A multi-cup beverage production method, system and device based on trajectory optimization

Abstract

The present application relates to unmanned beverage vending equipment technical field, disclose a kind of based on trajectory optimization's multi-cup type beverage production method, system and device, the method includes: obtaining order containing cup type identification and formula identification;Accordingly, call basic path template, generate equipment special motion trajectory in combination with station calibration parameter and cup type geometric parameter;According to cup type identification, from multiple cup divider, target cup divider is screened and cup station is determined;According to formula task dependency relationship and station resource occupation state, determine execution timing, action includes cup, receiving material, transfer and according to formula whether to execute the stamping;In trajectory execution, according to cup type, formula and station type determine the positioning mode of liftable support mechanism, control its movement to target lifting position, and positioning mode at least contains stamping positioning mode.The present application realizes multi-cup type flexible adaptation, trajectory cross-device reuse and multi-station parallel scheduling, and improves the production efficiency in high-concurrency scenario.

Description

Technical Field

[0001] This invention relates to the field of unmanned beverage vending equipment technology, and in particular to a method, system and device for producing multi-cup beverages based on trajectory optimization. Background Technology

[0002] Automated beverage making equipment is widely used in unmanned retail, catering services, and commercial coffee machines. A typical automated beverage system usually consists of a main control system, a transmission mechanism (such as a robotic arm or multi-axis motion platform), a cup dispenser, a raw material preparation and dispensing module, an ice-making module, and a printing module. After analyzing the user's order, the main control system sequentially controls operations such as cup picking, material receiving, transfer, ice dispensing, or printing according to preset logic to complete the automated beverage preparation. The robotic arm or multi-axis motion platform typically uses a teach-and-playback method, teaching motion trajectories for specific cup types and beverage recipes, and then using a controller to interpolate and complete the movements between each station.

[0003] In existing automated beverage equipment, a common technical solution is to set independent motion trajectories and process parameters for specific cup types and beverage combinations. Taking a certain type of unmanned coffee machine as an example, its cup dispensers are usually bound to beverage types; for example, the first dispenser holds 8-ounce cups for hot drinks, and the second dispenser holds 12-ounce cups for iced drinks. The robotic arm's cup-picking position, dispensing position, and transfer trajectory are all pre-taught for this fixed combination and fixed in the control system. The printing station uses physical sensors to detect the cup position one by one or uses a preset fixed height to complete the positioning. After printing is completed, the actuator returns to the preset mechanical origin. The modules use a serial timing sequence, that is, the next action is triggered only after the previous action is completely completed.

[0004] However, the existing solutions have the following limitations: First, the cup type is tied to the beverage formula. When the same beverage needs to support multiple cup type options, the robotic arm's motion trajectory needs to be re-taught for each new combination, and the positioning parameters of each station need to be adjusted. As the number of new combinations and equipment output increases, the workload of repeated debugging increases significantly, and manufacturing and assembly deviations between different devices make it difficult to directly reuse the same set of taught trajectories. Second, the printing and ice dispensing stations rely on physical sensors to detect each cup individually or to position at a fixed height. There is redundant travel in the Z-axis direction, and the mechanical zeroing action of returning to the origin after each cup is completed further increases the production time per cup. Third, although each module has independent execution capabilities, the fixed serial timing fails to fully utilize this capability, resulting in invalid waiting during the preparation process. Fourth, the cup dispenser picks up cups from a fixed starting point. When a single cup dispenser is missing a cup or malfunctions, it can easily block the entire process, lacking a dynamic selection mechanism based on cup type matching and resource status. Summary of the Invention

[0005] This invention aims to solve the technical problems in existing solutions, such as the difficulty in extending and replicating trajectories, redundancy in the Z-axis stroke of the printing and ice dispensing stations, lack of linkage in the selection of cup dispensers, and rigid preparation sequence. It provides a multi-cup beverage production method, system, and device based on trajectory optimization by introducing equipment calibration compensation, trajectory generation and station positioning calculation driven by cup type parameters, dynamic selection of multiple cup dispensers, and parallel scheduling based on recipe task map.

[0006] On one hand, the present invention provides a multi-cup beverage production method based on trajectory optimization, comprising the following steps: Obtain order data, which includes at least cup type identifier and recipe identifier; Based on the cup type identifier and the recipe identifier, the corresponding basic path template is retrieved from the pre-stored path template library; Based on the cup type identifier, select the available target cup dispenser from multiple cup dispensers and determine the cup picking station; Based on the dependencies between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station, the execution sequence of each preparation action and its corresponding target station are determined. The preparation action includes at least cup taking action, material receiving action, transfer action, and printing action that is determined to be performed based on the formula identifier. When the cup is transported to the target workstation, the corresponding positioning mode is determined according to the cup type identifier, the recipe identifier, and the type of the target workstation.

[0007] Furthermore, after calling the corresponding basic path template, the process also includes converting the basic path template into a device-specific motion trajectory suitable for the current device's physical coordinate system based on the calibration parameters of the target workstation and the geometric parameters corresponding to the cup-shaped identifier. Specifically, this includes: Obtain the rigid body transformation matrix of each workstation in the current equipment relative to the robot arm base. The rigid body transformation matrix is ​​established by measuring at least three non-collinear reference points at each workstation, with the first reference point as the origin, the direction of the line connecting the first reference point and the second reference point as the direction of the first coordinate axis, and the plane and right-hand direction determined by the third reference point. Based on the rigid body transformation matrix, the clamping offset matrix of the cup relative to the fixture, and the target pose matrix of the cup in the target workstation, the target pose matrix of the robotic arm tool center point is calculated using the following formula: , in, Indicate the center point of the tool Relative to the robot arm base coordinate system pose matrix, Indicates the first workstation Relative to the robot arm base coordinate system The calibrated rigid body transformation matrix, Indicates a cup or glass In the workstation The target pose matrix is ​​determined by the cup-shaped identifier and the operation type identifier. Indicates a cup or glass Relative to the center point of the tool The clamping offset matrix is ​​determined by the cup-shaped identifier. This represents the matrix inversion operation; According to the tool center point The target pose matrix is ​​used to solve the joint positions of each joint in combination with the kinematic model of the current device. The inverse solution that is continuous with the current joint configuration, satisfies the joint limit and is reachable is selected to generate the device-specific motion trajectory.

