Container liquid receiving control method, device, equipment, medium and robot

Abstract

The application discloses a container liquid receiving control method, device, equipment, medium and robot. The container liquid receiving control method comprises the following steps: obtaining liquid receiving task information; the liquid receiving task information at least comprises a target liquid receiving amount, liquid outlet flow rate information and initial inclination information of the container; determining a posture correction rate of the container based on the target liquid receiving amount, the liquid outlet flow rate information and the initial inclination information; controlling a mechanical arm holding the container to move to a liquid outlet to receive liquid, and making the container align with the liquid outlet in an initial inclined posture defined by the initial inclination information; and controlling the mechanical arm to correct the posture of the container at the posture correction rate during the liquid receiving process. The scheme realizes the effects of preventing splashing in the initial stage of liquid receiving and preventing overflow in the later stage of liquid receiving without additional liquid level detection hardware, saves the cost of detection hardware such as a liquid level sensor, avoids the interference of complex working conditions on detection accuracy, improves the stability and environmental adaptability of liquid receiving control, and realizes low-cost and high-reliable container liquid receiving control.

Description

Technical Field

[0001] This application belongs to the field of robotics, specifically relating to a container liquid receiving control method, a container liquid receiving control device, an electronic device, a readable storage medium, and a robot. Background Technology

[0002] As automated equipment moves towards unattended operation, using robotic arms to grip containers and complete quantitative liquid dispensing has become a common operating mode for products such as beverage robots and intelligent filling equipment. Preventing splashing and overflow during the dispensing process, as well as preventing dripping after dispensing, are core technical aspects that directly affect finished product quality, equipment cleanliness, and operating and maintenance costs.

[0003] Currently, common liquid contact control solutions in the industry are mainly divided into two categories: The first type is a fixed-position vertical liquid receiving solution. The container is fixedly placed on a tray below the liquid outlet, and the liquid falls vertically into the container from the outlet. To prevent liquid overflow, a liquid level detection device, such as an ultrasonic liquid level sensor or a photoelectric liquid level sensor, is usually installed to achieve closed-loop liquid discharge control by providing real-time feedback on the liquid level.

[0004] The second type is the robotic arm container receiving solution. The robotic arm grips the container and moves it to the liquid dispensing station to complete the liquid receiving. This type of solution usually uses a preset fixed motion trajectory, and the container maintains a fixed posture throughout the liquid receiving process, or completes the action according to a pre-set fixed angle path.

[0005] The aforementioned existing technical solutions all have corresponding defects in practical applications: First, in the vertical liquid receiving mode, the liquid drop is large at the beginning of the discharge, and the vertical impact on the bottom of the container is very likely to cause splashing, which not only wastes materials, but also contaminates the outer wall of the container and the inside of the equipment. As the liquid volume increases, the liquid level in the container continues to rise. If there is a delay or deviation in the liquid discharge control, liquid overflow is very likely to occur, resulting in unqualified finished products and equipment contamination.

[0006] Secondly, the anti-overflow solution relying on liquid level detection devices requires additional sensor hardware, increasing the procurement and maintenance costs of the equipment. At the same time, in complex working conditions with water vapor, liquid foam, and high-viscosity fluids, the detection accuracy of the sensor is easily affected by environmental factors, which can easily lead to misjudgment of liquid level, resulting in faults such as liquid volume deviation and overflow, and insufficient operational stability. Summary of the Invention

[0007] The purpose of this application is to provide a container liquid receiving control method, a container liquid receiving control device, an electronic device, a readable storage medium, and a robot, which can solve the problems that the liquid receiving process is prone to splashing and overflow, and that the anti-overflow control relies on an additional liquid level detection device, resulting in high equipment cost, susceptibility to interference from complex working conditions, and insufficient operational stability.

[0008] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a container liquid contact control method, the method comprising: Obtain liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; Based on the target liquid volume, the liquid flow rate information, and the initial tilt information, the attitude recovery rate of the container is determined; The robotic arm is controlled to move the container to the outlet to collect the liquid, and the container is aligned with the outlet in the initial tilt posture defined by the initial tilt information. During the liquid receiving process, the robotic arm is controlled to return the container's attitude to the correct position according to the stated attitude return rate. Secondly, embodiments of this application provide a container liquid receiving control device, the device comprising: An information acquisition module is used to acquire liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; A rate determination module is used to determine the attitude recovery rate of the container based on the target liquid volume, the liquid flow rate information, and the initial tilt information. The mobile control module is used to control the robotic arm to move the container to the liquid outlet to collect the liquid, and to align the container with the liquid outlet in an initial tilt posture defined by the initial tilt information. The return-to-center control module is used to control the robotic arm to return the container to its correct orientation according to the attitude return-to-center rate during the liquid receiving process.

[0009] Thirdly, embodiments of this application provide an electronic device 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 method described in the first aspect.

[0010] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the method described in the first aspect.

[0011] Fifthly, embodiments of this application provide a robot, including a robotic arm and a control unit; The robotic arm is used to hold the container; The control unit is electrically connected to the robotic arm and is used to perform the method as described in the first aspect.

[0012] According to the embodiments of this application, liquid receiving task information is obtained; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow velocity information, and initial tilt information of the container; based on the target liquid receiving volume, the liquid outflow velocity information, and the initial tilt information, the attitude return rate of the container is determined; a robotic arm is controlled to move the container to the liquid outlet to receive the liquid, and the container is aligned with the liquid outlet with the initial tilt attitude defined by the initial tilt information; during the liquid receiving process, the robotic arm is controlled to return the attitude of the container to the correct position according to the attitude return rate. In this solution, the container tilt attitude changes with the rise of the internal liquid level, achieving the control effect of preventing splashing in the early stage of liquid receiving and preventing overflow in the later stage of liquid receiving without the need for additional liquid level detection hardware; on the one hand, it saves the purchase and maintenance costs of detection hardware such as liquid level sensors, and on the other hand, it avoids the interference of complex working conditions such as water vapor, foam, and high viscosity fluids on detection accuracy, improves the stability and environmental adaptability of liquid receiving control, and achieves low-cost and highly reliable container liquid receiving control. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating the steps of a container liquid receiving control method provided in an embodiment of this application; Figure 2 This is a schematic diagram of the complete implementation process of the container liquid contact control method; Figure 3 This is a schematic diagram of the attitude control process for the container receiving liquid; Figure 4 This is a structural block diagram of another embodiment of the container liquid receiving control device provided in this invention; Figure 5 This is a structural block diagram of an electronic device for controlling liquid contact in a container, according to an exemplary embodiment. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0016] The container liquid receiving control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0017] The container liquid receiving control method and device in this application embodiment can be executed by the robot's local control system, cloud service platform, edge industrial control equipment, or deployed on any other suitable hardware and software carrier. This application embodiment does not impose any limitations on this. This container liquid receiving control method can be applied to unmanned beverage robots.

[0018] Reference Figure 1 The diagram illustrates a flowchart of a container liquid contact control method according to an embodiment of this application, which may specifically include the following steps: Step 101: Obtain liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container.

[0019] In this embodiment, the liquid receiving task information is a set of basic parameters required to trigger a single complete liquid receiving operation. It is the input data source for the entire control process. Specifically, it may include parameters of corresponding dimensions depending on different application scenarios. This embodiment does not limit this.

[0020] In this embodiment, the target liquid volume refers to the total volume of liquid to be injected into the container in a single liquid-dispensing operation, which is the quantitative control target for the liquid-dispensing operation. For example, it could be the capacity of a single cup of beverage in a beverage preparation scenario, the filling volume of a single container in a quantitative filling scenario, or the target liquid volume in an experimental pipetting scenario. This embodiment does not limit this.

