Single-arm garland equipment, garland control method and garland system

Abstract

The invention relates to the technical field of automatic coffee making, and provides modularized single-arm garland equipment which comprises a mechanical arm module, an industrial mechanical arm module, a control module and a control module. The core control module is internally provided with a high-performance industrial personal computer, integrates a fluid dynamics injection algorithm, a self-adaptive fusion algorithm and a Bezier curve pattern generation algorithm, and realizes intelligent control of a garland process; the fluid control module is used for accurately controlling the flow and the temperature of the milk foam through an electromagnetic proportional valve and a temperature sensor; the man-machine interaction module is used for providing a specialized graphic operation interface; and the visual perception module is integrated with a 3D visual camera and an electronic scale to realize cup parameter identification and injection amount real-time monitoring. Through standardized interface design, flexible expansion of functional modules such as collaborative movement assistance, multi-material adding, multi-milk-path switching and automatic cleaning is supported, and the coffee machine can be used as independent equipment to operate and can also be integrated on a full-automatic coffee machine or a robot coffee bar counter.

Description

Technical Field

[0001] The present invention relates to the technical field of automated coffee making, and in particular to a single-arm latte art device, a latte art control method, and a latte art system. Background Art

[0002] With the rapid development of the coffee beverage market, automated coffee machines have become a core feature in commercial settings, such as chain brands and self-service areas in office buildings. By integrating grinding and extraction processes, they achieve efficient and standardized beverage preparation. However, latte art, a key element in enhancing product value and consumer experience, has become a bottleneck hindering the transition of fully automated coffee systems to fully unmanned processes. Currently, latte art equipment used with automated coffee machines faces significant limitations in terms of structural integration and functional coordination. These devices are mostly standalone, plug-in components and lack deep integration with automated coffee machines. These devices cannot receive base preparation signals (such as espresso completion notifications) from the coffee machine via standardized interfaces, nor can they provide real-time feedback on latte art progress to the coffee machine's main control system. This results in manual intervention breakpoints in the "base output - latte art execution" process, disrupting the automated coffee machine's continuous operation flow and failing to meet the commercial demand for efficient, seamless, and fully automated processes.

[0003] Furthermore, the existing latte art related equipment itself still has many technical shortcomings: (1) The equipment structure is fragmented and the integration level is low: Existing latte art-related equipment is mostly a combination of scattered components (such as independent robotic arms, external milk foam machines, and separate sensors), lacking a unified main control unit and coordinated control logic. The motion control of the robotic arm, milk foam supply adjustment, and sensor data collection functions are independent of each other and require manual intervention and coordination. This not only increases the complexity of system deployment, but also easily leads to a decrease in operational accuracy due to communication delays between components, making it difficult to achieve automated connection of the entire latte art process.

[0004] (2) Lack of modular design and limited expansion capabilities: The core components of existing equipment (such as robotic arms and fluid supply systems) are mostly specialized designs, lacking standardized interfaces and replaceable modules. When functions need to be expanded (such as adding multiple material supply and automatic cleaning functions), the equipment structure and control program need to be significantly modified. The adaptation cost is high and the compatibility is poor. It cannot flexibly respond to the personalized needs of different business scenarios (such as boutique coffee shops and chain coffee stations).

[0005] (3) Insufficient human-computer interaction and operational convenience: The operating interfaces of existing equipment are mostly simple buttons or basic touch controls, lacking professional interactive design for baristas. It is difficult for users to intuitively select patterns, fine-tune parameters, or monitor task status. In addition, there is insufficient support for managing preset pattern libraries and storing and calling custom recipes, which increases the operational threshold and prevents the full utilization of the equipment's automation advantages.

[0006] (4) Poor system compatibility and limited integration scenarios: Existing latte art equipment is mostly stand-alone, independently operated devices that lack standardized communication interfaces with external systems such as fully automatic coffee machines, cup delivery systems, and order management systems. This makes it difficult to integrate into large-scale automated coffee bars or unmanned coffee kiosks. This results in its use as an isolated device in commercial scenarios, unable to participate in the full-process collaboration from "order to production", limiting its application value in efficient operation scenarios.

[0007] (5) The adaptability of the actuator is single: Most existing equipment uses fixed types of actuators (such as robotic arms with a specific number of axes), which cannot flexibly adapt to actuator units with different degrees of freedom according to the complexity of the pattern (such as simple patterns, complex artistic patterns), and has poor compatibility with new actuators (such as high-speed parallel mechanisms, collaborative robots), making it difficult to improve equipment performance by upgrading the actuator components.

[0008] Therefore, there is an urgent need for an integrated, modular, and highly adaptable single-arm latte art machine. Through a unified structural design, standardized interface, and flexible expansion capabilities, it can solve the problems of low integration, difficult expansion, and poor compatibility of existing equipment, and meet the needs of efficient, flexible, and scalable latte art equipment in commercial scenarios. Summary of the Invention

[0009] In response to the above problems, the purpose of the present invention is to provide a single-arm latte art device, a latte art control method and a latte art system, which, through integration, modular design and standardized interfaces, improve the compatibility with automatic coffee machines, functional extensibility and ease of operation, and achieve efficient automation and flexible integration of the entire latte art process.