[0008] Preferably, after generating the device-specific motion trajectory, the method further includes: The generated device-specific motion trajectory is subjected to reachability verification, clamp and cup envelope verification, collision verification, and motion parameter verification. The device-specific motion trajectory that passes the verification is saved to the trajectory cache of the current device, and the device identifier, calibration version, template version, cup type identifier, recipe identifier, and motion parameter version are used as cache keys. When the cache key corresponding to the device-specific motion trajectory has not changed, the saved trajectory is directly retrieved from the trajectory cache, skipping the repeated generation step.

[0009] Further, based on the cup type identifier, a usable target cup dispenser is selected from multiple cup dispensers, specifically including: The set of cup dispensers corresponding to the cup type is selected based on the cup type identifier; Exclude cup dispensers that are in a cup shortage state, fault state, occupied by other orders, calibrated as invalid, or do not have a safe reachable path from the set of cup dispensers; For the remaining cup dispenser candidates, calculate the estimated cup-retrieving completion time for each. The estimated cup-retrieving completion time is equal to the larger value between the resource release time and the current time, plus the time taken for the robotic arm to arrive, plus the time taken for cup dropping and grasping. The cup dispenser with the shortest expected cup-taking completion time is selected as the target cup dispenser.

[0010] Furthermore, based on the dependencies between the recipe tasks corresponding to the recipe identifiers and the resource occupancy status of each preparation station, the execution sequence of each preparation action is determined, and the resource occupancy status of the corresponding target station is also used to determine the execution sequence of each preparation action. Specifically, this includes: The preparation process corresponding to the formula identifier is decomposed into multiple preparation task nodes. Nodes represent preparation or transfer operations, and directed edges represent the sequential dependencies between operations to construct a formula task graph. For preparation task nodes that do not have dependencies, execution is triggered in parallel when their respective preparation stations and robotic arms are idle. When any preparation task node cannot be executed due to dependencies or resource mutual exclusion, the task node is suspended and will be triggered to execute after all its predecessor task nodes are completed and the required resources are released. When an exception occurs, the execution results of completed task nodes and uninterruptible task nodes are retained, and only unstarted task nodes are rescheduled.

[0011] Furthermore, the target workstation includes a liftable support mechanism. After determining the corresponding positioning mode, the liftable support mechanism is controlled to move to the target lifting position according to the positioning mode, specifically including: Obtain the cup height corresponding to the cup shape identifier. and effective height of liquid surface The effective liquid level is the distance from the cup support surface to the beverage liquid level corresponding to the formula label, obtained by looking up a table of calibrated cup types and formula combinations. For the same formula state, at two calibrated filling points... and Linear interpolation between them is performed using the following formula: , in, This is the current order's fill volume; extrapolation is prohibited if the quantity exceeds the specified range. When the target station is an ice outlet station or a coffee outlet station, obtain the fixed outlet reference height. Distance between the rim of the cup and the outlet The conversion factor from the lifting axis coordinates of the target workstation to its physical height. and zero offset The target value of the lifting axis coordinate of the lifting support mechanism of the target workstation is calculated according to the following formula: , in, Indicates the first Target values ​​of the lifting axis coordinates of the lifting support mechanism for each target workstation; The calculated target value of the lifting axis coordinates is sent to the drive controller of the lifting support mechanism at the corresponding workstation.

[0012] Preferably, when the target station is a printing station, the positioning mode enters the printing positioning mode, specifically including: When the printing station is idle, the front cup has been moved out of the printing station, and the robotic arm has not yet entered the handover area of ​​the printing station, the standby height position is calculated according to the cup type marking, and an instruction is issued to the lifting support mechanism of the printing station to move to the standby height position. The axial coordinate value of the standby height position is calculated according to the following formula: , in, This represents the coordinate value of the lifting axis corresponding to the standby height. Indicates the height of the fixed printing reference plane. This indicates the cup height corresponding to the cup shape identifier. The safety distance is indicated by the geometric calibration error, shaft stopping error and space margin of the handover process, and the lateral envelope space is verified based on the cup mouth diameter, clamp shape and cup entry posture. After the liftable support mechanism reaches the standby height position, the robotic arm is confirmed to place the cup into the liftable support mechanism of the printing station and release the clamp to exit. The liftable support mechanism moves from the standby height position to the printing target position to obtain the fixed printing reference surface height. The distance between the printing surface and the effective liquid surface Conversion coefficient from printing station lifting axis coordinates to physical height and zero offset The target value of the lifting axis coordinate of the printing station's lifting support mechanism is calculated according to the following formula: , in, This indicates the target value of the lifting axis coordinate of the lifting support mechanism of the printing station; Once the location is reached and the necessary resting time is met, the printing execution mechanism is triggered to perform the printing action.

[0013] Preferably, when processing multiple orders consecutively and adjacent orders correspond to different cup types, the method further includes: Obtain the current actual axis coordinate value of the liftable support mechanism. ; Based on the target lifting axis coordinates of the current order and the current actual axis coordinate value Calculate the displacement difference ; Determine the target lifting axis coordinate value Whether it falls within the effective travel range of the liftable support mechanism Inside: like If the target falls within the effective travel range, a positioning command with the target lifting axis coordinates as the absolute target position is directly issued, so that the lifting support mechanism can move directly from the current position to the target position, omitting the intermediate step of moving to the mechanical origin; like If the travel distance exceeds the valid travel range, the current location task will be terminated and an anomaly will be reported.

[0014] More preferably, before issuing a control command containing the target lifting position to the liftable support mechanism, the following steps are also included: Obtain the current actual axis coordinate value of the liftable support mechanism. Calculate the remaining distance between the current position and the target's elevation axis coordinates. ; Based on the current speed and the system's set acceleration and jerk constraints, calculate the braking distance required to decelerate from the current speed to the final approach speed. ; When the remaining distance Not greater than the braking distance When the sum of the expected displacement and safety margin within the control and communication delay is reached, a deceleration command is issued to the drive controller to cause the liftable support mechanism to enter the end approach speed zone. Based on the cup type identifier, current filling volume range, and current operating stage identifier, the corresponding speed upper limit is retrieved from the motion parameter table. , acceleration upper limit accelerometer limit The end approach speed, along with the target lifting axis coordinates, is sent to the drive controller of the liftable support mechanism as a motion constraint parameter.

