Control method for beverage output device, beverage output device, and storage medium

Abstract

The present application provides a control method for a beverage output device, a beverage output device, and a storage medium. The control method comprises: receiving a user instruction; a beverage output port moving downwards from an initial position; determining whether the beverage output port moves downwards to a target position; if yes, stopping the beverage output port from moving downwards; and in response to the step of stopping the beverage output port from moving downwards, on the basis of the user instruction, outputting first-type beverage ingredients and / or outputting second-type beverage ingredients to a container receiving a beverage, and in response to detecting that measurement information in the container meets a preset condition, stopping outputting the beverage ingredients. According to the control method of the present application, after the beverage output port is controlled to move downwards to the target position, beverage ingredients are output, and in response to detecting that the measurement information in the container meets the preset condition, the outputting of the beverage ingredients is automatically stopped, thereby avoiding splashing of the beverage ingredients while improving operation convenience.

Description

Control method for beverage dispensing device, beverage dispensing device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application with application number 202311599086X filed on November 24, 2023, and invention name “Control method for beverage output device, beverage output device and storage medium”. Technical Field

[0003] The present application relates to the technical field of beverage dispensing devices and control methods thereof, and in particular to a control method for a beverage dispensing device, a beverage dispensing device, and a storage medium. Background Art

[0004] In the prior art, when a beverage dispensing device dispenses first-category beverage ingredients and / or dispenses second-category beverage ingredients, splashing of the first-category beverage ingredients and / or the second-category beverage ingredients often occurs. Therefore, how to improve the splashing of the first-category beverage ingredients and / or the second-category beverage ingredients is a technical problem that urgently needs to be solved.

[0005] Summary of the Invention

[0006] In view of this, the present application provides a beverage output device control method, a beverage output device and a storage medium to solve the problem in the prior art that the first category of beverage ingredients and / or the second category of beverage ingredients splash when the beverage output device outputs the first category of beverage ingredients and / or outputs the second category of beverage ingredients.

[0007] To solve the above technical problems, a technical solution adopted in the present application is: providing a control method for a beverage dispensing device, including: receiving user instructions, the user instructions including a first instruction, a second instruction and a third instruction, the first instruction being an instruction for outputting a first category of beverage ingredients, the second instruction being an instruction for outputting a second category of beverage ingredients, and the third instruction being an instruction for outputting a first category of beverage ingredients and a second category of beverage ingredients; the beverage dispensing port moves downward from an initial position; judging whether the beverage dispensing port reaches a target position after moving downward; if so, stopping the beverage dispensing port from moving downward; in response to the step of stopping the beverage dispensing port from moving downward, outputting the first category of beverage ingredients and / or the second category of beverage ingredients to a container for receiving the beverage according to the user instructions, and stopping outputting the first category of beverage ingredients and / or the second category of beverage ingredients in response to the detected detection information meeting a preset condition.

[0008] According to one embodiment of the present application, the beverage dispensing device includes a supporting platform, the supporting platform is used to carry the container, the beverage dispensing port is located above the supporting platform, the beverage dispensing port has a moving track, the moving track has a first end away from the supporting platform and a second end close to the supporting platform, the initial position is located at the first end, and in the step of the beverage dispensing port moving downward from the initial position, the beverage dispensing port moves from the first end to the second end.

[0009] According to one embodiment of the present application, the beverage dispensing device has a first sensing component, which is located above the supporting platform. The first sensing component is relatively fixed to the beverage outlet, and the first sensing component is used to move synchronously with the beverage outlet. In the step of judging whether the beverage outlet moves downward to reach the target position, it includes: the first sensing component sends out a first detection wave; judging whether the first sensing component receives an echo of the first detection wave within a first preset time length; if so, executing the step of stopping the beverage outlet from moving downward; if not, maintaining the state of the beverage outlet moving downward, and returning to the step of executing the first sensing component sending out the first detection wave.

[0010] According to one embodiment of the present application, while maintaining the state of the beverage outlet moving downward, returning to the step of executing the first sensing component emitting a first detection wave, includes: maintaining the state of the beverage outlet moving downward; judging whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches a second preset time length, and the second preset time length is greater than or equal to the first preset time length; if so, returning to the step of executing the first sensing component emitting a first detection wave; if not, returning to the step of judging whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches the second preset time length.

[0011] According to one embodiment of the present application, the second preset time length is greater than or equal to 2N times the distance between the initial position and the supporting platform divided by the speed of sound, where N is 1-1000.

[0012] According to one embodiment of the present application, the beverage dispensing device has a second sensing component, which is located above the supporting platform. The second sensing component is relatively fixed to the beverage dispensing port, and the second sensing component is used to move synchronously with the beverage dispensing port. The second sensing component includes a trigger part and a micro switch, and the trigger part is used to trigger the micro switch when it touches the edge of the container opening. In the step of judging whether the beverage dispensing port moves downward to reach the target position, it includes: judging whether the trigger part triggers the micro switch; if so, executing the step of stopping the beverage dispensing port from moving downward; if not, maintaining the state of the beverage dispensing port moving downward, and returning to execute the step of judging whether the trigger part triggers the micro switch.

[0013] According to one embodiment of the present application, the beverage dispensing device has a third sensing component, which is used to move synchronously with the beverage dispensing port. The two sides of the support platform of the beverage dispensing device also include a first side wall and a second side wall arranged opposite to each other. The third sensing component includes a second transmitting part and a second receiving part arranged opposite to each other. The second transmitting part is movably set on the first side wall, and the second receiving part is movably set on the second side wall. In the step of judging whether the beverage dispensing port moves downward to reach the target position, it includes: the second transmitting part sends a second detection wave; judging whether the second receiving part receives the second detection wave; if so, maintaining the state of the beverage dispensing port moving downward, and returning to execute the step of the second transmitting part sending the second detection wave; if not, executing the step of stopping the beverage dispensing port from moving downward.

[0014] According to one embodiment of the present application, the beverage dispensing device has a fourth sensing component, which is located above the supporting platform. The fourth sensing component is used to determine whether the beverage dispensing port moves downward to the target position through image information and detect the detection information.

[0015] According to one embodiment of the present application, the step of determining whether the beverage outlet reaches the target position after moving downward further includes: if not, determining whether the beverage outlet reaches the second end; if so, executing the step of stopping the beverage outlet from moving downward; if not, maintaining the state of the beverage outlet moving downward, and returning to execute the step of determining whether the beverage outlet reaches the target position.

[0016] According to an embodiment of the present application, the target position includes a position where the vertical distance between the beverage outlet and the edge of the container opening is 0-60 cm.

[0017] According to one embodiment of the present application, the detection information includes first information and / or second information; the step of outputting the first category of beverage ingredients and / or the second category of beverage ingredients to the container for receiving the beverage according to a user instruction, and stopping outputting the first category of beverage ingredients and / or the second category of beverage ingredients in response to detecting that the detection information in the container meets a preset condition, includes: in response to the user instruction being the first instruction, outputting the first category of beverage ingredients according to the user instruction, and stopping outputting the first category of beverage ingredients in response to detecting that the first information in the container meets the first preset condition; or in response to the user instruction being the second instruction, outputting the second category of beverage ingredients according to the user instruction, and stopping outputting the second category of beverage ingredients in response to detecting that the second information in the container meets the second preset condition; or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and stopping outputting the first category of beverage ingredients in response to detecting that the first information in the container meets the first preset condition; outputting the second category of beverage ingredients according to the user instruction, and stopping outputting the second category of beverage ingredients in response to detecting that the second information in the container meets the second preset condition.

[0018] According to one embodiment of the present application, the first information is the vertical distance between the opening edge of the container and the top of the first type of beverage ingredients, and the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of beverage ingredients is less than or equal to a first preset value. The second information is the vertical distance between the opening edge of the container and the liquid surface of the second type of beverage ingredients, and the second preset condition is that the vertical distance between the opening edge of the container and the liquid surface of the second type of beverage ingredients is less than or equal to a second preset value; wherein, the first preset value is greater than the second preset value.

[0019] According to one embodiment of the present application, the beverage dispensing device further comprises a water receiving box, wherein a water level sensor and a prompt component are provided in the water receiving box, the water receiving box is located under the supporting platform, and the prompt component is used to output a prompt message, and the control method further comprises: in response to the step of stopping the downward movement of the beverage dispensing port, judging whether the water level in the water receiving box reaches a preset water level according to the detection signal obtained by the water level sensor; if so, the prompt component outputs a prompt message; if not, outputting the first type of beverage ingredients and / or output to the container receiving the beverage according to the user's instructions The second type of beverage ingredients, and at the same time, continuously maintaining the detection signal obtained by the water level sensor to determine whether the water level in the water receiving box has reached a preset water level, and if so, stop outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients and outputting the prompt information; or the control method further includes: in response to the step of receiving a user instruction, determining whether the water level in the water receiving box has reached a preset water level according to the detection signal obtained by the water level sensor; if so, the prompt component outputs a prompt information; if not, executing the step of moving the beverage outlet downward from the initial position.

