Coffee robot control method, coffee robot, controller, and storage medium

Abstract

The embodiment of the present application provides a kind of coffee robot control method, coffee robot, controller and storage medium, in response to coffee printing theme selection instruction for coffee beverage, determine the target theme identification corresponding to coffee printing theme selection instruction;Determine target cup-in pattern data and target cup-out pattern data based on target theme identification;Based on target cup-in pattern data, control cup-in drawing component to carry out coffee three-dimensional printing to coffee beverage, to form actual cup-in pattern data;Based on target cup-out pattern data, control cup-out drawing component to carry out cup surface printing to coffee cup, to form actual cup-out pattern data;In the case where actual cup-in pattern data and target cup-in pattern data match, and actual cup-out pattern data and target cup-out pattern data match, deliver printed coffee beverage and printed coffee cup.Through the embodiment of the present application, cup-in printing and cup-out printing functions can be controlled in linkage, and synchronous verification is carried out, to improve the efficiency of verification.

Description

Technical Field

[0001] This invention relates to the field of pre-made coffee equipment technology, and in particular to a coffee robot control method, a coffee robot, a controller, and a computer-readable storage medium. Background Technology

[0002] With the popularization of coffee culture, consumers' demand for personalized and ritualistic coffee products is increasing. However, the current technology often uses 3D coffee printers and robotic latte art machines to process coffee. This lacks personalized cup painting capabilities, and the independent operation of cup painting and internal printing functions, coupled with a lack of coordinated control mechanisms, necessitates the separate operation of different devices, resulting in low processing efficiency. Furthermore, manual verification is also required, further reducing verification efficiency. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a coffee robot control method, a coffee robot, a controller, and a computer-readable storage medium that overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, in a first aspect of this invention, an embodiment discloses a coffee robot control method. The coffee robot is used to brew coffee beverages, which are loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component. The method includes: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

[0005] Optionally, the method further includes: If the actual cup pattern data does not match the target cup pattern data, local cup filling data is determined based on the pattern difference between the actual cup pattern data and the target cup pattern data. The cup-in-cup drawing component is controlled based on the local fill-in data within the cup. If the actual cup outer pattern data does not match the target cup outer pattern data, determine the cup outer partial supplementary drawing data based on the pattern difference between the actual cup outer pattern data and the target cup outer pattern data; The cup-outside drawing component is controlled based on the local supplementary drawing data outside the cup.

[0006] Optionally, the coffee robot has a preset database, which stores at least one candidate theme identifier, candidate cup interior pattern data, and candidate cup exterior pattern data corresponding to the candidate theme identifier; the step of determining the target cup interior pattern data and target cup exterior pattern data based on the theme identifier includes: Compare the target topic identifier with the candidate topic identifier; When the target theme identifier matches the candidate theme identifier, the candidate cup inner pattern data corresponding to the matching candidate theme identifier is determined as the target cup inner pattern data, and the candidate cup outer pattern data corresponding to the matching candidate theme identifier is determined as the target cup outer pattern data.

[0007] Optionally, the step of determining the pattern data inside the target cup and the pattern data outside the target cup based on the theme identifier further includes: If the target theme identifier does not match the candidate theme identifier, obtain the custom pattern data of the coffee printing theme selection instruction; The custom pattern data is defined as the pattern data inside the target cup and the pattern data outside the target cup.

[0008] In a second aspect, embodiments of the present invention disclose a coffee robot for brewing coffee beverages, the coffee beverages being loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component, and a controller connected to the in-cup drawing component and the out-of-cup drawing component respectively. The controller is used to perform the following steps: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

[0009] Optionally, the in-cup drawing component includes: A coffee 3D printing device for printing the coffee beverage in three dimensions.

[0010] Optionally, the cup-outside drawing component includes: Sticker storage compartment, used to store stickers; Food-grade markers are used to print on the sticker according to the pattern data of the target cup. An adhesive component for attaching printed stickers to the coffee cup; The food-grade marker has at least one pigment storage compartment for storing edible pigments.

[0011] Optionally, the cup-outside drawing component includes: A spraying device for spraying the target cup outer pattern data onto the outer surface of the coffee cup.