[0015] On the other hand, the present invention also provides a multi-cup beverage production system based on trajectory optimization, comprising: The order acquisition module is used to acquire order data, which includes at least cup type identifier and recipe identifier; The trajectory generation module is used to call the corresponding basic path template from the pre-stored path template library according to the cup shape identifier and the recipe identifier; The cup dispenser selection module is used to filter out the available target cup dispenser from multiple cup dispensers based on the cup type identifier, and determine the cup picking station; The task scheduling module is used to determine the execution sequence of each preparation action and its corresponding target station based on the dependency relationship between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station. The preparation actions include at least cup taking action, material receiving action, transfer action, and printing action that needs to be performed based on the formula identifier. The positioning control module is used to determine the corresponding positioning mode based on the cup type identifier, the recipe identifier, and the type of the target workstation when the cup is transported to the target workstation.

[0016] Furthermore, the present invention also provides a multi-cup beverage production device based on trajectory optimization, comprising: The main control module is configured to execute any of the methods described above for producing multi-cup beverages based on trajectory optimization. Multiple cup dispensers, each storing cups of the corresponding cup type, and each cup dispenser is signal-connected to the main control module, used to release a single cup after receiving a dispensing command from the main control module; The robotic arm and its controller are connected to the main control module via signals and are used to perform the transfer operation of the cup according to the equipment-specific motion trajectory issued by the main control module; At least one target workstation, the target workstation including a liftable support mechanism and its drive controller, the liftable support mechanism being signal-connected to the main control module, and used to drive the liftable support mechanism to rise and fall to the target height according to the target lifting axis coordinate value issued by the main control module.

[0017] Furthermore, if the target station is a printing station, the printing station includes a printing execution mechanism. The liftable support mechanism is used to move from the standby height position to the printing target position after the robotic arm puts in and releases the cup. The printing execution mechanism is signal-connected to the main control module and is used to perform the printing action after the liftable support mechanism reaches the printing target position and meets the stability conditions.

[0018] Compared with the prior art, the beneficial effects of the present invention are: (1) By obtaining cup type identification and recipe identification, the present invention provides multiple cup type options for the same beverage, breaking through the limitation of binding cup type with beverage type, and the method steps are universal and can be adapted to different types of automatic beverage making equipment; (2) This invention combines the basic path template with the workstation calibration parameters and cup-shaped geometric parameters to convert it into a special motion trajectory for the equipment. This not only realizes the cross-equipment reuse of the trajectory template, but also eliminates the influence of manufacturing and assembly deviations, so that new combinations can be generated through parameter derivation rather than point-by-point teaching. (3) By dynamically selecting the target cup dispenser from multiple cup dispensers, the present invention realizes flexible switching and resource reservation of multiple cup dispensers of the same cup type, avoiding the blockage of the whole machine caused by a single cup dispenser missing cups or malfunctioning. (4) The present invention determines the execution sequence by the dependency relationship of the recipe task and the resource occupation status, so that tasks without dependency relationship can be executed in parallel, reducing invalid waiting and improving output efficiency in high concurrency scenarios; (5) The present invention determines the positioning mode according to the cup type, formula and station type, so that the printing station, ice outlet, coffee outlet and other stations share the same set of parameterized calculation framework, and adopts different calculation formulas for different stations to achieve uniform adaptation to various stations. (6) In the device of the present invention, the main control module coordinates the entire process, and each actuator operates in conjunction with the same order parameters to avoid inconsistencies in parameters caused by independent decision-making in each link; the parallel setting of multiple cup dispensers ensures compatibility with multiple cup types. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a multi-cup beverage production method based on trajectory optimization according to the present invention; Figure 2 This is a flowchart of order scheduling and dynamic printing according to the present invention; Figure 3 This is a schematic diagram of the structure and control feedback relationship of a multi-cup beverage production system based on trajectory optimization according to the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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.

[0021] The specific embodiments of the present invention will be described below with reference to the accompanying drawings and examples.

[0022] Example 1

[0023] This embodiment uses an automated beverage making device executing one order as an example for illustration. The device includes a main control module, multiple cup dispensers (in this embodiment, the first dispenser holds 8oz cups, and the second dispenser holds 12oz cups), a robotic arm and its controller, a coffee outlet station (including a liftable support mechanism), a printing station (including a liftable cup holder and a printing execution mechanism), and an ice dispensing station (including a liftable support mechanism), etc. The main control module is configured to execute a multi-cup beverage production method based on trajectory optimization according to the present invention. The main control module maintains a cup type parameter database, a workstation calibration parameter database, a path template library, and a recipe task diagram. Multiple cup dispensers, each storing cups of the corresponding cup type, and each cup dispenser is signal-connected to the main control module, used to release a single cup after receiving a dispensing command from the main control module; The robotic arm and its controller are connected to the main control module via signals and are used to perform the transfer operation of the cup according to the equipment-specific motion trajectory issued by the main control module; At least one target workstation, the target workstation including a liftable support mechanism and its drive controller, the liftable support mechanism being signal-connected to the main control module, and used to drive the liftable support mechanism to rise and fall to the target height according to the target lifting axis coordinate value issued by the main control module.

[0024] Wherein, if the target station is a printing station, the printing station includes a printing execution mechanism, and the liftable support mechanism is used to move from the standby height position to the printing target position after the robotic arm puts in and releases the cup. The printing execution mechanism is signal-connected to the main control module and is used to perform the printing action after the liftable support mechanism reaches the printing target position and meets the stability conditions.

[0025] In this embodiment, the order is set as follows: the user selects "12oz hot latte" and chooses to have a printed design. The following describes the process steps S1 to S5 in detail.

[0026] Based on the above device configuration, the method of the present invention is executed. Please refer to [link / reference]. Figure 1 The technical solution for a multi-cup beverage production method based on trajectory optimization provided in this embodiment includes the following steps: S1: Obtain order data, which includes at least cup type identifier and recipe identifier; S2: Based on the cup type identifier and the recipe identifier, call the corresponding basic path template from the pre-stored path template library; S3: Based on the cup type identifier, select the available target cup dispenser from multiple cup dispensers and determine the cup picking station; S4: Based on the dependency relationship between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station, determine the execution sequence of each preparation action and its corresponding target station. The preparation action includes at least cup taking action, material receiving action, transfer action, and printing action that needs to be performed based on the formula identifier. S5: When the cup is transported to the target workstation, the corresponding positioning mode is determined according to the cup type identifier, the recipe identifier, and the type of the target workstation.

[0027] In the implementation of this invention, the specific order scheduling and printing process is as follows: Figure 2 As shown, the following description is based on specific embodiments.

[0028] The first step is data acquisition in step S1. In this embodiment, the main control module receives the user's order and parses it to obtain the cup type identifier. oz, ingredient label The order data, including the requirement for a printed label, is set to "Yes". The beverage category is also confirmed as hot. The controller initiates subsequent processes based on the order data.

