Modular-based beverage robot control method and related devices

Abstract

The application relates to the technical field of beverage robots, and specifically provides a beverage robot control method based on modularization and related equipment, which comprises the following steps: decoupling function units in a beverage robot, encapsulating the function units into multiple independently callable function modules, and constructing uniform module description information for each function module; establishing a calling relationship between the function modules based on the module description information; after receiving a production requirement of a target beverage, generating a module combination structure corresponding to the production requirement based on the calling relationship between the function modules; generating a corresponding control instruction based on the module combination structure, and sending the control instruction to the beverage robot to drive the beverage robot to sequentially execute the corresponding function modules according to the module combination structure. Through the above scheme, the problems of low flow reusability of control logic and specific execution units and insufficient configuration flexibility when the beverage production flow needs to be adjusted, expanded or reconstructed are overcome.

Description

Technical Field

[0001] This application relates to the technical field of beverage robots, and more specifically, to a modular beverage robot control method and related equipment. Background Technology

[0002] With the development of intelligent manufacturing and service robot technology, beverage robots are gradually being applied to beverage production scenarios such as coffee, milk tea, and fruit drinks. They complete operations such as raw material feeding, heating, stirring, extraction, and dispensing through automated equipment to improve beverage production efficiency and reduce labor costs. The relevant system usually consists of mechanical actuators, control units, and software systems working together to achieve automatic control of the beverage production process.

[0003] The common approach is to divide the beverage preparation process into several operational steps and drive the corresponding actuators to complete each step in a preset sequence through a control program. When it is necessary to support multiple beverages, different process templates or different control programs can be configured to control the beverage preparation process, thereby achieving automation and standardization of the beverage preparation process.

[0004] Although automated control of beverage robots can be achieved through preset production processes and control programs, there are problems such as low reusability of control logic and specific execution units and insufficient configuration flexibility when it is necessary to adjust, expand or reconstruct the beverage production process. Summary of the Invention

[0005] The embodiments of this application provide a modular beverage robot control method and related equipment, which can overcome the problems of low process reusability and insufficient configuration flexibility of control logic and specific execution units when it is necessary to adjust, expand or reconstruct the beverage making process.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to one aspect of the embodiments of this application, a modular beverage robot control method is provided, comprising: decoupling functional units in the beverage robot, encapsulating the functional units into multiple independently callable functional modules, and constructing unified module description information for each functional module; establishing a calling relationship between the functional modules based on the module description information; upon receiving a production request for a target beverage, generating a module combination structure corresponding to the production request based on the calling relationship between the functional modules; generating a corresponding control instruction based on the module combination structure, and sending the control instruction to the beverage robot to drive the beverage robot to execute the corresponding functional modules sequentially according to the module combination structure.

[0008] In some embodiments of this application, the steps of decoupling the functional units in the beverage robot based on the aforementioned scheme, encapsulating the functional units into multiple independently callable functional modules, and constructing unified module description information for each functional module include: identifying the physical execution unit and the logic control unit in the beverage robot, dividing the physical execution unit and the logic control unit into corresponding functional units according to their functional attributes; extracting the hardware interface type, control parameter range, and execution timing requirements of each functional unit, and encapsulating the corresponding functional unit into a functional module with independent input / output interfaces according to the hardware interface type, the control parameter range, and the execution timing requirements through a preset module encapsulation protocol; constructing corresponding module description information for each functional module, wherein the module description information includes a functional type label, an input parameter list, an output parameter list, pre-dependencies, and post-state information; and storing the module description information in a structured data format in a module information database.

[0009] In some embodiments of this application, the step of establishing a calling relationship between various functional modules based on the module description information described in the foregoing scheme includes: classifying and indexing the functional modules according to the functional type tags in the module description information, and extracting the pre-dependency conditions and output parameter list of each functional module; matching the output parameter list with the input parameter lists of other functional modules; when the output parameter type of a certain functional module matches the input parameter type of another functional module and the post-state information of the certain functional module satisfies the pre-dependency conditions of the other functional module, establishing a calling relationship between the certain functional module and the other functional module; and storing the calling relationship in a directed graph structure in a module relationship database.

[0010] In some embodiments of this application, the step of generating a module combination structure corresponding to the production requirement based on the calling relationship between the functional modules after receiving the production requirement of the target beverage, as described in the foregoing scheme, includes: upon receiving the target beverage, parsing the target beverage to obtain the production requirement of beverage type, temperature requirement, concentration parameter, and volume specification; retrieving a standard process flow corresponding to the beverage type from a preset beverage formula database; decomposing the standard process flow into several process steps; for each process step, retrieving candidate functional modules whose function type tags match the process step from the module information database; filtering the control parameter range of the candidate functional modules according to the temperature requirement, concentration parameter, and volume specification in the production requirement to obtain the filtered functional modules; and generating a corresponding module combination structure based on the calling relationship between the standard process flow and the filtered functional modules, wherein the module combination structure includes a functional module execution sequence and a parameter transfer mapping relationship between modules.

