly designed based on the transportation scenario of homogeneous liquid (such as pure coffee liquid), and their displacement control strategies usually adopt a fixed acceleration curve or simple PID feedback adjustment.

[0003] However, when transporting non-homogeneous liquids containing ice cubes, milk foam, etc., the dynamic inertia mutation caused by the internal density difference of the liquid will cause violent shaking. Traditional control methods are difficult to match the coupling changes of the liquid center of mass offset and the motion state of the robot arm in real time. Especially in the scenario of collaborative operation of multiple robot arms, the trajectory obstacle avoidance requirement further amplifies the motion discontinuity and intensifies the liquid inertia impact.

[0004] Existing technologies attempt to improve stability by reducing the pipetting speed or increasing the rigidity of the mechanical structure, but this significantly sacrifices manufacturing efficiency and fails to resolve the essential contradictions of the dynamic response of heterogeneous liquid multiphase flow.

[0005] In addition, feedback control based on a single sensor (such as vision or inertial unit) has problems of response delay and insufficient anti-interference ability, making it difficult to achieve high-precision anti-spill control under complex working conditions. Summary of the Invention

[0006] The present invention provides a coffee machine robot arm acceleration compensation control method and device based on tipping and spillage prevention, which is used to solve the technical problem in the prior art that the coffee machine robot arm has insufficient displacement control stability and is prone to tipping and spilling when transporting coffee beverages containing heterogeneous liquids.

[0007] In view of the above problems, the present invention provides a coffee machine robot arm acceleration compensation control method and device based on dumping and spilling prevention.

[0008] A first aspect of the present invention provides a coffee machine robot arm acceleration compensation control method based on tipping prevention, the method comprising: constructing an acceleration control library by performing a tipping prevention test along a collision-free pipetting trajectory, wherein the acceleration control library stores N standard coffee drinks and N reference acceleration sequences in a coded association manner; after receiving a real-time order, the coffee machine calls the real-time acceleration sequence from the acceleration control library by parsing the drink type code of the real-time order; after completing the real-time order production at the liquid receiving port of the coffee machine, the real-time acceleration sequence is used as a feedforward control input to activate the pipetting robot arm of the coffee machine; while the pipetting robot arm is moving along the collision-free pipetting trajectory while clamping the order coffee cup, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and offsets the lag shaking of the real-time acceleration sequence according to the real-time center of gravity offset.

[0009] In one implementation, the acceleration control library is constructed by performing a pouring and spilling prevention test along a collision-free pipetting trajectory. Prior to this, the following processing is performed:

[0010] The coordinates of the liquid receiving port and the cover area are extracted from the coffee machine workspace; and the collision-free pipetting trajectory of the pipetting robot arm is output by fitting the obstacle avoidance trajectory of multiple robotic arms between the liquid receiving port coordinates and the cover area coordinates.

[0011] In one implementation, a pouring and spilling test is performed along a collision-free pipetting trajectory, and an acceleration control library is constructed. The following processing is also performed:

[0012] Through the HMI interface of the coffee machine, N liquid component information of the N standard coffee drinks is entered; N sample liquid models are constructed based on the structural parameters of the coffee cup and the N liquid component information; using the collision-free pipetting trajectory as a constraint, the N sample liquid models are subjected to an iterative pouring and spill prevention test in a CFD simulation environment, and N benchmark acceleration sequences are output; the N standard coffee drinks and the N benchmark acceleration sequences are associated and stored to obtain the acceleration control library.

[0013] In one implementation, with the collision-free pipetting trajectory as a constraint, an iterative dumping and spill prevention test is performed on the N sample liquid models in a CFD simulation environment, and N benchmark acceleration sequences are output. The following processing is also performed:

[0014] The collision-free pipetting trajectory is discretized to obtain a time-series acceleration control point; a dual anti-spill criterion is predefined, wherein the dual anti-spill criterion is composed of a longitudinal offset threshold of the liquid surface and a lateral offset threshold of the center of mass; in a CFD simulation environment, the pipetting robot is operated with an initial acceleration to perform a dumping and spilling prevention test on a first sample liquid model along the collision-free pipetting trajectory to obtain a first robot arm end posture sequence, a first dynamic offset sequence, and a first end acceleration sequence corresponding to the time-series acceleration control point; the first dynamic offset sequence is traversed by adopting the dual anti-spill criterion, and a plurality of first end deviation accelerations are mapped and located in the first end acceleration sequence; and the first sample liquid model is subjected to an iterative dumping and spilling prevention test with the plurality of first end deviation accelerations as a starting point until a first reference acceleration sequence that meets the dual anti-spill criterion is output.

[0015] In one implementation, starting from the plurality of first terminal deviation accelerations, an iterative dumping prevention test is performed on the first sample liquid model until a first reference acceleration sequence that satisfies the dual criterion for spilling prevention is output, and the following processing is further performed:

[0016] When W dynamic offsets in the first alternative acceleration sequence output by the dumping and spilling prevention iterative test stably deviate from the spilling prevention dual criterion, W first robotic arm posture deviation points corresponding to the W dynamic offsets are called from the first robotic arm end posture sequence; robotic arm posture adaptive compensation is performed at the W first robotic arm posture deviation points to output a first reference posture sequence; the first alternative acceleration sequence and the first reference posture sequence are spatially fused to obtain the first reference acceleration sequence.