[0029] Next, the trajectory generation in step S2 is performed. The main control calls the basic path template corresponding to "hot beverage + 12oz cup type + printing" from the path template library. This template includes the action stages, key positions and safety passages such as the cup picking section, coffee outlet receiving section, and printing station transfer section.

[0030] When the equipment is installed or its configuration is changed, each workstation has been calibrated. In step S2, after calling the corresponding basic path template, the process further includes converting the basic path template into a dedicated motion trajectory suitable for the current equipment physical coordinate system based on the calibration parameters of the target workstation and the geometric parameters corresponding to the cup-shaped identifier. Specifically, this includes: Obtain the rigid body transformation matrix of each workstation in the current equipment relative to the robot arm base. The rigid body transformation matrix is ​​established by measuring at least three non-collinear reference points at each workstation, with the first reference point as the origin, the direction of the line connecting the first reference point and the second reference point as the direction of the first coordinate axis, and the plane and right-hand direction determined by the third reference point. Based on the rigid body transformation matrix, the clamping offset matrix of the cup relative to the fixture, and the target pose matrix of the cup in the target workstation, the target pose matrix of the robotic arm tool center point is calculated using the following formula: , in, Indicate the center point of the tool Relative to the robot arm base coordinate system pose matrix, Indicates the first workstation Relative to the robot arm base coordinate system The calibrated rigid body transformation matrix, Indicates a cup or glass In the workstation The target pose matrix is ​​determined by the cup-shaped identifier and the operation type identifier. Indicates a cup or glass Relative to the center point of the tool The clamping offset matrix is ​​determined by the cup-shaped identifier. This represents the matrix inversion operation. Based on... By combining the kinematic model of the robotic arm to solve for the positions of each joint, the inverse kinematics solution that is continuous with the current joint configuration, meets the limits, and is reachable is selected to generate a dedicated motion trajectory for the device. If no valid inverse kinematics solution is found, the candidate path is rejected. According to the tool center point The target pose matrix is ​​used to solve the joint positions of each joint in combination with the kinematic model of the current device. The inverse solution that is continuous with the current joint configuration, satisfies the joint limit and is reachable is selected to generate the device-specific motion trajectory.

[0031] For a 12oz cup, its clamping offset matrix relative to the fixture is: The target pose in the target workstation is For this order, the "12oz hot latte" is a new combination (the original equipment only supports 8oz hot drinks and 12oz iced drinks). The main controller reuses the 12oz cup dispensing segment and hot drink station route, and then derives the local targets related to the 12oz cup type, without needing to re-teach the entire process point by point. This reuse is based on the premise that the station topology and safety envelope are still applicable.

[0032] After generating the trajectory, it undergoes reachability verification, clamp and cup envelope verification, collision verification, and motion parameter verification, specifically including: The generated device-specific motion trajectory is subjected to reachability verification, clamp and cup envelope verification, collision verification, and motion parameter verification. The device-specific motion trajectory that passes the verification is saved to the trajectory cache of the current device, and the device identifier, calibration version, template version, cup type identifier, recipe identifier, and motion parameter version are used as cache keys. When the cache key corresponding to the device-specific motion trajectory has not changed, the saved trajectory is directly retrieved from the trajectory cache, skipping the repeated generation step.

[0033] The safety of the entire path cannot be assumed simply by shifting the endpoint. After low-speed trial operation and confirmation, the verified trajectory is saved to the trajectory cache of the current equipment. The cache key includes the equipment identifier, calibration version, template version, cup type identifier, recipe identifier, and motion parameter version. When the cache key remains unchanged, the cached trajectory is directly invoked, skipping repeated generation. Only execution deviations are monitored during operation; if the equipment is not equipped with a real-time measurement device, assembly deviations are compensated for during the equipment calibration phase.

[0034] After generating the trajectory as described above, proceed to step S3, which involves selecting the cup dispenser. Specifically, based on the cup type identifier, a usable target cup dispenser is selected from multiple dispensers, including: The set of cup dispensers corresponding to the cup type is selected based on the cup type identifier; Exclude cup dispensers that are in a cup shortage state, fault state, occupied by other orders, calibrated as invalid, or do not have a safe reachable path from the set of cup dispensers; For the remaining cup dispenser candidates, calculate the estimated cup-retrieving completion time for each. The estimated cup-retrieving completion time is equal to the larger value between the resource release time and the current time, plus the time taken for the robotic arm to arrive, plus the time taken for cup dropping and grasping. The cup dispenser with the shortest expected cup-taking completion time is selected as the target cup dispenser.

[0035] In this embodiment, a first cup dispenser (holding 8oz cups) and a second cup dispenser (holding 12oz cups) are provided. The main controller selects the second cup dispenser holding 12oz cups based on the cup type identifier 12oz. Then, cup dispensers that are out of cups, malfunctioning, occupied by other orders, have failed calibration, or lack a safe reachable path are excluded. Assuming the second cup dispenser is functioning normally, its estimated cup retrieval completion time is calculated as: the larger of the resource release time and the current time + the time taken for the robotic arm to arrive + the time taken to drop and grab the cup. If multiple 12oz cup dispensers are candidates, the one with the shortest estimated cup retrieval completion time is selected; in case of a tie, selection is based on a fixed priority or rotation rule. The time estimation uses the execution time of a verified trajectory and considers the current position of the robotic arm.

[0036] The main controller atomically reserves the second cup dispenser and the cup-picking station to avoid resource conflicts. If a missing cup or malfunction is detected before cup picking, the reservation is released and a candidate of the same cup type is selected again. If a cup-dropping command has been issued but the result is unclear, the status of the mechanism and the cup is checked first, and cup dropping cannot be repeated directly. If there is no candidate of the same cup type, the order is suspended and a cup replenishment prompt is issued, while other unaffected orders can continue to be scheduled. In this embodiment, the second cup dispenser is available, and the cup-picking station is determined to be the station corresponding to the second cup dispenser. The station identifier and its calibration parameters serve as inputs for the subsequent generation of the robotic arm trajectory.

