Task flow arrangement method and system for multi-category beverage robots

Abstract

The invention provides a task flow arrangement method and system for a multi-category beverage robot, and the method comprises the steps: obtaining a plurality of basic action modules selected by a user for a target beverage on a configuration platform, generating a corresponding beverage task flow structure, and carrying out the verification; and after the verification is passed, converting the beverage task flow structure into task flow configuration data which can be executed by the beverage robot, and issuing the task flow configuration data to the beverage robot, so that the beverage robot performs manufacturing operation of the target beverage according to the task flow configuration data. The beverage making process is divided into a plurality of basic action modules, and the arrangement sequence and the connection relation of the basic action modules are arranged on a beverage making configuration platform in a structured mode, so that the beverage making efficiency is improved on the premise of ensuring the structural integrity and the sequence effectiveness of a beverage task flow; the beverage task flow structure is automatically converted into the task flow configuration data which can be executed by the beverage robot, and the operation stability and the configuration reliability of the beverage robot in a multi-category application scene are improved.

Description

Technical Field

[0001] This application relates to the technical field of beverage robots, and in particular to a task flow orchestration method and system for multi-category beverage robots. Background Technology

[0002] With the development of catering automation and intelligent manufacturing technologies, beverage robots are gradually being applied to the production of various beverages such as coffee, milk tea, and fruit drinks. These beverage robots typically complete operations such as ingredient retrieval, mixing, heating, or cooling by executing preset production processes to achieve standardized beverage production.

[0003] In existing technologies, the beverage production process of beverage robots is usually pre-defined in the control program by the equipment manufacturer or system integrator, with a separate production script or process file configured for each beverage. Some solutions adjust the time and ingredient quantity parameters in the predetermined process through menu parameter configuration or template calling to adapt to different beverage needs.

[0004] While beverage robots can automate production by pre-configuring or calling fixed production processes, when faced with application scenarios where beverage types change frequently, production steps differ significantly, or the production order needs to be quickly adjusted, the entire process configuration needs to be rewritten or modified. The configuration process relies on human experience and lacks an effective structural verification mechanism, resulting in insufficient flexibility and low reliability. Summary of the Invention

[0005] The technical problem to be solved by this invention is the lack of flexibility and reliability in the process configuration of the prior art. This application provides a task flow orchestration method and system for multi-category beverage robots. By performing structured orchestration and verification of the beverage making process on the configuration platform, the beverage making process can be quickly configured and reliably executed.

[0006] In view of this, a first aspect of the present invention provides a task flow orchestration method for multi-category beverage robots, applied to a beverage preparation configuration platform, comprising: acquiring a number of basic action modules selected by a user for a target beverage on the configuration platform, and recording the arrangement order of each basic action module and the connection relationship between adjacent basic action modules, wherein each basic action module corresponds to a standardized preparation action in the beverage preparation process; generating a corresponding beverage task flow structure based on the arrangement order and connection relationship of the basic action modules; verifying the integrity and sequence validity of the beverage task flow structure; when the beverage task flow structure passes the verification, converting the beverage task flow structure into task flow configuration data that can be executed by the beverage robot; and sending the task flow configuration data to the beverage robot so that the beverage robot performs the preparation operation of the target beverage according to the task flow configuration data.

[0007] Furthermore, the step of acquiring several basic action modules selected by the user for the target beverage on the configuration platform, and recording the arrangement order of each basic action module and the connection relationship between adjacent basic action modules, includes: pre-setting a basic action module library in the visual editing interface of the configuration platform; wherein, the basic action module library includes multiple basic action modules corresponding to the hardware capabilities of the beverage robot, and each basic action module has an action type identifier, execution parameters, and execution condition attributes; responding to the task flow creation instruction initiated by the user for the target beverage in the visual editing interface, displaying all available basic action modules in the basic action module library based on the task flow creation instruction; receiving at least one basic action module selected by the user from the basic action module library through drag-and-drop operation, and placing the selected basic action module in the task flow arrangement area of ​​the visual editing interface; and recording the arrangement order of each basic action module in the task flow arrangement area and the connection relationship between adjacent basic action modules.

[0008] Further, the step of generating the corresponding beverage task flow structure based on the arrangement order and connection relationship of the basic action modules includes: parsing the spatial coordinates of each basic action module in the task flow orchestration area; determining the execution order sequence of the basic action modules based on the spatial coordinates in the direction from a preset start node to a preset end node; identifying the connection line type between adjacent basic action modules; wherein the connection line type includes conditional branch connection and parallel connection; assigning node identifiers and predecessor node association information to each basic action module according to the connection line type to establish the topological relationship between basic action modules; extracting the action type identifier, execution parameters, and execution condition attributes of each basic action module to encapsulate them into the data structure of the corresponding task node; and hierarchically organizing the data structures of all task nodes according to the execution order sequence and the topological relationship to generate the beverage task flow structure.

[0009] Furthermore, the step of verifying the integrity and order validity of the beverage task flow structure includes: detecting whether there are start and end nodes in the beverage task flow structure; if not, the structure is deemed incomplete; traversing all task nodes in the beverage task flow structure and checking whether each task node has the necessary execution parameters; if any are missing, the parameters are deemed incomplete; performing loop detection on the beverage task flow structure; if a circular dependency relationship is detected between task nodes, the order is deemed invalid; and checking whether there are hardware conflicts or physically unreachable execution sequences between the action type identifiers of adjacent task nodes in the beverage task flow structure; if so, the order is deemed unreasonable.

[0010] Furthermore, the integrity and sequential validity verification of the beverage task flow structure also includes: for task nodes with a conditional branch connection type, verifying the logical completeness of their branch conditions; if any are missing, the logic is deemed incomplete; for multiple task nodes with a parallel connection type, verifying whether their required hardware resources are mutually exclusive; if mutual exclusion exists, resource conflict is deemed. When the beverage task flow structure passes all verification items, a verification pass flag is generated and fed back to the configuration platform; when any verification fails, an error-type verification report is generated and fed back to the configuration platform.

