Intelligent automatic tea making system and control method thereof

Abstract

The invention discloses an intelligent automatic tea making system and a control method thereof, and the system comprises an equipment edge layer which is used for user interaction and ordering; the Internet of Things intelligent management subsystem is used for processing payment and remote operation and maintenance; the control core layer serves as a main control center; and an execution device layer. The execution equipment layer comprises a multi-raw-material independent extraction system used for processing different raw materials such as coffee and tea in parallel; the double-temperature-area material storage and supply system is provided with a cold constant-temperature bin, a hot constant-temperature bin and a double-backup supply pipeline; the full-automatic assembling and conveying system is provided with a mobile platform with a weighing sensor, a cap falling device and a cap pressing device; and the precise temperature control and cleaning system has an instant boiler with PID temperature control and a steam cleaning function. Full-process automation, multi-beverage customization, remote intelligent operation and maintenance and high-temperature steam self-cleaning from order placing to cup discharging are achieved, and the problems that existing equipment is single in function, low in automation degree, insufficient in sanitation guarantee and inconvenient to operate and maintain are solved.

Description

Technical Field

[0001] This invention relates to the field of intelligent catering equipment and Internet of Things application technology, and in particular to an intelligent tea beverage automatic manufacturing system and its control method that has multi-raw material extraction, fully automatic assembly, remote operation and maintenance management and integrated steam cleaning functions. Background Technology

[0002] Existing automated beverage vending machines or self-service coffee machines generally suffer from the following technical bottlenecks:

[0003] 1. Limited functionality: Most devices only support brewing a single type of beverage (such as coffee) or premixed drinks, and cannot process multiple solid ingredients such as coffee, tea, and Chinese herbal medicine on the same device.

[0004] 2. Lack of automated closed-loop: Manual assistance is often required in steps such as cup placement, ice addition, and lid sealing, making it impossible to achieve fully unmanned operation from order placement to cup dispensing.

[0005] 3. Lagging operation and maintenance management: Equipment status, sales data, and material inventory cannot be monitored remotely in real time, making fault location difficult, response speed slow, and operational efficiency low.

[0006] 4. Inadequate hygiene: The beverage channel lacks an effective immediate cleaning and sterilization mechanism, posing a risk of cross-contamination and flavor transfer.

[0007] 5. Poor management convenience: Equipment maintenance relies on physical keys, which makes key management cumbersome and maintenance costs high in multi-site deployment scenarios.

[0008] Therefore, the market urgently needs an integrated solution that can achieve full-process automation, support multi-category customization, have remote intelligent operation and maintenance capabilities, and meet high hygiene standards. Summary of the Invention

[0009] (a) Purpose of the invention

[0010] The purpose of this invention is to provide an intelligent tea beverage automatic manufacturing system and its control method to solve the problems of single function, low degree of automation, inconvenient management and maintenance, and hygiene hazards in the existing technology, so as to realize the comprehensive intelligence and automation of beverage production and operation management.

[0011] (II) Technical Solution

[0012] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0013] In a first aspect, the present invention provides an intelligent tea beverage automated manufacturing system, comprising an equipment cabinet, wherein the cabinet integrates:

[0014] The device edge layer is used for user interaction, order placement, and payment.

[0015] The IoT intelligent management subsystem communicates with the edge layer of the device and is used for processing payments, performing remote operation and maintenance management, and order management.

[0016] The control core layer, which is communicatively connected to the device edge layer, is used to generate device execution parameters based on order information.

[0017] An execution device layer, electrically connected to the control core layer, is used to execute the device execution parameters to complete the tea beverage preparation; wherein, the execution device layer includes:

[0018] a) A multi-raw material independent extraction system, comprising at least two sets of independent grinding and extraction components, each set of which includes a grinder, a brewing head and a drive motor;

[0019] b) A dual-temperature zone material storage and supply system, including a cold storage warehouse for storing refrigerated materials and a thermal constant temperature warehouse for storing thermally insulated materials, wherein the cold storage warehouse and / or the thermal constant temperature warehouse are connected to a material supply unit containing at least two sets of parallel feeding pipelines.

[0020] c) A fully automated assembly and conveying system, including a moving platform for transferring tea tableware, a lid dropper, and a lid presser;

[0021] d) A precise temperature control and cleaning system, including an instant boiler and steam piping, wherein the steam piping can selectively deliver high-temperature steam to the drinking spout or extraction pipe.

[0022] Preferably, the multi-raw material independent extraction system includes three sets of grinding and extraction components, which are used to process coffee beans, tea leaves and Chinese herbal medicine raw materials respectively; each set of feeding pipelines of the material supply unit includes a material bag, a negative pressure sensor or weighing sensor for detecting whether the material is exhausted, and a liquid pump.