[0010] The above-mentioned object of the present invention is achieved through the following technical solutions: A single-arm lace making device, comprising: a robotic arm module, a core control module, a fluid control module, a human-computer interaction module and a visual perception module; A robotic arm module, comprising a multi-degree-of-freedom robotic arm, the end of which is configured with an actuator for gripping a fluid container, capable of achieving spatial motion and posture adjustment according to control instructions; A core control module, configured to execute a latte art control algorithm and generate control instructions. The latte art control algorithm includes at least fluid injection control, fluid fusion control, and pattern generation control. The core control module adjusts control parameters in real time based on the sensed data. A fluid control module, used to supply fluid for latte art and capable of adjusting the flow of the fluid according to the instructions of the core control module; A human-computer interaction module, configured to receive lace art parameters and / or pattern information input by a user; The visual perception module is used to obtain container parameters and / or fluid injection status information and feed the information back to the core control module.

[0011] Furthermore, the robotic arm module is specifically: The multi-degree-of-freedom robotic arm is a robotic arm with at least four degrees of freedom, and is a four-axis to seven-axis robotic arm or a collaborative robot.

[0012] Preferably, the robotic arm module adopts a six-axis or seven-axis industrial robotic arm, which is fixedly deployed through a robotic arm base. Its end effector is integrated with a graffiti cylinder clamp, and in coordination with the motion control card of the core control module, it realizes spatial displacement along the X, Y, and Z axes and posture adjustment around the Roll, Pitch, and Yaw axes.

[0013] Furthermore, the core control module specifically includes: Main controller, used to run the latte art control algorithm; Motion controller, used to control the motion of the multi-degree-of-freedom robotic arm; Flow controller, used to control the output flow of fluid.

[0014] Preferably, the main control unit IPC of the core control module is externally connected to a real-time controller and a motion control card. The real-time controller supports periodic collection of data from the visual perception module and solves control instructions. The motion control card has pulse + bus dual-mode control, adapts to the joint drive of the robotic arm, and ensures the real-time execution of the trajectory generation algorithm.

[0015] The latte art control algorithm includes: Fluid injection control, used to control the injection position, height and speed of the fluid; Fluid fusion control, used to control the mixing of fluids with the base liquid; Pattern generation control is used to control the motion trajectory to form a predetermined pattern.

[0016] The fluid injection control includes injection parameter optimization based on fluid dynamics.

[0017] The pattern generation control includes converting a target pattern into a motion trajectory of an actuator.

[0018] Furthermore, the fluid control module is specifically: The fluid is milk foam, vegetable milk foam, cream or other flowable beverage decoration materials.

[0019] The automatic milk frothing machine of the fluid control module is equipped with a flow control valve and a supply pipeline. The flow control valve adopts an electromagnetic proportional valve, which can receive analog instructions from the core control module to achieve continuous adjustment of the preset milk froth flow rate. The supply pipeline has a built-in temperature sensor, which can collaboratively control the milk froth temperature to maintain it within a preset temperature range.

[0020] Furthermore, the visual perception module specifically includes: Vision sensors for identifying the geometric parameters of containers; and / or weight sensors for monitoring the amount of fluid injected; and / or distance sensors for detecting the fluid level.

[0021] Preferably, the 3D vision camera of the visual perception module is equipped with an image processing module, which completes the 3D contour scanning of the cup before latte art through structured light or binocular stereo vision solutions, and calculates parameters including the coordinates of the center of the cup mouth, the diameter size, and the taper of the cup body; the electronic scale is integrated with a signal acquisition module to provide real-time feedback on changes in the quality of milk foam injection.

[0022] Furthermore, the single-arm lace art device further includes a standardized expansion interface, which adopts a modular design and includes: Mechanical interface: Adopts ISO 9409-1 standard flange interface, supporting quick assembly and disassembly; Electrical interface: 24V DC power interface, CAN bus communication interface, analog I / O interface; Software interface: Based on the standard message format of ROS (Robot Operating System), supporting plug-and-play; Communication protocol: Modbus TCP / IP protocol is used to ensure compatibility with industrial automation systems.

[0023] Furthermore, several standard expansion interfaces of the single-arm lace art device are used to select and configure the following function expansion modules, including: The auxiliary motion module is used to move the container to coordinate with the actuator movement; the multi-material addition module is used to add decorative auxiliary materials; and the cleaning module is used to automatically clean the fluid channel. The preferred modules specifically include the following technical solutions: A collaborative auxiliary motion module, comprising an independent motion platform in several dimensions, is used to carry and actively move the coffee cup. It can also coordinate motion with the robotic arm module, decoupling high-speed XY plane motion from Z direction and posture control, achieving higher speeds and finer patterns. The multi-ingredient adding module includes multiple independent powder or liquid dispensers, which are used to automatically add different types of auxiliary ingredients during or after the latte art process to create a variety of flavors of drinks; The multi-milk module has at least two independent milk lines and supply systems, allowing for quick switching between different milk bases for different drinks without manual intervention. The automatic cleaning module uses an automated cleaning system to automatically clean the latte art bowl with high-pressure water or steam after the brewing process, ensuring hygiene and reducing the workload of the barista.