[0037] After the cupping is completed, task scheduling in step S4 is performed. This involves determining the execution sequence of each preparation action based on the dependencies between the recipe tasks corresponding to the recipe identifiers and the resource occupancy status of each preparation station. Specifically, this includes: The preparation process corresponding to the formula identifier is decomposed into multiple preparation task nodes. Nodes represent preparation or transfer operations, and directed edges represent the sequential dependencies between operations to construct a formula task graph. For preparation task nodes that do not have dependencies, execution is triggered in parallel when their respective preparation stations and robotic arms are idle. When any preparation task node cannot be executed due to dependencies or resource mutual exclusion, the task node is suspended and will be triggered to execute after all its predecessor task nodes are completed and the required resources are released. When an exception occurs, the execution results of completed task nodes and uninterruptible task nodes are retained, and only unstarted task nodes are rescheduled.

[0038] In this embodiment, the main controller decomposes the hot latte recipe into multiple preparation task nodes, constructing a recipe task graph. Nodes include: cup taking (second cup dispenser), coffee grinding, coffee extraction, robotic arm transporting empty cups to the coffee outlet, coffee collection, transporting to the printing station, printing, and cup dispensing. Directed edges represent dependencies: coffee collection must occur after cup taking; coffee grinding and extraction can be performed concurrently with cup taking; printing must be performed after coffee collection and transport to the printing station. Resource mutual exclusion rules: the robotic arm can only perform one transport task at a time; the coffee outlet station and the printing station can only serve one cup at a time.

[0039] Since this order's recipe is labeled as a hot latte and the stamping requirement is "yes," the stamping action node is activated in the task graph. The controller determines the execution sequence based on the dependencies and resource occupancy status of each node: first, the cup retrieval (second cup dispenser) and coffee grinding / extraction are started in parallel; after cup retrieval, the robotic arm transfers the empty cup to the coffee outlet station to collect the coffee liquid; after collecting the liquid, it is transferred to the stamping station; after stamping, the cup is dispensed. If any node cannot be executed due to dependencies or resource mutual exclusion, that node is suspended and will be triggered for execution after all its predecessor nodes are completed and the required resources are released. In the event of an exception, the execution results of completed nodes and uninterruptible nodes are retained, and only nodes that have not been started are rescheduled.

[0040] Finally, the positioning control in step S5 is performed according to the above scheduling. First, the workstation is confirmed. The target workstation includes a liftable support mechanism. After determining the corresponding positioning mode, the liftable support mechanism is controlled to move to the target lifting position according to the positioning mode. Specifically, this includes: Obtain the cup height corresponding to the cup shape identifier. and effective height of liquid surface The effective liquid level is the distance from the cup support surface to the beverage liquid level corresponding to the formula label, obtained by looking up a table of calibrated cup types and formula combinations. For the same formula state, at two calibrated filling points... and Linear interpolation between them is performed using the following formula: , in, This is the current order's fill volume; extrapolation is prohibited if the quantity exceeds the specified range. When the target station is an ice outlet station or a coffee outlet station, obtain the fixed outlet reference height. Distance between the rim of the cup and the outlet The conversion factor from the lifting axis coordinates of the target workstation to its physical height. and zero offset The target value of the lifting axis coordinate of the lifting support mechanism of the target workstation is calculated according to the following formula: , in, Indicates the first Target values ​​of the lifting axis coordinates of the lifting support mechanism for each target workstation; The calculated target value of the lifting axis coordinates is sent to the drive controller of the lifting support mechanism at the corresponding workstation.

[0041] In this example order, the cups arrive sequentially at the coffee outlet station and the printing station, both of which include a liftable support mechanism. The main controller determines the positioning mode based on the target station type: the coffee outlet station uses the discharge positioning mode, and the printing station uses the printing positioning mode. Before the cups arrive at the coffee outlet station, the main controller calculates the target lifting position for that station. The cup height corresponding to the 12oz cup type identifier is then obtained. and fixed coffee outlet reference height The distance between the cup rim and the coffee spout The conversion factor from the lifting axis coordinates to the physical height of this workstation. and zero offset The target value of the lifting axis coordinate of the lifting support mechanism at the coffee outlet station is calculated according to the following formula: , The main controller sends the target value to the drive controller at the coffee outlet station, causing the cup holder to rise and fall to the appropriate height, ensuring that the cup rim is kept at a safe distance from the coffee outlet. To avoid splashing, the robotic arm transfers the cups to the printing station after the material is received.

[0042] Before the cup arrives at the printing station, the main control unit calculates the target printing position. First, it obtains the cup height corresponding to the 12oz cup type identifier. And the effective liquid level corresponding to the cup type and recipe combination (12oz + hot latte). . The distance from the cup's support surface to the beverage surface is obtained by referring to a table using the calibrated cup type and recipe combination, calculated as shown in the formula above. Wherein, The current order quantity should not be arbitrarily extrapolated if it exceeds the specified range or if it contains ice, milk foam, or other incompatible ingredients. The corresponding configuration or supplementary calibration should be used instead. In this example, the quantity of a 12oz hot latte is within the specified range, resulting in... .

[0043] Next, when the target station is a printing station, the positioning mode enters the printing positioning mode, specifically including: When the printing station is idle, the front cup has been moved out of the printing station, and the robotic arm has not yet entered the handover area of ​​the printing station, the standby height position is calculated according to the cup type marking, and an instruction is issued to the lifting support mechanism of the printing station to move to the standby height position. The axial coordinate value of the standby height position is calculated according to the following formula: , in, This represents the coordinate value of the lifting axis corresponding to the standby height. Indicates the height of the fixed printing reference plane. This indicates the cup height corresponding to the cup shape identifier. The safety distance is indicated by the geometric calibration error, shaft stopping error and space margin of the handover process, and the lateral envelope space is verified based on the cup mouth diameter, clamp shape and cup entry posture. After the liftable support mechanism reaches the standby height position, the robotic arm is confirmed to place the cup into the liftable support mechanism of the printing station and release the clamp to exit. The liftable support mechanism moves from the standby height position to the printing target position to obtain the fixed printing reference surface height. The distance between the printing surface and the effective liquid surface Conversion coefficient from printing station lifting axis coordinates to physical height and zero offset The target value of the lifting axis coordinate of the printing station's lifting support mechanism is calculated according to the following formula: , in, This indicates the target value of the lifting axis coordinate of the lifting support mechanism of the printing station; Once the location is reached and the necessary resting time is met, the printing execution mechanism is triggered to perform the printing action.

[0044] In this embodiment, The value should meet the above conditions (e.g., 5-10mm is an example configuration for testing; if the required clearance exceeds this range, a larger safety value should be used). This standby position must also be compatible with the robotic arm's cup-placing trajectory and the sweep space of the entire movement process. If the advance movement conditions are not met, only the parameters for the next cup are cached, and execution will proceed after resources are released.