[0020] According to an embodiment of the present application, the control method further includes: in response to stopping outputting the first category of beverage ingredients and / or outputting the second category of beverage ingredients, controlling the beverage output port to move toward an initial position.

[0021] According to one embodiment of the present application, the control method further includes: in response to the step of receiving a user instruction, determining whether the presence of a container is detected on the supporting platform; if so, executing the step of moving the beverage outlet downward from an initial position; if not, stopping the movement of the beverage outlet.

[0022] According to one embodiment of the present application, the detection information includes the vertical distance between the top of the object received in the container and the edge of the container opening.

[0023] To solve the above technical problems, another technical solution adopted in the present application is: to provide a beverage dispensing device, including: an instruction receiving component for receiving user instructions, the user instructions including a first instruction, a second instruction and a third instruction, the first instruction being an instruction for outputting a first category of beverage ingredients, the second instruction being an instruction for outputting a second category of beverage ingredients, and the third instruction being an instruction for outputting a first category of beverage ingredients and a second category of beverage ingredients; a beverage outlet for outputting a beverage to a container, the beverage including a first category of beverage ingredients and / or a second category of beverage ingredients; a moving component connected to the beverage outlet, the moving component being used to move the beverage outlet; a detection component being used to detect the opening edge of the container and detection information in the container; a processor connected to the instruction receiving component, the moving component and the detection component, the processor being used to execute any of the above control methods for a beverage dispensing device.

[0024] According to one embodiment of the present application, the beverage dispensing device further includes a supporting platform, the supporting platform is used to support the container, the beverage dispensing port is located above the supporting platform, the beverage dispensing port has a moving track, and the moving track has a first end away from the supporting platform and a second end close to the supporting platform.

[0025] According to one embodiment of the present application, the detection component includes a first sensing component, the first sensing component is located above the supporting platform, the first sensing component is relatively fixed to the beverage outlet, the first sensing component is connected to the processor, and the first sensing component is used to move synchronously with the beverage outlet.

[0026] According to one embodiment of the present application, the first sensing component is an ultrasonic detector or a time-of-flight detector.

[0027] According to one embodiment of the present application, the first sensing component is used to detect the opening edge of the container and detection information inside the container.

[0028] According to one embodiment of the present application, the detection component also includes a second sensing component, which is located above the supporting platform. The second sensing component is relatively fixed to the beverage outlet, and the second sensing component is used to move synchronously with the beverage outlet. The second sensing component includes a trigger part and a micro switch, and the trigger part is used to trigger the micro switch when it touches the edge of the container opening. The micro switch is connected to the processor.

[0029] According to one embodiment of the present application, the second sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect detection information inside the container.

[0030] According to one embodiment of the present application, the detection component also includes a third sensing component, which is used to move synchronously with the beverage output port. The two sides of the support platform of the beverage output device also include a first side wall and a second side wall arranged opposite to each other. The third sensing component includes a second transmitting part and a second receiving part arranged opposite to each other. The second transmitting part is movably set on the first side wall, and the second receiving part is movably set on the second side wall. The third sensing component is connected to the processor.

[0031] According to one embodiment of the present application, the third sensing component is an infrared pair tube.

[0032] According to one embodiment of the present application, the third sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect detection information inside the container.

[0033] According to one embodiment of the present application, the detection component includes a fourth sensing component, which is located above the supporting platform. The fourth sensing component is used to detect the opening edge of the container and the detection information inside the container through image information. The fourth sensing component is connected to the processor.

[0034] According to one embodiment of the present application, the fourth sensing component is a camera.

[0035] According to one embodiment of the present application, the beverage dispensing device further includes: a first sleeve group, including at least two first sleeves arranged in layers, the innermost first sleeve or the outermost first sleeve is fixedly arranged at the first end, and the remaining first sleeves are relatively movable along a first direction to achieve extension and retraction, so that the first sleeve fixedly arranged at the first end is a first fixed sleeve, the first sleeve farthest from the first fixed sleeve in the first sleeve group is a first movable sleeve, and the beverage outlet is located at the first movable sleeve; wherein, the first direction is a direction approaching or moving away from the container.

[0036] According to one embodiment of the present application, a conveying channel is formed in the first sleeve group, and a first type of beverage ingredient output port is formed at the bottom of the first movable sleeve.

[0037] According to an embodiment of the present application, when the first sleeve assembly is in an extended state, the inner diameter of the delivery channel gradually increases or decreases in a direction approaching the beverage outlet.

[0038] According to one embodiment of the present application, the beverage dispensing device also includes: a second sleeve group, which is sleeved on the outside of the first sleeve group, the second sleeve group includes at least two second sleeves that are sleeved in layers, the second sleeve located on the outermost side or the second sleeve located on the innermost side is fixedly set at the first end, and the remaining second sleeves are relatively movably arranged along the first direction, so that the second sleeve fixedly set at the first end is the second fixed sleeve, and the second sleeve farthest from the second fixed sleeve in the second sleeve group is the second movable sleeve, and the second movable sleeve is relatively fixed to the first movable sleeve.

[0039] According to one embodiment of the present application, the first sleeve and the second sleeve correspond one to one and are relatively fixed.

[0040] According to one embodiment of the present application, the beverage output port further includes a second type of beverage ingredient output port, and the beverage output device further includes a conveying pipe, the output end of the conveying pipe forms the second type of beverage ingredient output port, and the output end is connected to the first movable sleeve or the second movable sleeve.

[0041] According to one embodiment of the present application, the beverage dispensing device also includes a water receiving box and a prompt component. A water level sensor is provided in the water receiving box. The water level sensor and the prompt component are connected to the processor. The water receiving box is located under the supporting platform. The prompt component is used to output prompt information.

[0042] In order to solve the above technical problems, another technical solution adopted by the present application is: providing a storage medium, wherein the storage medium stores program instructions, and the program instructions can be executed to implement any of the above control methods for the beverage dispensing device.

[0043] The beneficial effect of the present application is to provide a control method for a beverage dispensing device, the control method for the beverage dispensing device comprising: receiving a user instruction; moving a beverage dispensing port downward from an initial position; determining whether the beverage dispensing port has reached a target position after the downward movement; if so, stopping the downward movement of the beverage dispensing port; in response to the step of stopping the downward movement of the beverage dispensing port, dispensing a first category of beverage ingredients and / or a second category of beverage ingredients to a container for receiving the beverage according to the user instruction, and in response to detecting that detection information in the container meets a preset condition, stopping the dispensing of the first category of beverage ingredients and / or the second category of beverage ingredients. The control method for the beverage dispensing device of the present application controls the beverage dispensing port to descend to a target position after receiving the user instruction, and automatically stops dispensing the first category of beverage ingredients and / or the second category of beverage ingredients after detecting that the detection information in the container meets the preset condition, thereby improving the convenience of operation while preventing the first category of beverage ingredients and / or the second category of beverage ingredients from splashing. In addition, the automatic stop can also prevent beverage overflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0045] FIG1 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0046] FIG2 is a schematic diagram of detecting the distance from the top of a first type of beverage ingredient according to an embodiment of a control method for a beverage dispensing device of the present application;

[0047] FIG3 is a schematic diagram of detecting the liquid level distance of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0048] 4 is a schematic diagram of detecting the distance between the top of the first type of beverage ingredients and the liquid level of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0049] FIG5 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0050] FIG6 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0051] FIG7 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0052] FIG8 is a schematic diagram of detecting the distance from the top of the first type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0053] FIG9 is a schematic diagram of detecting the liquid level distance of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0054] 10 is a schematic diagram of detecting the distance between the top of the first type of beverage ingredients and the liquid level of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0055] FIG11 is a schematic diagram of detecting the distance from the top of the first type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0056] FIG12 is a schematic diagram of detecting the liquid level distance of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0057] 13 is a schematic diagram of detecting the distance between the top of the first type of beverage ingredients and the liquid level of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0058] FIG14 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0059] FIG15 is a schematic diagram of detecting the distance from the top of the first type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0060] FIG16 is a schematic diagram of detecting the liquid level distance of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0061] 17 is a schematic diagram of detecting the distance between the top of the first type of beverage ingredients and the liquid level of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0062] FIG18 is a schematic diagram of detecting the distance from the top of the first type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0063] FIG19 is a schematic diagram of a second type of beverage ingredient level distance detection method according to an embodiment of the present invention for a beverage dispensing device;