[0011] Further, the step of converting the beverage task flow structure into task flow configuration data that can be executed by the beverage robot includes: calling the instruction mapping rule library corresponding to the target beverage robot model, traversing each task node in the beverage task flow structure, and converting the action type identifier of the task node into the corresponding robot control instruction code according to the instruction mapping rule library; encoding and converting the execution parameters in the task node according to the data format requirements of the robot communication protocol to generate instruction data packets; adding an execution order index to each instruction data packet according to the predecessor node association information of the task node in the beverage task flow structure; and serializing and arranging all instruction data packets according to the execution order index to generate task flow configuration data that conforms to the robot communication protocol format.

[0012] Furthermore, the step of sending the task flow configuration data to the beverage robot so that the beverage robot can perform the target beverage preparation operation according to the task flow configuration data includes: sending a task flow configuration data sending request to the beverage robot through the communication connection channel established between the configuration platform and the beverage robot; after receiving the data reception confirmation signal from the beverage robot, transmitting the task flow configuration data and storing the task flow configuration data in the local configuration database of the beverage robot; sending a task flow execution start command to the beverage robot so that the beverage robot loads the corresponding task flow configuration data from the local configuration database and executes the robot control commands sequentially according to the command data packets in the task flow configuration data until all the target beverage preparation operations are completed.

[0013] A second aspect of this invention provides a task flow orchestration system for multi-category beverage robots, applied to a beverage preparation configuration platform, comprising: an acquisition module for acquiring several basic action modules selected by a user for a target beverage on the configuration platform, and recording the arrangement order of each basic action module and the connection relationship between adjacent basic action modules, wherein each basic action module corresponds to a standardized preparation action in the beverage preparation process; a generation module for generating a corresponding beverage task flow structure based on the arrangement order and connection relationship of the basic action modules; a verification module for verifying the integrity and sequential validity of the beverage task flow structure to ensure that the execution order between the basic action modules meets the process constraints of beverage preparation; a conversion module for converting the beverage task flow structure into task flow configuration data executable by the beverage robot if the verification passes; and a preparation module for sending the task flow configuration data to the beverage robot so that the beverage robot performs the preparation operation of the target beverage according to the task flow configuration data.

[0014] A third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program that can run on the processor, and the processor executes the computer program to implement the task flow orchestration method for a multi-category beverage robot as described above.

[0015] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program causing a processor, when run by a processor, to execute the task flow orchestration method for a multi-category beverage robot as described in any of the preceding embodiments.

[0016] The technical solution of this invention has the following advantages: By breaking down the beverage making process into several basic action modules, and arranging the order and connection relationship of the basic action modules in a structured manner on the beverage making configuration platform, the beverage task flow structure is automatically converted into task flow configuration data that can be executed by the beverage robot, while ensuring the integrity and sequential validity of the beverage task flow structure. This avoids frequent modifications to the underlying control program of the beverage robot and improves the flexibility and consistency of multi-category beverage making process configuration. At the same time, by verifying the beverage task flow structure before execution, the risk of production failure caused by unreasonable process configuration or incorrect sequence can be effectively reduced, improving the operational stability and configuration reliability of the beverage robot in multi-category application scenarios, and overcoming the problems of insufficient process configuration flexibility and low reliability in the prior art. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A flowchart illustrating the task flow orchestration method for multi-category beverage robots provided in an embodiment of the present invention; Figure 2 This is a schematic block diagram of the task flow orchestration system for multi-category beverage robots provided in an embodiment of the present invention. Figure 3 A schematic block diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0019] Figure label: 10. Task flow orchestration system for multi-category beverage robots; 11. Acquisition module; 12. Generation module; 13. Verification module; 14. Conversion module; 15. Production module; 20. Electronic equipment; 21. Memory; 22. Processor. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figure 1 As shown, this embodiment provides a task flow orchestration method for multi-category beverage robots, applied to a beverage preparation configuration platform. It enables the visual orchestration and configuration of different beverage preparation processes without modifying the underlying control program of the beverage robot. This task flow orchestration method mainly includes: Step S1: Obtain the basic action modules selected by the user for the target beverage on the configuration platform, and record the arrangement order of each basic action module and the connection relationship between adjacent basic action modules. Each basic action module corresponds to a standardized production action in the beverage making process.

[0024] The configuration platform receives task flow configuration operations initiated by users for the target beverage, identifies each basic action module selected by the user in the configuration platform, and assigns a unique module identifier to each basic action module. At the same time, when a basic action module is selected and placed in the task flow arrangement area of ​​the configuration platform, the configuration platform records the arrangement order between the basic action modules according to the display position order of the basic action modules in the task flow arrangement area, and marks and stores whether there is a direct connection relationship between adjacent basic action modules, thereby forming module sequence information and module connection information that reflect the beverage production process structure.

[0025] For example, if a user selects the "Cup Taking Action Module", "Ingredient Addition Action Module", "Stirring Action Module" and "Dispensing Action Module" in sequence in the configuration platform for a specific beverage, and places these basic action modules in the task flow orchestration area from left to right, the configuration platform will assign corresponding module identifiers to each of these basic action modules and record the direct connection relationships between the "Cup Taking Action Module" and the "Ingredient Addition Action Module", the "Ingredient Addition Action Module" and the "Stirring Action Module", and the "Stirring Action Module" and the "Dispensing Action Module", thus obtaining a complete description of the arrangement order and connection relationships of the basic action modules.

[0026] In another example, step S1 may also be preferably: The configuration platform's visual editing interface includes a pre-set basic action module library. This library comprises multiple basic action modules corresponding to the hardware capabilities of the beverage robot. Each basic action module has an action type identifier, execution parameters, and execution condition attributes.