[0023] Preferably, the mobile platform of the fully automatic assembly and conveying system is an XYZ three-axis precision mobile platform, on which a lifting gripper is installed. The lifting gripper integrates a weighing sensor to determine whether the cup or ice is successfully dropped by sensing changes in weight.

[0024] Preferably, the instant boiler of the precision temperature control and cleaning system adopts a PID temperature control algorithm, which can generate high-temperature steam of 110℃–190℃; the system is configured to control the high-temperature steam to rinse and sterilize the corresponding extraction pipes after each cup of beverage is made.

[0025] Preferably, the IoT intelligent management subsystem is configured as follows:

[0026] It supports remote viewing of equipment status and sales data, receiving fault alarm information, and remote configuration of beverage parameters and sales prices;

[0027] Authorized personnel can remotely control the electric door locks installed on the equipment cabinet via a mobile app to achieve keyless entry.

[0028] Preferably, the main controller of the control core layer is configured to collect status data of the execution device layer through a sensor network and communication protocol, and encrypt and upload the status data to the IoT intelligent management subsystem through the device edge layer; the status data includes the remaining amount of material, device temperature, and position information of moving components.

[0029] Secondly, the present invention provides a control method based on the above-described intelligent tea beverage automatic manufacturing system, comprising the following steps:

[0030] Users place orders and complete payments through the device edge layer, and the order data is reported to the IoT intelligent management subsystem.

[0031] After the payment is verified, the control core layer receives the tea preparation confirmation signal and generates equipment execution parameters based on the order information;

[0032] The execution device layer responds to the device execution parameters, performs cup taking operation and raw material preparation operation in parallel, and controls multiple materials to be output synchronously to complete the beverage dispensing;

[0033] After the cap is applied and pressed down, the finished beverage is delivered to the cup-collecting spout.

[0034] After a single production process is completed, a precise temperature control and cleaning system is activated to use high-temperature steam to rinse the used extraction pipes and drinking spouts;

[0035] After cleaning, all system components are reset and ready for the next order.

[0036] Preferably, the process of the execution device layer executing device execution parameters specifically includes:

[0037] The mobile platform moves to the lid-dropping station to retrieve an empty cup, and the integrated weighing sensor confirms successful retrieval of the cup.

[0038] While the cup is being picked up, the grinding and extraction components corresponding to the order start grinding, and the hot boiler starts to prepare extraction water or steam.

[0039] The lifting gripper moves the cup to the serving station, and the system controls the simultaneous output of coffee / tea, dairy products, and syrup into the cup.

[0040] After the beverage is mixed, the mobile platform transports the cup to the capping station for capping and pressing.

[0041] After the capping is completed, the electric door for retrieving the cup opens, the moving platform places the beverage cup on the exit platform, and then the electric door closes.

[0042] Preferably, in the step of rinsing with high-temperature steam, the steam temperature is 120℃–170℃ and the rinsing duration is 30 seconds.

[0043] (III) Beneficial Effects

[0044] Compared with the prior art, the present invention has the following significant advantages:

[0045] 1. Ultimate automation and high efficiency: Through precise collaboration among various subsystems, the entire process from taking the cup to dispensing the cup is unmanned, supporting "instant drinking" and unattended operation.

[0046] 2. Wide range of beverage options and customization: Three independent extraction units combined with a dual-temperature zone multi-feed system enable one device to provide a variety of basic beverages (such as latte, Americano, pure tea, milk tea), and allow users to freely choose between ice / warm / hot and sugar levels.

[0047] 3. Advanced intelligent operation and maintenance system: Based on IoT-based remote monitoring and management, it realizes data transparency and rapid fault location; the keyless electric door lock design solves the pain point of managing physical keys for multiple devices.

[0048] 4. Excellent hygiene and safety and stable quality: "Fully sealed beverage dispensing" and "steam cleaning of each cup" fundamentally eliminate contamination and cross-contamination; PID precise temperature control and quantitative dispensing ensure a high degree of consistency in the taste of the beverages.