[0011] In some embodiments of this application, the step of generating a corresponding module combination structure based on the standard process flow and the calling relationship between the selected functional modules as described in the foregoing scheme includes: querying the calling relationship between the selected functional modules from the module relationship database; and sequentially sorting the selected functional modules according to the calling relationship based on the execution order of the standard process flow to generate a module combination structure.

[0012] In some embodiments of this application, the steps of generating corresponding control instructions based on the module combination structure as described in the foregoing scheme, and sending the control instructions to the beverage robot to drive the beverage robot to execute the corresponding functional modules sequentially according to the module combination structure, include: reading the functional module execution sequence in the module combination structure; obtaining the hardware interface type corresponding to each functional module in the functional module execution sequence from the module information database; determining the input parameter value of each functional module according to the parameter transfer mapping relationship between modules in the module combination structure; generating corresponding control instructions through the input parameter values ​​and the hardware interface type, and sending the control instructions to the corresponding functional module of the beverage robot.

[0013] In some embodiments of this application, the step of generating corresponding control instructions based on the input parameter values ​​and the hardware interface type, and sending the control instructions to the corresponding functional modules of the beverage robot, as described in the foregoing scheme, includes: calculating the execution parameters of each functional module based on the input parameter values ​​and the temperature requirements, concentration parameters, and capacity specifications in the production requirements; converting the execution parameters into low-level control signals recognizable by the corresponding hardware device according to the hardware interface type, and assigning an execution timestamp to each functional module according to the execution sequence of the functional modules; encapsulating the low-level control signals, execution timestamps, and prerequisite dependencies of all functional modules into control instructions, and sending the control instructions to the corresponding functional modules of the beverage robot.

[0014] According to another aspect of the embodiments of this application, a modular beverage robot control system is provided, comprising: a unit decoupling module, used to decouple functional units in the beverage robot, encapsulate the functional units into multiple independently callable functional modules, and construct unified module description information for each functional module; a call establishment module, used to establish call relationships between the functional modules based on the module description information; a structure generation module, used to generate a module combination structure corresponding to the production requirement based on the call relationships between the functional modules after receiving the production requirement of the target beverage; and a function execution module, used to generate corresponding control instructions based on the module combination structure, and send the control instructions to the beverage robot to drive the beverage robot to execute the corresponding functional modules sequentially according to the module combination structure.

[0015] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor, the memory storing a computer program executable on the processor, the processor executing the computer program to implement the modular beverage robot control method described above.

[0016] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when run by a processor, causes the processor to perform the modular beverage robot control method as described in any one of the above.

[0017] Compared with existing technologies, this application has the following advantages: By decoupling the functional units in the beverage robot, the functional units are encapsulated into multiple independently callable functional modules, and a unified module description information is constructed for each functional module. Based on the module description information, the calling relationship between each functional module is established. After receiving the production requirements of the target beverage, the production requirements are parsed and combined with the standard process flow. Functional modules matching the process steps are selected from the module information database and the module relationship database. The module combination structure is generated according to the parameter transmission mapping relationship between modules. Furthermore, the execution sequence, input parameter values ​​and hardware interface types of the functional modules are determined based on the module combination structure. The temperature requirements, concentration parameters and capacity specifications in the production requirements are mapped to the execution parameters of each functional module, and the execution parameters are converted into low-level control signals that can be recognized by the hardware devices. Combined with the execution timestamp and the pre-dependent conditions, the commands are encapsulated into control instructions and sent to the beverage robot. This overcomes the problems of low process reusability and insufficient configuration flexibility of the control logic and specific execution units when the beverage production process needs to be adjusted, expanded or reconstructed. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the modular beverage robot control method provided in an embodiment of the present invention. Figure 2 This is a schematic block diagram of the modular beverage robot control system provided in an embodiment of the present invention; Figure 3 This is a schematic block diagram of the structure of the electronic device provided in the embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 10. Modular beverage robot control system; 11. Unit decoupling module; 12. Call creation module; 13. Structure generation module; 14. Function execution module; 20. Electronic equipment; 21. Memory; 22. Processor. Detailed Implementation

[0020] Exemplary embodiments will now be described in a more comprehensive manner with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to these examples; rather, these embodiments are provided so that this application will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0021] Furthermore, the features, structures, or characteristics described in this application can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to provide a full understanding of the embodiments of this application. However, those skilled in the art will recognize that when implementing the technical solutions of this application, not all the detailed features in the embodiments may be used, one or more specific details may be omitted, or other methods, elements, devices, steps, etc., may be employed.

[0022] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0023] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0024] It should be noted that "multiple" in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, this embodiment provides a modular control method for beverage robots, applicable to the control process of beverage robots in various beverage preparation scenarios. The method specifically includes the following steps: Step S100: Decouple the functional units in the beverage robot, encapsulate the functional units into multiple independently callable functional modules, and construct unified module description information for each functional module.