[0064] FIG20 is a schematic diagram of detecting the distance between the top of the first type of beverage ingredients and the liquid level of the second type of beverage ingredients according to an embodiment of a control method for a beverage dispensing device of the present application;

[0065] FIG21 is a flow chart of an embodiment of a control method for a beverage dispensing device according to the present invention;

[0066] FIG22 is a schematic structural diagram of an embodiment of a beverage dispensing device of the present application;

[0067] FIG23 is a schematic structural diagram of an embodiment of a beverage dispensing device of the present application;

[0068] FIG24 is a schematic diagram of the motion trajectory of an embodiment of a beverage dispensing device of the present application;

[0069] FIG25 is a schematic structural diagram of an embodiment of a beverage dispensing device of the present application;

[0070] FIG26 is a schematic structural diagram of an embodiment of a beverage dispensing device of the present application;

[0071] FIG27 is a schematic structural diagram of an embodiment of a beverage dispensing device of the present application;

[0072] FIG. 28 is a schematic structural diagram of an embodiment of a beverage dispensing device according to the present application. DETAILED DESCRIPTION

[0073] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0074] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] The present application provides a control method for a beverage dispensing device 20, which includes: receiving a user instruction, the user instruction including a first instruction, a second instruction, and a third instruction, the first instruction being an instruction for outputting a first category of beverage ingredients, the second instruction being an instruction for outputting a second category of beverage ingredients, and the third instruction being an instruction for outputting both the first category of beverage ingredients and the second category of beverage ingredients; the beverage dispensing port 22 moves downward from an initial position; determining whether the beverage dispensing port 22 reaches a target position after moving downward; if so, stopping the beverage dispensing port 22 from moving downward; in response to the step of stopping the beverage dispensing port 22 from moving downward, dispensing the first category of beverage ingredients and / or the second category of beverage ingredients to a container 26 for receiving beverages according to the user instruction, and stopping outputting the first category of beverage ingredients and / or the second category of beverage ingredients in response to the detected detection information meeting a preset condition.

[0076] Specifically, referring to FIG1 , the control method includes the following steps:

[0077] S1: Receive user instructions, which include a first instruction, a second instruction, and a third instruction. The first instruction is an instruction for outputting the first category of beverage ingredients, the second instruction is an instruction for outputting the second category of beverage ingredients, and the third instruction is an instruction for outputting the first category of beverage ingredients and the second category of beverage ingredients.

[0078] The user places a beverage container 26 into the beverage dispensing device 20. The beverage dispensing device 20 can receive user commands through human body sensing or switch signals. The commands include commands for outputting the first category of beverage ingredients, commands for outputting the second category of beverage ingredients, and commands for outputting both the first category of beverage ingredients and the second category of beverage ingredients. The command for outputting the first category of beverage ingredients and the second category of beverage ingredients is a command for outputting the first category of beverage ingredients first and then the second category of beverage ingredients. This allows a mixture of the first category of beverage ingredients and the second category of beverage ingredients to be obtained with a single command, without the user having to click or control a switch twice.

[0079] The first category of beverage ingredients includes ingredients with fixed shapes, elastic ingredients, and ingredients with poor fluidity, such as ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, coconut flakes, taro balls, milk jelly, jelly, tortoise jelly, fruit puree, taro puree, ice cream, puffed foods, baked goods, etc. The second category of beverage ingredients includes ingredients with high fluidity, such as water, juice, milk, coffee, cola, soy milk, etc.

[0080] In some embodiments, user instructions include instructions currently newly input by the user, such as the first instruction, the second instruction, and the third instruction. User instructions also include instructions based on user habits, instructions based on different time periods such as morning, noon, and evening, instructions based on different seasons, and instructions based on different ambient temperatures.

[0081] S2: The beverage outlet 22 moves downward from the initial position.

[0082] After receiving the user's instruction, the beverage outlet 22 is lowered from the initial position. The lowering of the beverage outlet 22 can make it close to the opening edge of the container 26, preventing the beverage outlet 22 from being too high from the opening edge of the container 26 and causing the first category of beverage ingredients and / or the second category of beverage ingredients to splash.

[0083] S3: Determine whether the beverage outlet 22 has moved downward to the target position.

[0084] The beverage outlet 22 moves downward from its initial position to find a suitable position for dispensing the first and / or second category beverage ingredients. This prevents the beverage outlet 22 from being too high above the edge of the container 26 opening, which could cause the first and / or second category beverage ingredients to splash. Furthermore, this position ensures that the edge of the container 26 opening, the top of the first and / or second category beverage ingredients within the container 26, and / or the liquid level of the second category beverage ingredients are within the sensing range of the sensor assembly, preventing poor detection due to any of these being in a blind spot. The target position is a suitable position for dispensing the first and / or second category beverage ingredients and for detection. If it is determined that the beverage outlet 22 has not reached the target position after moving downward, this indicates that the distance between the beverage outlet 22 and the edge of the container 26 opening is still too high and / or that at least one of the edge of the opening, the top of the first and / or second category beverage ingredients within the container 26, and / or the liquid level of the second category beverage ingredients is outside the sensing range of the sensor assembly. To prevent the first and / or second category beverage ingredients from splashing and causing poor detection, the beverage outlet 22 needs to continue moving downward.

[0085] The target position includes a position where the vertical distance between the beverage dispensing port 22 and the edge of the container 26 is between 0 and 60 cm. This vertical distance can be 0 cm, 4 cm, 5.6 cm, 10 cm, 14.6 cm, 17.6 cm, 25.6 cm, 27.1 cm, 29.8 cm, 36 cm, 44 cm, 57 cm, or 60 cm. Specifically, when the beverage dispensing device 20 is a household device, the target position can be a position where the vertical distance between the beverage dispensing port 22 and the edge of the container 26 is between 0 and 40 cm. When the beverage dispensing device 20 is a commercial device, the target position can be a position where the vertical distance between the beverage dispensing port 22 and the edge of the container 26 is between 0 and 60 cm.

[0086] S4: If yes, stop the beverage outlet 22 from moving downward.

[0087] If it is determined that the beverage outlet 22 reaches the target position after moving downward, the distance between the beverage outlet 22 and the edge of the opening of the container 26 is a suitable distance for outputting the first category of beverage ingredients and / or outputting the second category of beverage ingredients, which can reduce the probability of splashing of the first category of beverage ingredients and / or the second category of beverage ingredients. At this time, the beverage outlet 22 stops moving downward.

[0088] S5: In response to the step of stopping the beverage outlet 22 from moving downward, the first category of beverage ingredients and / or the second category of beverage ingredients are output to the container 26 for receiving the beverage according to the user's instruction.

[0089] After the beverage dispensing port 22 stops moving downward, the beverage dispensing device 20 dispenses the first category of beverage ingredients and / or the second category of beverage ingredients to the container 26 according to the user instruction in step S1 .

[0090] S6: In response to the detected detection information meeting the preset condition, stop outputting the first category of beverage ingredients and / or stop outputting the second category of beverage ingredients.

[0091] When it is detected that the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients and / or the liquid surface of the second category of beverage ingredients meets the preset conditions, the output of the first category of beverage ingredients and / or the second category of beverage ingredients is stopped. In this embodiment, by setting preset conditions, when it is detected that the detection information in the container 26 meets the preset conditions, the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients is automatically stopped, which can avoid beverage overflow and improve the portability of the operation. The preset conditions can be obtained through data statistics or experience. By comparing the detection information with the preset conditions, the output of the first category of beverage ingredients and / or the second category of beverage ingredients can be stopped in time to reduce beverage splashing or overflow. The specific method of stopping the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients includes:

[0092] The detection information includes first information and / or second information. The first information is the top information of the first-category beverage ingredients, i.e., the vertical distance between the opening edge of the container 26 and the top of the first-category beverage ingredients. When it is detected that the vertical distance between the opening edge of the container 26 and the top of the first-category beverage ingredients meets a preset condition, the output of the first-category beverage ingredients is stopped. The second information is the liquid level information of the second-category beverage ingredients, i.e., the vertical distance between the opening edge of the container 26 and the liquid level of the second-category beverage ingredients. When it is detected that the vertical distance between the opening edge of the container 26 and the liquid level of the second-category beverage ingredients meets a preset condition, the output of the second-category beverage ingredients is stopped.

[0093] Method 1: In response to the user instruction being a first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients.

[0094] Referring to Figure 2 , the beverage dispensing device 20 detects a distance Hc, which is the vertical distance between the beverage dispensing port 22 and the edge of the opening of the container 26. When dispensing the first category of beverage ingredients is stopped, the distance between the beverage dispensing port 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first category of beverage ingredients, determined based on statistical data or experience, to prevent the first category of beverage ingredients from splashing out of the container 26. When dispensing the first category of beverage ingredients in accordance with user instructions, the beverage dispensing device 20 detects and confirms the vertical distance H1 between the beverage dispensing port 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing of the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause them to splash, and dispensing of the first category of beverage ingredients is stopped. The first information meets the first preset condition, i.e., H1 - Hc ≤ h1.