[0012] Optionally, the coffee robot further includes: A visual sensor is disposed on the top of the cup-inside drawing component and the cup-outside drawing component, for detecting the actual cup-inside pattern data and the actual cup-outside pattern data.

[0013] In a third aspect of the invention, an embodiment of the invention discloses a controller, including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the coffee robot control method as described above.

[0014] In a fourth aspect, embodiments of the present invention disclose a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the coffee robot control method as described above.

[0015] The embodiments of the present invention have the following advantages: This invention, in response to a coffee printing theme selection command for a coffee beverage, determines a target theme identifier corresponding to the command; based on the target theme identifier, it determines target cup interior pattern data and target cup exterior pattern data; based on the target cup interior pattern data, it controls the interior drawing component to perform 3D printing of the coffee beverage to form actual cup interior pattern data; based on the target cup exterior pattern data, it controls the exterior drawing component to print the surface of the coffee cup to form actual cup exterior pattern data; when the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, it delivers the printed coffee beverage and the printed coffee cup. By determining the target cup interior pattern data and target cup exterior pattern data based on the same target theme identifier through the same coffee printing theme selection command, the cup interior printing function corresponding to the target cup interior pattern data and the cup exterior printing function corresponding to the target cup exterior pattern data can be linked and controlled based on the same theme. This allows the actual cup interior pattern data and actual cup exterior pattern data to work together, and the cup interior printing function and cup exterior printing function to achieve linked control, eliminating the need for manual operation of two separate devices and improving processing efficiency. Furthermore, it automatically matches the actual pattern data inside and outside the cup with the actual pattern data to verify the actual printing results, achieving automated verification and improving verification efficiency. The printed coffee beverage and cup are only output when the actual pattern data inside and outside the cup match, ensuring users receive products with consistent patterns inside and outside the cup, thus enhancing the user experience. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the steps of an embodiment of the coffee robot control method of the present invention; Figure 2 This is a structural block diagram of an embodiment of the coffee robot of the present invention; Figure 3 This is a schematic diagram of the structure of an embodiment of the coffee robot of the present invention; Figure 4 This is a flowchart illustrating the workflow of one embodiment of the coffee robot of the present invention; Figure 5 This is a structural block diagram of a controller provided in an embodiment of the present invention; Figure 6 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present invention.

[0017] Figure labeling: 100-Workbench, 200-Inner cup drawing component, 300-Outer cup drawing component, 310-Sticker storage compartment, 320-Food grade marker, 330-Adhesive component, 340-Ink storage compartment, 400-Vision sensor. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Reference Figure 1 This document illustrates a flowchart of an embodiment of a coffee robot control method according to the present invention. The coffee robot is used to brew coffee beverages, which are then loaded onto a coffee cup. Specifically, the coffee robot can automatically grind coffee beans, brew coffee beans, and pour the coffee beverage into a coffee cup. The coffee cup can be made of materials such as plastic, ceramic, glass, or paper. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component. The in-cup drawing component can be a 3D coffee printer or a robotic latte art machine. The 3D coffee printer uses inkjet technology to print edible ink onto the surface of milk foam. The robotic latte art machine, by simulating the latte art movements of a human barista, uses a latte art needle to outline patterns on the surface of the milk foam, achieving a handcrafted, three-dimensional latte art effect. The out-of-cup drawing component can be a printer or a spray paintr, which can directly print or spray relevant content onto the outer surface of the coffee cup, or print or spray relevant content onto a sticker and then attach the sticker to the outer surface of the coffee cup.

[0020] The coffee robot control method may specifically include the following steps: Step 101: In response to the coffee printing theme selection instruction for coffee beverage, determine the target theme identifier corresponding to the coffee printing theme selection instruction; When users need to print coffee beverages, they can select a coffee printing theme based on their needs, generating a coffee printing theme selection instruction. This instruction includes an identifier for the coffee printing theme. Coffee printing themes can be categorized by scene, animal, plant, holiday, or symbol category. For example, coffee printing themes categorized by scene could include birthdays, Valentine's Day, Father's Day, Mother's Day, and anniversaries. Coffee printing themes categorized by animal could include cats, dogs, and birds. Coffee printing themes categorized by plant could include roses, chrysanthemums, and sunflowers.