[0027] When initializing the visual editing interface, the configuration platform loads the pre-configured basic action module library into the local storage area or memory area. Each basic action module in the basic action module library corresponds one-to-one with a hardware action that can be executed independently in the beverage robot. Each basic action module contains an action type identifier to uniquely identify the type of the action module, as well as an execution parameter field and an execution condition attribute field to describe the execution method of the action module. The execution condition attribute is used to limit the triggering conditions or execution prerequisites of the basic action module in the task flow.

[0028] The basic action module library includes a "heating action module", a "stirring action module", a "feeding action module" and a "cooling action module". The action type identifier of the "heating action module" is used to represent heating actions. Its execution parameter fields include the heating temperature value and the heating duration. Its execution condition attribute includes whether it is allowed to be executed under low liquid level conditions. The action type identifier of the "stirring action module" is used to represent stirring actions. Its execution parameter fields include the stirring speed value and the stirring duration. Its execution condition attribute includes whether the previous action is required to be completed.

[0029] Responding to the user's task flow creation command for the target beverage in the visual editing interface, the system displays all available basic action modules in the basic action module library based on the task flow creation command.

[0030] After receiving the task flow creation instruction entered by the user in the visual editing interface, the configuration platform reads the set of basic action modules that match the current beverage robot model from the basic action module library, and displays the set of basic action modules in a graphical way in the module selection area of ​​the visual editing interface. At the same time, basic action modules that do not support the hardware capabilities of the current beverage robot are hidden or disabled to ensure that the user can only select the basic action modules that can actually be executed.

[0031] When a user initiates a task flow creation command for a beverage robot that supports heating and stirring functions, the visual editing interface displays the "Heating Action Module", "Stirring Action Module", "Feeding Action Module" and "Discharging Action Module", while the "Cooling Action Module" related to refrigeration hardware is not displayed in the visual editing interface, thus preventing the user from selecting basic action modules that cannot be performed by the beverage robot.

[0032] Receive at least one basic action module selected by the user from the basic action module library through drag and drop, and place the selected basic action module in the task flow arrangement area of ​​the visual editing interface.

[0033] The configuration platform listens for drag events by users in the visual editing interface. When it detects that a user drags a basic action module from the module selection area to the task flow orchestration area, it instantiates the basic action module as a node object in the task flow orchestration area, assigns the corresponding display position coordinates to the node object, and records the association relationship between the basic action module and its corresponding node object in the internal data structure.

[0034] For example, when a user drags the "Feeding Action Module" to a designated position in the task flow orchestration area, the configuration platform generates a node graphic corresponding to the "Feeding Action Module" in the task flow orchestration area and records the horizontal and vertical coordinate values ​​of the node graphic in the task flow orchestration area for subsequent analysis of the arrangement order of basic action modules.

[0035] Obtain the execution parameters set by the user for each selected basic action module; wherein the execution parameters include at least one of the following: action duration, material feeding amount, temperature control value, or speed control value.

[0036] After the configuration platform detects that a basic action module has been placed in the task flow orchestration area, it displays the parameter configuration interface corresponding to the basic action module to the user and receives the execution parameter values ​​input by the user. The execution parameter values ​​are validated according to the preset data type and value range, and after the validation is successful, they are bound and stored with the corresponding basic action module.

[0037] For example, if a user inputs a heating temperature of 85 degrees Celsius and a heating duration of 120 seconds for the "heating action module," the configuration platform verifies whether the temperature and time values ​​fall within the allowable range. After the verification is successful, the heating temperature and heating duration are associated with and stored as execution parameters for the "heating action module." If a user inputs a material feeding amount of 30 grams for the "feeding action module," the configuration platform records this material feeding amount as one of the execution parameters for this basic action module.

[0038] Record the arrangement order of each basic action module in the task flow orchestration area and the connection relationship between adjacent basic action modules.

[0039] The configuration platform performs a unified scan of all placed basic action modules within the task flow orchestration area. Based on the spatial coordinates of each basic action module within the task flow orchestration area, it sorts the basic action modules in sequence and identifies and records the connection relationships between basic action modules established by the user through connection operations. The sorting order and connection relationships are stored in the form of structured data for subsequent generation of beverage task flow structure.

[0040] When there are multiple basic action module nodes in the task flow orchestration area, and the user draws connecting lines between adjacent basic action modules through the connection operation, the configuration platform records the source basic action module identifier and target basic action module identifier connected by each connecting line, and stores the connection relationship as a set of adjacent basic action module relationship data, thereby completely describing the arrangement order and connection relationship of basic action modules in the task flow orchestration area.

[0041] Step S2: Based on the arrangement and connection relationship of the basic action modules, generate the corresponding beverage task flow structure.

[0042] The configuration platform reads the arrangement order information of each basic action module in the record and the connection relationship information between adjacent basic action modules. It performs structured parsing of the basic action modules, transforming the set of basic action modules that originally existed in the form of interface arrangement into a data structure description with a clear execution order and dependency relationship, thereby forming a beverage task flow structure that can completely represent the logic of the target beverage making process.

[0043] For example, after the configuration platform obtains the order and corresponding connection relationship of "cup taking action module - ingredient feeding action module - stirring action module - material discharging action module", it parses the above basic action modules into multiple node objects to be executed in sequence, and generates a beverage task flow structure description containing node order information and node connection information to represent the complete production process of the target beverage.

[0044] In another example, step S2 may also be preferably: The spatial coordinates of each basic action module in the task flow orchestration area are analyzed, and the execution sequence of the basic action modules is determined based on the spatial coordinates in the direction from the preset start node to the preset end node.

[0045] The configuration platform obtains the spatial coordinates of each basic action module within the task flow orchestration area and compares the spatial coordinates according to a pre-set sorting rule to determine the execution order of the basic action modules in the beverage making process. The sorting rule restricts the execution direction of the basic action modules to a preset start node and a preset end node to ensure the uniqueness and determinism of the execution order.