[0021] In this embodiment, the liquid flow rate refers to the volume of liquid flowing out of the outlet per unit time, which is a pre-calibrated stable parameter. Under normal operating conditions where the pump pressure is stable, the pipeline is unblocked, and the fluid properties meet the preset range, the deviation of the liquid flow rate is within a controllable range and can be used as a reliable benchmark for calculating control parameters. For example, pre-calibrated liquid flow rates for coffee, syrup, and purified water are used, and this embodiment does not limit this.

[0022] In this embodiment, the initial tilt information of the container refers to the tilt posture parameter that the container needs to maintain when starting liquid dispensing, corresponding to a specific initial tilt angle. This parameter is determined by attributes such as the shape, size, and opening size of the container, and the setting principle is to allow the liquid flowing out of the outlet to slide smoothly along the inner wall of the container. For example, there are preset initial tilt angles corresponding to different cup sizes, preset initial tilt angles corresponding to different reagent bottles, etc., which are not limited in this embodiment.

[0023] In this application embodiment, there are various specific implementation methods for obtaining liquid receiving task information, and this application embodiment does not limit these methods. For example, after receiving a business order instruction, the corresponding parameters are retrieved from a pre-stored calibration parameter library and assembled into liquid receiving task information; another example is to receive task parameters issued by the upper control system and directly generate liquid receiving task information; yet another example is to generate liquid receiving task information based on parameters manually input by the user.

[0024] Step 102: Determine the attitude recovery rate of the container based on the target liquid volume, the liquid flow rate information, and the initial tilt information.

[0025] In the embodiments of this application, the attitude recovery rate refers to the speed at which the tilt angle of the container decreases over time during the liquid dispensing process. The commonly used unit is degrees per second. It is the core control quantity that connects the liquid dispensing time with the change in container attitude, and determines how quickly the container returns to a vertical state from the initial tilted state.

[0026] In this embodiment, the calculation of the attitude return rate based on preset parameters belongs to open-loop feedforward control logic, which does not rely on real-time liquid level detection data and can complete the solution of the core control quantity only through pre-calibrated parameters. There are various specific implementation methods for determining the attitude return rate, and this embodiment does not limit them.

[0027] For example, first, divide the target liquid volume by the flow rate value corresponding to the liquid flow rate information to calculate the total liquid discharge time for this liquid collection; then divide the initial tilt angle corresponding to the initial tilt information by the total liquid discharge time to obtain the angle value that the container needs to return to normal per unit time, i.e., the attitude return rate.

[0028] For example, correction coefficients can be introduced based on factors such as liquid viscosity and the friction coefficient of the container wall to fine-tune the calculated attitude recovery rate, so as to adapt to the liquid contact requirements under special working conditions.

[0029] Step 103: Control the robotic arm to move the container to the liquid outlet to collect the liquid, and align the container with the liquid outlet in the initial tilt posture defined by the initial tilt information.

[0030] In this embodiment, the robotic arm is an actuator with multi-degree-of-freedom motion capabilities, used to grip a container and precisely control its spatial position and tilt posture. This embodiment does not limit the number of degrees of freedom of the robotic arm or the specific form of the end-effector gripping structure. The liquid outlet is the terminal component for liquid output, with a relatively fixed position, serving as an alignment reference for liquid receiving operations.

[0031] In this embodiment of the application, this step is the positioning step of the liquid receiving operation. By tilting the container and aligning it with the liquid outlet, the liquid in the initial liquid dispensing stage slides smoothly down the inner wall of the container, thus avoiding the splashing problem caused by the liquid hitting the bottom of the container vertically from the beginning of the liquid receiving stage.

[0032] There are various ways to control the robotic arm to be positioned, and this application does not limit this method. For example, the system sends a motion control command to the robotic arm, which moves the container from the standby position to the preset liquid receiving position below the liquid outlet. While moving into position, the robotic arm adjusts the end effector to make the container reach the tilt angle corresponding to the initial tilt information, ensuring that the edge of the container opening is aligned with the liquid outlet position, thus completing the positioning preparation before liquid receiving.

[0033] For example, in the application scenario of unmanned beverage robots, the robotic arm grips the coffee cup and moves it directly below the spout. At the same time, it adjusts the end posture to keep the cup at a preset initial tilt angle, and the upper edge of the cup mouth is aligned with the spout position to ensure that the liquid can flow directly down the inner wall of the cup after it flows out.

[0034] Step 104: During the liquid receiving process, control the robotic arm to return the container to its correct posture according to the posture return rate.

[0035] In this embodiment, the orientation of the container refers to the process of adjusting the container's tilt angle to gradually decrease as the liquid is collected, eventually approaching a vertical state. Throughout the liquid collection process, the tilt angle of the container is dynamically matched with the internal liquid level: the lower the liquid level, the larger the tilt angle, ensuring that the liquid flows down the wall without splashing; the higher the liquid level, the smaller the tilt angle, preventing liquid from overflowing from the lower edge of the container.

[0036] In the embodiments of this application, there are various ways to control the container's posture to return to normal, and the embodiments of this application do not limit this one.

[0037] For example, when the liquid discharge starts, the system begins to accumulate the liquid discharge time, calculates the target tilt angle corresponding to the current moment in real time according to a fixed control cycle, sends a posture adjustment command to the robotic arm, and the robotic arm drives the container to adjust to the target tilt angle in real time. This process continues until the liquid receiving operation is completed.

[0038] For example, motion interpolation algorithms can be used to smooth the posture adjustment process, making the container's posture change more gradual and reducing the impact and noise of the robotic arm's movement.

[0039] According to the embodiments of this application, liquid receiving task information is obtained; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow velocity information, and initial tilt information of the container; based on the target liquid receiving volume, the liquid outflow velocity information, and the initial tilt information, the attitude return rate of the container is determined; a robotic arm is controlled to move the container to the liquid outlet to receive the liquid, and the container is aligned with the liquid outlet with the initial tilt attitude defined by the initial tilt information; during the liquid receiving process, the robotic arm is controlled to return the attitude of the container to the correct position according to the attitude return rate. In this solution, the container tilt attitude changes with the rise of the internal liquid level, achieving the control effect of preventing splashing in the early stage of liquid receiving and preventing overflow in the later stage of liquid receiving without the need for additional liquid level detection hardware; on the one hand, it saves the purchase and maintenance costs of detection hardware such as liquid level sensors, and on the other hand, it avoids the interference of complex working conditions such as water vapor, foam, and high viscosity fluids on detection accuracy, improves the stability and environmental adaptability of liquid receiving control, and achieves low-cost and highly reliable container liquid receiving control. Meanwhile, the open-loop control method based on unified calibration parameters ensures the consistency of attitude control for different batches of liquid handling operations, reducing the maintenance costs of manual debugging and calibration.

[0040] In one optional embodiment of this application, a specific implementation of obtaining liquid receiving task information may include: receiving a liquid receiving task instruction; wherein the liquid receiving task instruction carries the liquid type, container type, and the target liquid receiving volume; and retrieving the corresponding liquid outflow rate information and the initial tilt information from a pre-stored calibration parameter library according to the liquid type and the container type.

[0041] The liquid receiving task instruction is a high-level business instruction that triggers a single liquid receiving operation, carrying the core requirement parameters for this liquid receiving task. The liquid type distinguishes between liquids with different physical properties; different liquids have different viscosities and flow rates, corresponding to different dispensing control parameters. The container type distinguishes between receiving containers of different shapes and sizes; different containers have different opening sizes and cup heights, corresponding to different attitude control parameters. The target liquid receiving volume is the final liquid volume required for this receiving task, determined by the quantitative requirements of the business scenario. This application embodiment does not limit the triggering method or transmission protocol of the liquid receiving task instruction.