[0024] Furthermore, the single-arm lace making device further comprises: The network communication module is responsible for establishing data exchange channels between the device and external systems and various functional modules, receiving external order instructions, synchronizing the coffee machine's base preparation status, and transmitting information processed by the core control module, including latte art task data and equipment operating status, to ensure system collaboration and information flow; The data storage module is responsible for storing information including latte art process data, equipment operation logs, user-defined patterns and parameters, and provides data support for the core control module to call historical data to optimize the latte art algorithm and the human-computer interaction module to manage the pattern library and parameter adjustment.

[0025] The device can operate as a stand-alone device or be integrated into an automated beverage making system.

[0026] Preferably, the single-arm latte art machine is configured to operate in the following barista-assisted semi-automatic working mode, specifically: The coffee base is prepared, and the barista makes the espresso and places it in the working area of ​​the single-arm latte art machine; To select and fine-tune latte art patterns, the barista uses the touch screen of the human-computer interaction module to select patterns in various ways, including selecting classic patterns from a preset pattern library, uploading custom patterns, and selecting historical patterns from recent history. The human-computer interaction module also allows the barista to make expert-level fine-tuning of parameters including blending, pattern, and flow rate based on experience and judgment. After the parameters are confirmed, the barista clicks the start button, and the various modules of the single-arm latte art machine cooperate with each other to automatically and continuously complete all subsequent steps including injection, blending, and latte art. After the drink is made, the single-arm latte art device issues a prompt, and the barista takes the finished product and presents it to the end user.

[0027] The first integration solution is that the single-arm latte art device is configured to be integrated with a fully automatic coffee machine as a core functional module to achieve seamless docking with the fully automatic coffee machine. Specifically, the user places an order on the fully automatic coffee machine, the fully automatic coffee machine automatically prepares the concentrated base and passes it to the single-arm latte art device, and the single-arm latte art device automatically completes the latte art, realizing full automation from beans to painting.

[0028] In this integration solution, the single-arm latte art machine is deeply integrated with the fully automatic coffee machine through the following fully automatic coffee machine integration forms: (1) Physical integration: The latte art equipment is installed on the side of the coffee machine, fixed through a standardized mechanical interface, and shares the same work surface; (2) Signal synchronization: - The coffee machine sends an "espresso complete" signal to the latte art machine via the Modbus protocol; - The latte art equipment will report statuses such as "Ready", "Latte Art Processing", and "Completed"; - Supports order information transmission, including beverage type, cup specifications, pattern selection, etc.

[0029] (3) Workflow: Step 1: The user selects "Cappuccino + Heart-shaped Latte Art" on the coffee machine interface; Step 2: The coffee machine automatically grinds and extracts espresso; Step 3: After the espresso is completed, the conveyor moves the coffee cup to the latte art station; Step 4: The latte art machine automatically identifies the cup shape and executes the latte art program; Step 5: After completion, the finished product will be delivered to the pick-up point without any human intervention.

[0030] The second integration solution is the robot coffee bar integration application: This integrated solution demonstrates three deployment modes for single-arm latte art equipment in unmanned coffee kiosks: (1) Detailed description of stand-alone mode: Hardware configuration: A seven-axis robotic arm with a mobile base, integrated with a cup remover, coffee machine interface, and latte art module; Working range: A circular working area with a radius of 1.5 meters, covering the entire process of cup collection, production, latte art, and delivery; Operation efficiency: single cup production time is 3-4 minutes, and daily production capacity is 300-400 cups.

[0031] (2) Detailed description of multi-machine collaboration mode: System architecture: Central dispatching system + cup-taking robot + coffee making unit + latte art robot + delivery robot; Communication mechanism: Publish / subscribe mode based on MQTT protocol, latency <100ms; Collaboration strategy: Use time window scheduling algorithm to ensure collision-free and efficient collaboration among robots.

[0032] (3) Detailed description of integrated extension mode: Hardware expansion: two mechanical arms share a rotating platform, allowing simultaneous processing of two orders. Parallel processing: while one arm performs the pull flower, the other arm can perform cup preparation or cleaning operations. Capacity improvement: compared with single-arm solution, capacity is improved by 80%, reaching more than 700 cups per day.

[0033] The present application also provides a pull flower control method, applied to the single-arm pull flower device described above, comprising: Obtain container information; Generate motion trajectory and fluid control parameters according to pull flower instructions; Control the actuator to move according to the motion trajectory, and control the fluid to output according to the fluid control parameters; Adjust the control parameters based on the sensing information.

[0034] The motion trajectory includes at least one of injection trajectory, fusion trajectory and pattern trajectory.

[0035] A computer readable storage medium stores a program, which is executed to implement the method described above.

[0036] A pull flower system includes the single-arm pull flower device described above, and a beverage making device in communication with the device.