[0095] Method 2: Alternatively, in response to the user instruction being the second instruction, the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, the output of the second category of beverage ingredients is stopped.

[0096] Referring to Figure 3, the beverage dispensing device 20 detects a distance Hc, which is the vertical distance between the beverage dispensing port 22 and the edge of the opening of the container 26. When dispensing the second-category beverage ingredients ceases, the distance between the beverage dispensing port 22 and the liquid level of the second-category beverage ingredients is Hc + h2, where h2 is the minimum vertical distance between the edge of the opening and the liquid level of the second-category beverage ingredients, determined based on statistical data or experience, to prevent splashing of the second-category beverage ingredients from the container 26. When dispensing the second-category beverage ingredients in accordance with user instructions, the beverage dispensing device 20 detects and confirms the vertical distance H2 between the beverage dispensing port 22 and the liquid level of the second-category beverage ingredients in real time. If H2 - Hc > h2, dispensing of the second-category beverage ingredients continues. If H2 - Hc ≤ h2, continuing to dispense the second-category beverage ingredients will cause splashing, and dispensing of the second-category beverage ingredients ceases. The second information meets the second preset condition, i.e., H2 - Hc ≤ h2.

[0097] Method three: or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients; outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, stopping outputting the second category of beverage ingredients.

[0098] Referring to Figure 4 , when responding to the third user instruction, the first category of beverage ingredients is first dispensed. The beverage dispensing device 20 detects the distance Hc, which is the vertical distance between the beverage dispensing port 22 and the edge of the opening of the container 26. When dispensing the first category of beverage ingredients ceases, the distance between the beverage dispensing port 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first category of beverage ingredients, determined based on statistical data or experience, to prevent the first category of beverage ingredients from splashing out of the container 26. While dispensing the first category of beverage ingredients in response to the user instruction, the beverage dispensing device 20 detects and confirms the vertical distance H1 between the beverage dispensing port 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause them to splash, and dispensing the first category of beverage ingredients ceases. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0099] After the output of the first category of beverage ingredients is completed, the second category of beverage ingredients is output. When the output of the second category of beverage ingredients stops, the distance between the beverage output port 22 and the liquid level of the second category of beverage ingredients is Hc+h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second category of beverage ingredients, determined based on data statistics or experience, so that the second category of beverage ingredients cannot splash out of the container 26. When the second category of beverage ingredients are output according to user instructions, the beverage output device 20 detects and confirms the vertical distance H2 between the beverage output port 22 and the liquid level of the second category of beverage ingredients in real time. When it is determined that H2-Hc>h2, the output of the second category of beverage ingredients continues; when it is determined that H2-Hc≤h2, it indicates that continuing to load the second category of beverage ingredients will cause the second category of beverage ingredients to splash, and the output of the second category of beverage ingredients is stopped. The second information meets the second preset condition, that is, H2-Hc≤h2.

[0100] It should be noted that outputting the first category of beverage ingredients first and then the second category of beverage ingredients can prevent the first category of beverage ingredients and / or the second category of beverage ingredients from splashing. In other embodiments, the second category of beverage ingredients can also be output first and then the first category of beverage ingredients.

[0101] According to one embodiment of the present application, the first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients. The first preset condition is that the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients is less than or equal to a first preset value. The second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients. The second preset condition is that the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients is less than or equal to a second preset value. The first preset value is greater than the second preset value. The first preset value can be 3 cm, 5 cm, 8 cm, 10 cm, 15 cm, etc., and the second preset value can be 1 cm, 2 cm, 4 cm, 5 cm, 7 cm, etc. The first information is the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients, which is H1 - Hc. The first preset condition is H1 - Hc ≤ the first preset value. That is, when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients is less than or equal to the first preset value, the first type of beverage ingredients are stopped from being discharged. The second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients, which is H2-Hc. The second preset condition is H2-Hc ≤ the second preset value, that is, when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients is less than or equal to the second preset value, the output of the second type of beverage ingredients is stopped. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients being less than or equal to the second preset value. It can also be less than other distances, which is not limited here.

[0102] According to one embodiment of the present application, the beverage dispensing device 20 includes a supporting platform 27, which is used to carry the container 26. The beverage dispensing port 22 is located above the supporting platform 27. The beverage dispensing port 22 has a motion track, which has a first end away from the supporting platform 27 and a second end close to the supporting platform 27. The initial position is located at the first end. In the step of the beverage dispensing port 22 moving downward from the initial position, the beverage dispensing port 22 moves from the first end to the second end.

[0103] Specifically, the beverage dispensing device 20 has a beverage outlet 22 located above the support platform 27. The initial position of the beverage outlet 22 is the first end, and the position to which the beverage outlet 22 can be moved downward, closest to the support platform 27, is the second end. The second end is the lowest position to which the beverage outlet 22 can be moved downward. When the opening edge of the container 26 is low, the second end is the target position for the beverage outlet 22 to dispense the first and / or second category beverage ingredients. In this case, the distance between the second end and the opening edge of the container 26 is appropriate, thereby preventing the first and / or second category beverage ingredients from splashing. When the opening edge of the container 26 is high, the beverage outlet 22 does not need to be lowered to the lowest position. In other words, after reaching the second end, if the beverage outlet 22 detects that the distance between the beverage outlet 22 and the opening edge of the container 26 is too close, the beverage outlet 22 will retract to the target position to dispense the first and / or second category beverage ingredients. In this case, the target position is higher than the second end.

[0104] According to one embodiment of the present application, in step S3, determining whether the beverage outlet 22 has reached the target position after moving downward, the step further includes: if not, determining whether the beverage outlet 22 has reached the second end; if so, executing the step of stopping the beverage outlet 22 from moving downward; if not, maintaining the state of the beverage outlet 22 moving downward, and returning to the step of determining whether the beverage outlet 22 has reached the target position.

[0105] Specifically, referring to FIG. 5 , step S3 determines whether the beverage outlet 22 moves downward to reach the target position, and in some embodiments, further includes:

[0106] S311: If not, determine whether the beverage outlet 22 reaches the second end.

[0107] If it is determined that the beverage outlet 22 continues to move downward and has not yet reached the target position, it is necessary to determine whether the beverage outlet 22 has reached the second end. The target position is a position suitable for dispensing the first and / or second category beverage ingredients, which can prevent the beverage outlet 22 from being too high from the edge of the container 26 opening, causing the first and / or second category beverage ingredients to splash. The second end is the lowest position to which the beverage outlet 22 can move downward.

[0108] If so, the step of stopping the beverage outlet 22 from moving downward is performed.

[0109] If it is determined that the beverage outlet 22 reaches the second end after moving downward, the beverage outlet 22 has dropped to the lowest limit position, and step S4 of stopping the beverage outlet 22 from moving downward is executed.

[0110] S312: If not, the beverage outlet 22 is maintained in the downward moving state, and the process returns to step S3 to determine whether the beverage outlet 22 has reached the target position.

[0111] If it is determined that the beverage outlet 22 has not reached the second end after moving downward, the beverage outlet 22 is maintained in the downward moving state, and the process returns to step S3 to determine whether the beverage outlet 22 has reached the target position.

[0112] According to one embodiment of the present application, the beverage dispensing device 20 has a first sensing component 241, which is located above the supporting platform 27. The first sensing component 241 is relatively fixed to the beverage dispensing port 22, and the first sensing component 241 is used to move synchronously with the beverage dispensing port 22. In the step of determining whether the beverage dispensing port 22 moves downward to reach the target position, the process includes: the first sensing component 241 sends out a first detection wave; determining whether the first sensing component 241 receives an echo of the first detection wave within a first preset time period; if so, executing the step of stopping the beverage dispensing port 22 from moving downward; if not, maintaining the state of the beverage dispensing port 22 moving downward, and returning to the step of executing the first sensing component 241 sending out the first detection wave.

[0113] The first sensing component 241 and the beverage outlet 22 are relatively fixed, that is, during the synchronous movement of the first sensing component 241 and the beverage outlet 22 , the relative positional relationship between the first sensing component 241 and the beverage outlet 22 remains unchanged.