[0021] Upon receiving a coffee printing theme selection instruction for a coffee beverage, the system can respond by reading the theme identifier from the instruction and determining the target theme identifier corresponding to the instruction. The target theme identifier represents the coffee printing theme selected by the user.

[0022] Step 102: Determine the inner pattern data and outer pattern data of the target cup based on the target theme identifier; Based on the target theme identifier, we can determine the target cup interior pattern data and the target cup exterior pattern data to be printed under the corresponding coffee printing theme. The patterns corresponding to the target cup interior pattern data and the target cup exterior pattern data can be the same pattern or related patterns under the same theme. For example, if the coffee printing theme corresponding to the target theme identifier is "birthday," both the target cup interior pattern data and the target cup exterior pattern data can correspond to a cake pattern. If the coffee printing theme corresponding to the target theme identifier is "roses," the target cup interior pattern data will be a rose petal pattern, and the target cup exterior pattern data will be a rose stem.

[0023] Step 103: Based on the target cup interior pattern data, control the cup interior drawing component to perform 3D printing of the coffee beverage to form actual cup interior pattern data; The pattern data inside the target cup can be parsed and converted into movement data for the cup-drawing component. This movement data is then used to control the movement of the cup-drawing component, performing 3D printing on the surface of the coffee beverage to generate the actual cup-in-cup pattern data. This actual cup-in-cup pattern data is the pattern data actually printed by the cup-drawing component. It should be noted that, in this embodiment of the invention, 3D coffee printing refers to printing a pattern or latte art on the surface of the milk foam in the coffee beverage, creating a three-dimensional visual effect.

[0024] Step 104: Based on the target cup outer pattern data, control the cup outer drawing component to print the surface of the coffee cup to form actual cup outer pattern data; Accordingly, the target cup exterior pattern data can be parsed and converted into printing data for the cup exterior drawing component. The cup interior drawing component is then controlled to print according to this data, creating the cup surface on the outer wall of the coffee cup and generating the actual cup exterior pattern data. This actual cup exterior pattern data is the pattern data actually printed by the cup exterior drawing component.

[0025] Step 105: If the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, then the printed coffee beverage and the printed coffee cup are delivered.

[0026] After printing, visual sensors at different locations can detect the actual cup interior pattern data and the target cup interior pattern data. It can be determined whether the actual cup interior pattern data and the target cup interior pattern data match, and also whether the actual cup exterior pattern data and the target cup exterior pattern data match, to verify whether the actual output pattern meets the requirements. Matching can be performed using image similarity; the specific matching method is not limited in this embodiment. If both the actual cup interior pattern data and the target cup interior pattern data match, meaning the currently printed actual cup interior pattern data and actual cup exterior pattern data meet the user's selected coffee printing theme requirements, the printed coffee beverage and printed coffee cup can be delivered for the user to drink. If the actual cup interior pattern data and the target cup interior pattern data do not match, or the actual cup exterior pattern data and the target cup exterior pattern data do not match, meaning the currently printed coffee beverage or printed coffee cup pattern does not meet the user's coffee printing theme requirements, it can be remade. For example, if the actual cup interior pattern data and the target cup interior pattern data do not match, the coffee can be brewed again and reprinted. For example, if the actual cup pattern data does not match the target cup pattern data, you can brew coffee again for coffee printing and reprint the surface of the coffee cup.

[0027] This invention, in response to a coffee printing theme selection command for a coffee beverage, determines a target theme identifier corresponding to the command; based on the target theme identifier, it determines target cup interior pattern data and target cup exterior pattern data; based on the target cup interior pattern data, it controls the interior drawing component to perform 3D printing of the coffee beverage to form actual cup interior pattern data; based on the target cup exterior pattern data, it controls the exterior drawing component to print the surface of the coffee cup to form actual cup exterior pattern data; when the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, it delivers the printed coffee beverage and the printed coffee cup. By determining the target cup interior pattern data and target cup exterior pattern data based on the same target theme identifier through the same coffee printing theme selection command, the cup interior printing function corresponding to the target cup interior pattern data and the cup exterior printing function corresponding to the target cup exterior pattern data can be linked and controlled based on the same theme. This allows the actual cup interior pattern data and actual cup exterior pattern data to work together, and the cup interior printing function and cup exterior printing function to achieve linked control, eliminating the need for manual operation of two separate devices and improving processing efficiency. Furthermore, it automatically matches the actual pattern data inside and outside the cup with the actual pattern data to verify the actual printing results, achieving automated verification and improving verification efficiency. The printed coffee beverage and cup are only output when the actual pattern data inside and outside the cup match, ensuring users receive products with consistent patterns inside and outside the cup, thus enhancing the user experience.

