A single-arm decorating device, a decorating control method and a decorating system

Abstract

The application relates to the technical field of automatic coffee making, and provides a modular single-arm latte art device, which comprises a mechanical arm module, an industrial mechanical arm serving as a core execution unit and realizing high-precision spatial positioning and attitude control; a core control module, a built-in high-performance industrial computer, integrated fluid dynamics injection algorithms, self-adaptive fusion algorithms and Bezier curve pattern generation algorithms, and realizing intelligent control of a latte art process; a fluid control module, which realizes accurate control of milk foam flow and temperature through an electromagnetic proportional valve and a temperature sensor; a man-machine interaction module, which provides a professional graphical operation interface; and a visual perception module, which is integrated with a 3D visual camera and an electronic scale and realizes cup parameter identification and real-time injection amount monitoring. The application realizes flexible expansion of function modules such as cooperative motion assistance, multi-material addition, multi-milk path switching and automatic cleaning through standardized interface design, can be operated as a stand-alone device, and can be integrated into a full-automatic coffee machine or a robotic coffee bar.

Description

Technical Field

[0001] The present invention relates to the technical field of automated coffee production, 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 configuration in commercial scenarios such as chain brands and self-service areas of office buildings, which achieve efficient and standardized beverage production by integrating links such as grinding and extraction. As a key link for increasing product added value and improving consumer experience, the degree of automated implementation of latte art has become a core bottleneck restricting the upgrading of fully automatic coffee systems to "full-process unmanned operation". At present, the latte art equipment matched with automated coffee machines has significant limitations in terms of structural integration, functional collaboration and other aspects: most of such equipment are independent external components, lacking deep adaptation with automated coffee machines — they can neither receive the base preparation signal of the coffee machine (such as the notification of completion of espresso) through a standardized interface, nor feed back the latte art progress to the main control system of the coffee machine in real time, resulting in manual intervention breakpoints in the "base output - latte art execution" link, which disrupts the continuous operation process of the automated coffee machine and cannot meet the demand for efficient and seamlessly connected full-process automation in commercial scenarios.

[0003] Furthermore, the existing latte art-related devices themselves also have many technical shortcomings: (1) Scattered device structure and low integration: Existing latte art-related devices are mostly combinations of scattered components (such as independent robotic arms, external milk frothers, and separated sensors), lacking a unified main control unit and cooperative control logic. Functions such as motion control of the robotic arm, supply adjustment of milk froth, and data acquisition of sensors are independent of each other and require manual intervention for coordination, which not only increases the complexity of system deployment, but also easily leads to decreased operation accuracy due to communication delays between components, making it difficult to achieve automated connection of the whole latte art process.

[0004] (2) Lack of modular design and limited expansion capability: Core components of existing devices (such as robotic arms and fluid supply systems) are mostly designed for special purposes, lacking standardized interfaces and replaceable modules. When it is necessary to expand functions (such as adding multi-material supply and automatic cleaning functions), substantial modifications to the device structure and control program are required, which results in high adaptation costs and poor compatibility, and cannot flexibly respond to the personalized needs of different commercial scenarios (such as specialty coffee shops and chain coffee stations).

[0005] (3) Insufficient human-computer interaction and operation convenience: The operation interface of existing devices is mostly simple buttons or basic touch control, lacking professional interaction design for baristas. It is difficult for users to intuitively select patterns, fine-tune parameters or monitor task status, and there is insufficient support for the management of preset pattern libraries and the storage and calling of custom recipes, which increases the operation threshold and cannot fully exploit the automation advantages of the device.

[0006] (4) Poor system compatibility and limited integration scenarios: Most existing latte art equipment are stand-alone devices that operate independently and 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. As a result, they can only be used as isolated devices in commercial scenarios and cannot participate in the entire process of "from order to product", which limits their application value in efficient operation scenarios.

[0007] (5) Limited adaptability of actuators: Existing equipment mostly uses fixed types of actuators (such as robotic arms with a specific number of axes), which cannot flexibly adapt to different degrees of freedom of actuators according to the complexity of the lace (such as simple patterns and complex artistic patterns), and has poor compatibility with new actuators (such as high-speed parallel mechanisms and collaborative robots), making it difficult to improve equipment performance by upgrading 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 interfaces, 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] To address the aforementioned issues, the present invention aims to provide a single-arm latte art device, a latte art control method, and a latte art system. Through integrated and modular design and standardized interfaces, it improves the compatibility with automated coffee machines, functional expandability, and ease of operation, achieving efficient automation and flexible integration of the entire latte art process.