[0037] Compared with the prior art, the present application includes at least one of the following beneficial effects: (1) High-efficiency collaboration of automatic process: the mechanical arm module cooperates with the core control module to realize high-precision spatial positioning and high-frequency instruction calculation, so that the pull flower is converted from manual dependence to data-driven, the operation difference is eliminated, the pull flower process is standardized and consistent, and the production efficiency and quality stability are improved.

[0038] (2) Flexible adaptation of modular function: cooperative motion, multi-material addition and other expansion modules can be selected and matched as needed to adapt to different scene requirements; the network communication module supports direct connection with external systems to realize full-process automation and flexible response to scene requirements from single store to chain, expanding business boundaries.

[0039] (3) Retaining creative flexibility in human-computer interaction: in semi-automatic mode, baristas can fine-tune parameters and customize patterns through human-computer interaction module, combining device precision and manual creativity to reduce operation threshold and retain the value of handmade creation, helping to replicate standardized services in stores.

[0040] (4) Data closed loop promotes continuous evolution: the data storage module stores pull flower process and device operation data, and the core control module optimizes the algorithm accordingly to improve device capabilities with usage iteration; the network communication module collects consumer data to help brands understand needs and achieve two-way adaptation of devices and markets.

[0041] (5) Cost and experience optimization and upgrade: Modular design optimizes hardware procurement costs and expands on demand to avoid redundancy; it adapts to various cup types and milk bases, ensures hygiene, realizes customized experience on a large scale, increases store customer spending and consumer experience, and releases commercial value.

[0042] (6) Significant improvement in technical indicators: Latte positioning accuracy: ±1mm (compared to ±5mm by manual labor); Pattern reproducibility: over 97% (consistency of the same pattern); milk foam temperature control: 60±3°C (optimal latte art temperature range); injection flow control accuracy: ±3ml / s; single-cup latte art time: 15-45 seconds (complex pattern); equipment availability: >95% (23 hours of daily operation).

[0043] (7) Cost-benefit analysis: Labor cost savings: replacing 1-2 professional baristas; reduced training costs: new employees can get started in 1 day (vs. traditional 3 months); reduced raw material loss: milk foam waste rate <2% (vs. manual 5-8%); investment payback period: 6-12 months (based on a daily production of 300 cups). BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a diagram showing the system configuration of a single-arm lace machine according to the present invention; Figure 2 This is a configuration diagram of the function expansion module of the present invention; Figure 3 This is a design diagram of the human-computer interaction interface of the present invention; Figure 4 This is a diagram of the system integration application form of the present invention; Figure 5 This is a schematic diagram of the robot coffee bar working in collaboration with the present invention; Figure 6 This is the core algorithm architecture diagram of the present invention; Figure 7 This is a schematic diagram of the standardized interface of the present invention; Figure 8 This is a schematic diagram of the cup parameter identification principle of the present invention; Figure 9 This is a topology diagram for the multi-scenario deployment of the present invention. DETAILED DESCRIPTION

[0045] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a," "an," "said," and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0047] First embodiment like Figure 1 As shown, this embodiment provides a single-arm lace device, including: a robotic arm module, a core control module, a fluid control module, a human-computer interaction module and a visual perception module; A robotic arm module, comprising a multi-degree-of-freedom robotic arm, the end of which is configured with an actuator for gripping a fluid container, capable of achieving spatial motion and posture adjustment according to control instructions; A core control module, configured to execute a latte art control algorithm and generate control instructions. The latte art control algorithm includes at least fluid injection control, fluid fusion control, and pattern generation control. The core control module adjusts control parameters in real time based on the sensed data. A fluid control module, used to supply fluid for latte art and capable of adjusting the flow rate of the fluid according to the instructions of the core control module; A human-computer interaction module, configured to receive lace art parameters and / or pattern information input by a user; The visual perception module is used to obtain container parameters and / or fluid injection status information and feed the information back to the core control module.

[0048] The following is a detailed description of each module: (1) Robotic arm module The multi-degree-of-freedom robotic arm is a robotic arm with at least four degrees of freedom, and is a four-axis to seven-axis robotic arm or a collaborative robot.

[0049] In this embodiment, the preferred robotic arm module adopts a six-axis or seven-axis industrial robotic arm. The robotic arm is fixedly deployed through a robotic arm base, and its end effector is integrated with a drawing cylinder clamp. In collaboration with the motion control card of the core control module, spatial displacement along the X, Y, and Z axes and posture adjustment around the Roll, Pitch, and Yaw axes are achieved.

[0050] In the present invention, a six- or seven-axis industrial robot module is a preferred embodiment. This is because these structures, driven by the core control module's motion control card, enable precise spatial displacement along the X, Y, and Z axes and posture adjustment around the Roll, Pitch, and Yaw axes through the coordinated motion of multiple joints. This allows for high-precision positioning and multi-angle tilting of the end effector (grape cylinder gripper) during the latte art process. However, this does not limit the number of axes in the robot arm. In practical applications, robots with different numbers of axes (e.g., four or five axes) can be selected based on factors such as the precision requirements and cost budget of the latte art application. As long as these robots can achieve the spatial displacement and posture adjustment required for latte art under the coordinated control of the core control module, ensuring stable execution of operations such as milk foam injection, blending, and pattern drawing, they fall within the scope of protection of the present invention. This design not only ensures the efficient implementation of core functions through a preferred solution, but also allows for flexible adaptation to different scenarios, demonstrating the system's compatibility and scalability.