[0027] The actuators and control logic of the beverage robot are analyzed in a structured manner. Based on the correspondence between the execution function and the control logic, the functional units in the beverage robot are decomposed and decoupled so that each functional unit corresponds to a specific operation function. The functional units are mapped to functional modules with independent input and output interfaces through module encapsulation rules.

[0028] In beverage robots, the dispensing mechanism, heating mechanism, cooling mechanism, stirring mechanism, pumping mechanism, and sensor acquisition mechanism each correspond to different operating functions. By analyzing the control interface, parameter range, and execution sequence of the above mechanisms, the functional units corresponding to the above mechanisms are divided into independent functional modules, so that each functional module corresponds to a single operating function.

[0029] Specifically, step S100 may also preferably be carried out in the following manner: Identify the physical execution units and logic control units in the beverage robot, and divide the physical execution units and logic control units into corresponding functional units according to their functional attributes; among them, the functional units include heating functional units, cooling functional units, stirring functional units, discharging functional units, cleaning functional units, and sensing and detection functional units.

[0030] By reading the control interface configuration file and hardware interface description file of the beverage robot, the interface identifier, control command format and parameter range of the physical execution unit are obtained, and the control rules and state conditions of the logic control unit are obtained. The physical execution unit and the logic control unit are mapped according to their functional attributes to form a corresponding set of functional units.

[0031] Among them, the heating function unit corresponds to the temperature control interface and temperature feedback interface of the heating device; the cooling function unit corresponds to the power control interface and temperature feedback interface of the cooling device; the stirring function unit corresponds to the speed control interface and speed feedback interface of the stirring device; the discharge function unit corresponds to the flow control interface and flow feedback interface of the pumping device; the cleaning function unit corresponds to the liquid injection interface and liquid discharge interface of the cleaning device; and the sensing and detection function unit corresponds to the acquisition interface of the weight sensor, temperature sensor and liquid level sensor.

[0032] Extract the hardware interface type, control parameter range, and execution timing requirements of each functional unit. Based on the hardware interface type, control parameter range, and execution timing requirements, encapsulate the corresponding functional unit into a functional module with an independent input / output interface using a preset module encapsulation protocol.

[0033] By parsing the hardware interface type corresponding to the functional unit, the interface communication method of the functional unit is determined, including serial communication interface, bus communication interface, and digital interface; by reading the control parameter configuration table, the control parameter range of the functional unit is determined, including temperature range, speed range, flow rate range, and time range; by parsing the control logic configuration table, the execution timing requirements of the functional unit are determined, including start conditions, duration, and end conditions; according to the module encapsulation protocol, the functional unit is encapsulated into a functional module with a unified interface description format.

[0034] The hardware interface type of the heating function unit is a serial communication interface, the control parameter range is the temperature range of 0℃ to 100℃, and the execution timing requirement is that the temperature reaches the target value and is held for a set time. According to the module packaging protocol, the heating function unit is packaged into a heating function module, and its input parameters are defined as the target temperature and holding time, and its output parameters are the current temperature and execution status.

[0035] For each functional module, a corresponding module description is constructed, which includes a function type label, a list of input parameters, a list of output parameters, prerequisite dependencies, and post-state information.

[0036] By providing a structured description of the operation functions, input parameters, output parameters, and execution conditions of each functional module, module description information is constructed for each functional module. Among them, the function type label is used to identify the operation category of the functional module, the input parameter list is used to describe the control parameters required by the functional module, the output parameter list is used to describe the feedback data of the functional module, the pre-dependency conditions are used to describe the start conditions of the functional module, and the post-state information is used to describe the state after the functional module has been executed.

[0037] If the function type label of the stirring module is "stirring", the input parameter list includes the rotation speed parameter and the duration parameter, the output parameter list includes the current rotation speed and the execution status, the prerequisite conditions include the container liquid level reaching the set threshold, and the post-state information includes the stirring completion status indicator.

[0038] Module description information is stored in a structured data format in the module information database.

[0039] The module description information is encoded according to a preset data structure, and organized using key-value pairs and hierarchical structures. The encoded module description information is then stored in the module information database to achieve unified management and query of functional modules.

[0040] The module description information is represented in JSON data format. The function type label, input parameter list, output parameter list, prerequisite dependencies and post-state information correspond to different fields in the JSON structure. The corresponding JSON data is written to the module information database to enable indexing and retrieval of functional modules.

[0041] Step S200: Establish the calling relationship between various functional modules based on the module description information.

[0042] By analyzing the input parameter list, output parameter list, pre-dependency conditions, and post-state information in the module description information, the data dependency relationship and state dependency relationship between functional modules are constructed, and the calling relationship between functional modules is determined based on the data dependency relationship and state dependency relationship.

[0043] When the output parameter type of a certain functional module is the same as the input parameter type of another functional module, and the post-state information of the functional module satisfies the pre-dependency conditions of the other functional module, it is determined that there is a calling relationship between the two.