[0017] In one implementation, while the pipetting robot grips the ordered coffee cup and moves along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the liquid's center of gravity offset in real time, and offsets the hysteresis and sway of the real-time acceleration sequence based on the real-time center of gravity offset. Prior to this, the following processing is also performed:

[0018] Predefine the liquid center of gravity offset feature; use the first benchmark acceleration sequence to drive the pipetting robot arm to perform dumping and spilling prevention verification on the first sample liquid model, add the liquid center of gravity offset feature as a disturbance item at the timing acceleration control point to perform a disturbance test, and output a first disturbance offset sequence; compensate the first benchmark posture sequence according to the first disturbance offset sequence, and output a first compensated posture sequence; and so on, construct N compensated posture sequences of the N benchmark acceleration sequences; use coded association to store the N standard coffee drinks and the N compensated posture sequences to obtain a posture compensation library.

[0019] In one implementation, while the pipetting robot grips the ordered coffee cup and moves along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and offsets the hysteresis and sway of the real-time acceleration sequence based on the real-time center of gravity offset. The following processing is also performed:

[0020] According to the beverage type code of the real-time order, a real-time compensation sequence is called from the posture compensation library; when the pipetting robot clamps the order coffee cup and moves along the pipetting collision-free trajectory, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and according to the acceleration control point where the real-time center of gravity offset is located, the real-time posture compensation feature is called from the real-time compensation sequence; the real-time posture compensation feature is used to drive the pipetting robot to offset the lag and shake of the real-time acceleration sequence.

[0021] According to a second aspect of the present invention, a coffee machine robot arm acceleration compensation control device based on tipping prevention is provided, the device comprising: a data library construction unit, configured to construct an acceleration control library by performing a tipping prevention test along a collision-free pipetting trajectory, wherein the acceleration control library stores N standard coffee drinks and N reference acceleration sequences in a coded association manner; a data calling unit, configured to call a real-time acceleration sequence from the acceleration control library by parsing the drink type code of the real-time order after the coffee machine receives a real-time order; a device activation unit, configured to activate the coffee machine's pipetting robot arm by using the real-time acceleration sequence as a feedforward control input after the coffee machine completes the real-time order production at the liquid receiving port; and an offset compensation unit, configured to measure the liquid center of gravity offset in real time by using a six-axis force sensor integrated in the clamp when the pipetting robot arm is moving along the collision-free pipetting trajectory while clamping the order coffee cup. The hysteresis and shaking of the real-time acceleration sequence are offset according to the real-time center of gravity offset.

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

[0023] The method provided in an embodiment of the present invention constructs an acceleration control library by performing a pour-over prevention test along a collision-free pipetting trajectory. The acceleration control library stores N standard coffee beverages and N baseline acceleration sequences in a coded association. Upon receiving a real-time order, the coffee machine parses the beverage type code of the real-time order and retrieves the real-time acceleration sequence from the acceleration control library. After completing the real-time order at the coffee machine's liquid receiving port, the real-time acceleration sequence is used as a feedforward control input to activate the coffee machine's pipetting robot. While gripping the ordered coffee cup and moving it along the collision-free pipetting trajectory, the pipetting robot uses a six-axis force sensor integrated in the gripper to measure the liquid's center of gravity offset in real time. This offset is used to offset the hysteresis of the real-time acceleration sequence. This method effectively prevents spillage during coffee liquid transportation, significantly improves the transport stability of complex coffee beverages containing ice cubes and foam, ensures safe and efficient collaborative operation of multiple robots, and significantly reduces the risk of delays or spills caused by liquid sloshing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic flow chart of the coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention provided by the present invention is shown;

[0025] Figure 2 A schematic structural diagram of the coffee machine robot arm acceleration compensation control device based on pouring and spilling prevention provided by the present invention is shown.

[0026] Explanation of the accompanying symbols: data library building unit 1, data calling unit 2, device activation unit 3, offset compensation unit 4. DETAILED DESCRIPTION

[0027] The present invention provides a coffee machine robot arm acceleration compensation control method and device based on tipping and spillage prevention, which is used to solve the technical problem in the prior art that the coffee machine robot arm has insufficient displacement control stability and is prone to tipping and spilling when transporting coffee beverages containing heterogeneous liquids.

[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 the coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention provided by the embodiment of the present invention, see Figure 1 , the method comprising:

[0030] Step S100: Build an acceleration control library by performing a pouring and spilling prevention test along a collision-free pipetting trajectory, wherein the acceleration control library stores N standard coffee beverages and N reference acceleration sequences in a coded association manner.