[0042] For example, in the application scenario of unmanned beverage robots, the liquid-dispensing task instruction is triggered by the beverage preparation order generated after the user places an order. The instruction specifies the liquid type as "Americano," the container type as "medium," and the target liquid volume as 300mL. As another example, in an automated filling scenario, the liquid-dispensing task instruction is issued by the production scheduling system. The instruction specifies the liquid type as "bottled drinking water," the container type as "500mL PET bottle," and the target liquid volume as 500mL.

[0043] The calibration parameter library is a pre-built and stored set of parameters used to uniformly manage control parameters corresponding to different liquids and containers. All parameters are determined and entered into the parameter library through actual calibration under normal operating conditions, such as equipment commissioning, stable pump pressure, no pipeline blockage, and liquid properties within the preset range. During normal operation, the flow rate deviation is within a controllable range, and the equipment can directly call up the parameters without real-time detection during operation, which is the parameter basis for open-loop control.

[0044] The outflow rate information corresponds one-to-one with the liquid type. Calibration is completed under normal operating conditions: stable pump pressure, unobstructed pipelines, and liquid viscosity within the allowable range of the formula. Each liquid has a specific flow rate calibration value, rather than using a globally uniform fixed flow rate. The initial tilt information corresponds one-to-one with the container type. The calibration principle is: the maximum tilt angle when the edge of the container opening is exactly below the outflow port, ensuring that the liquid can smoothly slide down the inner wall of the container during the initial outflow stage, avoiding splashing. Different container shapes correspond to different initial tilt angle calibration values. Under normal operating conditions, the deviation between the actual flow rate and the calibrated flow rate does not exceed ±5%, which meets the accuracy requirements for liquid metering and attitude matching.

[0045] For example, in a beverage preparation scenario, the calibration parameter library is a beverage recipe database. The database stores calibration parameters according to beverage type and cup type: For flow rate parameters, the calibration flow rate for Americano is 30 mL / s, for espresso it's 15 mL / s, and for high-viscosity syrup it's 10 mL / s; for initial tilt angle parameters, the initial tilt angle for a short, wide cup is 20°~30°, and for a tall, narrow cup it's 35°~45°. When receiving the task instruction "Americano + tall, narrow cup," the system automatically retrieves the corresponding flow rate of 30 mL / s and initial tilt angle of 35° from the recipe database as the basic control parameters for this dispensing operation. Short, wide containers have a large opening diameter and low height, so a small tilt angle is sufficient for dispensing along the wall; an excessively large tilt angle can easily cause liquid to overflow. Tall, narrow containers have a small opening diameter and high height, requiring a larger tilt angle to ensure the outlet is aligned with the inner wall and avoid vertical impact.

[0046] By retrieving corresponding control parameters from the calibration parameter library using liquid type and container type as indexes, parameterized adaptation for multiple types of liquids and multiple container specifications is achieved, eliminating the need for separate debugging for each task. All parameters are pre-calibrated and can be directly called during runtime, ensuring the accuracy and consistency of open-loop control, while also facilitating subsequent parameter iteration and operation and maintenance management.

[0047] In one optional embodiment of this application, the initial tilt angle defined by the initial tilt information is determined according to the container type of the container, and the initial tilt angle is the tilt angle when the opening edge of the container is located directly below the liquid outlet.

[0048] The initial tilt angle is a key attitude parameter that determines the anti-splashing effect in the initial stage of liquid contact. Its calibration principle is: under the premise of ensuring that the liquid can slide smoothly along the inner wall of the container, take the tilt angle when the edge of the container opening is exactly aligned with the liquid outlet directly below the outlet. The core function of this calibration method is to ensure that the liquid flowing from the outlet directly contacts the inner wall of the container in the initial stage of contact, rather than impacting the bottom of the container vertically, thus preventing liquid splashing at the source.

[0049] In one specific implementation, under the premise of ensuring that the liquid can slide smoothly along the inner wall of the container, the maximum tilt angle is taken when the edge of the container opening is exactly aligned with the liquid outlet position directly below the liquid outlet; this angle is the optimal tilt angle under the initial posture, which can maximize the protection of the liquid flowing along the inner wall in the initial stage of liquid outlet and avoid vertical impact.

[0050] Different container types have different external dimensions, opening sizes, and cup heights, so the corresponding optimal initial tilt angles are different. All angle values ​​are calibrated during the equipment debugging phase and stored in a pre-stored calibration parameter library. During runtime, the parameters are directly called according to the container type, without the need for real-time detection and calculation.

[0051] For example, for short and wide containers, the opening diameter is large and the height of the cup is low, so the corresponding initial tilt angle is relatively small, with a typical range of 20° to 30°; for tall and narrow containers, the opening diameter is small and the height of the cup is high, so the corresponding initial tilt angle is relatively large, with a typical range of 35° to 45°.

[0052] In a specific calibration scenario, for a tall, narrow coffee cup, the technician controls a robotic arm to gradually adjust the tilt angle of the cup. When the tilt angle is adjusted to 40°, the upper edge of the cup opening is exactly below the dispensing spout. At this point, the dispensing test is started, and the coffee liquid can slide smoothly down the inner wall of the cup without splashing. Therefore, 40° is calibrated as the initial tilt angle corresponding to this cup type and entered into the beverage recipe database.

[0053] By using "aligning the opening edge with the liquid outlet" as the calibration criterion and determining the initial tilt angle according to the container type, the anti-splash effect in the initial liquid receiving stage is ensured, and precise adaptation to containers of different specifications is achieved. The calibration logic is clear, the engineering feasibility is strong, and the parameterized storage method facilitates subsequent operation, maintenance and iterative adjustment.

[0054] In one optional embodiment of this application, a specific implementation of determining the attitude recovery rate of the container based on the target liquid volume, the liquid flow rate information, and the initial tilt information may include: calculating the total liquid discharge time based on the target liquid volume and the liquid flow rate information; and determining the attitude recovery rate of the container based on the initial tilt angle corresponding to the initial tilt information and the total liquid discharge time.

[0055] Total dispensing time refers to the estimated duration from the start to the stop of dispensing, and it is a time reference parameter in an open-loop control system. Under normal operating conditions, with stable pump pressure, unobstructed pipelines, and liquid properties within the calibration range, the fluctuation of the dispensing flow rate is within a controllable range. Therefore, the total dispensing time can be directly calculated from the target dispensing volume and the calibration flow rate without relying on real-time flow detection.

[0056] The formula for calculating the total discharge time is: T = V_total / Q_i.

[0057] Where T represents the total liquid discharge time, V_total represents the target liquid volume, and Qi represents the calibrated flow rate value corresponding to the liquid discharge flow rate information.

[0058] For example, in the application scenario of unmanned beverage robots, the target liquid volume of an order is 300mL, and the standard dispensing flow rate of Americano is 30mL / s. Substituting into the formula, the total dispensing time T = 300mL ÷ 30mL / s = 10s, that is, the complete dispensing process of this liquid is expected to last 10 seconds.

[0059] The attitude recovery rate is the decrease in the container's tilt angle per unit time during liquid dispensing, typically measured in degrees per second (° / s). The core design principle of this step is to match the gradual recovery of the container from its initial tilt angle to the duration of liquid dispensing and the rise in liquid level, thus dynamically adapting the container's tilt attitude to the internal liquid level and ensuring both splash and overflow prevention throughout the dispensing process. This calculation is an open-loop feedforward operation, requiring no real-time liquid level detection data; the time reference can be determined solely through pre-calibrated parameters.