[0046] When the task flow orchestration area adopts the left-to-right execution direction, the configuration platform sorts the horizontal coordinate values ​​of all basic action modules. The basic action modules with smaller horizontal coordinate values ​​are determined as the first execution nodes, and the basic action modules with larger horizontal coordinate values ​​are determined as the last execution nodes, thereby generating a sequence of basic action modules to be executed according to their spatial coordinates.

[0047] Identify the connection types between adjacent basic action modules; among which, connection types include conditional branch connections and parallel connections.

[0048] The configuration platform parses the connection lines drawn by the user in the task flow orchestration area. Based on the style identifier or attribute identifier of the connection line, it distinguishes the control logic type represented by different connection lines and records the connection line type as conditional branch connection or parallel connection. Among them, conditional branch connection is used to represent the execution path that is entered only when a specific execution condition is met, and parallel connection is used to represent that multiple basic action modules can be triggered and executed simultaneously in the same execution phase.

[0049] When a user draws a connection line with a condition identifier between two basic action modules, the configuration platform recognizes the connection line as a conditional branch connection and records the corresponding condition identifier; when a user draws a converging connection line in front of multiple basic action modules, the configuration platform recognizes the connection line as a parallel connection, which indicates that multiple basic action modules are scheduled to be executed in the same stage.

[0050] Assign node identifiers and predecessor node association information to each basic action module based on the connection type to establish the topological relationship between the basic action modules.

[0051] The configuration platform generates a unique node identifier for each basic action module and determines the set of predecessor nodes corresponding to each basic action module based on the type of connection between the basic action modules. By recording the association information between the node identifier and its predecessor nodes, a topological structure description reflecting the execution dependency relationship of the basic action modules is constructed, thereby forming a clear execution constraint relationship between the basic action modules.

[0052] For example, for basic action modules with a single path connection, the configuration platform records the node identifier of the previous basic action module as the predecessor node identifier of this basic action module; for basic action modules with conditional branch connections, the configuration platform records multiple predecessor node identifiers that may trigger this basic action module simultaneously; for basic action modules with parallel connections, the configuration platform assigns node identifier attributes of the same level to each parallel basic action module to represent their parallel execution relationship.

[0053] Extract the action type identifier, execution parameters, and execution condition attributes of each basic action module to encapsulate them into the corresponding task node data structure.

[0054] The configuration platform reads the corresponding action type identifier, execution parameters, and execution condition attributes from each basic action module, and combines the above information with the node identifier and predecessor node association information of the basic action module to encapsulate it into a unified format task node data structure. The task node data structure is used to fully describe the execution behavior and execution constraints of a single basic action module in the beverage making process.

[0055] For example, the configuration platform combines the action type identifier, heating temperature parameter, heating duration parameter, and execution condition attribute of a certain "heating action module" with its node identifier and predecessor node association information to generate a task node data structure containing a node identifier, action type identifier, execution parameter set, and execution condition attribute.

[0056] The data structures of all task nodes are organized hierarchically according to the execution order and topological relationship, generating a beverage task flow structure in the form of a tree or directed acyclic graph containing a start node, several execution nodes, and a termination node.

[0057] Based on the execution sequence of the basic action modules and the association information of the predecessor nodes, the configuration platform organizes the data structure of all task nodes in a unified manner. Task nodes without predecessor nodes are determined as starting nodes, task nodes without successor nodes are determined as ending nodes, and the remaining task nodes are determined as execution nodes. The platform also constructs a beverage task flow structure in the form of a tree structure or a directed acyclic graph according to the topological relationship between the nodes, so as to fully represent the production process logic of the target beverage.

[0058] When there are no circular dependencies in a beverage task flow and all task nodes can be connected through predecessor nodes, the configuration platform generates a tree-shaped beverage task flow structure with the starting node as the root node, the execution node as the intermediate node, and the ending node as the leaf node. When there are conditional branch connections or parallel connections in the beverage task flow, the configuration platform generates a directed acyclic graph beverage task flow structure containing multiple branch paths.

[0059] Step S3: Verify the integrity and sequential validity of the beverage task flow structure.

[0060] The beverage task flow structure formed in the configuration platform is parsed into a directed structure consisting of task nodes and connection relationships. The structure is verified from multiple dimensions such as overall connectivity, node parameter completeness, execution order legality, and resource executability, so as to eliminate structural errors in advance before the task is sent to the actual device.

[0061] For example, after a user completes the beverage preparation process configuration by dragging and dropping, the system automatically triggers a verification process for the task flow structure to prevent task flows that cannot be executed or have potential risks from being deployed to the beverage robot.

[0062] In another example, step S3 may also be preferably: The system checks whether a start node and an end node exist in the beverage task flow structure. If they do not exist, the structure is considered incomplete.

[0063] By traversing the connection relationships of all task nodes in the task flow structure, it is determined whether there is at least one task node with an in-degree of zero as the starting node and at least one task node with an out-degree of zero as the ending node, thereby ensuring that the task flow has a clear start point and end condition.

[0064] If all task nodes have a predecessor node or all task nodes have a successor node, it means that the task flow lacks a clear start or end point, and the system will directly mark the task flow structure as incomplete.

[0065] Iterate through all task nodes in the beverage task flow structure and check whether each task node has the necessary execution parameters. If any are missing, the parameters are considered incomplete.

[0066] Based on the parameter templates corresponding to different action types, each execution parameter associated with each task node is checked to confirm whether it contains the basic parameter information required to complete the action.

[0067] For example, for "adding water" task nodes, the system checks whether they are configured with at least the target water volume parameter; for "stirring" task nodes, it checks whether they are configured with stirring duration or stirring speed parameters. If any key parameter is missing, the node is considered to have incomplete parameters.