[0010] The above-mentioned objective of this invention is achieved through the following technical solutions: A single-arm latte art device includes: a robotic arm module, a core control module, a fluid control module, a human-computer interaction module, and a visual perception module; The robotic arm module includes a multi-degree-of-freedom robotic arm, the end of which is equipped with an actuator for gripping a fluid container, and is capable of spatial movement and attitude adjustment according to control commands; The core control module is used to run the latte art control algorithm and generate control commands. The latte art control algorithm includes at least fluid injection control, fluid fusion control and pattern generation control. The core control module adjusts the control parameters in real time based on the sensing data. The fluid control module is used to supply fluid for latte art and can adjust the fluid flow rate according to the instructions of the core control module. The human-computer interaction module is used to receive latte art parameters and / or pattern information input by the user; The visual perception module is used to acquire container parameters and / or fluid injection status information, and to feed the information back to the core control module.

[0011] Furthermore, the robotic arm module specifically comprises: The multi-degree-of-freedom robotic arm is a robotic arm with at least four degrees of freedom. The robotic arm 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. The robotic arm is fixedly deployed through a robotic arm base, and its end effector integrates a pull cylinder gripper. With the cooperation of the motion control card of the core control module, it can realize spatial displacement along the X, Y, and Z axes and attitude adjustment around the Roll, Pitch, and Yaw axes.

[0013] Furthermore, the core control module specifically includes: The main controller is used to run the latte art control algorithm; Motion controllers are used to control the movement of multi-degree-of-freedom robotic arms. A flow controller is used to control the output flow rate of a fluid.

[0014] Preferably, the main control unit (IPC) of the core control module is connected to an external real-time controller and a motion control card. The real-time controller supports periodically acquiring data from the visual perception module and processing control commands. 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 is used to control the injection location, height, and speed of the fluid; Fluid fusion control is used to control the mixing of fluids with the base liquid; Pattern generation control is used to control the motion trajectory that forms a predetermined pattern.

[0016] The fluid injection control includes fluid dynamics-based optimization of injection parameters.

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

[0018] Furthermore, the fluid control module specifically comprises: The fluid is milk foam, plant-based milk foam, cream, or other flowable beverage garnish.

[0019] The automatic milk frother of the fluid control module is equipped with a flow control valve and a supply pipeline. The flow control valve is an electromagnetic proportional valve that can receive analog commands 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 that can work together to control the milk froth temperature to be maintained within a preset temperature range.

[0020] Furthermore, the visual perception module specifically includes: A vision sensor used to identify the geometric parameters of a container; and / or weight sensors for monitoring fluid injection volume; And / or a distance sensor, used to detect the fluid level.

[0021] Preferably, the 3D vision camera of the vision 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, and calculates parameters including the coordinates of the cup rim center, the diameter, and the cup body taper; the electronic scale integrates a signal acquisition module to provide real-time feedback on changes in the quality of milk foam injection.

[0022] Furthermore, the single-arm latte art device also includes a standardized expansion interface, which adopts a modular design and includes: Mechanical interface: Adopts ISO 9409-1 standard flange interface, supporting quick loading and unloading; Electrical interfaces: 24V DC power supply 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 latte art device are used to perform optional configurations of the following functional expansion modules, specifically including: An auxiliary motion module is used to move the container in coordination with the actuator; a multi-material adding module is used to add decorative auxiliaries; and a cleaning module is used to automatically clean the fluid channels. Preferred modules specifically include the following technical solutions: The collaborative motion module includes a multi-dimensional independent motion platform for carrying and actively moving a coffee cup. It can also coordinate with the robotic arm module to decouple high-speed motion in the XY plane from Z-direction and attitude control, thereby achieving higher speed and more refined patterns. The multi-material addition module contains multiple independent powder or liquid dispensers for automatically adding different types of auxiliary materials during or after latte art to create multi-flavored drinks; The multi-milk-path module has at least two independent milk-path pipelines and supply systems, which can support the rapid switching of different milk bases between different beverages without manual intervention. The automatic cleaning module uses an automated cleaning system to automatically clean the latte art container with high-pressure water or steam after the latte art is made, ensuring hygiene and reducing the workload of baristas.