[0060] In a preferred embodiment, the formula for calculating the attitude recovery rate can be expressed as: ω = θ0 / T (° / s).

[0061] Where ω represents the attitude recovery rate, θ0 represents the initial tilt angle corresponding to the initial tilt information, and T represents the total liquid discharge time. When calculated according to this formula, the tilt angle of the container at the end of the liquid discharge is basically close to the vertical state, the attitude change corresponds most closely to the liquid level rise process, and the overflow prevention effect is optimal.

[0062] For example, if the initial tilt angle of the cup corresponding to the order is 35° and the total liquid dispensing time is 10s, the attitude recovery rate ω = 35° ÷ 10s = 3.5° / s can be calculated by substituting into the formula. That is, during the liquid dispensing process, the tilt angle of the cup decreases uniformly by about 3.5 degrees per second, and the cup basically returns to a vertical attitude when the liquid dispensing ends.

[0063] In practical engineering applications, the attitude recovery rate can be slightly modified according to working conditions such as liquid surface tension and foam volume. For example, the recovery speed can be appropriately increased or decreased. As long as the recovery rate is determined based on the total liquid discharge time and the initial tilt angle, it does not deviate from the core concept of this application.

[0064] By employing a two-step calculation logic of "first calculating the total liquid discharge time and then deriving the return-to-center rate", the correspondence between "liquid volume-time-attitude" is established. The calculation logic is simple and clear, and the engineering implementation difficulty is low. Under the preferred implementation method, the container can be basically returned to a vertical state when the liquid discharge ends. From the perspective of control principle, the dynamic adaptation of the attitude and liquid level throughout the liquid receiving process is realized, providing a reliable control benchmark for dynamic tilting liquid receiving.

[0065] In one optional embodiment of this application, a specific implementation of controlling the robotic arm to return the container's attitude to the correct position according to the attitude return rate during the liquid dispensing process may include: starting to accumulate the liquid dispensing time at the same time as starting liquid dispensing; calculating the current target tilt angle based on the currently accumulated liquid dispensing time and the attitude return rate; controlling the robotic arm to adjust the container to the current target tilt angle; and returning the container to the target attitude when the liquid dispensing ends.

[0066] Synchronizing the initiation of liquid dispensing with the cumulative duration is a crucial step in ensuring the accuracy of the open-loop control time reference. Using the moment the liquid dispensing action begins as the zero point of timing ensures that the time dimension of subsequent attitude calculations strictly corresponds to the actual liquid dispensing process, avoiding mismatches between attitude and liquid level due to timing deviations. The cumulative liquid dispensing duration can be implemented by the timing module built into the control system, and the timing accuracy can be configured according to control requirements; this application does not impose any limitations on this.

[0067] For example, the moment the system sends an opening command to the dispensing mechanism and the coffee begins to flow from the dispensing nozzle, the timing unit of the control system starts simultaneously, accumulating the dispensing time of this dispensing from 0 seconds.

[0068] The current target tilt angle refers to the target tilt posture that the container should reach at the corresponding moment, and it is the direct control basis for the robot arm's posture adjustment. Under the preferred linear return-to-center control mode, the container tilt angle decreases uniformly with the cumulative liquid discharge time, and the posture change is continuous and smooth, which is not only easy to implement in engineering, but also can stably match the uniform rise of the liquid level.

[0069] In a preferred embodiment, the formula for calculating the current target tilt angle can be expressed as: θ(t) = θ0-ω × t.

[0070] Where θ(t) represents the target tilt angle when the current cumulative liquid discharge time is t, θ0 represents the initial tilt angle, ω represents the attitude recovery rate, and t represents the current cumulative liquid discharge time.

[0071] For example, the initial tilt angle θ0 of the corresponding cup type is 35°, and the attitude recovery rate ω is 3.5° / s. When the cumulative liquid discharge time t=2s, substituting into the formula, the current target tilt angle θ(2)=35° - 3.5° / s × 2s =28°; when the cumulative liquid discharge time t=5s, the current target tilt angle θ(5)=35° - 3.5° / s × 5s =17.5°. As the liquid discharge time continues to increase, the target tilt angle decreases uniformly, and the cup gradually and smoothly returns to its normal position.

[0072] In practical applications, other recovery strategies such as segmented speed change can also be adopted according to the working conditions such as liquid foam volume and surface tension. As long as the overall attitude recovery rate is used as the benchmark to adjust the tilting attitude of the container, it will not deviate from the core concept of this application.

[0073] The control system periodically calculates the current target tilt angle according to a preset control cycle and sends attitude adjustment commands to the robotic arm. The robotic arm drives the container to adjust to the target attitude in real time, thereby achieving continuous and smooth changes in tilt attitude. When the liquid receiving process ends, the container's tilt attitude returns to the preset target attitude; the target attitude is preferably a vertical attitude, at which point the liquid level in the container reaches the target liquid receiving volume, and the container is in an upright and stable state, facilitating subsequent transfer operations.

[0074] The determination of the end of liquid contact can be made in various ways, and the embodiments of this application do not limit this. For example, when the cumulative liquid discharge time reaches the pre-calculated total liquid discharge time, the liquid contact is determined to be over, liquid discharge is stopped, and attitude adjustment is terminated.

[0075] For example, the control system calculates the current target tilt angle at fixed intervals and sends it to the robotic arm, which then adjusts the coffee cup's posture in real time. When the total dispensing time reaches 10 seconds, the dispensing stops, and the coffee cup's tilt angle returns to the vertical target posture of 0°, with the liquid level inside the cup reaching the target volume of 300mL.

[0076] Through the control logic of "synchronous timing - real-time calculation - dynamic following", the tilted attitude of the container is smoothly and uniformly restored to the normal position as the liquid discharge process progresses. The control logic is simple, the amount of calculation is small, the hardware requirements of the controller are low, and the engineering implementation is strong. The linear return attitude change law can stably match the liquid level rise process, ensuring that the liquid flows in along the inner wall of the container throughout the process. This avoids splashing in the early stage of liquid discharge and prevents overflow in the later stage of liquid discharge, thus achieving stable and reliable dynamic liquid receiving control.

[0077] In one optional embodiment of this application, it may further include: after the liquid receiving is completed, controlling the liquid outlet to perform a back suction action to draw the residual liquid on the inner wall of the liquid outlet back into the pipeline.

[0078] After the liquid discharge stops, a small amount of liquid usually remains on the inner wall of the outlet. Under the influence of surface tension, this liquid hangs at the end of the outlet and is easily dripped onto the equipment platform or casing due to gravity, causing equipment contamination and hygiene hazards. This step reduces residual droplets at the source through a back-suction action, replacing the traditional physical drip-proof solution and reducing the probability of drip contamination from the root.

[0079] The specific implementation of the back suction action can be flexibly selected according to the type of liquid discharge drive mechanism, and this application embodiment does not limit this. In a preferred embodiment, the liquid outlet is driven by a peristaltic pump to transport liquid through the pipeline. The peristaltic pump supports forward and reverse operation. After the liquid discharge is completed, the system immediately sends a reverse command to the peristaltic pump, which is seamlessly connected to the liquid discharge stop action in terms of timing. The negative pressure generated by the reverse operation is used to draw most of the residual liquid that is about to drip from the inner wall of the liquid outlet back into the pipeline, cutting off the main source of leakage at the source.

[0080] The preset reversal time can be pre-calibrated based on factors such as pipeline specifications, outlet diameter, and liquid viscosity, with a typical range of 0.1 to 0.2 seconds. This time has been optimized through engineering calibration to effectively remove residual liquid adhering to the inner wall of the outlet without causing air to enter the pipeline due to excessive reversal, thus avoiding affecting the metering accuracy of the next dispensing.