[0051] (2) Core control module Main controller, used to run the latte art control algorithm; Motion controller, used to control the motion of the multi-degree-of-freedom robotic arm; Flow controller, used to control the output flow of fluid.

[0052] Preferably, the main control unit IPC of the core control module is externally connected to a real-time controller and a motion control card. The real-time controller supports periodic acquisition of data from the visual perception module and solves control instructions. The motion control card has pulse + bus dual-mode control, adapts to the joint drive of the robotic arm, and ensures the real-time execution of the trajectory generation algorithm.

[0053] Among them, such as Figure 6 As shown, the latte art control algorithm includes: Fluid injection control, used to control the injection position, height and speed of the fluid; Fluid fusion control, used to control the mixing of fluids with the base liquid; Pattern generation control is used to control the motion trajectory to form a predetermined pattern.

[0054] The fluid injection control includes injection parameter optimization based on fluid dynamics.

[0055] The pattern generation control includes converting a target pattern into a motion trajectory of an actuator.

[0056] In this invention, the core control module's main control unit (IPC), connected to an external real-time controller and motion control card, is a key design feature for achieving precise control of the latte art process. The real-time controller is responsible for periodically collecting data such as cup shape parameters and milk foam injection volume from a visual perception module (e.g., a 3D vision camera or electronic scale). Based on this real-time data, it rapidly computes control commands for the robotic arm and fluid control module, ensuring timely response to various dynamic changes during the latte art process. The motion control card's dual-mode pulse and bus control capabilities enable it to drive the robotic arm's joint motors for basic movements using pulse signals, while also enabling more complex multi-axis coordinated control via bus communication. This allows for flexible adaptation to the joint drive requirements of different robotic arm types, ensuring real-time and accurate execution of trajectory generation algorithms (such as elliptical trajectory generation and custom pattern trajectory generation), and ensuring that the robotic arm executes latte art in strict accordance with the path and posture planned by the core algorithm. This "real-time controller + motion control card" architecture ensures efficient data processing and command interpretation while ensuring precise transmission of control signals to the robotic arm's joint drivers, providing the core support for stable latte art trajectory execution.

[0057] (3) Fluid control module The fluid is milk foam, vegetable milk foam, cream or other flowable beverage decoration materials.

[0058] The automatic milk frothing machine of the fluid control module is equipped with a flow control valve and a supply pipeline. The flow control valve adopts an electromagnetic proportional valve, which can receive analog instructions from the core control module to achieve continuous adjustment of the preset milk froth flow rate. The supply pipeline has a built-in temperature sensor, which can collaboratively control the milk froth temperature to maintain it within a preset temperature range.

[0059] In the fluid control module, the flow control valve for the automatic milk frother utilizes a solenoid proportional valve. This design precisely responds to analog commands output by the core control module, achieving smooth adjustment of the milk froth flow rate through continuous changes in valve opening. This ensures the desired flow rate is maintained throughout the various stages of latte art (e.g., low-speed protection during the initial pouring phase and efficient filling during the intermediate phase), preventing sudden changes in flow rate from impacting blending or pattern formation. Simultaneously, a temperature sensor integrated into the supply line monitors the milk froth temperature in real time and feeds this data back to the core control module. This data is then coordinated within a preset temperature range (e.g., optimal temperature for coffee flavor) to ensure stable physical properties (e.g., viscosity and gas content) during the milk froth delivery and pouring process, providing the foundation for precise control of subsequent blending and latte art. This coordinated "flow + temperature" control not only ensures stable milk froth supply but also, through closed-loop interaction with the core control module, adapts to the fluid characteristics required for different latte art scenarios.

[0060] (4) Visual perception module Vision sensors for identifying the geometric parameters of containers; and / or weight sensors for monitoring the amount of fluid injected; and / or distance sensors for detecting the fluid level.

[0061] Preferably, Figure 8 As shown, the 3D vision camera of the visual perception module is equipped with an image processing module. Through structured light or binocular stereo vision solutions, it completes the 3D contour scanning of the cup before latte art, and calculates parameters including the coordinates of the center of the cup mouth, the diameter, and the taper of the cup body; the electronic scale is integrated with a signal acquisition module to provide real-time feedback on changes in the quality of milk foam injection.

[0062] The visual perception module, through the collaboration of a 3D vision camera and an electronic scale, builds a precise perception system for the latte art process. The image processing module on the 3D vision camera uses structured light or binocular stereo vision solutions to perform a 3D contour scan of the cup before latte art. It can quickly calculate key geometric parameters such as the center coordinates of the cup mouth, the diameter, and the taper of the cup body, providing basic data for the core control module to generate injection trajectories and postures suitable for different cup shapes. The signal acquisition module integrated into the electronic scale provides real-time feedback on changes in the quality of the milk foam during the injection process. Combined with the Kalman filter algorithm of the core control module, it achieves precise tracking of the injection volume to ensure that the preset target injection volume is achieved. This dual perception design of "static geometric perception + dynamic volume monitoring" not only ensures adaptability to differences in cup shapes, but also enables real-time control of the injection process, providing key data support for the precise execution of latte art.