[0024] Furthermore, the single-arm latte art device also includes: The network communication module is responsible for establishing data interaction channels between the device and external systems and various functional modules, receiving external order instructions, synchronizing the coffee machine base preparation status, and transmitting information processed by the core control module, including latte art task data and device operating status, to the outside world 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 for the human-computer interaction module to manage the pattern library and adjust parameters.

[0025] The device can operate as a standalone unit or be integrated into an automated beverage preparation system.

[0026] Preferably, the single-arm latte art device is configured to operate in a semi-automatic mode with barista assistance, specifically as follows: Prepare the coffee base, the barista makes the espresso and places it in the working area of ​​the single-arm latte art equipment; Baristas can select and fine-tune latte art patterns using the touchscreen of the human-computer interaction module. This includes 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 baristas to make expert-level fine-tuning of parameters such as blending, pattern, and flow rate based on their experience and judgment. After the parameters are confirmed, the barista clicks the start button, and the various modules of the single-arm latte art device work together to automatically and continuously complete all subsequent steps, including injection, blending, and latte art. Once the beverage is prepared, the single-arm latte art device will issue a notification, and the barista will collect the finished product and present it to the end user.

[0027] The first integration solution is that the single-arm latte art device is configured as a core functional module to be integrated with a fully automatic coffee machine, achieving seamless connection 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 espresso 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 bean to artwork.

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

[0029] (3) Work process: Step 1: The user selects "Cappuccino + Heart Latte Art" on the coffee machine interface; Step 2: The coffee machine automatically grinds and extracts espresso; Step 3: After espresso is concentrated, the conveyor moves the coffee cup to the latte art station; Step 4: The latte art equipment automatically recognizes the cup shape and executes the latte art program; Step 5: Once completed, deliver the finished product to the pick-up point. No human intervention is required throughout the process.

[0030] The second integration solution is the integration of a robotic coffee bar: This integrated solution demonstrates three deployment modes of the single-arm latte art device in unmanned coffee kiosks: (1) Detailed description of standalone mode: Hardware configuration: A seven-axis robotic arm equipped with a mobile base, integrating a cup dispenser, coffee machine interface, and latte art module; Work area: A circular work area with a radius of 1.5 meters, covering the entire process of cup taking, making, latte art, and delivery; Operating efficiency: 3-4 minutes per cup, daily production capacity of 300-400 cups.

[0031] (2) Detailed description of multi-machine collaborative mode: System architecture: Central dispatch system + cup-collecting robot + coffee making unit + latte art robot + delivery robot; Communication mechanism: MQTT-based publish / subscribe mode, latency <100ms; Collaborative strategy: A time window scheduling algorithm is adopted to ensure that the robots cooperate efficiently without collision.

[0032] (3) Detailed description of integrated extension mode: Hardware expansion: The two robotic arms share a single rotary platform, allowing them to process two orders simultaneously; Parallel processing: While one arm is performing latte art, the other arm can perform cup preparation or cleaning operations; Increased production capacity: Compared to the single-arm solution, production capacity is increased by 80%, reaching more than 700 cups per day.

[0033] The present invention also provides a latte art control method, applied to the above-mentioned single-arm latte art device, comprising: Get container information; Generate motion trajectory and fluid control parameters based on latte art instructions; The actuator is controlled to move according to the motion trajectory, while the fluid is controlled to output according to the fluid control parameters; Adjust control parameters based on perceived information.

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

[0035] A computer-readable storage medium storing a program that, when executed, implements the above-described method.

[0036] A latte art system includes the aforementioned single-arm latte art device and a beverage preparation device communicatively connected to the device.

[0037] Compared with the prior art, the present invention has at least one of the following beneficial effects: (1) Efficient collaboration of automated processes: The robotic arm module works in conjunction with the core control module to achieve high-precision spatial positioning and high-frequency command calculation, transforming latte art from manual dependence to data-driven, eliminating operational differences, ensuring the standardization and consistency of the latte art process, and improving production efficiency and quality stability.