[0049] 5. High system reliability and maintainability: The multi-path backup and automatic switching mechanism of the water supply, material supply and cup supply system improves the continuous operation capability of the equipment; the modular design makes production and maintenance simple and quick. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the architecture of an intelligent tea beverage automatic manufacturing system provided in an embodiment of the present invention;

[0052] Figure 2 This is a control flowchart of a grinding and extraction assembly provided in an embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the control logic of a grinding and extraction component provided in an embodiment of the present invention;

[0054] Figure 4 This is a logic diagram of a control method for an intelligent tea beverage automatic manufacturing system provided in an embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention;

[0056] Figure 6 This is a schematic diagram of the internal integrated structure of the chassis after the entire machine is integrated in this embodiment;

[0057] Figure 7 This is a schematic diagram of the application structure of a mobile platform in this embodiment;

[0058] Figure 8 This is a schematic diagram illustrating the application of one type of overall machine shape structure in this embodiment;

[0059] Figure 9 This is a schematic diagram illustrating the application of a grinding and extraction component in this embodiment;

[0060] Figure 10 This is a schematic diagram illustrating the application of a capping device in this embodiment. Detailed Implementation

[0061] A preferred embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0062] It should be noted that, in the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate that something is being described as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either one or the other.

[0063] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0064] In this embodiment of the invention, sometimes a subscript such as W1 may be mistakenly written as a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0065] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0066] This system can be deployed and applied as an intelligent tea beverage automated manufacturing terminal (an automated manufacturing and sales terminal), and can be understood in conjunction with existing tea beverage terminals.

[0067] The system's water supply system can be modeled after the following intelligent water supply system: consisting of a water tank, a water level switch, four water pumps, and a flow meter. A four-source rotating pumping strategy is employed. The central controller (main controller, using an MCU such as an STM32 series main control chip) monitors the flow meter signal. If the flow meter shows no signal change for 5 consecutive seconds after a pump starts, it automatically switches to the next water source and records and reports the fault. When all four water sources fail to supply water normally, the system records and reports a "water shortage fault." The control logic uses a priority polling mechanism, with a pump switching response time ≤ 5 seconds. The flow meter can be a differential pressure flow meter (range 0-1L / min, accuracy ±2%FS). The water level switch is set with high (80%) and low (20%) dual level detection points to achieve water source redundancy.

[0068] The system architecture will be described below. Users can configure and select the electronic hardware systems or devices involved. For example, the 4G smart screen uses a professional version of the 4G smart Android screen, equipped with a 32-inch AMOLED display (FHD+ resolution), running the Android 14 operating system, supporting 4G full network connectivity and Wi-Fi 6 communication, and featuring 6GB RAM + 128GB ROM storage.

[0069] like Figure 1 As shown, an intelligent tea beverage automated manufacturing system includes an equipment cabinet (i.e., attached...). Figure 6 The main cabinet component 210 shown in the diagram integrates the following subsystems within the equipment cabinet, specifically including:

[0070] The device edge layer is used for user interaction, order placement, and payment. The preferred device edge layer is a 4G smart screen, which provides users with interactive operations such as order placement and payment, and serves as a data relay node.

[0071] The IoT intelligent management subsystem communicates with the edge layer of the device and is used for payment processing, remote operation and maintenance management, and order management. Specifically, the IoT intelligent management subsystem is configured to: support remote viewing of device status and sales data, receive fault alarm information, and remotely configure beverage parameters and sales prices; and support authorized personnel to remotely control the electric door locks installed on the device cabinet via a mobile APP to achieve keyless entry.

[0072] The control core layer, which communicates with the device edge layer, is used to generate device execution parameters based on order information. The control core layer mainly consists of a main controller (an MCU controller such as an STM32 MCU). This main controller is configured to collect status data from the execution device layer via a sensor network and communication protocol, and then encrypt and upload this status data to the IoT intelligent management subsystem through the device edge layer. The status data includes remaining material quantity, device temperature, and the position information of moving components.

[0073] An execution device layer, electrically connected to the control core layer, is used to execute the device execution parameters to complete the tea beverage preparation; wherein, the execution device layer includes:

[0074] a) A multi-raw material independent extraction system, comprising at least two sets of independent grinding and extraction components, each set of which includes a grinder, a brewing head, and a drive motor; wherein, the multi-raw material independent extraction system comprises three sets of grinding and extraction components, respectively used to process coffee beans, tea leaves, and Chinese herbal raw materials; each set of supply pipelines of the material supply unit includes a material bag, a negative pressure sensor or a weighing sensor for detecting whether the material is exhausted, and a liquid pump;

[0075] b) A dual-temperature zone material storage and supply system, including a cold storage warehouse for storing refrigerated materials and a thermal constant temperature warehouse for storing thermally insulated materials, wherein the cold storage warehouse and / or the thermal constant temperature warehouse are connected to a material supply unit containing at least two sets of parallel feeding pipelines.

[0076] c) A fully automatic assembly and conveying system, including a moving platform for transferring tea tableware, a lid dropper, and a lid presser; that is, the moving platform of the fully automatic assembly and conveying system is an XYZ three-axis precision moving platform, on which a lifting gripper is installed, and the lifting gripper integrates a weighing sensor to determine whether the cup or ice drop is successful by sensing the weight change.