[0045] After the liftable support mechanism reaches the ready height position, the robotic arm places the cup into the liftable support mechanism at the printing station and releases the clamp to exit. Subsequently, the liftable support mechanism moves from the ready height position to the target printing position. Once the desired position is reached and the necessary settling time is met, the printing actuator is triggered to perform the printing action. For beverages with significant liquid level fluctuations, the movement speed can be further reduced or the settling time increased. Before dispensing, simultaneously check the actual spatial relationship between the printing surface and the cup rim, fixture, and workstation structure; when the liquid level is lower than the cup rim, simply ensuring the liquid level distance meets the requirements is insufficient. To determine if there is no collision, it is necessary to verify the clearance at the cup opening or the geometry allowing the printhead to extend into the cup opening. If the configuration does not meet the requirements for print quality and safe clearance, the target should be rejected and a reconfiguration prompt should be displayed.

[0046] It should be noted that cups requiring printing must undergo safe handover, Z-axis alignment, and necessary stabilization waiting; formulas not requiring printing can proceed to cup output after the preceding preparation is completed.

[0047] In addition, when processing multiple orders consecutively, and two adjacent orders correspond to different cup types, the following is also included: Obtain the current actual axis coordinate value of the liftable support mechanism. ; Based on the target lifting axis coordinates of the current order and the current actual axis coordinate value Calculate the displacement difference ; Determine the target lifting axis coordinate value Whether it falls within the effective travel range of the liftable support mechanism Inside: like If the target falls within the effective travel range, a positioning command with the target lifting axis coordinates as the absolute target position is directly issued, so that the lifting support mechanism can move directly from the current position to the target position, omitting the intermediate step of moving to the mechanical origin; like If the travel distance exceeds the valid travel range, the current location task will be terminated and an anomaly will be reported.

[0048] In this embodiment, an 8oz iced Americano order is placed immediately after a 12oz hot latte is completed. For the stamping station, if the next cup does not require stamping, it proceeds directly to the dispensing stage; if stamping is required, the current actual axis coordinate value is obtained. Calculate the target lifting axis coordinates for the current order. and displacement difference . judge Does it fall within the valid travel range? Internal: If it falls into the range, then issue a direct order. The positioning command for the absolute target position causes the liftable support mechanism to move directly from its current position to the target position, omitting the intermediate steps of moving to the mechanical origin. If the effective travel range is exceeded, the positioning task is aborted and an anomaly is reported. The driver's hard limit, origin, and other necessary safety signals are retained. "Non-zeroing" means that, provided the coordinate reference is valid, mechanical zeroing after each cup is omitted, but the safe cup placement and removal positions are not omitted. After the first cup is printed, it should first reach a suitable transfer position to complete the cup transfer and release the workstation before positioning the next cup. Direct positioning can only be performed when the entire movement and transfer space from the current point to the next target have been verified to be safe; otherwise, it must pass through necessary safe intermediate positions.

[0049] Before issuing a control command containing the target lifting position to the liftable support mechanism, the following steps are also included: Obtain the current actual axis coordinate value of the liftable support mechanism. Calculate the remaining distance between the current position and the target's elevation axis coordinates. ; Based on the current speed and the system's set acceleration and jerk constraints, calculate the braking distance required to decelerate from the current speed to the final approach speed. ; When the remaining distance Not greater than the braking distance When the sum of the expected displacement and safety margin within the control and communication delay is reached, a deceleration command is issued to the drive controller, causing the liftable support mechanism to enter the end-approach speed zone. In this embodiment, the braking distance should be provided by the same motion planner or actuator, and the ignoring acceleration should not be directly applied. Treat it as a complete S-shaped braking distance; Based on the cup type identifier, current filling volume range, and current operating stage identifier, the corresponding speed upper limit is retrieved from the motion parameter table. , acceleration upper limit accelerometer limit The end approach speed, along with the target lifting axis coordinates, is sent to the drive controller of the liftable support mechanism as a motion constraint parameter.

[0050] Specifically, motion parameters are as follows: Obtained from tables. For combinations with high cup height, heavy load, or significant risk of liquid level fluctuation, more conservative parameters confirmed by stability tests should be used; under no-load conditions, the higher limits allowed by the mechanism can be used, but short strokes may not reach the maximum speed. For mechanisms with cup bottom contact detection, the low-speed movement zone can be entered when approaching the cup bottom, and the position confirmed based on the contact detection signal. The end of the movement is confirmed by position, speed, and completion status; subsequent actions at that station are stopped if communication times out or feedback is abnormal.

[0051] The API commands sent from the master controller to the drive controller must at least be associated with the task and command identifier, station / axis identifier, absolute target position, speed / acceleration / jerk limits, and parameter version; the acknowledgments should distinguish between accepted, in motion, in position, and fault. Successful reception does not replace position confirmation. When using reliable position feedback, each movement is confirmed with a closed loop of absolute target and actual feedback to avoid error accumulation caused by incremental command recursion, but errors outside the position chain, such as mechanical backlash, slippage, or unstable cup support, still need to be addressed. After loss of origin state, exceeding of following error limits, driver power failure, or abnormal collision, the relevant task should be stopped and the coordinates restored according to the equipment process. For open-loop stepper mechanisms, a periodic zero-return strategy should be set based on the step loss detection results and the number of consecutive runs.

[0052] Furthermore, for the ice outlet station (hot drinks do not pass through this station in this embodiment, but the device also supports iced drinks), when the target station is the ice outlet station, the target value of the lifting axis coordinate is calculated according to the following formula: , in, To fix the reference height of the ice outlet, The distance between the rim of the glass and the ice spout. Zero-point offset, This is a conversion factor. The calculation is similar to that at the coffee outlet station, both belonging to the dispensing positioning mode. For recipes like iced matcha latte where the base is prepared before the ice is dispensed, the ice dispensing mechanism uses an incremental Z-axis automatic matching device to adapt to different iced drink cup shapes and prevent spillage. If a station does not have an independent lifting axis, the required cup position should be converted into the robotic arm's TCP target; commands should not be sent to non-existent axes. If a printing head lifting mechanism is used instead of a cup holder lifting mechanism, the corresponding coordinate relationship should be used; the displacement directions of the two mechanisms cannot be mixed.

[0053] Throughout the process, the master controller returns information based on the execution status of each step, which is used for subsequent action authorization, resource release, or abnormal rescheduling. Cups requiring printing must undergo safe handover, Z-axis positioning, and necessary stabilization waiting; recipes not requiring printing can proceed directly to cup output after the preceding preparation is completed.