[0038] (2) Modular functions are flexible and adaptable: Extended modules such as collaborative motion and multi-material addition can be selected as needed to adapt to different scenario requirements; the network communication module supports direct connection with external systems to realize full-process automation, flexibly respond to scenario requirements from single stores to chains, and expand business boundaries.

[0039] (3) Human-computer interaction retains creative flexibility: In semi-automatic mode, baristas can fine-tune parameters and customize patterns through the human-computer interaction module. Combining the precision of the equipment with human creativity, it not only reduces the operating threshold but also retains the value of handmade creation, helping to replicate standardized services in stores.

[0040] (4) Data closed loop promotes continuous evolution: The data storage module accumulates data such as latte art process and equipment operation, and the core control module optimizes the algorithm accordingly, so that the equipment capabilities can be iterated with use; the network communication module collects consumer data to help brands understand demand and achieve two-way adaptation between equipment and market.

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

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

[0043] (7) Cost-benefit analysis: Labor cost savings: Replacement of 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. 5-8% for manual labor); Investment recovery period: 6-12 months (based on a daily production of 300 cups). Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the single-arm lace-making machine system of the present invention; Figure 2 This is a configuration diagram of the functional extension 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 illustrating the system integration and application of the present invention. Figure 5 This is a schematic diagram illustrating the collaborative operation of the robot coffee bar according to the present invention; Figure 6 This is a diagram of the core algorithm architecture 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 illustrating the principle of cup parameter recognition in this invention. Figure 9 This is a multi-scenario deployment topology diagram for the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0046] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude 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 latte art device, including: a robotic arm module, a core control module, a fluid control module, a human-computer interaction module, and a visual perception module; The robotic arm module includes a multi-degree-of-freedom robotic arm, the end of which is equipped with an actuator for gripping a fluid container, and is capable of spatial movement and attitude adjustment according to control commands; The core control module is used to run the latte art control algorithm and generate control commands. The latte art control algorithm includes at least fluid injection control, fluid fusion control and pattern generation control. The core control module adjusts the control parameters in real time based on the sensing data. The fluid control module is used to supply fluid for latte art and can adjust the fluid flow rate according to the instructions of the core control module. The human-computer interaction module is used to receive latte art parameters and / or pattern information input by the user; The visual perception module is used to acquire container parameters and / or fluid injection status information, and to feed the information back to the core control module.

[0048] The following is a detailed explanation 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. The robotic arm is a four-axis to seven-axis robotic arm or a collaborative robot.

[0049] In this embodiment, the preferred robotic arm module is a six-axis or seven-axis industrial robotic arm. The robotic arm is fixedly deployed via a robotic arm base, and its end effector integrates a pull cylinder gripper. With the cooperation of the motion control card of the core control module, it can realize spatial displacement along the X, Y, and Z axes and attitude adjustment around the Roll, Pitch, and Yaw axes.

[0050] In this invention, a six-axis or seven-axis industrial robotic arm is a preferred embodiment. This is because a six-axis or seven-axis structure can precisely achieve spatial displacement along the X, Y, and Z axes and attitude adjustment around the Roll, Pitch, and Yaw axes through multi-joint coordinated movement, driven by the motion control card of the core control module. This satisfies the high-precision positioning and multi-angle tilting requirements of the end effector (lotion cylinder holder) during the latte art process. However, this does not mean that the number of axes of the robotic arm is limited. In practical applications, robotic arms with other numbers of axes (such as four-axis, five-axis, etc.) can be selected according to the precision requirements of the latte art scenario and cost budget. As long as it can complete the spatial displacement and attitude adjustment required for latte art under the coordinated control of the core control module, and ensure the stable execution of operations such as milk foam injection, fusion, and pattern drawing, it falls within the protection scope of this invention. This design not only ensures the efficient realization of the core functions through a preferred solution, but also reserves space for flexible adaptation to different scenarios, reflecting the system's compatibility and scalability.

[0051] (2) Core control module The main controller is used to run the latte art control algorithm; Motion controllers are used to control the movement of multi-degree-of-freedom robotic arms. A flow controller is used to control the output flow rate of a fluid.