[0028] In an optional embodiment of the present invention, the coffee robot has a preset database, which stores at least one candidate theme identifier, candidate cup interior pattern data, and candidate cup exterior pattern data corresponding to the candidate theme identifier; the step of determining the target cup interior pattern data and the target cup exterior pattern data based on the theme identifier includes: Sub-step S1021: Compare the target topic identifier with the candidate topic identifier; The coffee robot has a preset database. This database can store at least one candidate theme identifier. Each candidate theme identifier has corresponding candidate cup interior pattern data and candidate cup exterior pattern data. For example, if the candidate theme identifier is "rose," the candidate cup interior pattern data would be a rose flower image, and the candidate cup exterior pattern data would be a rose stem image. The target theme identifier can be compared one by one with the candidate theme identifiers.

[0029] Sub-step S1022: If the target theme identifier matches the candidate theme identifier, the candidate cup inner pattern data corresponding to the matched candidate theme identifier is determined as the target cup inner pattern data, and the candidate cup outer pattern data corresponding to the matched candidate theme identifier is determined as the target cup outer pattern data.

[0030] When the target theme identifier matches the candidate theme identifier, meaning the user's selected target coffee printing theme is the target coffee printing theme corresponding to the candidate theme identifier, the candidate cup interior pattern data corresponding to the matching candidate theme identifier can be determined as the target cup interior pattern data, and the candidate cup exterior pattern data corresponding to the matching candidate theme identifier can be determined as the target cup exterior pattern data.

[0031] In an optional embodiment of the present invention, the step of determining the inner pattern data and outer pattern data of the target cup based on the theme identifier further includes: Sub-step S1023: If the target theme identifier does not match the candidate theme identifier, obtain the custom pattern data of the coffee printing theme selection instruction; If the target theme identifier and candidate theme identifier do not match, it means that the candidate cup interior pattern data and candidate cup exterior pattern data recorded in the current preset database cannot match the coffee printing theme selected by the user. In this case, custom pattern data from the coffee printing theme selection instruction can be obtained. Custom pattern data can be obtained by the user directly inputting pattern data on the coffee robot's interface when selecting a coffee printing theme, or by calling pattern data selected from a third-party database. Custom pattern data can be written into the coffee printing theme selection instruction. Upon receiving the coffee printing theme selection instruction, the custom pattern data is determined by reading the pattern data from the instruction.

[0032] Sub-step S1024: The custom pattern data is determined as the inner pattern data of the target cup and the outer pattern data of the target cup.

[0033] Custom pattern data can be defined as both the inner and outer pattern data of the target cup. For example, if the target theme is a company logo, and there is no related pattern in the preset database, the user can call a third-party database to use the company logo as the custom pattern data. This, along with a coffee printing theme selection operation, generates a coffee printing theme selection instruction. By reading the pattern data from the coffee printing theme selection instruction, the user determines the custom pattern data to be the company logo and uses that logo as both the inner and outer pattern data of the target cup.

[0034] In addition, the custom pattern data can be stored in a preset database to create a new candidate theme identifier. This new candidate theme identifier can then be associated with the custom pattern data to determine the target cup inner pattern data and target cup outer pattern data corresponding to the new candidate theme identifier.

[0035] In an optional embodiment of the present invention, the coffee robot control method further includes: Step 106: If the actual cup pattern data does not match the target cup pattern data, determine the local cup supplement data based on the pattern difference between the actual cup pattern data and the target cup pattern data. If the actual cup interior pattern data does not match the target cup interior pattern data, meaning the current 3D printed coffee pattern does not meet the requirements, the patterns inside the actual cup can be compared with the target cup interior pattern data to determine the pattern differences. Based on these differences, local fill-in-the-blank data for the cup interior is determined. This local fill-in-the-blank data serves as the control data for the secondary printing process after the coffee 3D print.