[0114] Specifically, the beverage dispensing device 20 further includes a first sensing component 241. The first sensing component 241 is located above the support platform 27 and is fixed relative to the beverage dispensing port 22. The first sensing component 241 can be positioned around the periphery of the beverage dispensing port 22. The specific location of the first sensing component 241 can be determined based on the actual usage scenario. As the beverage dispensing port 22 moves downward, the first sensing component 241 simultaneously descends. The beverage dispensing device 20 uses the first sensing component 241 to detect the distance between the beverage dispensing port 22 and the edge of the container 26, as well as the distance between the beverage dispensing port 22 and the top of the first type of beverage ingredients or the liquid level of the second type of beverage ingredients within the container 26. The first sensing component 241 moves synchronously with the beverage outlet 22, so that the first sensing component 241 is located at a suitable position to detect the opening edge of the container 26 and the detection information in the container 26, that is, the opening edge of the container 26 and the top of the first category of beverage ingredients and / or the liquid level of the second category of beverage ingredients in the container 26 are located within the detection range of the first sensing component 241, avoiding any of the opening edge of the container 26, the top of the first category of beverage ingredients in the container 26 and / or the liquid level of the second category of beverage ingredients in the container 26 being located in the blind spot of the first sensing component 241.

[0115] 6 , step S3 of determining whether the beverage outlet 22 has reached the target position after moving downwards further comprises the following steps:

[0116] S31: The first sensing component 241 emits a first detection wave.

[0117] The beverage dispensing device 20 controls the first sensing component 241 to emit a first detection wave to detect the distance between the beverage dispensing port 22 and the opening edge of the container 26. The first detection wave can be emitted in real time, at intervals, or after being triggered by other means.

[0118] S32: Determine whether the first sensing component 241 receives an echo of the first detection wave within a first preset time period.

[0119] After the first sensing component 241 emits the first detection wave, it receives the echo of the first detection wave. As the beverage outlet 22 moves downward, the distance between the beverage outlet 22 and the edge of the container 26 varies, and the intensity and time of the echo of the first detection wave received by the first sensing component 241 vary. The calculation formula for the time of the echo of the first detection wave received by the first sensing component 241 is t = 2s t / V,S t is the distance between the beverage outlet 22 and the edge of the container 26 opening, and V is the air propagation velocity of the detection wave of the first sensing component 241. When the first sensing component 241 receives an echo of the first detection wave within a first preset time period, it indicates that the edge of the container 26 opening is within the sensing range of the first sensing component 241. Furthermore, when the container 26 contains the first and / or second category beverage ingredients, the top of the first and / or second category beverage ingredients are located within the edge of the container 26 opening when viewed from above. Therefore, when the container 26 contains the first and / or second category beverage ingredients, the top of the first and / or second category beverage ingredients are located within the sensing range of the first and / or second category beverage ingredients.

[0120] If yes, step S4 is executed to stop the beverage outlet 22 from moving downward.

[0121] If the echo of the first detection wave is received within the first preset time period, it indicates that the first sensing component 241 is located at a suitable position to detect the opening edge of the container 26 and the detection information in the container 26 , and the beverage outlet 22 stops moving downward.

[0122] S33: If not, the beverage outlet 22 is kept in the downward movement state, and the process returns to step S31 in which the first sensing component 241 emits the first detection wave.

[0123] If no echo of the first detection wave is received within the first preset time period, it means that the first sensing component 241 has not yet moved down to a suitable position where it can detect the opening edge of the container 26 and the detection information inside the container 26. The beverage outlet 22 remains in the downward moving state, and the first sensing component 241 continues to emit the first detection wave for detection.

[0124] According to one embodiment of the present application, referring to Figure 6, in step S33, the beverage outlet 22 is maintained in a state of moving downward, and the step of returning to executing the first sensing component 241 emitting a first detection wave includes: maintaining the beverage outlet 22 in a state of moving downward; judging whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches a second preset time length, and the second preset time length is greater than or equal to the first preset time length; if so, returning to executing the step of executing the first sensing component 241 emitting a first detection wave; if not, returning to executing the step of judging whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches the second preset time length.

[0125] Specifically, referring to FIG. 6 , step S33 maintains the state where the beverage outlet 22 moves downward, and returns to executing the first sensing component 241 sending the first detection wave. In some embodiments, the following steps are further included:

[0126] S331: Maintain the state where the beverage outlet 22 moves downward.

[0127] If no echo of the first detection wave is received within the first preset time period, it means that the beverage outlet 22 is still far away from the opening edge of the container 26. In order to make the opening edge of the container 26 and the top of the first category of beverage ingredients and / or the liquid level of the second category of beverage ingredients in the container 26 within the detection range of the first sensing component 241, and to avoid any of the opening edge of the container 26, the top of the first category of beverage ingredients in the container 26 and / or the liquid level of the second category of beverage ingredients in the container 26 being located in the blind spot of the first sensing component 241, the beverage outlet 22 is kept moving downward.

[0128] S332: Determine whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches a second preset time length, and the second preset time length is greater than or equal to the first preset time length.

[0129] The first sensing component 241 is controlled to transmit the first detection wave at a predetermined time interval. The predetermined time interval is the time difference between the time point when the first detection wave was last transmitted and the current time point. It is determined whether the predetermined time interval reaches a second preset time length, thereby controlling whether the first sensing component 241 needs to transmit the first detection wave at the current time point. The second preset time length is greater than or equal to the first preset time length.

[0130] The second preset duration is greater than or equal to 2N times the distance between the initial position and the support platform 27 divided by the speed of sound, where N is 1-1000, preferably 5-100. The distance between the initial position and the support platform 27 can be determined based on the actual structure of the beverage dispensing device 20. N can be any value between 1-1000, such as 1, 5, 68, 100, 198, 280, 374, 498, 500, 680, 750, 830, 980, 1000, etc. By limiting the value of N, the second preset duration being greater than or equal to 2N times the distance between the initial position and the support platform 27 divided by the speed of sound can effectively control the interval between two consecutive first detection wave emissions, thereby eliminating interference caused by the echo signal generated by the first detection wave emitted previously on the echo signal generated by the next first detection wave emitted subsequently. In other words, the next first detection wave is emitted after the echo signal generated by the first detection wave emitted previously is sufficiently weak to avoid interference with the echo signal generated by the next first detection wave emitted subsequently.

[0131] Specifically, the distance between the initial position and the support platform 27 is S. When the beverage outlet 22 is at the initial position, the time between the time when the first sensing component 241 emits the first detection wave and the time when the first detection wave is received is t1 = 2S / V, where V is the propagation speed of the detection wave of the first sensing component 241 in air. The second preset time duration t2 of this embodiment is ≥ N × t1.

[0132] The first sensing component 241 emits the first detection wave and receives the echo in one cycle. If the distance S between the initial position and the support platform 27 is 20 cm, the time between the first sensing component 241 emitting the first detection wave and receiving the echo is less than 0.002 seconds. If the time interval between two consecutive first detection waves is short, the echo signal received by the first sensing component 241 at a certain time point may be the echo signal generated by the first detection wave emitted in previous cycles encountering other objects at a distance greater than 20 cm. These signals may interfere with the echo signal to be received this time. Therefore, to avoid this interference, this embodiment controls the first sensing component 241 to emit the next set of first detection waves after extending the cycle by N times, lengthening the time interval between the previous set of first detection waves. Specifically, the time difference between the time point of the previous first detection wave emission and the current time point must reach a second preset time duration t2, where the second preset time duration t2 ≥ N × t1.

[0133] If yes, the process returns to step S31 in which the first sensing component 241 emits a first detection wave.

[0134] If the predetermined time interval reaches the second predetermined time length, the first sensing component 241 is controlled to emit a first detection wave.

[0135] If not, the process returns to step S332 to determine whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches the second preset time length.

[0136] If the predetermined time interval does not reach the second predetermined time length, the process returns to step S332 .

[0137] According to one embodiment of the present application, the beverage dispensing device 20 has a second sensing component 242, which is located above the supporting platform 27. The second sensing component 242 is relatively fixed to the beverage dispensing port 22, and is used to move synchronously with the beverage dispensing port 22. The second sensing component 242 includes a triggering portion 2421 and a micro switch 2422. The triggering portion 2421 is used to trigger the micro switch 2422 when it touches the opening edge of the container 26. In the step of determining whether the beverage dispensing port 22 has moved downward to reach the target position, the following steps are included: determining whether the triggering portion 2421 triggers the micro switch 2422; if so, executing the step of stopping the beverage dispensing port 22 from moving downward; if not, maintaining the state of the beverage dispensing port 22 moving downward, and returning to the step of determining whether the triggering portion 2421 triggers the micro switch 2422.

[0138] The second sensing component 242 and the beverage outlet 22 are relatively fixed, that is, during the synchronous movement of the second sensing component 242 and the beverage outlet 22 , the relative positional relationship between the second sensing component 242 and the beverage outlet 22 remains unchanged.