[0052] Preferably, the main control unit (IPC) of the core control module is connected to an external real-time controller and a motion control card. The real-time controller supports periodically acquiring data from the visual perception module and processing control commands. 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 is used to control the injection location, height, and speed of the fluid; Fluid fusion control is used to control the mixing of fluids with the base liquid; Pattern generation control is used to control the motion trajectory that forms a predetermined pattern.

[0054] The fluid injection control includes fluid dynamics-based optimization of injection parameters.

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

[0056] In this invention, the core control module's main control unit (IPC) is externally connected to a real-time controller and a motion control card, which is a key design element 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 visual perception modules (e.g., 3D vision cameras, electronic scales). Based on this real-time data, it quickly calculates 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 pulse + bus dual-mode control capability allows it to drive the robotic arm's joint motors to perform basic movements via pulse signals, and also enables more complex multi-axis collaborative control via bus communication. This flexibly adapts to the joint drive requirements of different types of robotic arms, ensuring the real-time performance and accuracy of trajectory generation algorithms (e.g., elliptical trajectory generation, custom pattern trajectory generation) during execution, ensuring the robotic arm strictly follows the path and posture planned by the core algorithm to complete the latte art operation. This "real-time controller + motion control card" architecture satisfies both the high efficiency of data processing and command calculation, and ensures the precise transmission of control signals to the robotic arm's joint drives, providing core support for the stable execution of the latte art trajectory.

[0057] (3) Fluid control module The fluid is milk foam, plant-based milk foam, cream, or other flowable beverage garnish.

[0058] The automatic milk frother of the fluid control module is equipped with a flow control valve and a supply pipeline. The flow control valve is an electromagnetic proportional valve that can receive analog commands 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 that can work together to control the milk froth temperature to be maintained within a preset temperature range.

[0059] In the fluid control module, the automatic milk frother is equipped with an electromagnetic proportional valve for flow control. This design accurately responds to analog commands output by the core control module, achieving smooth adjustment of milk foam flow rate through continuous changes in valve opening. This ensures that the required flow rate is matched at different stages of latte art (such as low-speed protection in the initial injection stage and efficient filling in the intermediate stage), avoiding sudden changes in flow rate that could affect the blending effect or pattern formation. Simultaneously, a temperature sensor built into the supply pipeline monitors the milk foam temperature in real time and feeds the data back to the core control module. Combined with a preset temperature range (such as the optimal temperature for coffee flavor), this coordinated control ensures that the milk foam maintains stable physical properties (such as viscosity and gas content) during delivery and injection, providing a foundation for precise control of subsequent blending and latte art. This dual-parameter coordinated control of "flow rate + temperature" not only ensures the stability of milk foam supply but also adapts to the fluid characteristic requirements of different latte art scenarios through closed-loop linkage with the core control module.

[0060] (4) Visual perception module A vision sensor used to identify the geometric parameters of a container; and / or weight sensors for monitoring fluid injection volume; And / or a distance sensor, used to detect the fluid level.

[0061] Preferred, such as Figure 8 As shown, the 3D vision camera of the vision perception module is equipped with an image processing module. Through structured light or binocular stereo vision, it completes the 3D contour scanning of the cup before latte art and calculates parameters including the coordinates of the cup rim center, the diameter, and the cup body taper. The electronic scale integrates 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, constructs a precise perception system for the latte art process. The image processing module in the 3D vision camera employs structured light or binocular stereo vision to perform a 3D contour scan of the cup before latte art, quickly calculating key geometric parameters such as the cup's rim center coordinates, diameter, and taper. This provides the core control module with the foundational data to generate injection trajectories and postures adapted to different cup shapes. Meanwhile, the signal acquisition module integrated into the electronic scale provides real-time feedback on changes in milk foam quality during injection. Combined with the Kalman filter algorithm of the core control module, it achieves precise tracking of the injection volume, ensuring that the preset target injection amount is reached. This dual-perception design of "static geometric perception + dynamic volume monitoring" ensures adaptability to cup shape differences and enables real-time control of the injection process, providing crucial data support for the precise execution of latte art.