[0036] Step 107: Control the cup drawing component based on the local cup drawing data; The movement data can be determined by analyzing the local drawing data inside the cup, and the movement data can be used to control the movement of the drawing components inside the cup to draw on the coffee beverage.

[0037] Step 108: If the actual cup outer pattern data does not match the target cup outer pattern data, determine the cup outer partial supplementary drawing data based on the pattern difference between the actual cup outer pattern data and the target cup outer pattern data; If the actual cup exterior pattern data does not match the target cup exterior pattern data, meaning the current printed pattern on the cup surface does not meet the requirements, the patterns of the actual and target cup exterior pattern data can be compared to determine the pattern differences. Based on these differences, local supplementary printing data for the cup exterior can be determined. This local supplementary printing data serves as the control data for a second printing process after the cup surface is printed.

[0038] Step 109: Control the cup-outside drawing component based on the cup-outside local supplementary drawing data.

[0039] The printing data can be determined by analyzing the local supplementary drawing data outside the cup, and the printing data can be used to control the movement of the drawing component outside the cup to perform printing drawing on the surface of the cup.

[0040] Reference Figure 2 A structural block diagram of an embodiment of the coffee robot of the present invention is shown; refer to Figure 3The diagram shows a structural schematic of an embodiment of a coffee robot according to the present invention. The coffee robot is used to brew coffee beverages, which are loaded onto a coffee cup. The coffee robot includes an in-cup drawing component 200 and an out-of-cup drawing component 300, and a controller connected to the in-cup drawing component 200 and the out-of-cup drawing component 300 respectively. The controller is used to perform the following steps: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component 200 is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component 300 is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

[0041] In this embodiment of the invention, the coffee robot may include an in-cup drawing component 200, an out-of-cup drawing component 300, and a controller (not shown in the figure). The in-cup drawing component 200 and the out-of-cup drawing component 300 may be mounted on a workbench 100. The controller is electrically connected to both the in-cup drawing component 200 and the out-of-cup drawing component 300. The controller can control the in-cup drawing component 200 to print on the coffee beverage and control the out-of-cup drawing component 300 to print on the surface of the coffee cup. The out-of-cup drawing component 300 can automatically convert a planar pattern into a curved surface drawing path that adapts to the curvature of the cup, and controls the contact force between the out-of-cup drawing component 300 and the cup body through a precision force control system. The in-cup drawing component 200 can print a planar pattern onto the upper surface of the coffee beverage using edible ink, or it can create a three-dimensional pattern on the upper surface of the coffee beverage through latte art.

[0042] The controller can control the operation of the in-cup drawing component 200 and the out-of-cup drawing component 300 based on user control. This includes responding to a coffee printing theme selection instruction for a coffee beverage, determining a target theme identifier corresponding to the instruction; determining target in-cup pattern data and target out-of-cup pattern data based on the target theme identifier; controlling the in-cup drawing component 200 to perform 3D printing on the coffee beverage based on the target in-cup pattern data to form actual in-cup pattern data; controlling the out-of-cup drawing component 300 to print on the surface of the coffee cup based on the target out-of-cup pattern data to form actual out-of-cup pattern data; and delivering the printed coffee beverage and the printed coffee cup when both the actual in-cup pattern data and the target in-cup pattern data match. Specific steps can be referred to in the above embodiments, and the embodiments of the present invention are not limited thereto.

[0043] In an optional embodiment of the present invention, the cup-outside drawing component 300 includes: Sticker storage compartment 310, used for storing stickers; A food-grade marker 320 is used to print on the sticker according to the pattern data of the target cup. Adhesive component 330 is used to attach the printed sticker to the coffee cup; The food-grade marker 320 is provided with at least one pigment storage compartment 340 for storing edible pigments.

[0044] In this embodiment of the invention, the cup-side drawing component 300 may include a sticker storage compartment 310, a food-grade marker 320, an ink storage compartment 340, and an adhesive component 330. The ink storage compartment 340 stores edible ink, with each compartment storing one color of edible ink. A food-grade marker 320 may be configured with at least one ink storage compartment 340. For example, in one instance, a food-grade marker 320 may be configured with eight ink storage compartments 340 to achieve printing of eight colors. The sticker storage compartment 310 stores stickers with the printing surface of the sticker facing the food-grade marker 320. The food-grade marker 320, by accessing the ink storage compartments 340 and under the control of a controller, prints the sticker onto the cup surface, forming the corresponding actual cup-side pattern data. The adhesive component 330 attaches the printed sticker to the surface of the coffee cup using vacuum adsorption. The sticker positioning accuracy can be ±2 mm.