[0081] For example, when the cumulative dispensing time reaches the total dispensing time and the dispensing process is officially completed, the system immediately sends a reverse command to the peristaltic pump that drives the dispensing, controlling the peristaltic pump to reverse for 0.15 seconds, drawing the coffee liquid remaining on the inner wall of the dispensing nozzle back into the dispensing pipeline; after the back suction action, the amount of residual liquid droplets hanging at the end of the dispensing nozzle is greatly reduced, significantly reducing the probability of subsequent liquid droplets falling and contaminating the equipment platform and casing.

[0082] By performing a back suction action on the outlet after the liquid receiving is completed, the residual liquid on the inner wall of the outlet is drawn back into the pipeline, reducing the residual droplets hanging at the outlet from the source. This solution eliminates the need for additional physical receiving structures such as flow guides and liquid receiving trays, which reduces hardware costs and avoids the hygiene hazards and frequent cleaning maintenance costs caused by residual liquid accumulation in physical structures. It effectively improves the cleanliness and ease of operation and maintenance of equipment in unattended scenarios.

[0083] In one optional embodiment of this application, it may further include: after performing the back suction action, controlling the robotic arm to keep the container at the liquid outlet and continuously stay there for a preset duration.

[0084] The back suction action can remove most of the residual liquid from the inner wall of the outlet. However, due to factors such as liquid surface tension and the roughness of the outlet's inner wall, a very small amount of tiny droplets may still remain, slowly dripping down after the back suction is completed. This step serves as a backup to the back suction action. After the back suction is completed, the container remains below the outlet, allowing any remaining trace droplets to fall directly into the container, completely preventing droplets from falling onto the equipment surface or casing and causing contamination.

[0085] The preset dwell time is a pre-calibrated parameter that can be reasonably set according to factors such as the outlet structure and the physical properties of the liquid, ensuring that residual trace droplets have sufficient time to drip and be collected by the container. This embodiment does not limit its specific value. During the dwell time, the container maintains the posture it had at the end of liquid collection, requiring no additional adjustments to the robotic arm, and the control logic is simple.

[0086] For example, after the peristaltic pump completes its 0.15-second reverse suction action, the robotic arm does not immediately move the coffee cup away. Instead, it keeps the coffee cup directly below the dispensing nozzle for a preset duration. During this time, a very small amount of residual coffee droplets at the end of the dispensing nozzle will naturally drip into the coffee cup. After the duration ends, the robotic arm then moves the coffee cup to the dispensing area, effectively preventing residual liquid from dripping onto the equipment table.

[0087] By adding a container dwell step after the back suction action, a collaborative anti-drip sequence of "source reduction + end-of-pipe backup" is formed with the back suction action, further eliminating the risk of contamination from trace amounts of residual liquid dripping without adding any hardware structure. At the same time, this step can be implemented only through software timing control, without modifying the hardware structure. The control logic is simple and easy to implement. In conjunction with the back suction action, it can significantly reduce the frequency of equipment cleaning and maintenance, adapting to the operational needs of unattended equipment.

[0088] In one optional embodiment of this application, it may further include: retrieving a corresponding preset dwell time based on the liquid type carried in the liquid receiving task information; wherein the preset dwell time is determined based on the viscosity information corresponding to the liquid type.

[0089] Different types of liquids have different viscosities and surface tensions, resulting in significant differences in the formation and dripping speed of residual droplets at the outlet. Using a uniform residence time can lead to redundant work time and reduced overall efficiency for low-viscosity liquids, while for high-viscosity liquids, the residence time may be insufficient to completely collect all residual droplets. Therefore, this embodiment uses liquid viscosity as the core basis, specifying corresponding residence times for different liquid types to balance anti-drip effectiveness and work efficiency.

[0090] The preset residence time is pre-calibrated and stored in a pre-stored calibration parameter library, corresponding one-to-one with the liquid type. The calibration principle is: the higher the liquid viscosity, the longer the corresponding preset residence time, to ensure that residual droplets of high-viscosity liquids have sufficient time to drip; the lower the liquid viscosity, the shorter the corresponding preset residence time, to avoid unnecessary time loss. When the equipment is running, the system can directly retrieve the corresponding duration parameter from the calibration parameter library according to the liquid type of the current task, without needing to detect the liquid viscosity in real time during operation.

[0091] For example, in the application scenario of unmanned beverage robots, the beverage formula database calibrates the drip dwell time according to the viscosity of the beverage: low-viscosity beverages such as Americano coffee and water have strong liquid flow and the residual liquid drips quickly, corresponding to a preset dwell time of 0.5 seconds; high-viscosity beverages such as espresso and syrup beverages have strong liquid adhesion and the residual liquid drips slowly, corresponding to a preset dwell time of 1.0 second. When the liquid dispensing task is Americano coffee, the system retrieves 0.5 seconds as the preset dwell time for this task; when the liquid dispensing task is high-viscosity syrup, the system retrieves 1.0 second as the preset dwell time for this task.

[0092] By setting different dwell times based on the viscosity information corresponding to the liquid type and retrieving the corresponding parameters by liquid type, the system avoids the loss of work efficiency caused by uniform long dwell times while ensuring that extremely small residual droplets are completely received, thus achieving a balance between anti-drip effect and work efficiency. At the same time, the method of pre-calibrating parameters and calling them directly during operation results in simple control logic and can flexibly adapt to the liquid receiving needs of multiple types of liquids.

[0093] In one optional embodiment of this application, it may further include: during the liquid receiving process, monitoring the actual liquid flow rate at the liquid outlet; when the deviation between the actual liquid flow rate and the liquid flow rate information exceeds a preset deviation boundary, exiting the current liquid receiving task and triggering an alarm.

[0094] The liquid receiving control in this scheme is based on open-loop control logic with a pre-calibrated flow rate. The control accuracy and attitude matching effect depend on the stability of the outflow flow rate. In actual operation, conditions such as pump pressure fluctuations, pipeline blockages, and abnormal power source pressure may occur, causing the actual outflow flow rate to deviate from the calibration value. This can lead to problems such as liquid receiving volume deviation, mismatch between container attitude and liquid level, or even liquid overflow. This step verifies the validity of the open-loop control's operating conditions by real-time monitoring of the actual outflow flow rate, and promptly identifies operational anomalies.

[0095] There are various ways to monitor the actual outflow velocity, and this application does not limit this method. For example, a flow sensor can be installed in the outflow pipeline to directly collect the instantaneous flow velocity at the outlet in real time; another example is that the actual outflow velocity can be indirectly calculated from the operating parameters of the power device driving the outflow.

[0096] The preset deviation boundary is a pre-defined allowable fluctuation range of the flow rate. Within this range, the impact of flow rate fluctuations on the matching effect between the liquid volume and attitude is within an acceptable range, and open-loop control can still operate stably; if it exceeds this range, it is judged as an abnormal operating condition, and continued operation will lead to substandard liquid contact quality, or even cause malfunctions such as liquid overflow.

[0097] The preset deviation boundary can be pre-calibrated based on factors such as liquid contact accuracy requirements and operating condition stability; this application embodiment does not impose such limitations. In a preferred embodiment, the preset deviation boundary is set to ensure that the deviation between the actual flow rate and the calibrated flow rate does not exceed ±5%. Within this deviation range, the liquid contact accuracy and overflow prevention effect of the open-loop control can meet the usage requirements.