[0063] (5) Human-computer interaction module The human-computer interaction module relies on a "touchscreen HMI + operating interface" architecture to create an intuitive and convenient graphical operating environment for users. Users access the operating interface through the touchscreen HMI, which integrates functions such as pattern selection, parameter fine-tuning, task start / stop, and status monitoring. In terms of pattern selection, it supports both calling preset pattern libraries and uploading custom designs. In the parameter adjustment section, users can finely adjust the latte art flow rate, trajectory accuracy, and other parameters. After clicking start, users can view the progress of tasks such as robotic arm movement and fluid supply in real time. If an abnormality occurs, an alert can be triggered, allowing users to have full control over the latte art process. While ensuring automated execution, it retains the flexibility for human intervention, adapting to the creative needs of professional baristas and the operational needs of ordinary users.

[0064] Furthermore, the single-arm latte art device also includes a standardized expansion interface, such as... Figure 7 As shown, the standardized extension interface adopts a modular design, including: Mechanical interface: Adopts ISO 9409-1 standard flange interface, supporting quick loading and unloading; Electrical interfaces: 24V DC power supply 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, such as Figure 2 As shown, several standard expansion interfaces of the single-arm latte art device in this embodiment are used to perform the following optional functional expansion modules, specifically including: An auxiliary motion module is used to move the container in coordination with the actuator; a multi-material adding module is used to add decorative auxiliaries; and a cleaning module is used to automatically clean the fluid channels. Preferred modules specifically include the following technical solutions: The collaborative motion module includes a multi-dimensional independent motion platform for carrying and actively moving a coffee cup. It can also coordinate with the robotic arm module to decouple high-speed motion in the XY plane from Z-direction and attitude control, thereby achieving higher speed and more refined patterns.

[0066] The collaborative motion assistance module, as an expandable functional unit of this invention, is based on the modular architecture design of the device and can achieve system-level collaboration with the core control module, robotic arm module, etc., through expansion interfaces. This module is equipped with an independent motion platform with several dimensions (1-3D) to support and actively move the coffee cup. During latte art operations, the platform and robotic arm module work together to decouple the high-speed displacement operation in the XY plane from the Z-axis motion and attitude control of the robotic arm. For example, when creating complex tulip shapes, the motion platform is responsible for the rapid trajectory movement of the coffee cup in the XY plane, while the robotic arm focuses on the Z-axis milk foam injection height and end effector attitude adjustment. Through the collaborative algorithm of the core control module, the two work precisely together, improving both the overall latte art speed and refining the pattern details. This overcomes the limitations of single robotic arm motion control, adapts to more complex and refined latte art requirements, and provides hardware support for expanding the artistic creative boundaries of the device.

[0067] The multi-material addition module contains multiple independent powder or liquid dispensers for automatically adding different types of ingredients during or after latte art to create a variety of flavored drinks.

[0068] The multi-material addition module, a flexibly selectable functional unit of the equipment, relies on a modular architecture design and can be integrated with the system through expansion interfaces. Internally, it contains multiple independent powder and liquid dispensers, which, after debugging, establish collaborative logic with the core control module. During or after the latte art process, based on the user's multi-flavor preparation requirements selected through the human-machine interface module (e.g., adding cocoa powder to make a mocha, and adding matcha powder and flavored syrup to make a matcha latte), the core control module sends instructions to the corresponding dispensers. The dispensers precisely and quantitatively release the auxiliary materials, automatically adding cocoa powder, matcha powder, flavored syrup, etc., into the cup according to a preset process via pipelines or a material discharge structure. This breaks through the traditional limitations of a single coffee base, helping the equipment quickly expand its multi-flavor beverage preparation capabilities, adapting to diverse consumer demands, and providing hardware support for coffee beverage innovation.

[0069] The multi-milk-path module has at least two independent milk-path pipelines and supply systems, which can support the rapid switching of different milk bases between different beverages without manual intervention.