[0045] In an optional embodiment of the present invention, the cup-outside drawing component 300 includes: A spraying device for spraying the target cup outer pattern data onto the outer surface of the coffee cup.

[0046] In this embodiment of the invention, the cup exterior drawing component 300 may include a spraying device. Under the control of a controller, the spraying device moves along the path of the target cup exterior pattern data on the outer surface of the coffee cup, and sprays the coffee cup exterior surface during the movement to form the corresponding actual cup exterior pattern data.

[0047] In an optional embodiment of the present invention, the cup-in-painting component 200 includes: A coffee 3D printing device for printing the coffee beverage in three dimensions.

[0048] In this embodiment of the invention, the cup-in-cup drawing component 200 can be a coffee 3D printing device. The coffee 3D printing device includes a coffee printer and a latte art robotic arm. Under the control of a controller, the coffee 3D printing device moves to a corresponding position and uses inkjet technology to print edible ink onto the surface of the coffee beverage, thus performing 3D printing. The coffee 3D printing device can also, under the control of a controller, perform latte art on the milk foam of the coffee beverage, thus performing 3D printing.

[0049] In an optional embodiment of the present invention, it further includes: A vision sensor 400 is disposed on the top of the cup-inside drawing component 200 and the cup-outside drawing component 300, for detecting the actual cup-inside pattern data and the actual cup-outside pattern data.

[0050] In this embodiment of the invention, the coffee robot also includes a vision sensor 400. The vision sensor 400 is disposed on the top of the cup-inside drawing component 200 and the cup-outside drawing component 300. The vision sensor 400 detects the actual cup-inside pattern data printed by the cup-inside drawing component 200 and the actual cup-outside pattern data printed by the cup-outside drawing component 300, and sends the actual cup-inside pattern data and the actual cup-outside pattern data to the controller for verification.

[0051] In addition, the vision sensor can also identify color accuracy and sticker flatness, further ensuring the printing quality inside and outside the cup.

[0052] In summary, the workflow of a coffee robot can be explained as follows: Figure 4 As shown, Step 1: The user selects a theme.

[0053] Step 2: Pattern theme matching, determine the generated target cup external pattern data and target cup internal pattern data.

[0054] Step 3: The linkage control system is activated. First, the cup body painting operation is executed. Based on the target cup exterior pattern data, the cup exterior painting component is controlled to print on the surface of the coffee cup to form the actual cup exterior pattern data. The entire process takes about 45 seconds.

[0055] Step 4: Coffee making. After the cup painting is completed, the coffee robot will make the coffee, a process that takes about 60 seconds.

[0056] Step 5: Inner Cup Printing. After the coffee is brewed, the inner cup pattern is printed. Based on the target inner cup pattern data, the inner cup drawing component is controlled to perform 3D printing of the coffee to form the actual inner cup pattern data. The entire process takes approximately 20 seconds.

[0057] Step 6: Image Detection. The controller uses a vision sensor to detect the actual external and internal pattern data of the cup, determines the quality of the actual external and internal pattern data, and confirms the consistency of the theme.

[0058] Step 7: Remove the finished product from the cup.

[0059] For selecting different themes for printing, users choose the "Happy Birthday" theme in the app connected to the coffee robot and enter the recipient's name. The controller can then use a food-grade marker to draw a birthday cake pattern and the text "Happy Birthday [Name]" on the cup, while simultaneously printing a candle pattern on the milk foam inside the cup, achieving a unified theme inside and outside the cup. The entire process takes approximately 30 seconds.

[0060] Or, for corporate clients who order customized coffee in bulk and request that their company logo sticker be affixed to the cup, the sticker can be retrieved from the sticker storage compartment, the company logo can be printed, and it can be precisely affixed to the designated position on the cup (center of the front of the cup). At the same time, the company slogan can be printed on the milk foam inside the cup using a coffee 3D printing device.