[0068] The task flow structure of beverages is checked for loops based on the topology sorting algorithm. If a circular dependency is detected between task nodes, the order is determined to be invalid.

[0069] The beverage task flow structure is abstracted into a directed acyclic structure model, and a topological sorting process is attempted on it. If there are nodes whose in-degree cannot be eliminated during the sorting process, it is determined that there is a circular dependency.

[0070] If a "heating" task node is configured to depend on the completion of a "cooling" task node, and that "cooling" task node in turn depends on the completion of a "heating" task node, the system will detect a loop structure and mark the task flow sequence as invalid.

[0071] Check whether there are hardware conflicts or physically unreachable execution sequences between the action type identifiers of adjacent task nodes in the beverage task flow structure. If so, the sequence is deemed unreasonable.

[0072] Based on the device action constraint rules, the action types of adjacent task nodes are matched and verified to determine whether their execution order conforms to the physical execution logic of the actual device.

[0073] If the "dispense cup" action is configured immediately before the "shake" action in the task flow, and the equipment structure requires that the shaking must be completed in a closed container, then this sequence is judged as physically unreachable and thus marked as an unreasonable sequence.

[0074] Furthermore, step S3 also includes: For task nodes with a connection type of conditional branch connection, verify the logical completeness of their branch conditions. If any are missing, the logic is deemed incomplete, ensuring that all possible execution paths have corresponding branch exits.

[0075] For conditional branch connections, verify whether a clear follow-up task node is configured for each possible judgment result to avoid situations where branches cannot be matched during execution.

[0076] When a conditional branch makes a judgment based on "whether to add ice", the system will check whether both the "add ice" path and the "no ice" path exist at the same time. If only one of the paths is configured, the conditional branch logic is deemed incomplete.

[0077] For multiple task nodes with a parallel connection type, verify whether there is mutual exclusion of the hardware resources they require. If mutual exclusion exists, it is determined to be a resource conflict.

[0078] Based on the hardware resource requirement information identified by each task node, it is determined whether multiple tasks executed in parallel will simultaneously occupy the same hardware unit that cannot be used in parallel.

[0079] If two parallel tasks simultaneously require the use of the same stirring motor to perform different actions, the system identifies a resource mutual exclusion problem in the parallel structure and marks it as a resource conflict.

[0080] When the beverage task flow structure passes all validation items, a validation pass flag is generated and fed back to the configuration platform.

[0081] When the beverage task flow structure passes all the verification items, the verification results are summarized to generate a unified pass status identifier, and this identifier is returned to the configuration platform to indicate that the current task flow structure is ready for distribution and execution.

[0082] For example, the configuration interface can indicate to the user that the beverage task flow can be directly used for device deployment with a "verification passed" status.

[0083] When any verification fails, a verification report containing the specific error location and type is generated and sent back to the configuration platform.

[0084] When any verification fails, the failed verification item is associated with the corresponding task node identifier, connection location and error type to form a structured verification report and is returned to the configuration platform.

[0085] For example, the configuration platform can highlight task nodes with missing parameters and simultaneously display error messages such as "missing execution parameters" or "order conflict" to guide users to make targeted modifications.

[0086] Step S4: When the beverage task flow structure is verified, convert the beverage task flow structure into task flow configuration data that can be executed by the beverage robot.

[0087] The action type identifier, execution parameters, and topological relationship of each task node in the verified beverage task flow structure are parsed into a control instruction format that can directly drive the hardware units of the beverage robot. Through mapping and encoding conversion, complete task flow configuration data is formed to ensure that the robot can execute actions in sequence to complete the production of the target beverage.

[0088] The task flow structure includes three basic action modules: "add water", "add sugar", and "stir". The action type identifier of each task node is mapped to the underlying control instructions of the beverage robot. The parameters of each task node, such as the amount of water added, the amount of sugar added, and the stirring speed, are converted into parameter fields in the instruction data packet. The task flow configuration data that can be distributed is generated according to the execution order.

[0089] In another example, step S4 may also be preferably: The instruction mapping rule library corresponding to the target beverage robot model is invoked. The instruction mapping rule library stores the mapping relationship between the action type identifier of the basic action module and the robot's underlying control instructions. Each task node in the beverage task flow structure is traversed, and the action type identifier of the task node is converted into the corresponding robot control instruction code according to the instruction mapping rule library.

[0090] The corresponding instruction mapping rule base is called according to the model of the beverage robot. The rule base records the underlying control instructions corresponding to each basic action module. For example, the heating module corresponds to the control instruction to start the heating motor, and the stirring module corresponds to the control instruction to start the stirring motor. The action type identifier of each task node in the beverage task flow structure is converted into specific instruction code by looking up the table.

[0091] For example, for the "heating" basic action module, the instruction mapping rule base records its mapping as the "HEAT_START" instruction; for the "stirring" basic action module, it is mapped as the "STIR_START" instruction. The system traverses the beverage task flow structure and converts the node action type identifier into the corresponding control instruction code in sequence.

[0092] The execution parameters in the task node are encoded and converted according to the data format requirements of the robot communication protocol to generate an instruction data packet containing instruction codes and parameter values.

[0093] The execution parameters of each task node (such as action duration, material delivery amount, temperature or speed control value) are encoded and converted according to the robot communication protocol (such as byte order, data length, identifier encoding rules), and encapsulated with the action type instruction code into a complete data packet to ensure that the robot can correctly parse and execute.

[0094] For example, for the "add water" task node, the parameter "add water amount 200 ml" is encoded as a 4-byte integer value, and the action type instruction "WATER_ADD" is encoded as a 2-byte instruction code. The two are combined to form a 6-byte instruction data packet.

[0095] Based on the predecessor node association information of the task nodes in the beverage task flow structure, an execution order index is added to each instruction data packet.

[0096] Based on the topological relationship between task nodes, a unique execution order index is generated for each instruction data packet to ensure that the beverage robot executes tasks in the correct order. Even if there are parallel or branch nodes, the execution order and dependencies can be clearly defined.