[0044] Specifically, step S200 may also preferably be carried out in the following manner: Based on the function type tags in the module description information, the functional modules are categorized and indexed, and the prerequisites and output parameter list of each functional module are extracted.

[0045] By reading the module description information from the module information database, the functional modules are classified and indexed according to the functional type tags, and the pre-dependent conditions and output parameter list of each functional module are extracted to form a set of functional module attributes for calling relationship analysis.

[0046] For example, functional modules labeled "heating" are classified as heating modules, and functional modules labeled "discharge" are classified as discharge modules. The prerequisites and output parameter lists of the corresponding modules are then extracted.

[0047] The output parameter list is matched with the input parameter list of other functional modules. When the output parameter type of a certain functional module matches the input parameter type of another functional module and the post-state information of a certain functional module satisfies the pre-dependency condition of another functional module, a calling relationship is established between the certain functional module and the other functional module.

[0048] By matching the output parameter type with the input parameter type, a rule-based matching method is used to determine the consistency of parameter types. By logically matching the subsequent state information with the preceding dependency conditions, the consistency of state conditions is determined. When both parameter type consistency and state condition consistency are met, the calling relationship between functional modules is established.

[0049] For example, the output parameter list of the discharge function module includes liquid flow rate data, and the input parameter list of the stirring function module includes liquid flow rate parameters. When the liquid flow rate data type is consistent with the liquid flow rate parameter type, and the post-state information of the discharge function module is "discharge completed", and the pre-dependency condition of the stirring function module is "discharge completed", then a calling relationship is established between the discharge function module and the stirring function module.

[0050] The call relationships are stored in the module relationship database in a directed graph structure, and each call relationship is labeled with a data transfer interface and a state synchronization mechanism.

[0051] Functional modules are treated as nodes in a directed graph, and the calling relationships between functional modules are treated as directed edges. The directed graph structure is constructed using adjacency matrix representation or adjacency list representation, and the directed graph structure is stored in the module relationship database. At the same time, each directed edge is labeled with the corresponding data transmission interface and state synchronization mechanism.

[0052] A directed graph of functional modules is constructed using adjacency matrix representation, where matrix elements represent the calling relationships between functional modules. The directed edge labeling data transfer interface between the discharge functional module and the stirring functional module is a liquid flow parameter interface, and the labeling status synchronization mechanism is a synchronization method based on status identifiers. The above directed graph structure is then written into the module relationship database.

[0053] Step S300: After receiving the production requirement of the target beverage, generate a module combination structure corresponding to the production requirement based on the calling relationship between the functional modules.

[0054] By performing structured analysis of the production requirements corresponding to the target beverage, and combining the calling relationships between functional modules recorded in the module relationship database, functional modules that meet the production requirement constraints are selected and combined to form a module combination structure corresponding to the production requirements of the target beverage.

[0055] When the target beverage is "hot milk tea", the system analyzes the corresponding production requirements of the target beverage to determine the need to call the heating function module, the dispensing function module, the stirring function module, and the cleaning function module. Based on the calling relationship recorded in the module relationship database, the above function modules are combined into a module combination structure that meets the hot milk tea production process.

[0056] Specifically, in step S300, the following scheme is also preferred: Upon receiving the target beverage, the system analyzes the beverage to obtain the production requirements, including beverage type, temperature requirements, concentration parameters, and volume specifications. It then retrieves the standard process flow corresponding to the beverage type from a pre-set beverage formula database.

[0057] By reading the target beverage identification information, the target beverage is mapped to a beverage type, and the corresponding standard process flow is retrieved from the beverage formula database according to the beverage type. At the same time, the temperature requirements, concentration parameters and volume specifications of the target beverage are analyzed, and the analysis results are used as production requirement parameters.

[0058] When the target beverage label information is "medium-sized hot milk tea, temperature 60℃, standard concentration, volume 350mL", the beverage type is resolved to milk tea, the temperature requirement is resolved to 60℃, the concentration parameter is resolved to standard concentration, and the volume specification is resolved to 350mL. The standard process flow corresponding to milk tea is retrieved from the beverage formula database. The standard process flow includes the process steps corresponding to raw material feeding, heating, stirring, discharging and cleaning.

[0059] The standard process flow is broken down into several process steps, and for each process step, candidate functional modules that match the functional type tags of the process steps are retrieved from the module information database.

[0060] By structurally decomposing the standard process flow, the standard process flow is mapped into multiple process steps. Based on the functional attributes of the process steps, candidate functional modules that match the functional type tags of the process steps are retrieved from the module information database.

[0061] For example, the standard process of milk tea is broken down into heating, discharging, stirring, and cleaning steps. Then, the module information database is searched to find functional modules with the function type tag "heating" as candidate functional modules for the heating process, functional modules with the function type tag "discharging" as candidate functional modules for the discharging process, functional modules with the function type tag "stirring" as candidate functional modules for the stirring process, and functional modules with the function type tag "cleaning" as candidate functional modules for the cleaning process.