[0031] In one implementation, the acceleration control library is constructed by performing a pouring and spilling prevention test along a collision-free pipetting trajectory. Prior to this, step S100 further includes:

[0032] Step S100-1: extracting the coordinates of the liquid receiving port and the cover area from the coffee machine workspace.

[0033] Step S100-2: Outputting a collision-free pipetting trajectory of the pipetting robot arm by fitting the obstacle avoidance trajectory of the multi-robot arm between the coordinates of the liquid receiving port and the coordinates of the cover area.

[0034] It should be understood that the coffee liquid spills out of the cup when the pipetting robot grips the coffee cup through the gripper and moves it from the liquid receiving port to the cover area. Therefore, this embodiment accurately locates the spatial coordinates of the liquid receiving port and the cover area within the three-dimensional working space of the coffee machine.

[0035] The coordinates of the liquid receiving port are determined by locating the cup placement area through a visual sensor or by preset mechanical structure parameters. The coordinates are obtained to ensure the accuracy of the starting point position of the robotic arm grabbing the coffee cup.

[0036] The lid-locking area coordinates must avoid the range of motion of other mechanical components (such as the steam nozzle and cup lid storage rack) and take into account the space margin required for cup lid sealing. Obtaining the coordinates of the liquid receiving port and the lid-locking area provides an accurate physical space reference for subsequent path planning.

[0037] Based on the coordinates of the liquid receiving port and the capping area, a multi-arm collaborative obstacle avoidance algorithm is used to generate a collision-free motion trajectory for the pipetting robot. It should be understood that trajectory fitting here requires real-time calculation of the dynamic working ranges of other robots (such as the capping robot and the ice removal robot) and the construction of a 3D obstacle point cloud model to ensure that there is no physical interference along the entire pipetting path.

[0038] Finally, the collision-free trajectory of the pipetting robot arm's displacement spatial route in space is obtained, which serves as the kinematic basis for subsequent acceleration optimization.

[0039] In one implementation, by performing a pouring and spilling prevention test along a collision-free pipetting trajectory, an acceleration control library is constructed. Step S100 of the method provided by the present invention includes:

[0040] Step S110: Inputting information of N liquid components of the N standard coffee drinks through the HMI interface of the coffee machine.

[0041] Step S120: Constructing N sample liquid models according to the coffee cup structural parameters and the N liquid component information.

[0042] Step S130: Using the collision-free pipetting trajectory as a constraint, perform an iterative dumping and spill prevention test on the N sample liquid models in a CFD simulation environment, and output N benchmark acceleration sequences.

[0043] Step S140: The N standard coffee beverages and the N reference acceleration sequences are stored in association with each other to obtain the acceleration control library.

[0044] Specifically, through the human-computer interaction interface equipped with the coffee machine (such as a touch screen or mobile application), N liquid component information of N standard coffee drinks are pre-input. The liquid component information includes the ratio of basic liquids such as water, coffee concentrate, and milk, as well as special properties such as the amount of ice added and the thickness of the foam layer. This constitutes the core data set of the beverage characteristic database, providing a raw material characteristic benchmark for subsequent liquid modeling.

[0045] By combining the preset physical parameters of the coffee cup (height, diameter, material stiffness) with the recorded information of the N liquid components, a unique liquid dynamic behavior model is established for the N standard coffee drinks to obtain the N sample liquid models.

[0046] The sample liquid model quantifies the viscosity changes, inertia distribution, and free surface fluctuation characteristics of the liquid corresponding to the coffee beverage in the coffee cup while in motion. For example, the heterogeneous mass distribution effect of ice-containing beverages or the viscoelastic damping characteristics of the milk foam layer form the physical basis of the simulation test.

[0047] Using a pre-generated collision-free pipetting trajectory as a fixed path constraint, N sample liquid models were tested for spill prevention performance in a computational fluid dynamics simulation environment. By iteratively adjusting the acceleration values ​​at each trajectory point of the robotic arm (e.g., reducing the peak acceleration during sharp turns), and observing changes in the liquid sloshing amplitude, the optimal acceleration control sequence for the corresponding beverage was generated, and N baseline acceleration sequences were output. The technical implementation of the iterative spill prevention testing for this embodiment is detailed in the accompanying specification.

[0048] A bidirectional index relationship is established between the optimized N standard coffee beverages and N benchmark acceleration sequences (e.g., "Americano" and "Iced Latte"), which are then stored in the coffee machine control system's non-volatile memory as the acceleration control library. This library supports rapid retrieval of matching benchmark acceleration sequences (acceleration curves) by beverage code, providing a feedforward control benchmark for real-time pipetting operations and allowing for dynamic expansion of new beverage types.

[0049] In one implementation, with the collision-free pipetting trajectory as a constraint, the N sample liquid models are subjected to an iterative pouring and spilling prevention test in a CFD simulation environment, and N benchmark acceleration sequences are output. Step S130 of the method provided by the present invention includes:

[0050] Step S131: discretize the collision-free pipetting trajectory to obtain time-series acceleration control points.

[0051] Step S132: predefine a dual criterion for preventing spillage, wherein the dual criterion for preventing spillage is composed of a liquid level longitudinal offset threshold and a center of mass lateral offset threshold.