[0063] (5) Human-computer interaction module The human-computer interaction module leverages a "touchscreen HMI + user interface" architecture to create an intuitive and convenient graphical operating environment. Users access the user interface through the touchscreen HMI, which integrates functions such as pattern selection, parameter fine-tuning, task start / stop, and status monitoring. Pattern selection supports both calling a library of preset patterns and uploading custom designs. Parameter adjustment allows for fine-tuning of latte art flow rate and trajectory accuracy. Clicking "Start" allows for real-time monitoring of the robot arm's movement, fluid supply, and other task progress. Anomalies can also trigger alerts, allowing users to fully control the latte art process. While ensuring automated execution, it also leaves room for manual intervention, adapting to the creative needs of both professional baristas and the average user.

[0064] Furthermore, the single-arm lace device also includes a standardized expansion interface, such as Figure 7 As shown, the standardized expansion interface adopts a modular design, including: Mechanical interface: Adopts ISO 9409-1 standard flange interface, supporting quick assembly and disassembly; Electrical interface: 24V DC power interface, CAN bus communication interface, analog I / O interface; Software interface: Based on the standard message format of ROS (Robot Operating System), supporting plug-and-play; Communication protocol: Modbus TCP / IP protocol is used to ensure compatibility with industrial automation systems.

[0065] Furthermore, if Figure 2 As shown, several standard expansion interfaces of the single-arm lace device of this embodiment are used to perform the selection of the following functional expansion modules, specifically including: The auxiliary motion module is used to move the container to coordinate with the actuator movement; the multi-material addition module is used to add decorative auxiliary materials; and the cleaning module is used to automatically clean the fluid channel. The preferred modules specifically include the following technical solutions: The collaborative auxiliary motion module includes an independent motion platform in several dimensions, which is used to carry and actively move the coffee cup. At the same time, it can cooperate with the robotic arm module to decouple the high-speed motion in the XY plane from the Z direction and posture control, achieving higher speed and finer patterns.

[0066] As an expandable functional unit of the present invention, the collaborative motion auxiliary module is based on the modular architecture design of the equipment and can achieve system-level collaboration with the core control module, robotic arm module, etc. through the extension interface. The module is equipped with an independent motion platform with several dimensions (1-3 dimensions) to carry and actively move the coffee cup. During the latte art operation, the platform cooperates with the robotic arm module to decouple the high-speed displacement operation of the XY plane from the Z-direction motion and posture control of the robotic arm. For example, when making complex tulip flower patterns, the motion platform is responsible for the rapid trajectory movement of the coffee cup in the XY plane, and the robotic arm focuses on the Z-direction milk foam injection height and the end effector posture adjustment. The two are precisely coordinated through the collaborative algorithm of the core control module, which not only improves the overall latte art speed, but also refines the pattern details, breaking through the limitations of the single robotic arm motion control, adapting to more complex and sophisticated latte art process requirements, and providing hardware support for expanding the artistic creation boundaries of the equipment.

[0067] The multi-material adding module includes multiple independent powder or liquid dispensers, which are used to automatically add different types of auxiliary materials during or after the latte art process to produce multi-flavor drinks.

[0068] As a functional unit that can be flexibly selected for the equipment, the multi-material adding module relies on a modular architecture design and can be integrated with the system through an expansion interface. It contains multiple independent powder and liquid dispensers, which have been debugged to establish collaborative logic with the core control module. During or after the latte art process, according to the multi-flavor production requirements selected by the user through the human-computer interaction module (such as adding cocoa powder to make mocha, adding matcha powder and flavor syrup to make matcha latte), the core control module sends instructions to the corresponding dispenser, and the dispenser accurately and quantitatively releases the auxiliary materials. Through the pipeline or blanking structure, cocoa powder, matcha powder, flavor syrup, etc. are automatically added into the cup according to the preset process, breaking through the limitations of the traditional single coffee base, helping the equipment to quickly expand the production capacity of multi-flavor beverages, adapting to diversified consumer needs, and providing hardware support for coffee beverage innovation.

[0069] The multi-milk module has at least two independent milk lines and supply systems, supporting rapid switching between different milk bases for different drinks without manual intervention.

[0070] The multi-milk circuit module is an important unit for expanding the functionality of the equipment. Designed based on a modular architecture, it can be integrated with the fluid system and core control module through an expansion interface. The module has at least two independent milk circuit pipelines and supply systems built in, and each pipeline is adapted to a different milk base (such as milk or oat milk). When making different beverages, the core control module automatically switches the supply of the corresponding milk circuit based on the order instructions (transmitted via the human-computer interaction module or the network communication module), eliminating the need for manual replacement of the milk base or cleaning of the pipeline. For example, when switching from making a "classic latte (milk-based)" to an "oatmeal latte (oatmeal milk-based)", the system can quickly close the milk circuit and open the oatmeal milk circuit, and precisely control the milk base delivery through a flow control valve. In conjunction with the robotic arm module and the fluid control module, this ensures the continuity of the latte art process, adapts to healthy consumption trends and diverse milk-based needs, and facilitates efficient switching and standardized output in beverage production.