[0077] d) A precision temperature control and cleaning system, including an instant boiler and steam piping, wherein the steam piping can selectively deliver high-temperature steam to the beverage outlet or extraction pipe; specifically: the instant boiler of the precision temperature control and cleaning system adopts a PID temperature control algorithm and can generate high-temperature steam of 110℃–190℃; the system is configured to control the high-temperature steam to rinse and sterilize the corresponding extraction pipe after each beverage is prepared.

[0078] The IoT intelligent management subsystem connects to the cloud platform via an IoT communication module to achieve mobile payment integration, remote equipment status monitoring, fault alarm reception, remote configuration of beverage parameters, and keyless entry function for controlling electric door locks via a mobile APP.

[0079] The control core layer, acting as the system's "central brain," uses an STM32 series MCU as its main controller. This controller receives order instructions, generates precise equipment execution parameters (such as extraction pressure, water temperature, and pump speed), and coordinates the orderly operation of all executing equipment. It can also collect and upload equipment status data.

[0080] The execution device layer is the physical execution unit of the system, including:

[0081] 1. Multi-raw material independent extraction system: Equipped with at least three independent grinding and extraction components, which can work in parallel or in shifts to process different solid granular raw materials such as coffee beans, tea (such as Tieguanyin and Zhengshan Xiaozhong), and Chinese herbal medicines.

[0082] 2. Dual-temperature zone material storage and supply system: This system includes a cold storage compartment (constant temperature 5℃) and a hot constant temperature compartment (constant temperature 40℃). The cold storage compartment is equipped with two sets of material feeding paths (main and auxiliary), while the hot constant temperature compartment has one set of material feeding paths. Each set of material feeding paths is connected in parallel with two material bags, achieving dual backup material supply. The system can automatically detect when the material bags are depleted and switch to a different path, while simultaneously reporting the status.

[0083] 3. Fully automated assembly and conveying system: This includes a mobile platform using an XYZ three-axis precision moving platform, on which lifting grippers with integrated high-precision weighing sensors are installed for accurate cup picking, transfer and judgment of whether the cup / ice drop is successful; it also includes a lid dropper, an ice maker, a lid presser and an electric cup picking door, which together complete the entire process from cup picking to cup dispensing.

[0084] 4. Precise Temperature Control and Cleaning System: Composed of an instant boiler, temperature probe, solenoid valve, and booster pump. It employs a PID control algorithm to precisely control the outlet water temperature and generates high-temperature steam (120℃–170℃) for high-temperature rinsing and sterilization of the corresponding extraction pipes after each beverage is prepared.

[0085] The following will describe the invention in further detail with reference to the accompanying drawings. Note: The fixing method of the present invention is not limited to bolts, screws, welding, etc., and can be achieved by common technical means in this field.

[0086] The system integration, installation, and deployment carrier, namely the complete machine, can be selected by the user in terms of its size and the number of integrated execution devices, such as configuring multiple grinding and extraction components.

[0087] The intelligent tea beverage automatic manufacturing system of the present invention is integrated into a main cabinet assembly 210 with a fuma wheel 200 and an electromagnetic lock 220 for door control (e.g., Figure 6The diagram shows the internal structure of the integrated chassis of this system. The main cabinet has a hinged door. Door control is achieved via APP commands, verified by system permissions, and then triggered by an unlocking command issued by the main control board 230 to activate the electromagnetic lock. The cabinet integrates a constant temperature and cold water chamber 240, a mobile platform 250, a water pump assembly 260 (with a water tank underneath, connected to a suction pump for water supply), a lifting gripper 150, an air switch 160 (system wiring protection), a main control board 230 (MCU controller), a capping device 300, a cap dropping device 290, an ice maker 280, and multiple grinding and extraction components 270. The door integrates an electric door 5, a 4G smart screen 2, and a barcode scanner 3. The installation location and connection method of the above equipment are not limited and can be determined by the user.

[0088] Preferably, the execution device layer includes the following execution devices:

[0089] The mobile platform 250 is used to move tea and tableware (such as cups) to the first target coordinate (XY coordinates), and uses the Z-axis driven lifting gripper 150 to hold the tableware and lift it to the target position at the Z coordinate. The mobile platform adopts an XYZ three-axis servo movement mechanism, which achieves XYZ three-axis linkage through a lead screw drive driven by a servo motor. For details, please refer to existing three-axis linkage mechanisms, XYZ axis mobile platforms, and other equipment. Figure 7 As shown, the mobile platform consists of an X-axis 100, a Y-axis 110, a Z-axis 120, a balance scale 140, and a lifting gripper 150. The three axes work together to form an XYZ three-axis linkage system. Each axis is driven by a servo motor, and the servo drive is controlled by the mobile platform control box 130 (a controller fixedly connected to the side of the Y-axis 110). The lifting gripper 150 is horizontally mounted on the Z-axis 120 and is used to grip the cup and move it up and down to the second target coordinate (Z coordinate). The specific coordinate value is generated by the system. The balance scale 140 (such as using a gravity sensor or pressure sensor) is fixedly mounted on the lifting gripper 150. When the cup is gripped, the balance scale 140 will sense the gravity signal and feed it back to the controller.