[0062] Based on the temperature requirements, concentration parameters, and capacity specifications in the production requirements, the control parameter ranges of candidate functional modules are screened to obtain the screened functional modules.

[0063] By reading the control parameter range in the module description information corresponding to the candidate functional modules, the temperature requirements, concentration parameters, and capacity specifications in the production requirements are matched with the control parameter range of the candidate functional modules to filter out the functional modules that meet the production requirements constraints.

[0064] When the temperature requirement is 60℃, select a heating function module from the candidate heating function modules whose control parameter range covers 60℃; when the capacity specification is 350mL, select a discharge function module from the candidate discharge function modules whose flow parameter range supports a discharge volume of 350mL; when the concentration parameter is the standard concentration, select a stirring function module from the candidate stirring function modules whose speed parameter range matches the speed range corresponding to the standard concentration.

[0065] Based on the standard process flow and the calling relationship between the selected functional modules, a corresponding module combination structure is generated. The module combination structure includes the execution sequence of functional modules and the parameter passing mapping relationship between modules.

[0066] By reading the call relationships between the filtered functional modules from the module relational database and combining them with the sequential constraints of the process steps in the standard process flow, the filtered functional modules are combined to form a module combination structure that includes the execution sequence of functional modules and the parameter passing mapping relationship between modules.

[0067] For example, the heating function module, the discharge function module, and the stirring function module are arranged in the order of the process steps of the standard process flow to form the function module execution sequence, and a parameter transfer mapping relationship is established between the temperature parameters output by the heating function module and the input parameters of the stirring function module, and a parameter transfer mapping relationship is established between the flow rate parameters output by the discharge function module and the input parameters of the stirring function module.

[0068] Furthermore, the step of generating the corresponding module combination structure based on the standard process flow and the calling relationship between the selected functional modules can also be preferably performed in the following manner: Query the call relationships between the filtered functional modules from the module relationship database.

[0069] By retrieving the directed graph structure recorded in the module relational database, the directed edge relationships between the filtered functional modules are extracted, and the corresponding call relationship description information is obtained.

[0070] For example, query the call relationship between the heating function module and the stirring function module in the module relationship database, query the call relationship between the discharge function module and the stirring function module, and obtain the directed edge identifiers of the corresponding call relationships.

[0071] Based on the execution order of the standard process flow, the selected functional modules are sequentially arranged according to their calling relationships, and the data transmission interfaces and state synchronization mechanisms between adjacent functional modules in the sequential arrangement are verified to generate a module combination structure.

[0072] The selected functional modules are sorted topologically, and then sequentially arranged according to the execution order of the standard process flow. The consistency of the data transmission interface and state synchronization mechanism between the sequentially arranged functional modules is verified. When the data transmission interface type and state synchronization mechanism meet the consistency conditions, the module combination structure is determined.

[0073] The topological sorting uses a directed acyclic graph topological sorting algorithm, which is a topological sorting algorithm.

[0074] For example, the heating, discharging, and stirring modules are constructed as a directed graph structure, and a topological sorting algorithm is used to sort the directed graph to obtain the execution sequence of the heating, discharging, and stirring modules. The consistency of the data transmission interface between the heating and stirring modules is checked, and the consistency of the state synchronization mechanism between the discharging and stirring modules is checked. When the check results meet the preset consistency conditions, the module combination structure is determined.

[0075] Step S400: Generate corresponding control instructions based on the module combination structure, and send the control instructions to the beverage robot to drive the beverage robot to execute the corresponding functional modules in sequence according to the module combination structure.

[0076] By analyzing the modular combination structure, the execution sequence of functional modules and the parameter transmission mapping relationship between modules are converted into control logic that can be recognized by the beverage robot, thereby realizing the mapping between the modular combination structure and the underlying control instructions. The control instructions are generated by the modular control platform and sent to the beverage robot control system through the communication interface, and the beverage robot control system drives the underlying hardware devices.

[0077] When the module combination structure includes a functional module execution sequence of "heating module - extraction module - stirring module", the execution order, input parameter source and execution dependency of each functional module are determined according to the parameter transfer mapping relationship between modules, and corresponding control instructions are generated accordingly.

[0078] When a certain functional module becomes unavailable or needs to be upgraded, the target functional module can be replaced by updating the module description information and the parameter passing mapping relationship between modules, without having to adjust other functional modules in the module combination structure.

[0079] Specifically, step S400 may also preferably be carried out in the following manner: Read the execution sequence of functional modules in the module combination structure, and obtain the hardware interface type corresponding to each functional module in the execution sequence from the module information database.

[0080] By traversing the execution sequence of the functional modules, the hardware interface type corresponding to each functional module is obtained, so as to establish the mapping relationship between the functional modules and the beverage robot hardware device.

[0081] For example, the hardware interface type corresponding to the heating module is a temperature control interface, the hardware interface type corresponding to the extraction module is a pump control interface, and the hardware interface type corresponding to the stirring module is a motor interface, thereby clarifying the underlying control object of each functional module.