[0071] The automatic cleaning module uses an automated cleaning system to automatically clean the latte art bowl with high-pressure water or steam after the brewing process, ensuring hygiene and reducing the workload of the barista.

[0072] As an auxiliary functional unit of the equipment, the automatic cleaning module can be integrated with the core control module and fluid system through an expansion interface. After the latte art task is completed, the core control module starts the module according to the preset logic or manual triggering instructions. It uses high-pressure water flow or steam to accurately act on the latte art cylinder (the latte art cylinder clamped by the end effector of the robotic arm), and completes the cleaning of milk stains and residual patterns on the inner wall through an automated process without the need for manual operation by the barista. This module not only ensures the hygiene of the latte art cylinder and prevents residues from affecting the quality of subsequent drinks, but also reduces the repetitive cleaning work of the barista, allowing him to focus on creativity and service, adapts to the hygiene needs and manpower optimization goals in high-frequency use scenarios in stores, and helps to achieve a fully automated closed loop of the coffee making process from the hardware level.

[0073] In addition, in this embodiment, the single-arm lace device further includes: The network communication module is responsible for establishing data exchange channels between the device and external systems and various functional modules, receiving external order instructions, synchronizing the coffee machine's base preparation status, and transmitting information processed by the core control module, including latte art task data and equipment operating status, to ensure system collaboration and information flow; The data storage module is responsible for storing information including latte art process data, equipment operation logs, user-defined patterns and parameters, and provides data support for the core control module to call historical data to optimize the latte art algorithm and the human-computer interaction module to manage the pattern library and parameter adjustment.

[0074] like Figure 9 As shown, the device can operate as a standalone device or be integrated into an automated beverage preparation system.

[0075] Preferably, in terms of human-computer interaction and workflow, the single-arm latte art machine of this embodiment is configured to operate in the following barista-assisted semi-automatic working mode, specifically: The coffee base is prepared, and the barista makes the espresso and places it in the working area of ​​the single-arm latte art machine; To select and fine-tune latte art patterns, the barista uses the touch screen of the human-computer interaction module to select patterns in various ways, including selecting classic patterns from a preset pattern library, uploading custom patterns, and selecting historical patterns from recent history. The human-computer interaction module also allows the barista to make expert-level fine-tuning of parameters including blending, pattern, and flow rate based on experience and judgment. After the parameters are confirmed, the barista clicks the start button, and the various modules of the single-arm latte art machine cooperate with each other to automatically and continuously complete all subsequent steps including injection, blending, and latte art. After the drink is made, the single-arm latte art device issues a prompt, and the barista takes the finished product and presents it to the end user.

[0076] like Figure 3As shown, this semi-automatic mode integrates human-machine collaboration to create the entire latte art process. The barista first prepares the espresso base and places it on the machine's workspace, forming the foundation of latte art. For pattern and parameter selection, leveraging the human-machine interaction module, the touchscreen offers multiple options: a library of pre-set classic patterns, custom uploads, and reuse of historical records, meeting both standardization and personalization needs. Expert fine-tuning of parameters for blending (number of turns, depth, intensity, etc.), pattern (size, position, rotation, etc.), and flow rate (initial / maximum flow rate, etc.) is also possible, allowing barista experience to be integrated into digital control, preserving creative flexibility. After confirming the parameters, click "Start." The machine automatically completes the entire process of pouring, blending, and latte art, leveraging visual perception (3D camera scanning, electronic scale monitoring), robotic arm motion (six- and seven-axis precise trajectory execution), fluid control (electromagnetic proportional valve adjusting milk froth flow), and the core control module (algorithm scheduling and multi-module collaboration), achieving standardized execution. After completion, the equipment will prompt the barista to take the finished product and deliver it to the user. This not only achieves process standardization through the equipment, but also retains professional value through the participation of baristas, adapts to the needs of coffee shops from efficiency to experience, and builds an efficient production closed loop of "artificial creativity + intelligent execution".

[0077] Preferably, Figure 4 As shown, in addition to being an independent semi-automatic device, this single-arm lace machine can also be integrated into a larger-scale automation system as a core functional module to form a variety of application states: (1) The single-arm latte art device is configured to be integrated with a fully automatic coffee machine as a core functional module to achieve seamless connection with the fully automatic coffee machine. Specifically, when a user places an order on the fully automatic coffee machine, the fully automatic coffee machine automatically prepares the concentrated base and passes it to the single-arm latte art device, and the single-arm latte art device automatically completes the latte art, realizing full automation from beans to painting.