[0097] For example, if the predecessor node of the "stir" task node is "add sugar", the system generates index 1 for the "add sugar" instruction data packet and index 2 for "stir". If there are parallel nodes "add milk" and "add jam", both nodes will generate the same index and be marked as executable in parallel.

[0098] For task nodes connected by conditional branches, the branch conditions are converted into conditional judgment expressions that the robot can recognize, and the conditional judgment logic is embedded in the corresponding instruction data packet.

[0099] The logical conditions of the conditional branches in the beverage task flow structure (such as "whether to add ice" or "whether to add sugar") are converted into judgment expressions that can be executed by the robot and encapsulated in the instruction data package, so that the robot can dynamically select the branch path according to the sensor or user-set parameters during operation.

[0100] For example, for the "add ice or not" conditional branch node, the condition "user selects to add ice = yes" is transformed into the robot's logical judgment "IF ICE_FLAG=1 THEN EXECUTE ICE_ADD", and the instruction data packet is embedded so that the robot can perform the corresponding action according to ICE_FLAG.

[0101] For parallel connection task nodes, generate a parallel instruction set containing multi-threaded execution flags and resource locking flags.

[0102] The parallel execution task nodes are encapsulated into a set of instruction data packets, and multi-threaded execution identifiers and resource locking information are added to each instruction data packet to ensure that different task nodes will not fail due to resource conflicts during execution.

[0103] For example, if the "add sugar" and "add milk" nodes can be executed in parallel, the system will generate two instruction data packets, both marked as "PARALLEL_FLAG=1". The sugar addition data packet will lock the sugar dispensing device, and the milk addition data packet will lock the milk dispensing device, ensuring that the two actions do not interfere with each other.

[0104] All instruction data packets are serialized and arranged according to their execution order index to generate task flow configuration data that conforms to the robot communication protocol format.

[0105] Based on the aforementioned index, all instruction data packets are sorted and combined to form the final serialized task flow configuration data, ensuring that the robot executes correctly according to the task flow logic sequentially, branching, or in parallel, and conforms to the data frame format requirements of the target beverage robot communication protocol.

[0106] For example, the instruction data packets "add water", "add sugar", "stir", "add milk", and "add jam" are arranged in index order, and parallel nodes are encapsulated in the same multi-threaded instruction group to form a complete task flow configuration data file for the robot to load and execute.

[0107] Step S5: Send the task flow configuration data to the beverage robot so that the beverage robot can perform the target beverage preparation operation according to the task flow configuration data.

[0108] The configuration platform encapsulates the generated task flow configuration data into data frames that conform to the beverage robot communication protocol and sends them to the beverage robot, enabling the robot to receive, parse, and prepare to execute the instruction sequence in the task flow configuration data.

[0109] For example, the task flow configuration data file can be packaged into a data frame using TCP / IP or MQTT protocol and sent to the beverage robot receiver. After parsing the data frame, the robot confirms that the data format and checksum are correct in order to load the instruction data packet.

[0110] In another example, step S5 may also be preferably: The platform sends a task flow configuration data distribution request to the beverage robot through a communication connection channel established between the platform and the beverage robot. The communication connection channel is established based on a wireless network or wired network protocol.

[0111] After establishing a communication connection with the beverage robot, the configuration platform sends the task flow configuration data in packets, adding a sequence number, checksum, and timestamp to each data packet to ensure data integrity and sequential consistency. At the same time, it confirms the data reception status through a handshake protocol.

[0112] After establishing a TCP connection via Wi-Fi, the configuration platform sends the task flow configuration data in 512-byte packets, with each packet including a sequence number 1, 2, 3, etc., and a CRC checksum. The beverage robot receives the data and returns an ACK confirmation signal.

[0113] After receiving the data reception confirmation signal from the beverage robot, the task flow configuration data is transmitted and stored in the beverage robot's local configuration database.

[0114] After receiving the complete task flow configuration data and verifying the correctness of the checksum, the beverage robot stores the data in the local configuration database, establishes a task flow index table and instruction data packet cache, so as to quickly call the task node instructions according to the execution order.

[0115] For example, after receiving the task flow configuration data, the beverage robot stores instruction data packets such as "add water", "add sugar", and "stir" in a local database table, recording the sequential index and conditional branch identifier of each instruction data packet to ensure that remote data does not need to be parsed again during execution.

[0116] Send a task flow execution start command to the beverage robot so that the beverage robot loads the corresponding task flow configuration data from the local configuration database and executes the robot control commands sequentially according to the instruction data packets in the task flow configuration data. Drive the corresponding hardware components to complete at least one of the production actions such as heating, stirring, feeding, and discharging, until all production operations of the target beverage are completed.

[0117] Upon receiving the start command, the beverage robot sequentially loads task node instruction data packets from its local configuration database, parses the action type identifier and execution parameters of each instruction data packet, and drives the corresponding hardware unit to complete the action. The system dynamically selects the task path or executes multiple threads simultaneously based on conditional branches and parallel execution identifiers until the entire beverage preparation process is completed.

[0118] When the target beverage contains the action sequence of "add 200 ml of water - add 50 g of sugar - stir for 30 seconds - add 50 ml of milk - dispensing", the beverage robot parses and executes each action data packet in sequence, controls the water pump to add water, the sugar dispenser to add sugar, the stirring motor to start for 30 seconds, the milk dispenser to add milk, and finally triggers the dispensing mechanism to complete the beverage preparation; if there are parallel tasks "add milk" and "add jam", the robot activates the two dispensing devices at the same time and uses a resource locking mechanism to ensure that the actions do not interfere with each other.