[0082] The input parameter values ​​for each functional module are determined based on the parameter transfer mapping relationship between modules in the modular combination structure.

[0083] By analyzing the parameter passing mapping relationship between modules, the source of the input parameters required by each functional module and their value rules are determined, so as to realize the parameter linkage between functional modules.

[0084] The input parameters of the extraction module are determined by the output temperature parameters of the heating module and the concentration parameters required for production, thereby ensuring that the extraction process is consistent with the execution results of the preceding functional modules.

[0085] By inputting parameter values ​​and hardware interface types, corresponding control commands are generated and sent to the corresponding functional modules of the beverage robot.

[0086] Based on the input parameter values ​​and hardware interface type, a control instruction format matching the hardware device is constructed, enabling the execution logic of the functional modules to be directly executed by the beverage robot.

[0087] For example, the temperature parameters are combined with the instruction format corresponding to the temperature control interface to generate control instructions for the heating module, which are then sent to the temperature control unit of the beverage robot.

[0088] Furthermore, the step of generating corresponding control commands by inputting parameter values ​​and hardware interface types, and sending the control commands to the corresponding functional modules of the beverage robot, can also be preferably: The execution parameters for each functional module are calculated by taking the input parameter values ​​and considering the temperature requirements, concentration parameters, and capacity specifications in the production requirements.

[0089] By comprehensively calculating the input parameter values ​​along with the temperature requirements, concentration parameters, and volume specifications in the production requirements, the execution parameters that meet the production requirements of the target beverage are obtained.

[0090] For example, the pump flow rate parameters of the extraction module are determined based on the capacity specifications, the extraction time parameters are determined based on the concentration parameters, and the target temperature parameters of the heating module are determined based on the temperature requirements.

[0091] Based on the hardware interface type, the execution parameters are converted into low-level control signals that can be recognized by the corresponding hardware device, and an execution timestamp is assigned to each functional module according to the execution sequence of the functional modules.

[0092] By adapting the execution parameters to the interface and scheduling the time, the execution parameters are converted into underlying control signals, and each functional module is ensured to be executed in an orderly manner according to the execution sequence of the functional modules.

[0093] For example, the target temperature parameter is converted into a PWM control signal for the temperature control interface, and an execution timestamp is assigned to the heating module before that of the extraction module to ensure that the extraction module is executed only after the target temperature is reached.

[0094] All underlying control signals, execution timestamps, and prerequisites of all functional modules are encapsulated into control instructions, which are then sent to the corresponding functional modules of the beverage robot.

[0095] By uniformly encapsulating the underlying control signals, execution timestamps, and prerequisite dependencies, complete control instructions are formed to achieve accurate mapping from the modular combination structure to the execution behavior of the beverage robot.

[0096] For example, the underlying control signals of the heating module, the execution timestamp, and the prerequisite condition of "execute the extraction module after reaching the target temperature" are encapsulated into control instructions and sent to the control system of the beverage robot, thereby ensuring that the beverage robot executes stably according to the module combination structure.

[0097] In this embodiment, the functional units in the beverage robot are decoupled and encapsulated into multiple independently callable functional modules, and a unified module description information is constructed for each functional module. Then, a calling relationship between the functional modules is established based on the module description information. After receiving the production requirement of the target beverage, a module combination structure corresponding to the production requirement is generated based on the calling relationship between the functional modules. Finally, a corresponding control command is generated based on the module combination structure and sent to the beverage robot to drive the beverage robot to execute the corresponding functional modules in sequence according to the module combination structure, thereby completing the production process of the target beverage.

[0098] By decoupling and encapsulating the functional units in the beverage robot into multiple independently callable functional modules, and constructing unified module description information for each functional module, a calling relationship is established between the various functional modules based on the module description information. Upon receiving the production requirement of the target beverage, a module combination structure corresponding to the production requirement is generated, and corresponding control instructions are generated and sent to the beverage robot based on the module combination structure. This enables the beverage robot to control different beverage production processes based on the module combination structure, thereby improving the flexibility and adaptability of the beverage robot's control method. It overcomes the problems of low process reusability and insufficient configuration flexibility of control logic and specific execution units when it is necessary to adjust, expand, or reconstruct the beverage production process.

[0099] like Figure 2 As shown, this application also provides a modular beverage robot control system 10, including: Unit decoupling module 11 is used to decouple the functional units in the beverage robot, encapsulate the functional units into multiple independently callable functional modules, and build unified module description information for each functional module.

[0100] Call module 12 to establish the calling relationship between various functional modules based on the module description information.

[0101] The structure generation module 13 is used to generate a module combination structure corresponding to the production requirements based on the calling relationship between the functional modules after receiving the production requirements of the target beverage.

[0102] The function execution module 14 is used to generate corresponding control instructions based on the module combination structure and send the control instructions to the beverage robot to drive the beverage robot to execute the corresponding function modules in sequence according to the module combination structure.