[0098] For example, the calibrated flow rate for Americano coffee is 30 mL / s, with a preset deviation boundary of ±5%, corresponding to an allowable flow rate range of 28.5 mL / s to 31.5 mL / s. During the dispensing process, the system collects the actual flow rate of the pipeline in real time. If the actual flow rate is consistently below 28 mL / s, and the deviation from the calibrated flow rate exceeds the preset boundary, it is determined that there is an abnormality in the current pipeline or pump. The system immediately terminates the dispensing task, triggers an audible and visual alarm, and pushes an abnormality notification to the upper-level system, notifying maintenance personnel to troubleshoot the fault promptly.

[0099] By adding flow rate monitoring and abnormal boundary control mechanisms during the liquid receiving process, the system's abnormal protection capability is enhanced without changing the core logic of open-loop control. This retains the advantages of open-loop control, such as its simple structure, low cost, and fast response, while effectively avoiding risks such as liquid receiving deviation and liquid overflow caused by abnormal flow rates. This improves the operational reliability and fault tolerance of the entire control method, making it more suitable for long-term stable operation in unattended scenarios.

[0100] In one optional embodiment of this application, before the robotic arm moves the container to the outlet to collect the liquid, the method may further include: obtaining the completion time of the previous liquid collection task; determining the interval between the current liquid collection task and the previous liquid collection task based on the current time and the completion time of the previous liquid collection task; determining whether the interval is less than a preset minimum interval threshold; and delaying the execution of the current liquid collection task when the interval is less than the preset minimum interval threshold, until the interval reaches the preset minimum interval threshold.

[0101] The completion time of the previous liquid receiving task refers to the time when all previous liquid receiving operations were completed, which can be used as the time calculation benchmark for two liquid receiving tasks. The system records and stores the corresponding completion timestamp for each completed liquid receiving task, which can be called for verification before the start of subsequent tasks. The accuracy of the completion time recording can be configured according to the system control requirements, and this embodiment does not limit it.

[0102] The interval duration characterizes the length of idle time between two liquid receiving tasks, directly reflecting the adequacy of the liquid system's reset. The actual interval duration between two tasks can be calculated by subtracting the completion time of the previous liquid receiving task from the current time when the current task trigger command is received.

[0103] The preset minimum interval threshold is the pre-calibrated minimum task interval requirement, used to ensure that the pressure in the liquid outlet pipeline stabilizes and that residual droplets at the outlet drip off completely, so that the system is in a consistent initial operating condition when the next liquid receiving task starts. If the interval is too short, problems such as liquid metering deviation caused by failure to reset the pipeline pressure and incomplete dripping of residual droplets from the previous task may occur, affecting the liquid receiving accuracy and cleaning effect.

[0104] The minimum interval threshold can be pre-calibrated based on factors such as pipeline specifications, pump characteristics, and liquid viscosity; this application does not impose any limitations on this. In a preferred embodiment, the preset minimum interval threshold can be set to 2 seconds, which balances continuous operation efficiency with sufficient system reset capability.

[0105] If the actual interval time is determined to be less than the minimum interval requirement, the current liquid receiving task's placement and liquid discharge process will not be started immediately. Instead, the process will wait until the interval time meets the threshold requirement before executing the subsequent container placement and liquid receiving operations, ensuring that the initial working conditions of each task are consistent.

[0106] For example, in the application scenario of unmanned beverage robots, the preset minimum interval threshold is 2 seconds; the liquid dispensing task of the previous cup of beverage is completed at the 20th second. If a new liquid dispensing task instruction is triggered at the 21st second, the calculated interval between the two tasks is only 1 second, which is less than the preset 2-second threshold. At this time, the system delays starting the current task and continues to wait for 1 second. After the interval reaches 2 seconds, the system controls the robotic arm to grip the container and move it to the liquid outlet to perform the liquid dispensing operation.

[0107] By adding an interval verification and delay control mechanism before the liquid receiving task is started, the liquid dispensing system can be guaranteed to have sufficient reset time before each liquid receiving task is started. This effectively avoids problems such as pipeline pressure fluctuations, decreased liquid dispensing metering accuracy, and residual droplet contamination in continuous high-frequency operation scenarios, and improves the consistency of operating conditions and operational stability when multiple tasks are running continuously. At the same time, this mechanism can be implemented only through software timing control without additional hardware costs, and can be flexibly adapted to high-throughput unattended automated operation scenarios.

[0108] Reference Figure 2 In a specific application scenario, taking the unmanned beverage robot performing a single-cup beverage dispensing operation as an example, the complete implementation process of the container dispensing control method is as follows: First, the system receives the liquid receiving task instruction triggered by the order, and obtains the corresponding liquid receiving task information. This information includes the target liquid receiving volume V_total, the calibrated flow rate Q (in mL / s) corresponding to the outflow velocity, and the initial tilt angle θ0 corresponding to the initial tilt information of the corresponding cup type. Based on the target liquid receiving volume, outflow velocity, and initial tilt information, the system calculates the attitude control parameters: first, it calculates the total outflow time T according to the formula T = V_total / Q; then, it calculates the attitude recovery rate ω (in ° / s) according to the formula ω = θ0 / T. The initial tilt angle θ0 is determined by the container type (cup type parameter), typically ranging from 30° to 45°.

[0109] After the parameters are calculated, the system controls the robotic arm to move the container (cup) to the liquid receiving position directly below the liquid outlet (liquid nozzle), and keeps the container tilted at the initial tilt angle θ0, with the container opening facing the liquid outlet and the edge of the opening aligned with the liquid outlet position; after positioning, the system controls the liquid outlet to open and start dispensing liquid, and at the same time starts to accumulate the dispensing time.

[0110] During the dispensing process, the system continuously checks whether the current cumulative dispensing time t is less than the total dispensing time T. If t < T, dynamic homing control is executed: according to the formula θ(t) = θ0 - ω t Calculate the current target tilt angle θ(t), control the robotic arm to adjust the container attitude in real time according to the current target tilt angle, so that the tilt angle of the container gradually returns to the normal position as the liquid output increases and the liquid level rises; after completing a single attitude adjustment, return to the duration judgment step to form a loop control.

[0111] When the current cumulative discharge time t is greater than or equal to the total discharge time T, the discharge is considered to have ended. At this time, the container has basically returned to a vertical position (θ≈0°). The system controls the discharge nozzle to close and stop the discharge, and at the same time controls the discharge port to perform a back suction action: drive the discharge pump or valve to run in reverse briefly for 0.1~0.2 seconds to draw the residual liquid at the end of the discharge nozzle back into the pipeline.

[0112] After the back suction action is completed, the control robot arm keeps the container opening directly below the liquid outlet and continues to stay for a preset duration T_drip to catch any very small amount of residual liquid droplets that may still drip after back suction. The preset duration T_drip is a configurable parameter with a typical value range of 0.5~1s.

[0113] After the dwell time is over, the control robotic arm will move the container to the target dispensing position (cup collection area), and the liquid receiving operation will be completed without any residual droplets contaminating the equipment.

[0114] Reference Figure 3 In one specific implementation, the attitude control process of the container receiving liquid is divided into three stages according to the time process, and the attitude and liquid level state of each stage correspond as follows: Phase 1: Liquid discharge begins (t=0) This stage is the liquid-ready state, corresponding to the initial moment when the robotic arm is in position and liquid dispensing is about to begin. The robotic arm holds the container in an initial tilted posture, and the typical value of the initial tilt angle θ0 corresponding to the initial tilt information is about 40°. The container opening faces the liquid outlet, so that the edge of the opening is aligned with the liquid outlet position. At this time, the liquid level in the container is zero, and it is in the liquid-ready state.