[0090] Electric door 5 is used for controlling the opening and closing of the cabinet door; as shown in the attached document. Figure 8 As shown, a window is provided on the outer casing 1 (that is, the main cabinet component, which is generally a cabinet structure) for installing the 4G smart screen 2; a barcode scanner 3 is also provided for users to scan the code to order food; below the 4G smart screen 2 is a cup holder 4 for placing cups after the drink has been served; the electric door 5 uses an electromagnetic lock for door control (refer to the electric door control principle of existing smart lockers). After the tea is prepared, the main controller controls the electric door 5 to open, and the gripper moves the cup to the door and places it on the cup holder;

[0091] like Figure 9As shown, the grinding and extraction assembly 270 includes at least one grinder 2701 and at least one brewer 2702, used for grinding tea ingredients and brewing tea, respectively. The grinder 2701 and brewer 2702 are supported by an external frame 310. An independent control board 320 (another MCU controller, communicating with the main controller, executing corresponding grinding and extraction commands) is deployed on the external frame 310 to control the grinder 2701 and brewer 2702. A hopper 310 for holding tea ingredients is mounted on the top of the grinder 2701, and the brewer 2702 is connected to the bottom of the grinder 2701. The entire grinding and extraction assembly 270 is placed on a drawer-style trash can 330. At 70, trash can be placed in drawer trash can 330 (i.e., drawer-type trash can 330); Working principle: Under the control of the electronic control board, the raw materials enter the grinder from the hopper, are ground into powder and then enter the brewer. Under the action of the brewing motor, they are mixed and stirred with the hot water provided by the hot water station. The raw tea enters the main pipeline through the three-way valve (the next step is to enter the cup, the solution volume is generated by the system and controlled according to the working time), the waste is discharged into the trash can, and the wastewater is discharged into the wastewater tank through the wastewater outlet; In this embodiment, the grinder 2701 is, for example, a commercial coffee grinder (grinding degree adjustable from 3 to 15 levels, blade diameter 40mm, motor power 180W), and the brewer 2702 uses a brewing motor. The grinder speed is adjustable and supports adjustable single grinding volume;

[0092] A hot water unit is used to provide drinking water with a temperature of at least 30-100°C to the grinding and extraction unit; that is, a hot water supply unit, which achieves closed-loop regulation of water temperature through a main controller based on a PID algorithm, with a temperature control accuracy of ±0.5°C and supports continuous temperature adjustment, as can be seen in commonly used hot water facilities.

[0093] The capper 300 is used to cap the tea-drinking utensils after dispensing; for example... Figure 10 As shown, the capping device 300 comprises a capping device bracket 3001 (used to fix the capping device 300 to the main cabinet), a stepper motor 3002, and a pressure plate 3003. The stepper motor 3002 is mounted on the bracket, and a thrust plate is integrally formed on the side of the bracket. The stepper motor 3002 is mounted on the bracket on the side away from the thrust plate, and the output shaft (lead screw) of the stepper motor 3002 points towards the thrust plate. A pressure plate is vertically fitted on the lead screw, and the pressure plate is relatively parallel to the thrust plate. The pressure plate moves relative to the thrust plate under the rotation of the lead screw, realizing the capping action (the cup is located under the pressure plate and moves to the bottom of the pressure plate through three-axis movement. Here, the electronic control board controls the stepper motor 3002 to start, and the lead screw drives the pressure plate to press down and tighten the cap at the end of the cup. Guide rods are also provided on both sides of the lead screw (used to support and guide the pressure plate to position relative to the thrust plate). Working principle: The stepper motor with lead screw rotates and drives the pressure plate to move up and down, realizing the process of pressing the cup and the cap. The left side of the bracket is the area where the electronic control board is installed.