[0070] The multi-milk-path module is a crucial unit for expanding the equipment's functionality. Based on a modular architecture, it can be integrated with the fluid system and core control module via expansion interfaces. This module has at least two independent milk path pipelines and supply systems, each adapted to different milk bases (such as cow's milk or oat milk). When making different beverages, the core control module automatically switches the supply of the corresponding milk path based on order instructions (transmitted via the human-machine interface module or network communication module), eliminating the need for manual milk base changes or pipeline cleaning. For example, when switching from making a "classic latte (milk-based)" to an "oat milk latte (oat milk-based)," the system can quickly shut off the cow's milk path and open the oat milk path. Precise control of milk base delivery is achieved through a flow control valve. Combined with the robotic arm module and fluid control module, this ensures a continuous latte art process, adapting to health-conscious consumption trends and diverse milk base requirements, facilitating efficient beverage switching and standardized output.

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

[0072] The automatic cleaning module, as an auxiliary functional unit of the equipment, can be integrated with the core control module and fluid system via an expansion interface. After the latte art task is completed, the core control module activates this module based on preset logic or manual triggering commands. It uses high-pressure water or steam to precisely clean the latte art cylinder (held by the robotic arm's end effector), automatically removing milk residue and residual patterns from the inner wall without manual operation by the barista. This module ensures the hygiene of the latte art cylinder, preventing residue from affecting the quality of subsequent drinks, while also reducing repetitive cleaning work for baristas, allowing them to focus on creativity and service. It aligns with the hygiene needs and manpower optimization goals of high-frequency usage scenarios in stores, contributing to a fully automated closed-loop coffee-making process from a hardware perspective.

[0073] Furthermore, in this embodiment, the single-arm latte art device also includes: The network communication module is responsible for establishing data interaction channels between the device and external systems and various functional modules, receiving external order instructions, synchronizing the coffee machine base preparation status, and transmitting information processed by the core control module, including latte art task data and device operating status, to the outside world 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 for the human-computer interaction module to manage the pattern library and adjust parameters.

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

[0075] Preferably, in terms of human-computer interaction and workflow, the single-arm latte art device in this embodiment is configured to operate in a semi-automatic working mode assisted by baristas, specifically as follows: Prepare the coffee base, the barista makes the espresso and places it in the working area of ​​the single-arm latte art equipment; Baristas can select and fine-tune latte art patterns using the touchscreen of the human-computer interaction module. This includes 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 baristas to make expert-level fine-tuning of parameters such as blending, pattern, and flow rate based on their experience and judgment. After the parameters are confirmed, the barista clicks the start button, and the various modules of the single-arm latte art device work together to automatically and continuously complete all subsequent steps, including injection, blending, and latte art. Once the beverage is prepared, the single-arm latte art device will issue a notification, and the barista will collect the finished product and present it to the end user.

[0076] like Figure 3As shown, this semi-automatic working mode revolves around human-machine collaboration, constructing the entire latte art process: The barista first prepares the espresso base and places it in the equipment's working area, which is the foundation of latte art. In the pattern and parameter stage, relying on the human-machine interaction module, the touchscreen provides multiple selection paths—a preset classic pattern library, custom uploads, and reuse of historical records—meeting both standardization and personalization needs. Simultaneously, it allows for expert-level fine-tuning of parameters such as fusion (number of turns / depth / intensity, etc.), pattern (size / position / rotation, etc.), and flow rate (initial / maximum flow, etc.), integrating the barista's experience into digital control while retaining creative flexibility. After parameter confirmation, clicking "Start" allows the equipment to automatically complete the entire process of injection, fusion, and latte art based on visual perception (3D camera scanning cup shape, electronic scale monitoring of quality), robotic arm movement (six-axis / seven-axis precise execution trajectory), fluid control (electromagnetic proportional valve adjusting milk foam flow), and the core control module (algorithm scheduling of multi-module collaboration), achieving standardized execution. Once completed, the equipment provides a notification, and the barista picks up the finished product to deliver it to the customer. This approach not only standardizes the process through equipment but also preserves professional value through the barista's involvement, adapting to the needs of coffee shops in terms of both efficiency and experience, and building a highly efficient production loop of "human creativity + intelligent execution".

[0077] Preferred, such as Figure 4 As shown, in addition to functioning as a standalone semi-automatic device, this single-arm latte art machine can also be integrated into a larger-scale automation system as a core functional module, enabling various application scenarios: (1) The single-arm latte art device is configured as a core functional module to be integrated with the fully automatic coffee machine to achieve seamless connection with the fully automatic coffee machine. Specifically, the user places an order on the fully automatic coffee machine, the fully automatic coffee machine automatically makes an espresso 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 bean to painting.