[0054] Based on the above method, this embodiment also provides a multi-cup beverage production system based on trajectory optimization, including: The order acquisition module is used to acquire order data, which includes at least cup type identifier and recipe identifier; The trajectory generation module is used to call the corresponding basic path template from the pre-stored path template library according to the cup shape identifier and the recipe identifier; The cup dispenser selection module is used to filter out the available target cup dispenser from multiple cup dispensers based on the cup type identifier, and determine the cup picking station; The task scheduling module is used to determine the execution sequence of each preparation action and its corresponding target station based on the dependency relationship between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station. The preparation actions include at least cup taking action, material receiving action, transfer action, and printing action that needs to be performed based on the formula identifier. The positioning control module is used to determine the corresponding positioning mode based on the cup type identifier, the recipe identifier, and the type of the target workstation when the cup is transported to the target workstation.

[0055] The specific implementation method of the system and the corresponding system structure and control feedback are as follows: Figure 3 As shown, after an order enters the main control unit, the parameter and version management system provides cup type, workstation calibration, and template data. Task scheduling, trajectory generation, and Z-axis target calculation jointly generate instructions for each controller. The status of the actuator is returned to the main control unit for confirmation of arrival, resource release, and abnormal rescheduling. The software module division in the figure does not require separate hardware configuration. It should be noted that the steps in the trajectory-optimized multi-cup beverage production method provided in this embodiment can be implemented based on the corresponding modules in the trajectory-optimized multi-cup beverage production system. Those skilled in the art can refer to the technical solution of the system to implement the steps of the method. That is, the embodiments in the system can be understood as preferred examples of implementing the method, and will not be elaborated here.

[0056] Besides implementing the system and its various devices provided by this invention in purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the system and its various devices of this invention appear as logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices provided by this invention can be considered as a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0057] Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be pointed out that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A method for producing multi-cup beverages based on trajectory optimization, characterized in that, Includes the following steps: Obtain order data, which includes at least cup type identifier and recipe identifier; Based on the cup type identifier and the recipe identifier, the corresponding basic path template is retrieved from the pre-stored path template library; Based on the cup type identifier, select the available target cup dispenser from multiple cup dispensers and determine the cup picking station; Based on the dependencies between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station, the execution sequence of each preparation action and its corresponding target station are determined. The preparation action includes at least cup taking action, material receiving action, transfer action, and printing action that is determined to be performed based on the formula identifier. When the cup is transported to the target workstation, the corresponding positioning mode is determined according to the cup type identifier, the recipe identifier, and the type of the target workstation.

2. The multi-cup beverage production method based on trajectory optimization according to claim 1, characterized in that, After invoking the corresponding basic path template, the process further includes converting the basic path template into a device-specific motion trajectory suitable for the current device's physical coordinate system, based on the calibration parameters of the target workstation and the geometric parameters corresponding to the cup-shaped identifier. Specifically, this includes: Obtain the rigid body transformation matrix of each workstation in the current equipment relative to the robot arm base. The rigid body transformation matrix is ​​established by measuring at least three non-collinear reference points at each workstation, with the first reference point as the origin, the direction of the line connecting the first reference point and the second reference point as the direction of the first coordinate axis, and the plane and right-hand direction determined by the third reference point. Based on the rigid body transformation matrix, the clamping offset matrix of the cup relative to the fixture, and the target pose matrix of the cup in the target workstation, the target pose matrix of the robotic arm tool center point is calculated using the following formula: ， in, Indicate the center point of the tool Relative to the robot arm base coordinate system pose matrix, Indicates the first workstation Relative to the robot arm base coordinate system The calibrated rigid body transformation matrix, Indicates a cup or glass In the workstation The target pose matrix is ​​determined by the cup-shaped identifier and the operation type identifier. Indicates a cup or glass Relative to the center point of the tool The clamping offset matrix is ​​determined by the cup-shaped identifier. This represents the matrix inversion operation; According to the tool center point The target pose matrix is ​​used to solve the joint positions of each joint in combination with the kinematic model of the current device. The inverse solution that is continuous with the current joint configuration, satisfies the joint limit and is reachable is selected to generate the device-specific motion trajectory.

3. The multi-cup beverage production method based on trajectory optimization according to claim 2, characterized in that, After generating the device-specific motion trajectory, the process also includes: The generated device-specific motion trajectory is subjected to reachability verification, clamp and cup envelope verification, collision verification, and motion parameter verification. The device-specific motion trajectory that passes the verification is saved to the trajectory cache of the current device, and the device identifier, calibration version, template version, cup type identifier, recipe identifier, and motion parameter version are used as cache keys. When the cache key corresponding to the device-specific motion trajectory has not changed, the saved trajectory is directly retrieved from the trajectory cache, skipping the repeated generation step.

4. The multi-cup beverage production method based on trajectory optimization according to claim 1, characterized in that, Based on the cup type identifier, a usable target cup dispenser is selected from multiple cup dispensers, specifically including: The set of cup dispensers corresponding to the cup type is selected based on the cup type identifier; Exclude cup dispensers from the set that are in a cup shortage state, a fault state, a state occupied by other orders, a state of calibration failure, or a state where there is no safe reachable path; For the remaining cup dispenser candidates, calculate the estimated cup-retrieving completion time for each. The estimated cup-retrieving completion time is equal to the larger value between the resource release time and the current time, plus the time taken for the robotic arm to arrive, plus the time taken for cup dropping and grasping. The cup dispenser with the shortest expected cup-taking completion time is selected as the target cup dispenser.

5. The multi-cup beverage production method based on trajectory optimization according to claim 1, characterized in that, Based on the dependencies between the recipe tasks corresponding to the recipe identifiers and the resource occupancy status of each preparation station, the execution sequence of each preparation action and its corresponding target station are determined, specifically including: The preparation process corresponding to the formula identifier is decomposed into multiple preparation task nodes. Nodes represent preparation or transfer operations, and directed edges represent the sequential dependencies between operations to construct a formula task graph. For preparation task nodes that do not have dependencies, execution is triggered in parallel when their respective preparation stations and robotic arms are idle. When any preparation task node cannot be executed due to dependencies or resource mutual exclusion, the task node is suspended and will be triggered to execute after all its predecessor task nodes are completed and the required resources are released. When an exception occurs, the execution results of completed task nodes and uninterruptible task nodes are retained, and only unstarted task nodes are rescheduled.