[0103] In this embodiment, the functional units in the beverage robot are decoupled through the unit decoupling module 11. The heating, cooling, stirring, dispensing, cleaning, and sensing / detection units are encapsulated as functional modules with independent input / output interfaces. A unified module description is constructed for each functional module, including a function type label, input parameter list, output parameter list, pre-dependencies, and post-state information. The call establishment module 12 establishes call relationships between functional modules based on the module description information, matching the output parameter lists of functional modules with the input parameter lists of other functional modules, and generating call relationships by combining pre-dependencies and post-state information, storing them in an orderly manner in the module relationship database. The structure generation module 13 then generates the call relationship upon receiving the target beverage. After analyzing the beverage type, temperature requirements, concentration parameters, and volume specifications based on the production requirements, the system retrieves the standard process flow from the beverage formula database, decomposes the standard process flow into process steps, and filters candidate functional modules based on the matching of functional modules and process steps and the range of control parameters in the module information database. Furthermore, it generates a module combination structure by combining the calling relationships in the module relationship database, including the execution sequence of functional modules and the parameter transfer mapping relationship between modules. The function execution module 14 generates the execution parameters for each functional module based on the module combination structure, and converts the execution parameters into underlying control signals based on the hardware interface type, assigns execution timestamps and pre-dependent conditions, encapsulates them into control instructions, and sends them to the beverage robot. This enables the sequential execution of functional modules according to the module combination structure, thereby improving the flexibility, accuracy, and scalability of beverage production.

[0104] It should be noted that although several modules or units of the system for executing actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0105] like Figure 3 As shown, this application also provides an electronic device, including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the above-described modular beverage robot control method.

[0106] In this embodiment, a computer program stored in memory runs on a processor to decouple the functional units in the beverage robot. The physical execution unit and the logic control unit are divided into functional units according to their functional attributes and encapsulated as independently callable functional modules. Module description information is constructed for each functional module, including a function type label, a list of input parameters, a list of output parameters, pre-dependencies, and post-state information. The processor parses the module description information to establish calling relationships between functional modules, matches the output parameters of functional modules with the input parameters of other functional modules, and generates an ordered calling relationship based on pre-dependencies and post-state information. Upon receiving the target beverage... After receiving the beverage production requirements, the processor analyzes the beverage type, temperature requirements, concentration parameters, and volume specifications. It retrieves the standard process flow from the beverage formula database, decomposes the process flow into process steps, and selects functional modules that match the process steps. It then generates a module combination structure based on the calling relationships between modules, including the execution sequence of functional modules and the parameter transfer mapping relationship between modules. Based on the module combination structure and the input parameter values, the processor calculates the execution parameters of the functional modules, generates low-level control signals based on the hardware interface type, assigns execution timestamps, and encapsulates the pre-dependent conditions into control instructions, which are then sent to the beverage robot. This enables the functional modules to be executed sequentially according to the module combination structure, thereby enhancing the flexibility, controllability, and adaptability of beverage production.

[0107] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when run by a processor, causes the processor to execute the aforementioned modular beverage robot control method.

[0108] In this embodiment, a computer program on a computer-readable storage medium is executed by a processor to decouple the functional units in the beverage robot. The physical execution unit and the logic control unit are encapsulated into multiple independently callable functional modules. Module description information is generated for each functional module, including a function type label, a list of input parameters, a list of output parameters, pre-dependencies, and post-state information. The processor parses the module description information to establish calling relationships between functional modules, matches the output parameters of a functional module with the input parameters of other functional modules, and combines the pre-dependencies and post-state information to form calling relationships stored in a module relationship database. Upon receiving a request to prepare a target beverage, the process... The system analyzes the beverage type, temperature requirements, concentration parameters, and volume specifications. It retrieves the standard process flow from the beverage formula database, decomposes the process flow into process steps, selects functional modules that match the process steps and whose control parameter ranges meet the requirements, and generates a module combination structure based on the calling relationship between modules. This structure includes the execution sequence of functional modules and the parameter transfer mapping relationship between modules. The processor calculates the execution parameters of each functional module based on the module combination structure, generates low-level control signals in combination with the hardware interface type, assigns execution timestamps, and encapsulates the pre-dependent conditions to form control instructions that are sent to the beverage robot. This enables the functional modules to be executed sequentially according to the module combination structure, thereby improving the automation level, scalability, and operational consistency of the beverage production process.

[0109] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored on a non-volatile storage medium (such as a CD). The method, which is contained in or on a ROM, USB flash drive, external hard drive, etc., includes several instructions to cause an electronic device (which may be a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0110] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0111] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A modular control method for a beverage robot, characterized in that, include: The functional units in the beverage robot are decoupled and encapsulated into multiple independently callable functional modules, and a unified module description information is constructed for each functional module. Establish the calling relationship between each of the functional modules based on the module description information; Upon receiving the production request for the target beverage, a module combination structure corresponding to the production request is generated based on the calling relationship between the functional modules. Based on the module combination structure, corresponding control instructions are generated and sent to the beverage robot to drive the beverage robot to execute the corresponding functional modules in sequence according to the module combination structure.