[0094] The constant temperature chamber 240 includes at least one refrigerated compartment and at least one constant temperature heated compartment. The refrigerated compartment is used to refrigerate the first tea beverage raw material, and the constant temperature heated compartment is used to refrigerate the second tea beverage raw material. The chamber contains one refrigerated compartment (constant temperature 5℃) and one constant temperature heated compartment (constant temperature 40℃). The refrigerated compartment is equipped with two sets of feeding paths (main and auxiliary), and the constant temperature heated compartment is equipped with one set of feeding paths. Each set of feeding paths is connected to two material bags in parallel, achieving dual backup feeding. The constant temperature chamber also features intelligent switching and alarm functions: when the system detects that the current material bag is empty, it automatically switches to the backup material bag in the same set and records the alarm; when both material bags in the same set are exhausted, the system records and reports a "material shortage alarm." The methods of refrigeration (e.g., using a refrigeration semiconductor) and heating (e.g., resistance heating or infrared heating tubes) are not limited.

[0095] Ice maker 280 is used to provide ice-making services and to pour ice onto the tea and beverage tableware; refer to the principle of existing ice-making equipment for details.

[0096] The lid dropper 290 is used to drop the lids onto the tea and beverage tableware that has been initially grasped; this can be understood in conjunction with the automatic lid dropping methods of existing equipment such as soy milk makers.

[0097] The mobile platform, electric door, lifting gripper, grinding and extraction assembly, hot water assembly, capping device, hot and cold constant temperature chamber, ice maker, and cap dropping device are all electrically connected to the main controller of the control core layer. Each executing device communicates in real time via a MODBUS bus. The main controller uses an MCU, supports synchronous control of 32 devices, and has an I / O response time ≤0.1ms.

[0098] This system is equipped with at least three independent grinding and extraction components. Each component includes a grinder, a brewing head, and a brewing motor that drives the brewing head (each component is controlled by the main controller to implement the corresponding execution parameters, which are adjusted according to the type of each tea drink order and user input information such as sugar content; each component can work in parallel or in shifts, and is used to process different solid granular agricultural products such as coffee beans, tea (such as Tieguanyin and Zhengshan Xiaozhong), and Chinese herbal medicines, providing a basis for beverage diversity).

[0099] The mobile platform integrates a high-precision weighing sensor (such as Zemic HX711, with a range of 0-500g and an accuracy of ±0.1g), which determines "successful / failed drop of cup" and "successful / failed drop of ice" by sensing weight changes. The weight sampling rate is 80Hz and the status judgment delay is ≤200ms. The lifting gripper 150 on it is driven by the Z-axis and is used to hold the tableware and lift it to the target position.

[0100] Cup dispenser and lid dispenser: The cup dispenser has, for example, five cup compartments. When the current cup compartment is empty, it automatically switches to the next compartment (switching time ≤ 5 seconds). When all cup compartments are empty, it records and reports "cup missing".

[0101] Ice maker: Built-in weighing sensor, can accurately output a specified weight of ice cubes according to instructions.

[0102] The capping device and the electric cup-removing door: The capping device completes the pressing and sealing of the cup lid, and the electric cup-removing door serves as the finished product outlet.

[0103] like Figure 2 and Figure 3 As shown, preferably, the control flow of the grinding and extraction component is as follows:

[0104] The main controller generates a corresponding grinding and extraction dataset based on the tea beverage type selection instruction. The dataset includes: material type, raw material amount controlled based on grinding time (e.g., coffee powder 8-12g / cup, tea leaves 5-8g / cup), extraction water volume (150-300ml), extraction temperature (coffee 92±1℃ / tea leaves 85±1℃), water flow rate (50-100ml / s), and preset water level (e.g., 35mm from the bottom of the brewer) and powder dispensing position (e.g., 20mm from the top of the brewer).

[0105] The grinder begins grinding;

[0106] When the timed grinding time is reached (e.g., 15-25 seconds for coffee / 20-30 seconds for tea), the grinding is complete, and the tea is poured into the brewer (pour time 2-3 seconds).

[0107] When the material reaches the preset water level, the main controller controls the hot water component to provide drinking water to the brewer according to the preset water volume and temperature;

[0108] When the water level in the brewer reaches the preset powder dispensing level, the main controller stops dispensing water. After dispensing water, the brewer removes the foam from the surface of the liquid (for example, the foam dispensing time is 5 seconds and the foam bucket capacity is ≥2000g).

[0109] Extraction complete.

[0110] Preferably, the execution device layer further includes the following execution devices:

[0111] The steam rinsing system, also known as the boiler water supply component, consists of an instantaneous boiler, a temperature probe, three solenoid valves, and a booster pump. It employs a PID control algorithm (proportional coefficient Kp=2.5, integral time Ti=80s, derivative time Td=20s) to achieve precise control of the outlet water temperature (static error ≤±1℃). This component can also generate steam at a specified temperature of 120℃–170℃ (default 150℃, adjustable in 5℃ steps), with an operating pressure of 0.35±0.02MPa. This steam is used to perform high-temperature rinsing and sterilization of the corresponding extraction pipes after each beverage is prepared (rinsing time 30±2 seconds, flow rate 1.5L / min), ensuring the pipes are clean and residue-free (residue ≤0.1g).