[0139] Specifically, referring to Figure 7 , in this embodiment, the beverage dispensing device 20 includes a second sensing component 242. The second sensing component 242 is located above the support platform 27 and is fixed relative to the beverage dispensing port 22. As the beverage dispensing port 22 moves downward, the second sensing component 242 simultaneously descends. The second sensing component 242 includes a triggering portion 2421 and a microswitch 2422. The triggering portion 2421 protrudes relative to the beverage dispensing port 22 toward the container 26. As the beverage dispensing port 22 moves downward, the triggering portion 2421 is configured to trigger the microswitch 2422 when it contacts the edge of the container 26. Step S3 determines whether the beverage dispensing port 22 has reached its target position. In some embodiments, this may also include:

[0140] S321 : Determine whether the trigger unit 2421 triggers the micro switch 2422 .

[0141] After receiving the user's instruction, when the beverage outlet 22 moves downward, the trigger portion 2421 protrudes relative to the beverage outlet 22 toward the container 26 , and the micro switch 2422 is triggered when the trigger portion 2421 contacts the opening edge of the container 26 .

[0142] If yes, step S4 is executed to stop the beverage outlet 22 from moving downward.

[0143] If the trigger unit 2421 triggers the microswitch 2422, it indicates that the trigger unit 2421 abuts the edge of the container 26. At this point, the beverage outlet 22 stops moving downward, and the first and / or second category beverage ingredients are dispensed into the container 26 according to the user's instructions. The first sensing component 241 detects that the detection information within the container 26 meets a preset condition and stops dispensing the first and / or second category beverage ingredients. The detection information includes first and second information. The first information is the vertical distance between the edge of the container 26 and the top of the first category beverage ingredients. When the vertical distance between the edge of the container 26 and the top of the first category beverage ingredients meets the preset condition, dispensing the first category beverage ingredients is stopped. The second information is the vertical distance between the edge of the container 26 and the liquid level of the second category beverage ingredients. When the vertical distance between the edge of the container 26 and the liquid level of the second category beverage ingredients meets the preset condition, dispensing the second category beverage ingredients is stopped. In this embodiment, after the trigger unit 2421 triggers the micro switch 2422 to output the first type of beverage ingredients and / or output the second type of beverage ingredients, the specific method of stopping outputting the first type of beverage ingredients and / or outputting the second type of beverage ingredients includes:

[0144] Method 1: In response to the user instruction being a first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients.

[0145] Referring to Figure 8 , when dispensing the first category of beverage ingredients in accordance with user instructions, the first sensing component 241, fixed relative to the beverage outlet 22, detects and confirms in real time the vertical distance H1 between the opening edge of the container 26 and the top of the first category of beverage ingredients. If H1>h1 is determined, dispensing of the first category of beverage ingredients continues. If H1≤h1 is determined, indicating that further dispensing of the first category of beverage ingredients will cause splashing, dispensing of the first category of beverage ingredients ceases. The first information satisfies a first preset condition, i.e., H1≤h1. h1 is the minimum vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients, determined based on statistical data or experience, to prevent splashing of the first category of beverage ingredients from the container 26. In this embodiment, h1 can be set to a first preset value. The first preset condition is that dispensing of the first category of beverage ingredients ceases when the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients is less than or equal to the first preset value.

[0146] Method 2: Alternatively, in response to the user instruction being the second instruction, the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, the output of the second category of beverage ingredients is stopped.

[0147] Referring to Figure 9 , when dispensing the second-category beverage ingredients in response to user instructions, the first sensing component 241, fixed relative to the beverage outlet 22, detects and confirms in real time the vertical distance H2 between the opening edge of the container 26 and the liquid level of the second-category beverage ingredients. If H2>h2 is determined, dispensing of the second-category beverage ingredients continues. If H2≤h2 is determined, indicating that further dispensing of the second-category beverage ingredients will cause splashing, dispensing of the second-category beverage ingredients ceases. The second information satisfies a second preset condition, i.e., H2≤h2. h2 is the minimum vertical distance between the opening edge and the liquid level of the second-category beverage ingredients, determined based on statistical data or experience, that prevents splashing of the second-category beverage ingredients from the container 26. In this embodiment, h2 can be set to a second preset value. The second preset condition is that dispensing of the second-category beverage ingredients ceases when the vertical distance between the opening edge of the container 26 and the liquid level of the second-category beverage ingredients is less than or equal to the second preset value.

[0148] Method three: or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients; outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, stopping outputting the second category of beverage ingredients.

[0149] Referring to Figure 10 , when the response to the third user instruction is received, the first category of beverage ingredients is first output. The first sensing component 241, fixed relative to the beverage outlet 22, detects in real time the distance H1 between the opening edge of the container 26 and the top of the first category of beverage ingredients. If H1>h1 is determined, the first category of beverage ingredients continue to be output. If H1≤h1 is determined, further loading will cause splashing of the first category of beverage ingredients, and output of the first category of beverage ingredients is stopped. The first information meets the first preset condition, i.e., H1≤h1. h1 is the minimum vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients, determined based on statistical data or experience, for the first category of beverage ingredients to not splash out of the container 26.

[0150] After the first category of beverage ingredients are dispensed, the second category of beverage ingredients are dispensed. The first sensing component 241, fixed relative to the beverage outlet 22, monitors and confirms in real time the distance H2 between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients. If H2 > h2, the second category of beverage ingredients are dispensed. If H2 ≤ h2, further dispensing of the second category of beverage ingredients will result in splashing, and dispensing of the second category of beverage ingredients is stopped. h2 is the minimum vertical distance between the opening edge and the liquid level of the second category of beverage ingredients, determined based on statistical data or experience, that prevents splashing of the second category of beverage ingredients from the container 26.

[0151] It should be noted that dispensing the first category of beverage ingredients before dispensing the second category of beverage ingredients can prevent splashing of the second category of beverage ingredients. In other embodiments, the second category of beverage ingredients may be dispensed first before the first category of beverage ingredients. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients is less than or equal to the first preset value, dispensing of the first category of beverage ingredients is stopped. h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients is less than or equal to the second preset value, dispensing of the second category of beverage ingredients is stopped. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients being less than or equal to the second preset value. It can also be less than other distances, and this is not limited here.

[0152] S322 : If not, the beverage outlet 22 is maintained in the downwardly moving state, and the process returns to step S321 of determining whether the triggering unit 2421 triggers the micro switch 2422 .

[0153] If the triggering portion 2421 does not trigger the micro switch 2422 , it means that the beverage outlet 22 is still far away from the edge of the container 26 . In this case, the beverage outlet 22 is kept in the downward movement state and the process returns to step S321 .

[0154] In other embodiments, between the step of determining whether the trigger portion 2421 triggers the micro switch 2422 and maintaining the state of the beverage outlet 22 moving downward, and returning to the step of determining whether the trigger portion 2421 triggers the micro switch 2422, the following steps are included: determining whether the beverage outlet 22 reaches the second end; if so, stopping the beverage outlet 22 from moving downward; if not, maintaining the state of the beverage outlet 22 moving downward, and returning to the step of determining whether the trigger portion 2421 triggers the micro switch 2422.

[0155] Specifically, after step S322, the following steps are also included:

[0156] S3221: Determine whether the beverage outlet 22 reaches the second end.

[0157] If the beverage outlet 22 continues to move downward, but the trigger portion 2421 never triggers the microswitch 2422, it is necessary to determine whether the beverage outlet 22 has reached the second end. The second end is the lowest position to which the beverage outlet 22 can move downward. If the edge of the container 26 is relatively low, even if the beverage outlet 22 continues to descend, the trigger portion 2421 will not contact the edge of the container 26. In this case, it is necessary to determine whether the beverage outlet 22 has reached the second end, the lowest limit position.

[0158] If so, the beverage outlet 22 is stopped from moving downward.

[0159] If it is determined that the beverage outlet 22 has reached the second end and the trigger unit 2421 has not yet contacted the edge of the container 26, step S4 is executed: the beverage outlet 22 stops moving downward and, in accordance with user instructions, the first and / or second category beverage ingredients are dispensed into the container 26 receiving the beverage. The first sensing component 241 detects that the detection information within the container 26 meets a preset condition and stops dispensing the first and / or second category beverage ingredients. The detection information includes first and second information. The first information is the vertical distance between the edge of the container 26 and the top of the first category beverage ingredients. When the vertical distance between the edge of the container 26 and the top of the first category beverage ingredients meets the preset condition, dispensing the first category beverage ingredients is stopped. The second information is the vertical distance between the edge of the container 26 and the liquid level of the second category beverage ingredients. When the vertical distance between the edge of the container 26 and the liquid level of the second category beverage ingredients meets the preset condition, dispensing the second category beverage ingredients is stopped. In this embodiment, after the beverage outlet 22 reaches the second end, the trigger portion 2421 never contacts the edge of the opening of the container 26. At this time, after discharging the first category of beverage ingredients and / or the second category of beverage ingredients, the specific method of stopping discharging the first category of beverage ingredients and / or the second category of beverage ingredients includes:

[0160] Method 1: In response to the user instruction being a first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients.