[0061] Alternatively, during Christmas, pre-set Christmas-themed decoration schemes can be used, where a snowflake pattern painted on the cup's exterior is the target pattern data, and a Christmas tree printed inside the cup is the target pattern data. After the user selects a holiday theme, the system automatically controls the components for painting both the exterior and interior of the cup.

[0062] This invention implements printing by controlling the inner and outer drawing components of the cup with a controller, and then delivering the printed image to the user after verification. This ensures the theme of the cup body pattern is consistent with the inner pattern, improving the user experience. Furthermore, the pattern theme matching automatically generates a matching scheme, eliminating the need for users to design two separate patterns, simplifying the operation. The inner and outer drawing components are controlled in tandem, eliminating the need for independent manual operation, reducing overall production time, and improving processing efficiency.

[0063] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0064] Reference Figure 5 The present invention also provides a controller, including: a processor 501, a memory 502, and a program or instructions stored in the memory 502 and executable on the processor 501. When the program or instructions are executed by the processor 501, they implement the steps of the coffee robot control method as described above.

[0065] A coffee robot is used to brew coffee beverages, which are loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component. The control method for the coffee robot includes: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

[0066] Optionally, the method further includes: If the actual cup pattern data does not match the target cup pattern data, local cup filling data is determined based on the pattern difference between the actual cup pattern data and the target cup pattern data. The cup-in-cup drawing component is controlled based on the local fill-in data within the cup. If the actual cup outer pattern data does not match the target cup outer pattern data, determine the cup outer partial supplementary drawing data based on the pattern difference between the actual cup outer pattern data and the target cup outer pattern data; The cup-outside drawing component is controlled based on the local supplementary drawing data outside the cup.

[0067] Optionally, the coffee robot has a preset database, which stores at least one candidate theme identifier, candidate cup interior pattern data, and candidate cup exterior pattern data corresponding to the candidate theme identifier; the step of determining the target cup interior pattern data and target cup exterior pattern data based on the theme identifier includes: Compare the target topic identifier with the candidate topic identifier; If the target theme identifier matches the candidate theme identifier, the candidate cup interior pattern data corresponding to the matching candidate theme identifier is determined as the target cup interior pattern data, and the candidate cup exterior pattern data corresponding to the matching candidate theme identifier is determined as the target cup exterior pattern data. Optionally, the step of determining the pattern data inside the target cup and the pattern data outside the target cup based on the theme identifier further includes: If the target theme identifier does not match the candidate theme identifier, obtain the custom pattern data of the coffee printing theme selection instruction; The custom pattern data is defined as the pattern data inside the target cup and the pattern data outside the target cup.

[0068] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0069] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0070] Reference Figure 6This invention also provides a computer-readable storage medium 601 storing a computer program, which, when executed by a processor, implements the steps of the coffee robot control method described above. The coffee robot is used to brew coffee beverages, which are loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component sequentially arranged on a worktable. The coffee robot control method includes: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

[0071] Optionally, the method further includes: If the actual cup pattern data does not match the target cup pattern data, local cup filling data is determined based on the pattern difference between the actual cup pattern data and the target cup pattern data. The cup-in-cup drawing component is controlled based on the local fill-in data within the cup. If the actual cup outer pattern data does not match the target cup outer pattern data, determine the cup outer partial supplementary drawing data based on the pattern difference between the actual cup outer pattern data and the target cup outer pattern data; The cup-outside drawing component is controlled based on the local supplementary drawing data outside the cup.

[0072] Optionally, the coffee robot has a preset database, which stores at least one candidate theme identifier, candidate cup interior pattern data, and candidate cup exterior pattern data corresponding to the candidate theme identifier; the step of determining the target cup interior pattern data and target cup exterior pattern data based on the theme identifier includes: Compare the target topic identifier with the candidate topic identifier; If the target theme identifier matches the candidate theme identifier, the candidate cup interior pattern data corresponding to the matching candidate theme identifier is determined as the target cup interior pattern data, and the candidate cup exterior pattern data corresponding to the matching candidate theme identifier is determined as the target cup exterior pattern data. Optionally, the step of determining the pattern data inside the target cup and the pattern data outside the target cup based on the theme identifier further includes: If the target theme identifier does not match the candidate theme identifier, obtain the custom pattern data of the coffee printing theme selection instruction; The custom pattern data is defined as the pattern data inside the target cup and the pattern data outside the target cup.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0074] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number or order of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover non-exclusive inclusion. As used in this invention, the term "and / or" includes any and all combinations of one or more of the associated listed items, and the phrase "at least one of A and B" means only A, only B, or both A and B. It should be understood that in this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "height," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship or dimensions based on the orientation or positional relationship or dimensions shown in the accompanying drawings. The use of these terms is merely for ease of description and is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention.