[0052] Step S133: In a CFD simulation environment, the pipetting robot arm is operated with an initial acceleration to perform a dumping and anti-spill test on the first sample liquid model along the pipetting collision-free trajectory, and a first robot arm end posture sequence, a first dynamic offset sequence, and a first end acceleration sequence corresponding to the timing acceleration control point are obtained.

[0053] Step S134: traverse the first dynamic offset sequence by adopting the anti-spill dual criterion, and map and locate multiple first terminal deviation accelerations in the first terminal acceleration sequence.

[0054] Step S135: Taking the multiple first terminal deviation accelerations as a starting point, performing an iterative dumping and spill prevention test on the first sample liquid model until a first reference acceleration sequence that meets the spill prevention dual criteria is output.

[0055] In one implementation, starting from the plurality of first terminal deviation accelerations, an iterative dumping prevention test is performed on the first sample liquid model until a first reference acceleration sequence that satisfies the dual criterion for spilling prevention is output. Step S135 of the method provided by the present invention includes:

[0056] Step S1351: When W dynamic offsets in the first alternative acceleration sequence output by the dumping and spilling prevention iterative test stably deviate from the spilling prevention dual criterion, W first robotic arm posture deviation points corresponding to the W dynamic offsets are called from the first robotic arm end posture sequence.

[0057] Step S1352: Perform adaptive compensation of the robot arm posture at the W first robot arm posture deviation points and output a first reference posture sequence.

[0058] Step S1353: spatially fuse the first candidate acceleration sequence and the first reference posture sequence to obtain the first reference acceleration sequence.

[0059] Specifically, in this embodiment, the continuous collision-free moving path is cut into a plurality of discrete acceleration control points, each of which corresponds to the position of the robot arm at a different moment and is used for subsequent determination of the acceleration control parameters of the corresponding position.

[0060] For example, a 5-second path might be discretized into 500 time points, each separated by 10 milliseconds, forming a refined set of timing instructions. This discretization allows simulation tests to analyze the fluid's dynamic response frame by frame, precisely matching the robot's motion with the fluid's inertial delay.

[0061] The dual spill prevention criteria are set to the longitudinal offset threshold and the lateral offset threshold of the center of mass. For example, the longitudinal offset threshold is set to the liquid level not exceeding 15% below the cup rim (to prevent overflow), and the lateral offset threshold is set to the center of mass not exceeding 25% of the cup rim radius (to prevent rollover).

[0062] These two thresholds combine the safety margins of liquid volume with the requirements for motion stability. Exceeding either threshold triggers the acceleration control optimization process at discrete points in the trajectory. The criterion value is dynamically adjusted based on the cup size. For example, the lateral deviation threshold for an 8cm diameter cup is set to 2cm.

[0063] A first sample liquid model of a first standard coffee beverage (such as standard American coffee) is first run in the CFD simulation, and the robotic arm moves along the pipetting collision-free trajectory according to the initial theoretical acceleration.

[0064] The simulation records the actual posture of multiple discrete acceleration control points in the timing acceleration control points (such as the end gripper tilted 3°), the liquid center of mass offset (such as 5mm left deviation) and the real acceleration fluctuation data (such as peak overshoot 20%), and outputs the first robotic arm end posture sequence, the first dynamic offset sequence and the first end acceleration sequence.

[0065] The first robot arm end pose sequence, the first dynamic offset sequence, and the first end acceleration sequence expose potential defects in the initial trajectory, such as sudden acceleration causing the liquid surface to hit the criterion limit.

[0066] By traversing the first dynamic offset sequence using the dual spill prevention criteria, multiple first terminal deviation accelerations are mapped and located within the first terminal acceleration sequence. For example, at the Mth discrete acceleration control point in the path, the longitudinal fluctuation of the liquid level reaches 18% of the cup height, exceeding the 15% threshold, marking the acceleration value at that point as requiring optimization. At the Wth discrete acceleration control point, the center of mass lateral deviation is detected to exceed the standard (by 28% of the cup rim radius), and the corresponding acceleration command is located as the target for correction.

[0067] Finally, multiple first terminal deviation accelerations corresponding to multiple deviation acceleration points that require acceleration optimization are obtained.

[0068] At the multiple deviation acceleration points, the multiple first terminal deviation accelerations are used as the parameter adjustment starting point, and the acceleration parameter values ​​of the multiple deviation acceleration points are iteratively adjusted by the gradient descent algorithm. For example, at a certain deviation acceleration point, the acceleration peak value is increased from 2.5m / S 2 Reduced to 2.0m / S 2 After five iterations, the liquid level fluctuations stabilized within 12%, and the center of mass offset converged to 22%, generating the first benchmark acceleration sequence that ultimately met the dual anti-spillage criteria.

[0069] At the same time, there is an extreme case: only adjusting the acceleration of the deviation site still cannot output the first reference acceleration sequence that meets the dual criteria for preventing spillage. At this time, this embodiment considers introducing an adjustment to the clamping posture of the clamping claw at the end of the pipetting robot arm to compensate for the prevention of spillage that cannot be achieved by the acceleration adjustment.