[0161] Referring to Figure 11, the first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the opening of the container 26. When dispensing the first category of beverage ingredients is stopped, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first category of beverage ingredients, determined based on statistical data or experience, to prevent the first category of beverage ingredients from splashing out of the container 26. When dispensing the first category of beverage ingredients in accordance with user instructions, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing of the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause splashing, and dispensing of the first category of beverage ingredients is stopped. The first information meets the first preset condition, i.e., H1 - Hc ≤ h1. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients is less than or equal to the first preset value, the output of the first type of beverage ingredients is stopped.

[0162] Method 2: Alternatively, in response to the user instruction being the second instruction, the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, the output of the second category of beverage ingredients is stopped.

[0163] Referring to Figure 12, the first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the opening of the container 26. When dispensing the second-category beverage ingredients is stopped, the distance between the beverage outlet 22 and the liquid level of the second-category beverage ingredients is Hc + h2, where h2 is the minimum vertical distance between the edge of the opening and the liquid level of the second-category beverage ingredients, determined based on statistical data or experience, to prevent splashing of the second-category beverage ingredients from the container 26. When dispensing the second-category beverage ingredients in accordance with user instructions, the first sensing component 241 detects and confirms the vertical distance H2 between the beverage outlet 22 and the liquid level of the second-category beverage ingredients in real time. If H2 - Hc > h2, dispensing of the second-category beverage ingredients continues. If H2 - Hc ≤ h2, continuing to dispense the second-category beverage ingredients will cause splashing, and dispensing of the second-category beverage ingredients is stopped. The second information meets the second preset condition, meaning H2 - Hc ≤ h2. In this embodiment, h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients is less than or equal to the second preset value, the output of the second type of beverage ingredients is stopped.

[0164] Method three: or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients; outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, stopping outputting the second category of beverage ingredients.

[0165] Referring to Figure 13 , when responding to the third user instruction, the first category of beverage ingredients is first dispensed. The first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the container 26. When dispensing the first category of beverage ingredients ceases, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the container 26 and the top of the first category of beverage ingredients determined based on statistical data or experience to prevent the first category of beverage ingredients from splashing out. While dispensing the first category of beverage ingredients in response to the user instruction, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause them to splash, and dispensing the first category of beverage ingredients ceases. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0166] After the output of the first category of beverage ingredients is completed, the second category of beverage ingredients is output. When the output of the second category of beverage ingredients stops, the distance between the beverage output port 22 and the liquid level of the second category of beverage ingredients is Hc+h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second category of beverage ingredients, determined based on data statistics or experience, so that the second category of beverage ingredients cannot splash out of the container 26. When the second category of beverage ingredients are output according to user instructions, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the beverage output port 22 and the liquid level of the second category of beverage ingredients. When it is determined that H2-Hc>h2, the second category of beverage ingredients continue to be output; when it is determined that H2-Hc≤h2, continuing to load the second category of beverage ingredients will cause the second category of beverage ingredients to splash, and the output of the second category of beverage ingredients is stopped. The second information meets the second preset condition, that is, H2-Hc≤h2.

[0167] It should be noted that dispensing the first category of beverage ingredients before dispensing the second category of beverage ingredients can prevent splashing of the second category of beverage ingredients. In other embodiments, the second category of beverage ingredients may be dispensed first before the first category of beverage ingredients. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients is less than or equal to the first preset value, dispensing of the first category of beverage ingredients is stopped. h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients is less than or equal to the second preset value, dispensing of the second category of beverage ingredients is stopped. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients being less than or equal to the second preset value. It can also be less than other distances, and this is not limited here.

[0168] If not, the beverage outlet 22 is maintained in the downwardly moving state, and the process returns to step S321 to determine whether the triggering portion 2421 triggers the micro switch 2422 .

[0169] If it is determined that the beverage outlet 22 has not reached the second end, the process returns to step S321 : determining whether the triggering portion 2421 triggers the micro switch 2422 .

[0170] According to one embodiment of the present application, the beverage dispensing device 20 has a third sensing component, which is used to move synchronously with the beverage dispensing port 22. The two sides of the supporting platform 27 of the beverage dispensing device 20 also include a first side wall 271 and a second side wall 272 arranged opposite to each other. The third sensing component includes a second transmitting part 2431 and a second receiving part 2432 arranged opposite to each other. The second transmitting part 2431 is movably set on the first side wall 271, and the second receiving part 2432 is movably set on the second side wall 272. In the step of determining whether the beverage dispensing port 22 moves downward to reach the target position, the steps include: the second transmitting part 2431 sends a second detection wave; determining whether the second receiving part 2432 receives the second detection wave; if so, maintaining the state of the beverage dispensing port 22 moving downward, and returning to the step of executing the second transmitting part 2431 sending the second detection wave; if not, executing the step of stopping the beverage dispensing port 22 from moving downward.

[0171] Specifically, referring to Figure 14 , in this embodiment, the beverage dispensing device 20 includes a third sensing component, and further includes a first side wall 271 and a second side wall 272 disposed opposite each other on either side of the support platform 27. The second transmitting portion 2431 of the third sensing component is movably disposed on the first side wall 271, and the second receiving portion 2432 of the third sensing component is movably disposed on the second side wall 272. As the beverage dispensing port 22 moves downward, the second transmitting portion 2431 and the second receiving portion 2432 of the third sensing component, which are disposed opposite each other, move downward synchronously. Step S3 determines whether the beverage dispensing port 22 has reached the target position after downward movement. In some embodiments, the following steps may also be performed:

[0172] S331: The second transmitting unit 2431 emits a second detection wave.

[0173] The beverage outlet 22 moves downward, and the third sensing component moves downward synchronously, and the second emitting portion 2431 disposed on the first side wall 271 emits a second detection wave.

[0174] S332: Determine whether the second receiving unit 2432 has received the second detection wave.

[0175] After the second transmitting unit 2431, located on the first side wall 271, emits the second detection wave, the second receiving unit 2432, located on the second side wall 272, receives the second detection wave. The second transmitting unit 2431 and the second receiving unit 2432 are positioned opposite each other. Under normal circumstances, if there is no container 26 blocking the space between them, the second receiving unit 2432 will normally receive the second detection wave emitted by the second transmitting unit 2431. In this embodiment, the presence of a container 26 above the support platform 27 or the determination of whether the beverage outlet 22 has reached the target position is determined by determining whether the second receiving unit 2432 has received the second detection wave.

[0176] S333: If yes, the beverage outlet 22 is kept in the downward movement state, and the process returns to the step of the second transmitting unit 2431 emitting the second detection wave.

[0177] If the second receiving unit 2432 can receive the second detection wave, it means that the beverage outlet 22 has not reached the target position. At this time, the beverage outlet 22 is kept moving downward, and the process returns to step S331 : the second transmitting unit 2431 sends the second detection wave.

[0178] If not, step S4 is executed to stop the beverage outlet 22 from moving downward.

[0179] If the second receiving portion 2432 cannot receive the second detection wave, it indicates that the container 26 is blocking the second transmitting portion 2431 from the second receiving portion 2432. In other words, the opening edge of the container 26 has been detected, indicating that the beverage outlet 22 has reached the target position. At this point, the beverage outlet 22 stops moving downward and the first and / or second category beverage ingredients are delivered to the container 26 according to the user's instructions. The first sensing component 241 detects that the detection information within the container 26 meets a preset condition and stops delivering the first and / or second category beverage ingredients. The detection information includes first and second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first category beverage ingredients. When the vertical distance between the opening edge of the container 26 and the top of the first category beverage ingredients meets the preset condition, delivery of the first category beverage ingredients is stopped. The second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second category beverage ingredients. When the vertical distance between the opening edge of the container 26 and the liquid level of the second category beverage ingredients meets the preset condition, delivery of the second category beverage ingredients is stopped. This embodiment sets a preset condition. When the detection information in the container 26 is detected to meet the preset condition, the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients is automatically stopped. This can prevent beverage overflow and improve the portability of the operation. The specific method of stopping the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients includes:

[0180] Method 1: In response to the user instruction being a first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients.