[0119] In this embodiment, several basic action modules selected by the user for the target beverage are obtained on the beverage preparation configuration platform, and the arrangement order of each basic action module and the connection relationship between adjacent basic action modules are recorded. Each basic action module corresponds to a standardized production action in the beverage preparation process. A beverage task flow structure is generated based on the arrangement order and connection relationship of the basic action modules, and the integrity and order validity of the task flow structure are verified, including detecting the start node and end node, verifying the execution parameters of the task node, performing loop detection, checking hardware conflicts, verifying the completeness of the conditional branch logic and parallel task resource conflicts.

[0120] Once the task flow structure is verified, the beverage task flow structure is converted into task flow configuration data that can be executed by the beverage robot. This includes calling the instruction mapping rule base to convert action type identifiers into robot control instruction codes, encoding execution parameters according to the communication protocol, adding an execution order index to each instruction data packet, and generating corresponding control logic for conditional branches and parallel tasks. Finally, the task flow configuration data is sent to the beverage robot, and data transmission and local storage are completed through the communication connection channel. An execution start command is then sent, causing the beverage robot to execute each instruction sequentially according to the task flow configuration data order. This drives the corresponding hardware components to complete at least one of the production actions, such as heating, stirring, feeding, and discharging, until all the production operations of the target beverage are completed. This achieves a complete closed loop of visual orchestration, structured verification, task data conversion, and automated execution of user-defined beverage task flows, ensuring the accuracy, reliability, and scalability of the task flow configuration. It is also suitable for the rapid configuration and production of multiple types of beverages, overcoming the problems of insufficient flexibility and low reliability in process configuration in existing technologies.

[0121] like Figure 2 As shown, in this embodiment, a task flow orchestration system 10 for multi-category beverage robots is provided, which is applied to a configuration platform for beverage production, including: The acquisition module 11 is used to acquire several basic action modules selected by the user for the target beverage on the configuration platform, and record the arrangement order of each basic action module and the connection relationship between adjacent basic action modules. Each basic action module corresponds to a standardized production action in the beverage making process.

[0122] The generation module 12 is used to generate the corresponding beverage task flow structure based on the arrangement order and connection relationship of the basic action modules.

[0123] Verification module 13 is used to verify the integrity and sequential validity of the beverage task flow structure to ensure that the execution order between basic action modules meets the process constraints of beverage making.

[0124] The conversion module 14 is used to convert the beverage task flow structure into task flow configuration data that can be executed by the beverage robot if the verification passes.

[0125] The production module 15 is used to send task flow configuration data to the beverage robot so that the beverage robot can perform the target beverage production operation according to the task flow configuration data.

[0126] In this embodiment, several basic action modules selected by the user on the configuration platform are obtained, and the arrangement order of each basic action module and the connection relationship between adjacent basic action modules are recorded. Each basic action module corresponds to a standardized production action in the beverage making process. A beverage task flow structure is generated based on the arrangement order and connection relationship of the basic action modules, and the integrity and sequential validity of the beverage task flow structure are verified, including start and end node detection, task node execution parameter verification, loop detection, hardware conflict checking, conditional branch logic verification, and parallel task resource conflict detection. After the verification is passed, the beverage task flow structure is converted into task flow configuration data that can be executed by the beverage robot, including instruction mapping, execution parameter encoding, sequence index setting, condition judgment logic embedding, and parallel instruction group generation. Finally, the task flow configuration data is sent to the beverage robot, so that the beverage robot drives the hardware actions such as heating, stirring, feeding, and discharging in sequence according to the task flow configuration data to complete all the production operations of the target beverage. This realizes a complete closed loop of user-visualized arrangement, structured verification, task data conversion, and automated execution, ensuring the accuracy and reliability of task flow configuration and the feasibility of rapid production of multiple types of beverages.

[0127] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the system and each module described above can be referred to the corresponding process in the aforementioned Embodiment 1, and will not be repeated here.

[0128] like Figure 3 As shown, in this embodiment, an electronic device 20 is provided, including a memory 21 and a processor 22. The memory 21 stores a computer program that can run on the processor 22. When the processor 22 executes the computer program, it implements the task flow orchestration method for multi-category beverage robots of Embodiment 1.

[0129] In this embodiment, by storing a computer program in the electronic device 20 and executing the program by the processor 22, a complete task flow orchestration process is achieved, which includes obtaining the basic action modules selected by the user, their arrangement order and connection relationship, generating a beverage task flow structure, performing integrity and sequence validity checks, converting it into task flow configuration data that can be executed by the beverage robot, and sending the task flow configuration data to the beverage robot and executing the instructions in sequence. This enables the beverage robot to automatically complete the target beverage making operation, while ensuring the rapid configuration, verification and reliable execution of multi-category beverage task flows, thereby improving the efficiency and accuracy of beverage making.

[0130] In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is run by a processor, the processor executes the task flow orchestration method for a multi-category beverage robot as described in Embodiment 1.

[0131] In this embodiment, the task flow orchestration method for multi-category beverage robots of Embodiment 1 is implemented by storing the computer program in a computer-readable storage medium and running it on the processor. This includes obtaining the basic action modules selected by the user, their arrangement order and connection relationship, generating a beverage task flow structure, verifying the integrity and validity of the sequence, converting it into task flow configuration data that can be executed by the robot, and sending it to the beverage robot to execute the production operations in sequence. This achieves user-visual configuration, automatic verification of multi-category beverage task flows, structured conversion of task data, and automated execution, ensuring the accuracy, reliability, and efficiency of the beverage production process.

[0132] The above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A task flow orchestration method for multi-category beverage robots, characterized in that, A configuration platform for beverage preparation, including: The system obtains several basic action modules selected by the user for the target beverage on the configuration platform, and records the arrangement order of each basic action module and the connection relationship between adjacent basic action modules. Each basic action module corresponds to a standardized production action in the beverage production process. Based on the arrangement and connection relationship of the basic action modules, a corresponding beverage task flow structure is generated; The integrity and sequential validity of the beverage task flow structure are verified. When the beverage task flow structure passes verification, the beverage task flow structure is converted into task flow configuration data that can be executed by the beverage robot; The task flow configuration data is sent to the beverage robot so that the beverage robot can perform the target beverage preparation operation according to the task flow configuration data.