2. The modular beverage robot control method according to claim 1, characterized in that, The steps of decoupling the functional units in the beverage robot, encapsulating the functional units into multiple independently callable functional modules, and constructing unified module description information for each functional module include: Identify the physical execution unit and the logic control unit in the beverage robot, and divide the physical execution unit and the logic control unit into corresponding functional units according to their functional attributes; Extract the hardware interface type, control parameter range, and execution timing requirements of each functional unit, and encapsulate the corresponding functional unit into a functional module with an independent input / output interface according to the hardware interface type, control parameter range, and execution timing requirements through a preset module encapsulation protocol. For each of the aforementioned functional modules, a corresponding module description information is constructed, wherein the module description information includes a function type label, an input parameter list, an output parameter list, pre-dependent conditions, and post-state information; The module description information is stored in the module information database in a structured data format.

3. The modular beverage robot control method according to claim 2, characterized in that, The step of establishing the calling relationship between the various functional modules based on the module description information includes: The functional modules are categorized and indexed according to the functional type tags in the module description information, and the prerequisite dependencies and output parameter list of each functional module are extracted. The output parameter list is matched with the input parameter list of other functional modules. When the output parameter type of a certain functional module matches the input parameter type of another functional module and the post-state information of the certain functional module satisfies the pre-dependency condition of the other functional module, a calling relationship is established between the certain functional module and the other functional module. The call relationships are stored in the module relationship database in a directed graph structure.

4. The modular beverage robot control method according to claim 3, characterized in that, The step of generating a module combination structure corresponding to the production requirement based on the calling relationship between the functional modules after receiving the production requirement includes: Upon receiving the target beverage, the beverage is analyzed to obtain the production requirements, including beverage type, temperature requirements, concentration parameters, and volume specifications. The standard process flow corresponding to the beverage type is then retrieved from a preset beverage formula database. The standard process flow is decomposed into several process steps, and for each process step, candidate functional modules whose functional type tags match the process step are retrieved from the module information database. The control parameter ranges of the candidate functional modules are filtered according to the temperature requirements, concentration parameters, and capacity specifications in the manufacturing requirements to obtain the filtered functional modules. Based on the standard process flow and the calling relationship between the selected functional modules, a corresponding module combination structure is generated, wherein the module combination structure includes the functional module execution sequence and the parameter passing mapping relationship between modules.

5. The modular beverage robot control method according to claim 4, characterized in that, The step of generating the corresponding module combination structure based on the calling relationship between the standard process flow and the selected functional modules includes: Query the calling relationships between the filtered functional modules from the module relationship database; Based on the execution order of the standard process flow, the selected functional modules are sequentially arranged according to the calling relationship to generate a module combination structure.

6. The modular beverage robot control method according to claim 4, characterized in that, The steps of generating corresponding control commands based on the modular combination structure and sending the control commands to the beverage robot to drive the beverage robot to execute the corresponding functional modules sequentially according to the modular combination structure include: Read the execution sequence of the functional modules in the module combination structure, and obtain the hardware interface type corresponding to each functional module in the execution sequence of the functional module from the module information database; The input parameter values ​​of each functional module are determined based on the parameter transfer mapping relationship between modules in the module combination structure. The corresponding control commands are generated based on the input parameter values ​​and the hardware interface type, and the control commands are sent to the corresponding functional modules of the beverage robot.

7. The modular beverage robot control method according to claim 6, characterized in that, The step of generating corresponding control commands based on the input parameter values ​​and the hardware interface type, and sending the control commands to the corresponding functional modules of the beverage robot, includes: The execution parameters of each functional module are calculated based on the input parameter values ​​and the temperature requirements, concentration parameters, and capacity specifications in the production requirements. The execution parameters are converted into low-level control signals that can be recognized by the corresponding hardware device according to the hardware interface type, and an execution timestamp is assigned to each of the functional modules according to the execution sequence of the functional modules. The underlying control signals, execution timestamps, and prerequisite dependencies of all functional modules are encapsulated into control instructions, which are then sent to the corresponding functional modules of the beverage robot.

8. A modular beverage robot control system, characterized in that, include: The unit decoupling module is used to decouple the functional units in the beverage robot, encapsulate the functional units into multiple independently callable functional modules, and construct unified module description information for each functional module. The module is invoked to establish the calling relationship between the various functional modules based on the module description information. The structure generation module is used to generate a module combination structure corresponding to the production requirement based on the calling relationship between the functional modules after receiving the production requirement of the target beverage. The function execution module is used to generate corresponding control instructions based on the module combination structure, and send the control instructions to the beverage robot to drive the beverage robot to execute the corresponding function modules in sequence according to the module combination structure.

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 modular beverage robot control method according to 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 modular beverage robot control method as described in any one of claims 1 to 7.

Images