[0070] Specifically, when the liquid offset of certain acceleration control points still cannot meet the anti-spill criterion after adjusting the acceleration parameters through multiple iterations, it is necessary to locate the spatial pose points of the robotic arm corresponding to these acceleration control points.

[0071] For example, if the liquid level fluctuations at W acceleration control points exceed the specified limits, acceleration adjustment alone cannot fully suppress sloshing. In this case, it is necessary to backtrack the simulation data and extract the W first manipulator posture deviation points corresponding to the W acceleration control points. The manipulator posture deviation points include the manipulator end position and posture parameters (such as gripper height and tilt angle), which serve as intervention targets for posture compensation. These W first manipulator posture deviation points are used to conduct a coupled analysis based on the liquid dynamic response and the manipulator kinematic parameters, providing a spatial correction benchmark for subsequent compensation.

[0072] Adaptive compensation for the manipulator's posture is performed at the W first manipulator posture deviation points. For example, at a posture deviation point where the liquid level surges forward, the gripper's lift height is increased by 2-3mm to reduce the impact of liquid inertia. At posture deviation points where the center of mass deviates significantly, the gripper's tilt angle is adjusted to reduce the centrifugal effect.

[0073] The compensated posture sequence needs to re-verify the effect of suppressing liquid deviation. Through parameter fine-tuning, the corrected posture data can offset the residual shaking that is not resolved by the acceleration adjustment, and generate a reference posture instruction set adapted to the current beverage characteristics to constitute the first reference posture sequence. The first reference posture sequence includes W reference posture adjustment instructions for the W first robot arm posture deviation points.

[0074] Based on the W first robotic arm posture deviation points, the first reference posture sequence is spatially fused into the first candidate acceleration sequence to obtain the first reference acceleration sequence.

[0075] The posture-acceleration fusion adjustment of this embodiment breaks through the limitations of single parameter adjustment. By collaboratively optimizing the dynamics and kinematic behavior of the robotic arm, it ultimately outputs a first benchmark acceleration sequence for a first-standard coffee beverage that meets the anti-spill requirements, ensuring the stability and efficiency of the first-standard coffee beverage during the transportation process.

[0076] Similarly, the same method is used to construct the N standard coffee drinks and N benchmark acceleration sequences, and the data configuration of the acceleration control library is completed by associating and storing the N standard coffee drinks and N benchmark acceleration sequences.

[0077] This embodiment constructs a multi-beverage acceleration control library through offline simulation, deeply couples the dynamic characteristics of the liquid with the kinematics of the robotic arm, achieves precise anti-spill control across beverage types, improves pipetting stability and efficiency, and reduces real-time computing load, ensuring the technical effect of versatility and reliability under complex working conditions.

[0078] Step S200: After receiving a real-time order, the coffee machine parses the beverage type code of the real-time order and calls a real-time acceleration sequence from the acceleration control library.

[0079] Step S300: After the real-time order preparation is completed at the liquid receiving port of the coffee machine, the real-time acceleration sequence is used as a feedforward control input to activate the pipetting robot arm of the coffee machine.

[0080] Specifically, after the user places an order, the coffee machine parses the beverage type identification code (such as "Latte01") embedded in the order and quickly retrieves a matching baseline acceleration sequence from a pre-built acceleration control library as the real-time acceleration sequence.

[0081] The matching process uses a coding mapping mechanism to achieve a precise association between beverage characteristics and motion control parameters, ensuring that the pipetting robot can instantly call motion instructions adapted to the physical properties of the current beverage, avoiding anti-spill failure problems caused by differences in liquid properties.

[0082] After the beverage is prepared at the liquid receiving port (such as coffee extraction or milk frothing), the retrieved real-time acceleration sequence is loaded into the pipetting robot control system as a feedforward control signal.

[0083] By directly injecting offline optimized motion parameters into the real-time control link, the robotic arm is driven to start running according to the preset anti-spill acceleration curve, bypassing the delay problem caused by insufficient online calculation and ensuring high-precision trajectory tracking and liquid stability in the initial stage of transportation.

[0084] Step S400: When the pipetting robot arm is moving along the collision-free pipetting trajectory while clamping the ordered coffee cup, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and offsets the lag shake of the real-time acceleration sequence based on the real-time center of gravity offset.

[0085] In one implementation, while the pipetting robot arm is gripping the ordered coffee cup and moving it along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and offsets the hysteresis and sway of the real-time acceleration sequence based on the real-time center of gravity offset. Previously, step S400 of the method provided by the present invention further includes:

[0086] Step S400-1: predefine the liquid center of gravity offset characteristics.

[0087] Step S400-2: Using the first reference acceleration sequence to drive the pipetting robot arm to perform dumping and spillage prevention verification on the first sample liquid model, the liquid center of gravity offset feature is added as a disturbance item at the timing acceleration control point to perform a disturbance test, and a first disturbance offset sequence is output.