[0078] (2) The single-arm latte art device is configured for use in a robotic coffee bar or coffee kiosk and is deployed using any of the following deployment methods: Standalone mode: The single-arm latte art device directly undertakes 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 collaborative mode: The single-arm latte art device serves as the core artistic unit of the robotic coffee kiosk or coffee bar. It is coordinated by the central scheduling system and works in collaboration with other robots or coffee machines, including cup-collecting 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-robotic arm system or a multi-transmission device to form a higher-performance composite coffee making platform that can handle multiple orders at the same time or realize more complex operation processes.

[0079] For robotic coffee bars or coffee kiosks, such as Figure 5 As shown, the complete coffee making and delivery process is presented, involving roles such as users, order systems, central dispatch, latte art robots, cup-collecting robots, coffee machines, and delivery robots. It includes three modes: After a user places an order, the order system creates a task. In the standalone mode, the central dispatch instructs the latte art robot to execute the entire process of cup collection, coffee making, latte art, and direct delivery. In the multi-machine collaborative mode, the central dispatch first instructs the cup-collecting robot to collect the cup, the coffee machine makes espresso, the empty cup and espresso are passed in sequence, the latte art robot performs latte art, and the finished product is delivered by the delivery robot. In the integrated and extended mode, the central dispatch supports multiple orders in parallel, and the latte art robots work together to make batches of coffee, which are then delivered in batches. The collaboration of each link in different modes is clearly shown, realizing full-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 embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing 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 embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A single-arm stranding apparatus characterized by comprising: include: The robotic arm module includes a multi-degree-of-freedom robotic arm, the end of which is equipped with an actuator for gripping a fluid container, and is capable of spatial movement and attitude adjustment according to control commands; The core control module is used to run the latte art control algorithm and generate control commands. The latte art control algorithm includes at least fluid injection control, fluid fusion control and pattern generation control. The core control module adjusts the control parameters in real time based on the sensing data. The fluid control module is used to supply fluid for latte art and can adjust the fluid flow rate according to the instructions of the core control module. The human-computer interaction module is used to receive latte art parameters and / or pattern information input by the user; The visual perception module is used to acquire container parameters and / or fluid injection status information, and to feed the information back to the core control module.

2. The single-arm stranding apparatus 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 latte art device 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 latte art device according to claim 1, characterized in that, The fluid is milk foam, plant-based milk foam, cream, or other flowable beverage garnish.

5. The single-arm latte art device according to claim 1, characterized in that, The visual perception module includes: A vision sensor used to identify the geometric parameters of a container; and / or weight sensors for monitoring fluid injection volume; And / or a distance sensor, used to detect the fluid level.

6. The single-arm latte art device according to claim 1, characterized in that, The core control module includes: The main controller is used to run the latte art control algorithm; Motion controllers are used to control the movement of multi-degree-of-freedom robotic arms. A flow controller is used to control the output flow rate of a fluid.

7. The single-arm latte art device according to claim 1, characterized in that, It also includes at least one functional extension interface for connecting to at least one of the following extension modules: The auxiliary motion module is used to move the container in coordination with the actuator. A multi-material addition module for adding decorative accessories; The cleaning module is used for automatic cleaning of fluid channels.

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

9. The single-arm latte art device according to claim 8, characterized in that, The fluid injection control includes fluid dynamics-based optimization of injection parameters.

10. The single-arm latte art device according to claim 8, characterized in that, The pattern generation control includes converting the target pattern into the motion trajectory of the actuator.

11. The single-arm latte art device according to claim 1, characterized in that, The device can operate as a standalone unit or be integrated into an automated beverage preparation system.

12. A latte art control method, 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 based on latte art instructions; The actuator is controlled to move according to the motion trajectory, while the fluid is controlled to output according to the fluid control parameters; Adjust control parameters based on perceived information.

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

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

15. A latte art system comprising a single-arm latte art device as described in any one of claims 1 to 11, and a beverage preparation device communicatively connected to said device.

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