[0115] Phase Two: During Liquid Outflow (0) <t<T) This stage is the core execution stage for liquid dispensing, corresponding to the entire process of continuous liquid dispensing. As dispensing continues, the robotic arm continuously adjusts the container's attitude according to a pre-determined attitude recovery rate ω. The container's current target tilt angle satisfies the relationship θ(t) = θ0 - ω×t. As the dispensing volume increases, the liquid level inside the container rises synchronously, and the container's tilt angle gradually decreases, achieving dynamic matching between the container's attitude recovery and the rise in the internal liquid level. This ensures that the liquid flows smoothly along the container's inner wall throughout the process, while also taking into account the control effects of preventing splashing in the initial dispensing stage and preventing overflow in the later stages.

[0116] Phase 3: End of liquid discharge (t=T) This stage marks the completion of liquid dispensing, corresponding to the moment when the cumulative dispensing time reaches the total dispensing time T. When the cumulative dispensing time reaches the total dispensing time T, dispensing is complete. At this point, the container has returned to its vertical target orientation with an inclination angle θ = 0°, and the liquid level in the container has reached the target capacity corresponding to the target dispensing volume. After dispensing is completed, a back suction action and a drip-holding step can be further triggered to eliminate the risk of contamination from residual droplets at the outlet.

[0117] It should be noted that the container liquid receiving control method provided in this application embodiment can be executed by a container liquid receiving control device, or a control module in the container liquid receiving control device for executing the method of loading container liquid receiving control. This application embodiment uses the execution of the method of loading container liquid receiving control by a container liquid receiving control device as an example to illustrate the container liquid receiving control method provided in this application embodiment.

[0118] Reference Figure 4 The diagram illustrates a structural block diagram of a container liquid receiving control device according to another embodiment of the present invention, which may specifically include: The information acquisition module 201 is used to acquire liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; The rate determination module 202 is used to determine the attitude return rate of the container based on the target liquid volume, the liquid flow rate information and the initial tilt information. The mobile control module 203 is used to control the robotic arm to move the container to the liquid outlet to collect the liquid, and to align the container with the liquid outlet in the initial tilt posture defined by the initial tilt information. The return control module 204 is used to control the robotic arm to return the container to its correct posture according to the posture return rate during the liquid receiving process.

[0119] Optionally, the information acquisition module includes: The instruction receiving submodule is used to receive liquid receiving task instructions; wherein, the liquid receiving task instructions carry the liquid type, container type and the target liquid receiving volume; The information retrieval submodule is used to retrieve the corresponding liquid flow rate information and initial tilt information from a pre-stored calibration parameter library according to the liquid type and the container type.

[0120] Optionally, the initial tilt angle defined by the initial tilt information is determined according to the container type of the container, and the initial tilt angle is the tilt angle when the opening edge of the container is located directly below the liquid outlet.

[0121] Optionally, the rate determination module includes: The duration calculation submodule is used to calculate the total discharge duration based on the target liquid volume and the liquid flow rate information; The rate determination submodule is used to determine the attitude recovery rate of the container based on the initial tilt angle corresponding to the initial tilt information and the total liquid discharge time.

[0122] Optionally, the return-to-center control module includes: The duration accumulation submodule is used to start accumulating the discharge duration at the same time as the discharge is initiated. An angle calculation submodule is used to calculate the current target tilt angle based on the current accumulated liquid discharge time and the attitude recovery rate. An angle control submodule is used to control the robotic arm to adjust the container to the current target tilt angle, and when the liquid reception ends, the container returns to the target posture.

[0123] Optionally, the device further includes: The back-suction control module is used to control the liquid outlet to perform a back-suction action after the liquid receiving is completed, so as to draw the residual liquid on the inner wall of the liquid outlet back into the pipeline.

[0124] Optionally, the device further includes: The control module is used to control the robotic arm to keep the container at the liquid outlet for a preset duration after the back suction action is performed.

[0125] Optionally, the device further includes: The dwell time retrieval module is used to retrieve the corresponding preset dwell time based on the liquid type carried in the liquid receiving task information; wherein, the preset dwell time is determined based on the viscosity information corresponding to the liquid type.

[0126] Optionally, the device further includes: A flow rate monitoring module is used to monitor the actual outflow rate of the liquid outlet during the liquid receiving process; The task exit module is used to exit the current liquid receiving task and trigger an alarm when the deviation between the actual liquid flow rate and the liquid flow rate information exceeds a preset deviation boundary.

[0127] Optionally, the device further includes: The time acquisition module is used to acquire the completion time of the previous liquid receiving task before the control robotic arm moves the container to the liquid outlet to receive the liquid; The interval duration determination module is used to determine the interval duration between the current liquid receiving task and the previous liquid receiving task based on the current time and the completion time of the previous liquid receiving task. The threshold determination module is used to determine whether the interval duration is less than a preset minimum interval threshold. The task delay module is used to delay the execution of the current liquid receiving task when the interval duration is less than the preset minimum interval threshold, until the interval duration reaches the preset minimum interval threshold.

[0128] Furthermore, embodiments of this application also provide a robot, including a robotic arm and a control unit.

[0129] The robotic arm is used to grip the liquid receiving container and can drive the container to complete the precise adjustment of its spatial position and tilt posture; the control unit is electrically connected to the robotic arm and is used to execute the container liquid receiving control method described in any of the foregoing embodiments of this application, send motion control commands to the robotic arm, and complete the entire process control from container positioning, dynamic posture correction to liquid receiving termination.

[0130] According to the embodiments of this application, the robot, by being equipped with the aforementioned container liquid receiving control method, can achieve stable control of the entire liquid receiving process without adding additional liquid level detection hardware, preventing splashing and overflow. It is suitable for various unattended liquid receiving scenarios such as unmanned beverage production and automated filling.

[0131] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0132] Figure 5 This is a structural block diagram illustrating an electronic device 700 for controlling liquid contact in a container, according to an exemplary embodiment. For example, the electronic device 700 may be a computer.

[0133] Reference Figure 5 The electronic device 700 may include one or more of the following components: a processing component 702, a memory 704, a power supply component 706, a multimedia component 708, an audio component 710, an input / output (I / O) interface 712, a sensor component 714, and a communication component 716.

[0134] Processing component 702 typically controls the overall operation of electronic device 700, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 702 may include one or more modules to facilitate interaction between processing component 702 and other components. For example, processing component 702 may include a multimedia module to facilitate interaction between multimedia component 708 and processing component 702.

[0135] Memory 704 is configured to store various types of data to support the operation of device 700. Examples of this data include instruction messages, pictures, videos, etc., for any application or method operating on electronic device 700. Memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0136] Power supply component 706 provides power to various components of electronic device 700. Power supply component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 700.

[0137] Multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation.

[0138] Audio component 710 is configured to output and / or input audio signals. For example, audio component 710 includes a microphone (MIC) configured to receive external audio signals when electronic device 700 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 704 or transmitted via communication component 716. In some embodiments, audio component 710 also includes a speaker for outputting audio signals.

[0139] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0140] Sensor assembly 714 includes one or more sensors for providing state assessments of various aspects of electronic device 700. For example, sensor assembly 714 may detect the on / off state of device 700, the relative positioning of components such as the display and keypad of electronic device 700, changes in position of electronic device 700 or a component of electronic device 700, the presence or absence of user contact with electronic device 700, orientation or acceleration / deceleration of electronic device 700, and temperature changes of electronic device 700. Sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 714 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0141] Communication component 716 is configured to facilitate wired or wireless communication between electronic device 700 and other devices. Electronic device 700 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 716 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 716 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0142] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0143] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, which can be executed by a processor 720 of an electronic device 700 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0144] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a terminal's processor, enables the terminal to perform a container liquid receiving control method, the method comprising: Obtain liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; Based on the target liquid volume, the liquid flow rate information, and the initial tilt information, the attitude recovery rate of the container is determined; The robotic arm is controlled to move the container to the outlet to collect the liquid, and the container is aligned with the outlet in the initial tilt posture defined by the initial tilt information. During the liquid receiving process, the robotic arm is controlled to return the container to its correct orientation according to the specified orientation return rate.