[0112] Secondly, the present invention provides a control method based on the above-described intelligent tea beverage automatic manufacturing system, comprising the following steps:

[0113] Users place orders and complete payments through the device edge layer, and the order data is reported to the IoT intelligent management subsystem.

[0114] After the payment is verified, the control core layer receives the tea preparation confirmation signal and generates equipment execution parameters based on the order information;

[0115] The execution device layer responds to the device execution parameters, performs cup taking operation and raw material preparation operation in parallel, and controls multiple materials to be output synchronously to complete the beverage dispensing;

[0116] After the cap is applied and pressed down, the finished beverage is delivered to the cup-collecting spout.

[0117] After a single production process is completed, a precise temperature control and cleaning system is activated to use high-temperature steam to rinse the used extraction pipes and drinking spouts;

[0118] After cleaning, all system components are reset and ready for the next order.

[0119] Preferably, the process of the execution device layer executing device execution parameters specifically includes:

[0120] The mobile platform moves to the cup dropper station to pick up an empty cup, and confirms successful cup retrieval through an integrated weighing sensor.

[0121] While the cup is being picked up, the grinding and extraction components corresponding to the order start grinding, and the hot boiler starts to prepare extraction water or steam.

[0122] The lifting gripper moves the cup to the serving station, and the system controls the simultaneous output of coffee / tea, dairy products, and syrup into the cup.

[0123] After the beverage is mixed, the mobile platform transports the cup to the capping station for capping and pressing.

[0124] After the capping is completed, the electric door for retrieving the cup opens, the moving platform places the beverage cup on the exit platform, and then the electric door closes.

[0125] Preferably, in the step of rinsing with high-temperature steam, the steam temperature is 120℃–170℃ and the rinsing duration is 30 seconds.

[0126] The specific workflow is as follows:

[0127] 1. User Order Placement: After selecting the beverage, temperature, and sugar level on the 4G Smart Screen 2, the user scans the QR code to pay. Order data is uploaded to the cloud platform after being encrypted with AES-128.

[0128] 2. Order Processing and Initiation: After the cloud platform confirms payment, it issues a production instruction. The main control board 230 (control core layer) receives the instruction, parses it, and generates a specific set of device execution parameters.

[0129] 3. Parallel cup taking and ingredient preparation:

[0130] Cup Retrieval: The X-axis 100, Y-axis 110, and Z-axis 120 of the mobile platform 250 move in coordination to drive the lifting gripper 150 to the cup dropper station to retrieve the cup. The balance scale 140 (weighing sensor) integrated on the gripper confirms successful cup retrieval in real time.

[0131] Material preparation: At the same time, the grinding and extraction component 270 corresponding to the order is started, and the grinder 2701 begins to grind the raw materials; the instant heating boiler is started to prepare extraction water at the specified temperature.

[0132] 4. Dispensing and Mixing: The lifting gripper moves the cup to the dispensing station. The system controls the synchronous output of three materials: coffee / tea is injected through a sealed pipe; dairy products are pumped out from a 5℃ refrigerated compartment; and syrup is pumped out from a 40℃ constant temperature compartment. If it is a hot beverage, steam is activated simultaneously for heating.

[0133] 5. Capping and Dispensing: After the beverage is mixed, the moving platform sends the cup to the cap dropper 290 for capping, and then to the cap presser 300, where the stepper motor 3002 drives the pressing plate 3003 to complete the capping. Subsequently, the electric door 5 opens, the moving platform places the finished beverage on the cup placement platform 4, and the electric door closes.

[0134] 6. Self-cleaning and Reset: After production, the main controller controls the instant boiler to generate 150℃ high-temperature steam to rinse the used extraction pipes and drinking spout for 30 seconds. Subsequently, all actuators reset to the standby position, the system initializes, and awaits the next order.

[0135] Control and Operations:

[0136] Status monitoring: The main controller collects data from various sensors (such as temperature, pressure, and material level) in real time via the Modbus RTU protocol and uploads it to the cloud platform via a 4G smart screen for remote monitoring by the operator.

[0137] Intelligent operation and maintenance: When a material bag runs out (detected by a negative pressure sensor or weighing module), the system automatically switches to a backup material bag. Authorized personnel can remotely open the electromagnetic lock 220 for maintenance via a mobile app, enabling keyless entry.