2. The task flow orchestration method for multi-category beverage robots according to claim 1, characterized in that, The step of obtaining the basic action modules selected by the user for the target beverage on the configuration platform, and recording the arrangement order of each basic action module and the connection relationship between adjacent basic action modules, includes: A basic action module library is pre-set in the visual editing interface of the configuration platform; wherein, the basic action module library includes multiple basic action modules corresponding to the hardware capabilities of the beverage robot, and each basic action module has an action type identifier, execution parameters and execution condition attributes; In response to the user's task flow creation instruction for the target beverage in the visual editing interface, all available basic action modules in the basic action module library are displayed based on the task flow creation instruction. Receive at least one basic action module selected by the user from the basic action module library through drag and drop operation, and place the selected basic action module in the task flow arrangement area of ​​the visual editing interface; Record the arrangement order of each basic action module in the task flow orchestration area and the connection relationship between adjacent basic action modules.

3. The task flow orchestration method for multi-category beverage robots according to claim 1, characterized in that, The step of generating the corresponding beverage task flow structure based on the arrangement and connection relationship of the basic action modules includes: The spatial coordinates of each basic action module in the task flow orchestration area are analyzed, and the execution sequence of the basic action modules is determined based on the spatial coordinates in the direction from the preset start node to the preset end node. Identify the connection types between adjacent basic action modules; wherein, the connection types include conditional branch connections and parallel connections; Based on the connection type, each basic action module is assigned a node identifier and predecessor node association information to establish the topological relationship between the basic action modules; Extract the action type identifier, execution parameters, and execution condition attributes of each basic action module and encapsulate them into the data structure of the corresponding task node; The data structures of all task nodes are organized hierarchically according to the execution order sequence and the topological relationship to generate the beverage task flow structure.

4. The task flow orchestration method for multi-category beverage robots according to claim 3, characterized in that, The step of verifying the integrity and sequence validity of the beverage task flow structure includes: The system checks whether a start node and an end node exist in the beverage task flow structure. If they do not exist, the structure is deemed incomplete. Traverse all task nodes in the beverage task flow structure and check whether each task node has the necessary execution parameters. If any are missing, it is determined that the parameters are incomplete. Loop detection is performed on the beverage task flow structure. If a circular dependency is detected between task nodes, the sequence is determined to be invalid. Check whether there is a hardware conflict or an execution order that is physically unreachable between the action type identifiers of adjacent task nodes in the beverage task flow structure. If so, the order is determined to be unreasonable.

5. The task flow orchestration method for multi-category beverage robots according to claim 4, characterized in that, The completeness and sequential validity verification of the beverage task flow structure also includes: For task nodes with a connection type of conditional branch connection, verify the logical completeness of their branch conditions. If any are missing, the connection is deemed to be logically incomplete. For multiple task nodes with a parallel connection type, verify whether there is mutual exclusion of their required hardware resources. If mutual exclusion exists, it is determined to be a resource conflict. When the beverage task flow structure passes all the verification items, a verification pass flag is generated and fed back to the configuration platform; When any verification fails, an error-type verification report is generated and fed back to the configuration platform.

6. The task flow orchestration method for multi-category beverage robots according to claim 1, characterized in that, The step of converting the beverage task flow structure into task flow configuration data that can be executed by the beverage robot includes: Call the instruction mapping rule library corresponding to the target beverage robot model, traverse each task node in the beverage task flow structure, and convert the action type identifier of the task node into the corresponding robot control instruction code according to the instruction mapping rule library; The execution parameters in the task node are encoded and converted according to the data format requirements of the robot communication protocol to generate instruction data packets; Based on the predecessor node association information of the task nodes in the beverage task flow structure, an execution order index is added to each instruction data packet; All instruction data packets are serialized and arranged according to their execution order index to generate task flow configuration data that conforms to the robot communication protocol format.

7. The task flow orchestration method for multi-category beverage robots according to claim 1, characterized in that, The step of sending the task flow configuration data to the beverage robot so that the beverage robot can perform the target beverage preparation operation according to the task flow configuration data includes: The platform sends a task flow configuration data distribution request to the beverage robot through the communication connection channel established between the configuration platform and the beverage robot. After receiving the data reception confirmation signal from the beverage robot, the task flow configuration data is transmitted and stored in the local configuration database of the beverage robot. A task flow execution start command is sent to the beverage robot, so that the beverage robot loads the corresponding task flow configuration data from the local configuration database and executes the robot control commands sequentially according to the instruction data packets in the task flow configuration data until all the production operations of the target beverage are completed.

8. A task flow orchestration system for multi-category beverage robots, characterized in that, A configuration platform for beverage preparation, including: The acquisition module is used to acquire several basic action modules selected by the user for the target beverage on the configuration platform, and record the arrangement order of each basic action module and the connection relationship between adjacent basic action modules. Each basic action module corresponds to a standardized production action in the beverage making process. The generation module is used to generate the corresponding beverage task flow structure based on the arrangement order and connection relationship of the basic action modules; The verification module is used to verify the integrity and sequential validity of the beverage task flow structure to ensure that the execution order between the basic action modules meets the process constraints of beverage making. The conversion module is used to convert the beverage task flow structure into task flow configuration data that can be executed by the beverage robot if the verification passes. The production module is used to send the task flow configuration data to the beverage robot, so that the beverage robot can perform the production operation of the target beverage according to the task flow configuration data.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program that can run on the processor, and the processor executing the computer program to implement the task flow orchestration method for multi-category beverage robots as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when run by a processor, causes the processor to execute the task flow orchestration method for a multi-category beverage robot as described in any one of claims 1 to 7.

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