[0078] (2) The single-arm latte art device is configured to be used in a robotic coffee bar or coffee kiosk and is deployed in any of the following ways, specifically: Standalone mode: The single-arm latte art machine directly handles all functions of cup delivery, coffee making, and latte art drawing, replacing the traditional multi-robot collaborative solution, simplifying system complexity and reducing deployment costs. Multi-machine collaboration mode: The single-arm latte art machine serves as the core artistic unit of the robotic coffee kiosk or coffee bar. Coordinated by a central dispatch system, it works in conjunction with other robots or coffee machines, including cup-taking robots and delivery robots, each performing its own function to form a complete unmanned coffee vending solution. Integrated expansion mode: The single-arm latte art equipment is integrated with a multi-robot system or a multi-transmission device to form a higher-performance composite coffee making platform that can process multiple orders simultaneously or implement more complex operation processes.

[0079] For a robotic coffee bar or kiosk, Figure 5 As shown, the complete process of coffee making and delivery is presented, involving roles such as users, order systems, central scheduling, latte art robots, cup-taking robots, coffee machines, and delivery robots, which include three modes: after the user places an order, the order system creates a task. In the stand-alone mode, the central scheduling instructs the latte art robot to perform the entire process of cup-taking, making, latte art and directly delivering it; in the multi-machine collaborative mode, the central scheduling first lets the cup-taking robot take the cup, the coffee machine makes espresso, the empty cup and espresso are passed in turn, the latte art robot performs latte art, and the finished product is delivered by the delivery robot; in the integrated extension mode, the central scheduling supports multiple orders in parallel, the latte art robot's multi-arms collaborate in batch production, and the batches are delivered after completion, clearly showing the collaboration of each link in different modes, and realizing the whole process management from order placement to finished product delivery.

[0080] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0081] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A single-arm lace equipment, characterized in that: include: A robotic arm module, comprising a multi-degree-of-freedom robotic arm, the end of which is configured with an actuator for gripping a fluid container, capable of achieving spatial motion and posture adjustment according to control instructions; A core control module, configured to execute a latte art control algorithm and generate control instructions. The latte art control algorithm includes at least fluid injection control, fluid fusion control, and pattern generation control. The core control module adjusts control parameters in real time based on the sensed data. A fluid control module, used to supply fluid for latte art and capable of adjusting the flow rate of the fluid according to the instructions of the core control module; A human-computer interaction module, configured to receive lace art parameters and / or pattern information input by a user; The visual perception module is used to obtain container parameters and / or fluid injection status information and feed the information back to the core control module.

2. The single-arm lace embroidery equipment according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm is a robotic arm with at least four degrees of freedom.

3. The single-arm lace embroidery equipment according to claim 2, characterized in that: The robotic arm is a four-axis to seven-axis robotic arm or a collaborative robot.

4. The single-arm lace embroidery equipment according to claim 1, characterized in that: The fluid is milk foam, vegetable milk foam, cream or other flowable beverage decoration materials.

5. The single-arm lace decoration equipment according to claim 1, characterized in that: The visual perception module includes: Vision sensors for identifying the geometric parameters of containers; and / or weight sensors for monitoring the amount of fluid injected; and / or distance sensors for detecting the fluid level.

6. The single-arm lace decoration equipment according to claim 1, characterized in that: The core control module includes: Main controller, used to run the latte art control algorithm; Motion controller, used to control the motion of the multi-degree-of-freedom robotic arm; Flow controller, used to control the output flow of fluid.

7. The single-arm lace decoration equipment according to claim 1, characterized in that: It also includes at least one functional expansion interface for connecting at least one of the following expansion modules: Auxiliary motion module, used to move the container to cooperate with the actuator movement; Multi-material adding module, used to add decorative auxiliary materials; Cleaning module, used for automatically cleaning fluid channels.

8. The single-arm lace decoration equipment according to claim 1, characterized in that: The latte art control algorithm includes: Fluid injection control, used to control the injection position, height and speed of the fluid; Fluid fusion control, used to control the mixing of fluids with the base liquid; Pattern generation control is used to control the motion trajectory to form a predetermined pattern.

9. The single-arm lace decoration equipment according to claim 8, characterized in that: The fluid injection control includes injection parameter optimization based on fluid dynamics.

10. The single-arm lace decoration equipment according to claim 8, characterized in that: The pattern generation control includes converting a target pattern into a motion trajectory of an actuator.

11. The single-arm lace decoration equipment according to claim 1, characterized in that: The device can operate as a stand-alone device or be integrated into an automated beverage making system.

12. A method for controlling a latte art, applied to the single-arm latte art device according to any one of claims 1 to 11, characterized in that: include: Get container information; Generate motion trajectory and fluid control parameters according to the latte art instructions; Controlling the actuator to move according to the motion trajectory and controlling the fluid to be output according to the fluid control parameters; Adjust control parameters based on sensory information.

13. The method according to claim 12, characterized in that The motion trajectory includes at least one of an injection trajectory, a fusion trajectory, and a pattern trajectory.

14. A computer-readable storage medium storing a program, wherein the program implements the method according to claim 12 or 13 when executed.

15. A latte art system, comprising the single-arm latte art device according to any one of claims 1 to 11, and a beverage making device communicatively connected to the device.

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