6. The multi-cup beverage production method based on trajectory optimization according to claim 1, characterized in that, The target workstation includes a liftable support mechanism. After determining the corresponding positioning mode, the liftable support mechanism is controlled to move to the target lifting position according to the positioning mode, specifically including: Obtain the cup height corresponding to the cup shape identifier. and effective height of liquid surface The effective height of the liquid level is the distance from the cup support surface to the beverage liquid level corresponding to the formula label, which is obtained by looking up a table of calibrated cup types and formula combinations. For the same formula state, at two calibrated filling points... and Linear interpolation between them is performed using the following formula: ， in, This is the current order's fill volume; extrapolation is prohibited if the quantity exceeds the specified range. When the target station is an ice outlet station or a coffee outlet station, obtain the fixed outlet reference height. Distance between the rim of the cup and the outlet The conversion factor from the lifting axis coordinates of the target workstation to its physical height. and zero offset The target value of the lifting axis coordinate of the lifting support mechanism of the target workstation is calculated according to the following formula: ， in, Indicates the first Target values ​​of the lifting axis coordinates of the lifting support mechanism for each target workstation; The calculated target value of the lifting axis coordinates is sent to the drive controller of the lifting support mechanism at the corresponding workstation.

7. The multi-cup beverage production method based on trajectory optimization according to claim 6, characterized in that, When the target station is a printing station, the positioning mode enters the printing positioning mode, specifically including: When the printing station is idle, the front cup has been moved out of the printing station, and the robotic arm has not yet entered the handover area of ​​the printing station, the standby height position is calculated according to the cup type marking, and an instruction is issued to the lifting support mechanism of the printing station to move to the standby height position. The axial coordinate value of the standby height position is calculated according to the following formula: ， in, This represents the coordinate value of the lifting axis corresponding to the standby height. Indicates the height of the fixed printing reference plane. This indicates the cup height corresponding to the cup shape identifier. The safety distance is indicated by the geometric calibration error, shaft stopping error and space margin of the handover process, and the lateral envelope space is verified based on the cup mouth diameter, clamp shape and cup entry posture. After the liftable support mechanism reaches the standby height position, the robotic arm is confirmed to place the cup into the liftable support mechanism of the printing station and release the clamp to exit. The liftable support mechanism moves from the standby height position to the printing target position to obtain the fixed printing reference surface height. The distance between the printing surface and the effective liquid surface Conversion coefficient from printing station lifting axis coordinates to physical height and zero offset The target value of the lifting axis coordinate of the printing station's lifting support mechanism is calculated according to the following formula: ， in, This indicates the target value of the lifting axis coordinate of the lifting support mechanism of the printing station; Once the location is reached and the necessary resting time is met, the printing execution mechanism is triggered to perform the printing action.

8. The multi-cup beverage production method based on trajectory optimization according to claim 6, characterized in that, When processing multiple orders consecutively, and two adjacent orders correspond to different cup types, the following is also included: Obtain the current actual axis coordinate value of the liftable support mechanism. ; Based on the target lifting axis coordinates of the current order and the current actual axis coordinate value Calculate the displacement difference ; Determine the target lifting axis coordinate value Whether it falls within the effective travel range of the liftable support mechanism Inside: like If the target falls within the effective travel range, a positioning command with the target lifting axis coordinates as the absolute target position is directly issued, so that the lifting support mechanism can move directly from the current position to the target position, omitting the intermediate step of moving to the mechanical origin; like If the travel distance exceeds the valid travel range, the current location task will be terminated and an anomaly will be reported.

9. The multi-cup beverage production method based on trajectory optimization according to claim 8, characterized in that, Before issuing a control command containing the target lifting position to the liftable support mechanism, the following steps are also included: Obtain the current actual axis coordinate value of the liftable support mechanism. Calculate the remaining distance between the current position and the target's elevation axis coordinates. ; Based on the current speed and the system's set acceleration and jerk constraints, calculate the braking distance required to decelerate from the current speed to the final approach speed. ; When the remaining distance Not greater than the braking distance When the sum of the expected displacement and safety margin within the control and communication delay is reached, a deceleration command is issued to the drive controller to cause the liftable support mechanism to enter the end approach speed zone. Based on the cup type identifier, current filling volume range, and current operating stage identifier, the corresponding speed upper limit is retrieved from the motion parameter table. , acceleration upper limit accelerometer limit The end approach speed, along with the target lifting axis coordinates, is sent to the drive controller of the liftable support mechanism as a motion constraint parameter.

10. A multi-cup beverage production system based on trajectory optimization, characterized in that, include: The order acquisition module is used to acquire order data, which includes at least cup type identifier and recipe identifier; The trajectory generation module is used to call the corresponding basic path template from the pre-stored path template library according to the cup shape identifier and the recipe identifier; The cup dispenser selection module is used to filter out the available target cup dispenser from multiple cup dispensers based on the cup type identifier, and determine the cup picking station; The task scheduling module is used to determine the execution sequence of each preparation action and its corresponding target station based on the dependency relationship between the formula tasks corresponding to the formula identifier and the resource occupancy status of each preparation station. The preparation actions include at least cup taking action, material receiving action, transfer action, and printing action that needs to be performed based on the formula identifier. The positioning control module is used to determine the corresponding positioning mode based on the cup type identifier, the recipe identifier, and the type of the target workstation when the cup is transported to the target workstation.

11. A multi-cup beverage production device based on trajectory optimization, characterized in that, include: The main control module is configured to perform the method as described in any one of claims 1 to 9; Multiple cup dispensers, each storing cups of the corresponding cup type, and each cup dispenser is signal-connected to the main control module, used to release a single cup after receiving a dispensing command from the main control module; The robotic arm and its controller are connected to the main control module via signals and are used to perform the transfer operation of the cup according to the equipment-specific motion trajectory issued by the main control module; At least one target workstation, the target workstation including a liftable support mechanism and its drive controller, the liftable support mechanism being signal-connected to the main control module, and used to drive the liftable support mechanism to rise and fall to the target height according to the target lifting axis coordinate value issued by the main control module.

12. The multi-cup beverage production device based on trajectory optimization according to claim 11, characterized in that, If the target station is a printing station, the printing station includes a printing execution mechanism. The liftable support mechanism is used to move from the standby height position to the printing target position after the robotic arm puts in and releases the cup. The printing execution mechanism is signal-connected to the main control module and is used to perform the printing action after the liftable support mechanism reaches the printing target position and meets the stability conditions.

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