[0075] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0076] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0077] The foregoing has provided a detailed description of a coffee robot control method, a coffee robot, a controller, and a computer-readable storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A coffee robot control method, characterized in that, A coffee robot is used to brew coffee beverages, which are loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component. The method includes: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

2. The method according to claim 1, characterized in that, The method further includes: If the actual cup pattern data does not match the target cup pattern data, local cup filling data is determined based on the pattern difference between the actual cup pattern data and the target cup pattern data. The cup-in-cup drawing component is controlled based on the local fill-in data within the cup. If the actual cup outer pattern data does not match the target cup outer pattern data, determine the cup outer partial supplementary drawing data based on the pattern difference between the actual cup outer pattern data and the target cup outer pattern data; The cup-outside drawing component is controlled based on the local supplementary drawing data outside the cup.

3. The method according to claim 1, characterized in that, The coffee robot has a preset database, which stores at least one candidate theme identifier, candidate cup interior pattern data and candidate cup exterior pattern data corresponding to the candidate theme identifier; The steps of determining the inner pattern data and outer pattern data of the target cup based on the theme identifier include: Compare the target topic identifier with the candidate topic identifier; When the target theme identifier matches the candidate theme identifier, the candidate cup inner pattern data corresponding to the matching candidate theme identifier is determined as the target cup inner pattern data, and the candidate cup outer pattern data corresponding to the matching candidate theme identifier is determined as the target cup outer pattern data.

4. The method according to claim 3, characterized in that, The step of determining the inner pattern data and outer pattern data of the target cup based on the theme identifier further includes: If the target theme identifier does not match the candidate theme identifier, obtain the custom pattern data of the coffee printing theme selection instruction; The custom pattern data is defined as the pattern data inside the target cup and the pattern data outside the target cup.

5. A coffee robot, characterized in that, For brewing coffee beverages, the coffee beverage is loaded onto a coffee cup. The coffee robot includes an in-cup drawing component and an out-of-cup drawing component, and a controller connected to the in-cup drawing component and the out-of-cup drawing component respectively. The controller is used to perform the following steps: In response to a coffee printing theme selection instruction for coffee beverages, a target theme identifier corresponding to the coffee printing theme selection instruction is determined; Based on the target theme identifier, determine the pattern data inside the target cup and the pattern data outside the target cup; Based on the target cup interior pattern data, the cup interior drawing component is controlled to perform 3D printing of the coffee beverage to form actual cup interior pattern data; Based on the target cup outer pattern data, the cup outer drawing component is controlled to print the cup surface of the coffee cup to form actual cup outer pattern data; When the actual cup interior pattern data matches the target cup interior pattern data, and the actual cup exterior pattern data matches the target cup exterior pattern data, the printed coffee beverage and the printed coffee cup are delivered.

6. The coffee robot according to claim 5, characterized in that, The in-cup drawing component includes: A coffee 3D printing device for printing the coffee beverage in three dimensions.

7. The coffee robot according to claim 5, characterized in that, The cup-out drawing component includes: Sticker storage compartment, used to store stickers; Food-grade markers are used to print on the sticker according to the pattern data of the target cup. An adhesive component for attaching printed stickers to the coffee cup; The food-grade marker has at least one pigment storage compartment for storing edible pigments.

8. The coffee robot according to claim 5, characterized in that, The cup-out drawing component includes: A spraying device for spraying the target cup outer pattern data onto the outer surface of the coffee cup.

9. The coffee robot according to any one of claims 5-8, characterized in that, The coffee robot also includes: A visual sensor is disposed on the top of the cup-inside drawing component and the cup-outside drawing component, for detecting the actual cup-inside pattern data and the actual cup-outside pattern data.

10. A controller, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the coffee robot control method as described in any one of claims 1-4.

11. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the coffee robot control method as described in any one of claims 1-4.

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