[0088] Step S400-3: Compensate the first reference pose sequence according to the first disturbance offset sequence, and output a first compensated pose sequence.

[0089] Step S400-4: Similarly, construct N compensated posture sequences of the N reference acceleration sequences.

[0090] Step S400-5: The N standard coffee drinks and the N compensation posture sequences are stored by coding association to obtain a posture compensation library.

[0091] In one implementation, while the pipetting robot arm grips the ordered coffee cup and moves along the collision-free pipetting trajectory, a six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and offsets the hysteresis and sway of the real-time acceleration sequence based on the real-time center of gravity offset. The method step S400 provided by the present invention includes:

[0092] Step S410: Calling a real-time compensation sequence from the posture compensation library according to the beverage type code of the real-time order.

[0093] Step S420: When the pipetting robot arm is moving along the collision-free pipetting trajectory while clamping the order coffee cup, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and calls the real-time posture compensation feature from the real-time compensation sequence based on the acceleration control point where the real-time center of gravity offset is located.

[0094] Step S430: Using the real-time posture compensation feature to drive the pipetting robot arm to offset the lag shake of the real-time acceleration sequence.

[0095] Specifically, typical center-of-gravity shift patterns that may occur during liquid transport are predefined, such as liquid surface lag, lateral centrifugal shift, or random sloshing caused by cup vibration. These predefined shift patterns are derived from fluid dynamics principles and historical experimental data, providing a standardized set of disturbance scenarios for subsequent perturbation testing, covering common instability factors.

[0096] In the process of using the first benchmark acceleration sequence to drive the pipetting robot arm to perform dumping and spillage prevention verification on the first sample liquid model, the liquid center of gravity offset feature is added as a disturbance item at the timing acceleration control point to perform a disturbance test, and a first disturbance offset sequence is output. The first disturbance offset sequence is the dynamic response data (such as the maximum center of mass offset and recovery time) of the liquid at multiple (all) timing acceleration control points of the timing acceleration control point under the disturbance.

[0097] According to the first disturbance offset sequence exposed in the disturbance test, the first reference posture sequence is subjected to posture dynamic compensation design for each acceleration control point, and multiple compensation posture parameters of each acceleration control point under multiple center of gravity offset modes are obtained to constitute the first compensation posture sequence.

[0098] Similarly, N compensation posture sequences of the N reference acceleration sequences are constructed, and the N standard coffee drinks and the N compensation posture sequences are stored in a coded association manner to obtain a posture compensation library.

[0099] On this basis, according to the beverage type code of the real-time order, a real-time compensation sequence is called from the posture compensation library, and the real-time compensation sequence includes multiple compensation posture parameters of each timing acceleration control point in the timing acceleration control point under multiple center of gravity offset modes.

[0100] When the pipetting robot arm clamps the ordered coffee cup and moves along the pipetting collision-free trajectory, the liquid center of gravity offset is measured in real time by a six-axis force sensor integrated in the clamping jaw. When the center of gravity offset does not meet the dual anti-spillage criteria described above, the acceleration control point at which the real-time center of gravity offset is located is located in the real-time compensation sequence and multiple compensation posture parameters of the point in multiple center of gravity offset modes are called.

[0101] Compare which center of gravity offset interval the real-time center of gravity offset falls into among the multiple center of gravity offset modes to extract the corresponding compensation posture parameters as the real-time posture compensation features, and use the real-time posture compensation features to drive the pipetting robot arm to offset the lag shake of the real-time acceleration sequence.

[0102] This embodiment achieves the technical effect of effectively preventing the spillage of coffee liquid during transportation, significantly improving the transportation stability of complex coffee drinks containing ice cubes, foam, etc., ensuring the safety and efficiency of collaborative operations of multiple robotic arms, and greatly reducing the risk of delays or overflows caused by liquid shaking.

[0103] The second embodiment is based on the same inventive concept as the coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention in the previous embodiment. Figure 2 As shown, the present invention provides a coffee machine robot arm acceleration compensation control device based on pouring and spilling prevention, wherein the device includes:

[0104] A data library building unit 1 is configured to build an acceleration control library by performing a pouring and spilling prevention test along a collision-free pipetting trajectory, wherein the acceleration control library stores N standard coffee beverages and N reference acceleration sequences in a coded association manner;

[0105] The data calling unit 2 is used for the coffee machine to call the real-time acceleration sequence from the acceleration control library by parsing the beverage type code of the real-time order after receiving the real-time order;

[0106] a device activation unit 3, configured to activate a liquid transfer robot of the coffee machine by using the real-time acceleration sequence as a feedforward control input after the real-time order preparation is completed at the liquid receiving port of the coffee machine;

[0107] The offset compensation unit 4 is used to measure the liquid center of gravity offset in real time through the six-axis force sensor integrated in the clamp when the pipetting robot arm clamps the order coffee cup and moves along the pipetting collision-free trajectory, and to offset the lag shaking of the real-time acceleration sequence according to the real-time center of gravity offset.