[0145] Optionally, obtaining the liquid receiving task information includes: Receive liquid receiving task instruction; wherein, the liquid receiving task instruction carries the liquid type, container type and the target liquid receiving volume; Based on the liquid type and the container type, the corresponding liquid flow rate information and the initial tilt information are retrieved from the pre-stored calibration parameter library.

[0146] Optionally, the initial tilt angle defined by the initial tilt information is determined according to the container type of the container, and the initial tilt angle is the tilt angle when the opening edge of the container is located directly below the liquid outlet.

[0147] Optionally, determining the attitude recovery rate of the container based on the target liquid volume, the liquid flow rate information, and the initial tilt information includes: Calculate the total discharge time based on the target liquid volume and the liquid flow rate information; The attitude recovery rate of the container is determined based on the initial tilt angle corresponding to the initial tilt information and the total liquid discharge time.

[0148] Optionally, during the liquid receiving process, controlling the robotic arm to return the container's attitude to the correct position according to the attitude return rate includes: The liquid dispensing time is accumulated simultaneously with the initiation of liquid dispensing. Calculate the current target tilt angle based on the current cumulative liquid discharge time and the attitude recovery rate; The robotic arm is controlled to adjust the container to the current target tilt angle, and when the liquid reception ends, the container returns to the target posture.

[0149] Optionally, the method further includes: After the liquid receiving is completed, the liquid outlet is controlled to perform a back suction action to draw the residual liquid on the inner wall of the liquid outlet back into the pipeline.

[0150] Optionally, the method further includes: After performing the back suction action, the robotic arm is controlled to keep the container at the liquid outlet and remain there for a preset duration.

[0151] Optionally, the method further includes: Based on the liquid type carried in the liquid receiving task information, the corresponding preset dwell time is retrieved; wherein, the preset dwell time is determined based on the viscosity information corresponding to the liquid type.

[0152] Optionally, the method further includes: During the liquid receiving process, the actual liquid flow rate at the outlet is monitored; When the deviation between the actual liquid flow rate and the liquid flow rate information exceeds the preset deviation boundary, the current liquid receiving task is terminated and an alarm is triggered.

[0153] Optionally, before the robotic arm moves the container to the outlet to collect the liquid, the method further includes: Get the completion time of the previous liquid collection task; The interval between the current liquid receiving task and the previous liquid receiving task is determined based on the current time and the completion time of the previous liquid receiving task. Determine whether the interval duration is less than a preset minimum interval threshold; When the interval duration is less than the preset minimum interval threshold, the execution of the current liquid receiving task is delayed until the interval duration reaches the preset minimum interval threshold.

[0154] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts between the various embodiments, please refer to each other.

[0155] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0156] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0157] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0159] 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.

[0160] 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.

[0161] The present invention has provided a detailed description of a container liquid receiving control method, a container liquid receiving control device, an electronic device, and a readable storage medium. 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 method for controlling liquid ingress into a container, characterized in that, The method includes: Obtain liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; Based on the target liquid volume, the liquid flow rate information, and the initial tilt information, the attitude recovery rate of the container is determined; wherein, the attitude recovery rate is the rate at which the tilt angle of the container decreases over time during the liquid receiving process; The robotic arm is controlled to move the container to the outlet to collect the liquid, and the container is aligned with the outlet in the initial tilt posture defined by the initial tilt information. During the liquid receiving process, the robotic arm is controlled to return the container to its correct orientation according to the specified orientation return rate.

2. The method according to claim 1, characterized in that, The acquisition of liquid receiving task information includes: Receive liquid receiving task instruction; wherein, the liquid receiving task instruction carries the liquid type, container type and the target liquid receiving volume; Based on the liquid type and the container type, the corresponding liquid flow rate information and the initial tilt information are retrieved from the pre-stored calibration parameter library.

3. The method according to claim 2, characterized in that, The initial tilt angle defined by the initial tilt information is determined according to the container type of the container, and the initial tilt angle is the tilt angle when the opening edge of the container is located directly below the liquid outlet.

4. The method according to claim 1, characterized in that, Determining the container's attitude recovery rate based on the target liquid volume, the outflow velocity information, and the initial tilt information includes: Calculate the total discharge time based on the target liquid volume and the liquid flow rate information; The attitude recovery rate of the container is determined based on the initial tilt angle corresponding to the initial tilt information and the total liquid discharge time.

5. The method according to claim 1, characterized in that, During the liquid receiving process, controlling the robotic arm to return the container's attitude to the correct position according to the stated attitude return rate includes: The liquid dispensing time is accumulated simultaneously with the initiation of liquid dispensing. Calculate the current target tilt angle based on the current cumulative liquid discharge time and the attitude recovery rate; The robotic arm is controlled to adjust the container to the current target tilt angle, and when the liquid reception ends, the container returns to the target posture.

6. The method according to claim 1, characterized in that, The method further includes: After the liquid receiving is completed, the liquid outlet is controlled to perform a back suction action to draw the residual liquid on the inner wall of the liquid outlet back into the pipeline.

7. The method according to claim 6, characterized in that, The method further includes: After performing the back suction action, the robotic arm is controlled to keep the container at the liquid outlet and remain there for a preset duration.

8. The method according to claim 7, characterized in that, The method further includes: Based on the liquid type carried in the liquid receiving task information, the corresponding preset dwell time is retrieved; wherein, the preset dwell time is determined based on the viscosity information corresponding to the liquid type.

9. The method according to claim 1, characterized in that, The method further includes: During the liquid receiving process, the actual liquid flow rate at the outlet is monitored; When the deviation between the actual liquid flow rate and the liquid flow rate information exceeds the preset deviation boundary, the current liquid receiving task is terminated and an alarm is triggered.

10. The method according to claim 1, characterized in that, Before the robotic arm moves the container to the outlet to collect the liquid, the method further includes: Get the completion time of the previous liquid collection task; The interval between the current liquid receiving task and the previous liquid receiving task is determined based on the current time and the completion time of the previous liquid receiving task. Determine whether the interval duration is less than a preset minimum interval threshold; When the interval duration is less than the preset minimum interval threshold, the execution of the current liquid receiving task is delayed until the interval duration reaches the preset minimum interval threshold.

11. A container liquid receiving control device, characterized in that, The device includes: An information acquisition module is used to acquire liquid receiving task information; wherein, the liquid receiving task information includes at least: target liquid receiving volume, liquid outflow rate information, and initial tilt information of the container; The rate determination module is used to determine the attitude recovery rate of the container based on the target liquid volume, the liquid flow rate information, and the initial tilt information; wherein, the attitude recovery rate is the rate at which the tilt angle of the container decreases over time during the liquid receiving process; The mobile control module is used to control the robotic arm to move the container to the liquid outlet to collect the liquid, and to align the container with the liquid outlet in an initial tilt posture defined by the initial tilt information. The return-to-center control module is used to control the robotic arm to return the container to its correct orientation according to the attitude return-to-center rate during the liquid receiving process.

12. An electronic device, 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 container liquid contact control method as described in any one of claims 1-10.

13. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the container liquid contact control method as described in any one of claims 1-10.

14. A robot, characterized in that, Includes a robotic arm and a control unit; The robotic arm is used to hold the container; The control unit is electrically connected to the robotic arm, and the control unit is used to execute the container liquid receiving control method as described in any one of claims 1-10.

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