[0138] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent tea drink automatic manufacturing system comprising a device cabinet, characterized in that, The cabinet is integrated with: a device edge layer for user interaction, ordering and payment; an Internet of Things intelligent management subsystem in communication connection with the device edge layer, for processing payment, remote operation and maintenance management and order management; a control core layer in communication connection with the device edge layer, for generating device execution parameters according to order information; an execution device layer in electrical connection with the control core layer, for executing the device execution parameters to complete tea beverage preparation; wherein the execution device layer comprises: a) a multi-ingredient independent extraction system comprising at least two groups of independent grinding and extraction assemblies, each group of grinding and extraction assemblies comprising a grinder, a brewing head and a driving motor; b) a double-temperature-zone material storage and supply system comprising a cold storage bin for storing cold materials and a hot constant-temperature bin for storing hot materials, the cold storage bin and / or the hot constant-temperature bin being connected with a material supply unit comprising at least two groups of parallel material supply pipelines; c) a full-automatic assembly and conveying system comprising a moving platform for moving tea beverage tableware, a cover falling device and a cover pressing device; d) a precise temperature control and cleaning system comprising an instant heating boiler and a steam pipeline, the steam pipeline being capable of selectively delivering high-temperature steam to a beverage outlet or an extraction pipeline.

2. The system of claim 1, wherein, The multi-ingredient independent extraction system comprises three groups of grinding and extraction assemblies for processing coffee beans, tea leaves and Chinese herbal medicine ingredients respectively; each group of the material supply pipeline of the material supply unit comprises a material bag, a negative pressure sensor or a weighing sensor for detecting whether the material is exhausted, and a liquid pump.

3. The system of claim 1, wherein, The moving platform of the full-automatic assembly and conveying system is an X-Y-Z three-axis precision moving platform, on which a lifting gripper is installed, the lifting gripper being integrated with a weighing sensor for judging whether the cup falling or ice falling is successful or not by sensing the weight change.

4. The system of claim 1, wherein, The instant heating boiler of the precise temperature control and cleaning system adopts a PID temperature control algorithm and is capable of generating high-temperature steam at 110℃-190℃; the system is configured to control the high-temperature steam to flush and sterilize the corresponding extraction pipeline after each cup of beverage is made.

5. The system of claim 1, wherein, The Internet of Things intelligent management subsystem is configured to: support remote viewing of device status and sales data, receiving of fault alarm information, and remote configuration of beverage parameters and sales prices; support authorized personnel to remotely control an electric door lock provided on the device cabinet through a mobile phone APP to realize keyless entry.

6. The system of claim 1, wherein, The main controller of the control core layer is configured to collect state data of the execution device layer through a sensor network and a communication protocol, and to upload the state data to the Internet of Things intelligent management subsystem through the device edge layer; the state data includes material remaining amount, device temperature and motion component position information.

7. A control method of the intelligent tea drink automatic manufacturing system according to any one of claims 1 to 6, characterized in that, The method comprises the following steps: a user places an order through the device edge layer and completes payment, and order data is reported to the Internet of Things intelligent management subsystem; after the payment is checked to be correct, the control core layer receives a tea beverage making confirmation signal and generates device execution parameters according to order information; the execution device layer responds to the device execution parameters, performs cup taking operation and ingredient preparation operation in parallel, and controls synchronous output of multiple materials to complete beverage output. After the cover is closed and the cover is pressed, the finished beverage is sent to the cup outlet; After the single production process is completed, the precise temperature control and cleaning system is started, and high-temperature steam is used to flush the used extraction pipeline and the beverage outlet; After cleaning, the system components are reset, and the next order is waited.

8. The control method according to claim 7, characterized by, The process of executing the device layer to execute the device execution parameter specifically includes: The mobile platform moves to the cover closing station to take the empty cup, and confirms the successful taking of the cup through the integrated weighing sensor; At the same time of taking the cup, the grinding and extraction assembly corresponding to the order starts grinding, that is, the hot boiler starts to prepare water or steam for extraction; The lifting clamping jaw moves the cup to the beverage outlet station, and the system controls the synchronous output of coffee / tea soup, dairy products, and syrup into the cup; After the beverage is mixed, the mobile platform transports the cup to the cover closing station for cover closing and cover pressing; After the cover is pressed, the cup taking electric door is opened, the mobile platform places the beverage cup on the outlet platform, and the electric door is closed.

9. The control method according to claim 7 or 8, characterized by, In the step of flushing with high-temperature steam, the steam temperature is 120-170°C, and the flushing duration is 30 seconds.

10. An electronic device, comprising at least one processor and a memory connected in communication with the at least one processor, characterized in that, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method of any one of claims 7-9.

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