[0108] In one implementation, the data database building unit 1 is further configured to:

[0109] The coordinates of the liquid receiving port and the cover area are extracted from the coffee machine workspace; and the collision-free pipetting trajectory of the pipetting robot arm is output by fitting the obstacle avoidance trajectory of multiple robotic arms between the liquid receiving port coordinates and the cover area coordinates.

[0110] In one implementation, the data database building unit 1 is further configured to:

[0111] Through the HMI interface of the coffee machine, N liquid component information of the N standard coffee drinks is entered; N sample liquid models are constructed based on the structural parameters of the coffee cup and the N liquid component information; using the collision-free pipetting trajectory as a constraint, the N sample liquid models are subjected to an iterative pouring and spill prevention test in a CFD simulation environment, and N benchmark acceleration sequences are output; the N standard coffee drinks and the N benchmark acceleration sequences are associated and stored to obtain the acceleration control library.

[0112] In one implementation, the data database building unit 1 is further configured to:

[0113] Discretize the collision-free pipetting trajectory to obtain a time-series acceleration control point; predefine a dual anti-spill criterion, wherein the dual anti-spill criterion is composed of a longitudinal offset threshold of the liquid surface and a lateral offset threshold of the center of mass; in a CFD simulation environment, use an initial acceleration to run the pipetting robot arm along the collision-free pipetting trajectory to perform a dumping and anti-spill test on the first sample liquid model to obtain a first robot arm end posture sequence, a first dynamic offset sequence, and a first end acceleration sequence corresponding to the time-series acceleration control point; traverse the first dynamic offset sequence by using the dual anti-spill criterion, and map and locate multiple first end deviation accelerations in the first end acceleration sequence; and perform an iterative dumping and anti-spill test on the first sample liquid model with the multiple first end deviation accelerations as a starting point until a first benchmark acceleration sequence that meets the dual anti-spill criterion is output.

[0114] In one implementation, the data database building unit 1 is further configured to:

[0115] When W dynamic offsets in the first alternative acceleration sequence output by the dumping and spilling prevention iterative test stably deviate from the spilling prevention dual criterion, W first robotic arm posture deviation points corresponding to the W dynamic offsets are called from the first robotic arm end posture sequence; robotic arm posture adaptive compensation is performed at the W first robotic arm posture deviation points to output a first reference posture sequence; the first alternative acceleration sequence and the first reference posture sequence are spatially fused to obtain the first reference acceleration sequence.

[0116] In one implementation, the offset compensation unit 4 is further configured to:

[0117] Predefine the liquid center of gravity offset feature; use the first benchmark acceleration sequence to drive the pipetting robot arm to perform dumping and spilling prevention verification on the first sample liquid model, add the liquid center of gravity offset feature as a disturbance item at the timing acceleration control point to perform a disturbance test, and output a first disturbance offset sequence; compensate the first benchmark posture sequence according to the first disturbance offset sequence, and output a first compensated posture sequence; and so on, construct N compensated posture sequences of the N benchmark acceleration sequences; use coded association to store the N standard coffee drinks and the N compensated posture sequences to obtain a posture compensation library.

[0118] In one implementation, the offset compensation unit 4 is further configured to:

[0119] According to the beverage type code of the real-time order, a real-time compensation sequence is called from the posture compensation library; when the pipetting robot clamps the order coffee cup and moves along the pipetting collision-free trajectory, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and according to the acceleration control point where the real-time center of gravity offset is located, the real-time posture compensation feature is called from the real-time compensation sequence; the real-time posture compensation feature is used to drive the pipetting robot to offset the lag and shake of the real-time acceleration sequence.

[0120] 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 coffee machine robot arm acceleration compensation control method based on dumping and spilling prevention, characterized in that: include: By performing a pouring and spilling prevention test along a collision-free pipetting trajectory, an acceleration control library is constructed, wherein the acceleration control library stores N standard coffee beverages and N benchmark acceleration sequences in a coded association manner; After receiving the real-time order, the coffee machine parses the beverage type code of the real-time order and calls the real-time acceleration sequence from the acceleration control library; After the coffee machine liquid receiving port completes the real-time order preparation, using the real-time acceleration sequence as a feedforward control input to activate the liquid transfer robot arm of the coffee machine; When the pipetting robot arm clamps the order coffee cup and moves along the pipetting collision-free trajectory, the six-axis force sensor integrated in the clamp measures the liquid center of gravity offset in real time, and offsets the lag shaking of the real-time acceleration sequence based on the real-time center of gravity offset.

2. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 1, characterized in that: The acceleration control library was built by performing pouring and spill prevention tests along the collision-free pipetting trajectory. Previously, it also included: Extracting the coordinates of the liquid receiving port and the cover area from the coffee machine workspace; By fitting the obstacle avoidance trajectory of the multi-manipulator between the coordinates of the liquid receiving port and the coordinates of the cover area, the collision-free pipetting trajectory of the pipetting robot arm is output.

3. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 2, characterized in that: Build an acceleration control library by performing pouring and spill prevention tests along a collision-free pipetting trajectory, including: Entering information on N liquid components of the N standard coffee drinks through the HMI interface of the coffee machine; Constructing N sample liquid models according to the coffee cup structural parameters and the N liquid component information; Using the collision-free pipetting trajectory as a constraint, performing an iterative dumping and spill prevention test on the N sample liquid models in a CFD simulation environment, and outputting N benchmark acceleration sequences; The N standard coffee beverages and N reference acceleration sequences are stored in association with each other to obtain the acceleration control library.

4. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 3, characterized in that: Using the collision-free pipetting trajectory as a constraint, perform an iterative dumping and spill prevention test on the N sample liquid models in a CFD simulation environment, and output N benchmark acceleration sequences, including: Discretizing the collision-free pipetting trajectory to obtain time-series acceleration control points; Predefined anti-spill dual criterion, wherein the anti-spill dual criterion is composed of a liquid level longitudinal deviation threshold and a center of mass lateral deviation threshold; In a CFD simulation environment, the pipetting robot arm is operated with an initial acceleration to perform a dumping and spilling prevention test on a first sample liquid model along the pipetting collision-free trajectory, thereby obtaining a first robot arm end position sequence, a first dynamic offset sequence, and a first end acceleration sequence corresponding to the time-series acceleration control point; By traversing the first dynamic offset sequence using the anti-spill dual criterion, a plurality of first terminal deviation accelerations are mapped and located in the first terminal acceleration sequence; Taking the multiple first terminal deviation accelerations as a starting point, an iterative dumping and spill prevention test is performed on the first sample liquid model until a first reference acceleration sequence that meets the spill prevention dual criterion is output.

5. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 4, characterized in that: Taking the multiple first terminal deviation accelerations as a starting point, performing an iterative dumping and spill prevention test on the first sample liquid model until a first reference acceleration sequence that meets the spill prevention dual criterion is output, including: When W dynamic offsets in the first alternative acceleration sequence output by the dumping and spilling prevention iterative test stably deviate from the spilling prevention dual criterion, calling W first manipulator arm posture deviation points corresponding to the W dynamic offsets from the first manipulator arm end posture sequence; Performing adaptive compensation of the manipulator posture at the W first manipulator posture deviation points to output a first reference posture sequence; The first candidate acceleration sequence and the first reference posture sequence are spatially fused to obtain the first reference acceleration sequence.

6. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 5, characterized in that: When the pipetting robot arm grips the ordered coffee cup and moves along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and offsets the hysteresis and shaking of the real-time acceleration sequence based on the real-time center of gravity offset. Prior to this, the method further includes: Predefined liquid center of gravity offset feature; In the process of performing dumping and spillage prevention verification on the first sample liquid model by driving the liquid transfer robot using the first reference acceleration sequence, a disturbance test is performed by adding the liquid center of gravity offset feature as a disturbance item at the timing acceleration control point, and a first disturbance offset sequence is output; Compensating the first reference pose sequence according to the first disturbance offset sequence, and outputting a first compensated pose sequence; Similarly, N compensation pose sequences of the N reference acceleration sequences are constructed; The N standard coffee beverages and N compensation posture sequences are stored by coding association to obtain a posture compensation library.

7. The coffee machine robot arm acceleration compensation control method based on pouring and spilling prevention according to claim 6, characterized in that: When the pipetting robot arm grips the ordered coffee cup and moves along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and offsets the hysteresis and shaking of the real-time acceleration sequence based on the real-time center of gravity offset, including: Calling a real-time compensation sequence from the posture compensation library according to the beverage type code of the real-time order; When the pipetting robot arm grips the ordered coffee cup and moves along the collision-free pipetting trajectory, the six-axis force sensor integrated in the gripper measures the center of gravity offset of the liquid in real time, and calls the real-time posture compensation feature from the real-time compensation sequence according to the acceleration control point where the real-time center of gravity offset is located; The real-time posture compensation feature is used to drive the pipetting robot arm to offset the lag shake of the real-time acceleration sequence.

8. A coffee machine robot arm acceleration compensation control device based on pouring and spill prevention, characterized in that: The steps for implementing the method according to any one of claims 1 to 7 include: a data library building unit, configured to build an acceleration control library by performing a pouring and spilling prevention test along a collision-free pipetting trajectory, wherein the acceleration control library stores N standard coffee beverages and N benchmark acceleration sequences in a coded association manner; a data calling unit, configured for the coffee machine to call the real-time acceleration sequence from the acceleration control library by parsing the beverage type code of the real-time order after receiving the real-time order; a device activation unit, configured to activate a liquid transfer robot of the coffee machine by using the real-time acceleration sequence as a feedforward control input after the real-time order preparation is completed at the liquid receiving port of the coffee machine; The offset compensation unit is used to measure the liquid center of gravity offset in real time through the six-axis force sensor integrated in the clamping jaw when the pipetting robot arm clamps the order coffee cup and moves along the pipetting collision-free trajectory, and to offset the lag shaking of the real-time acceleration sequence based on the real-time center of gravity offset.

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