[0181] Referring to Figure 15 , because the third sensing component moves synchronously with the beverage outlet 22, the vertical distance between the second transmitting portion 2431, the second receiving portion 2432, and the beverage outlet 22 is a fixed distance Hc. When dispensing the first category of beverage ingredients ceases, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the opening edge and the top of the first category of beverage ingredients determined based on statistical data or experience to prevent splashing of the first category of beverage ingredients out of the container 26. When dispensing the first category of beverage ingredients in response to user instructions, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing of the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause splashing, and dispensing of the first category of beverage ingredients ceases. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients is less than or equal to the first preset value, the output of the first type of beverage ingredients is stopped.

[0182] Method 2: Alternatively, in response to the user instruction being the second instruction, the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, the output of the second category of beverage ingredients is stopped.

[0183] Referring to Figure 16 , because the third sensing component moves synchronously with the beverage outlet 22, the vertical distance between the second transmitting portion 2431, the second receiving portion 2432, and the beverage outlet 22 is a fixed distance Hc. When dispensing the second-category beverage ingredients ceases, the distance between the beverage outlet 22 and the liquid level of the second-category beverage ingredients is Hc + h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second-category beverage ingredients, determined based on statistical data or experience, to prevent splashing of the second-category beverage ingredients from the container 26. When dispensing the second-category beverage ingredients in response to user instructions, the first sensing component 241 detects and confirms the vertical distance H2 between the beverage outlet 22 and the liquid level of the second-category beverage ingredients in real time. If H2 - Hc > h2, dispensing of the second-category beverage ingredients continues. If H2 - Hc ≤ h2, continuing to dispense the second-category beverage ingredients will cause splashing, and dispensing of the second-category beverage ingredients ceases. The second information meeting the second preset condition means that H2 - Hc ≤ h2 is satisfied. In this embodiment, h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients is less than or equal to the second preset value, the output of the second type of beverage ingredients is stopped.

[0184] Method three: or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients; outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, stopping outputting the second category of beverage ingredients.

[0185] Referring to Figure 17 , when the response to the third user command is a command, the first category of beverage ingredients is first dispensed. The vertical distance between the second transmitting unit 2431, the second receiving unit 2432, and the beverage outlet 22 is a fixed distance Hc. When dispensing the first category of beverage ingredients ceases, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first category of beverage ingredients determined based on statistical data or experience to prevent the first category of beverage ingredients from splashing out of the container 26. While dispensing the first category of beverage ingredients in response to the user command, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause them to splash, and dispensing the first category of beverage ingredients ceases. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0186] After the output of the first category of beverage ingredients is completed, the second category of beverage ingredients is output. When the output of the second category of beverage ingredients stops, the distance between the beverage output port 22 and the liquid level of the second category of beverage ingredients is Hc+h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second category of beverage ingredients, determined based on data statistics or experience, so that the second category of beverage ingredients cannot splash out of the container 26. When the second category of beverage ingredients are output according to user instructions, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the beverage output port 22 and the liquid level of the second category of beverage ingredients. When it is determined that H2-Hc>h2, the second category of beverage ingredients continue to be output; when it is determined that H2-Hc≤h2, continuing to load the second category of beverage ingredients will cause the second category of beverage ingredients to splash, and the output of the second category of beverage ingredients is stopped. The second information meets the second preset condition, that is, H2-Hc≤h2.

[0187] It should be noted that dispensing the first category of beverage ingredients before dispensing the second category of beverage ingredients can prevent splashing of the first category of beverage ingredients and / or the second category of beverage ingredients. In other embodiments, the second category of beverage ingredients can be dispensed first before dispensing the first category of beverage ingredients. In other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients being less than or equal to the second preset value. It can also be less than other distances, and is not limited here.

[0188] In other embodiments, continuing to refer to Figure 14, between the step of determining whether the second receiving unit 2432 receives the second detection wave and the step of maintaining the state of the beverage outlet 22 moving downward, returning to the step of executing the second transmitting unit 2431 to send the second detection wave, it includes: determining whether the beverage outlet 22 reaches the second end; if so, stopping the beverage outlet 22 from moving downward; if not, maintaining the state of the beverage outlet 22 moving downward, and returning to the step of executing the second transmitting unit 2431 to send the second detection wave.

[0189] Specifically, after determining whether the second receiving unit 2432 receives the second detection wave, the following steps are further included:

[0190] S3321: Determine whether the beverage outlet 22 reaches the second end.

[0191] As the beverage outlet 22 continues to move downward, the second receiving portion 2432 will always receive the second detection wave. At this point, it is necessary to determine whether the beverage outlet 22 has reached the second end. The second end is the lowest position to which the beverage outlet 22 can move downward. If the opening edge of the container 26 is relatively low, even if the beverage outlet 22 continues to descend, the second transmitting portion 2431 and the second receiving portion 2432 of the third sensing component will not be able to sense the presence of the container 26. In this case, it is necessary to determine whether the beverage outlet 22 has reached its lowest limit, i.e., the second end.

[0192] If so, the beverage outlet 22 is stopped from moving downward.

[0193] If it is determined that the beverage outlet 22 has reached the second end, the beverage outlet 22 stops moving downward, and the first category of beverage ingredients and / or the second category of beverage ingredients are output to the container 26 that receives the beverage according to the user's instructions. The first sensing component 241 detects that the detection information in the container 26 meets the preset conditions, and stops outputting the first category of beverage ingredients and / or the second category of beverage ingredients. The detection information includes first information and second information. The first information is the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients. When it is detected that the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients meets the preset conditions, the output of the first category of beverage ingredients is stopped; the second information is the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients. When it is detected that the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients meets the preset conditions, the output of the second category of beverage ingredients is stopped. In this embodiment, after the beverage outlet 22 reaches the second end, the trigger portion 2421 never contacts the edge of the opening of the container 26. At this time, after discharging the first category of beverage ingredients and / or the second category of beverage ingredients, the specific method of stopping discharging the first category of beverage ingredients and / or the second category of beverage ingredients includes:

[0194] Method 1: In response to the user instruction being a first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients.

[0195] Referring to Figure 18 , the first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the opening of the container 26. When dispensing the first category of beverage ingredients is stopped, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the opening and the top of the first category of beverage ingredients, determined based on statistical data or experience, to prevent the first category of beverage ingredients from splashing out of the container 26. When dispensing the first category of beverage ingredients in accordance with user instructions, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing of the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause splashing, and dispensing of the first category of beverage ingredients is stopped. The first information meets the first preset condition, i.e., H1 - Hc ≤ h1. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first type of beverage ingredients is less than or equal to the first preset value, the output of the first type of beverage ingredients is stopped.

[0196] Method 2: Alternatively, in response to the user instruction being the second instruction, the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, the output of the second category of beverage ingredients is stopped.

[0197] Referring to Figure 19 , the first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the opening of the container 26. When dispensing the second-category beverage ingredients is stopped, the distance between the beverage outlet 22 and the liquid level of the second-category beverage ingredients is Hc + h2, where h2 is the minimum vertical distance between the edge of the opening and the liquid level of the second-category beverage ingredients, determined based on statistical data or experience, to prevent splashing of the second-category beverage ingredients from the container 26. When dispensing the second-category beverage ingredients in response to user instructions, the first sensing component 241 detects and confirms the vertical distance H2 between the beverage outlet 22 and the liquid level of the second-category beverage ingredients in real time. If H2 - Hc > h2, dispensing of the second-category beverage ingredients continues. If H2 - Hc ≤ h2, continuing to dispense the second-category beverage ingredients will cause splashing, and dispensing of the second-category beverage ingredients is stopped. The second information meets the second preset condition, meaning H2 - Hc ≤ h2. In this embodiment, h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second type of beverage ingredients is less than or equal to the second preset value, the output of the second type of beverage ingredients is stopped.

[0198] Method three: or in response to the user instruction being the third instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container 26 meets the first preset condition, stopping outputting the first category of beverage ingredients; outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container 26 meets the second preset condition, stopping outputting the second category of beverage ingredients.

[0199] Referring to Figure 20 , when responding to the third user command, the first category of beverage ingredients is first dispensed. The first sensing component 241 detects the distance Hc, which is the vertical distance between the beverage outlet 22 and the edge of the container 26. When dispensing the first category of beverage ingredients ceases, the distance between the beverage outlet 22 and the top of the first category of beverage ingredients is Hc + h1, where h1 is the minimum vertical distance between the edge of the container 26 and the top of the first category of beverage ingredients determined based on statistical data or experience to prevent the first category of beverage ingredients from splashing out. While dispensing the first category of beverage ingredients in response to the user command, the first sensing component 241 detects and confirms the vertical distance H1 between the beverage outlet 22 and the top of the first category of beverage ingredients in real time. If H1 - Hc > h1, dispensing the first category of beverage ingredients continues. If H1 - Hc ≤ h1, continuing to dispense the first category of beverage ingredients will cause them to splash, and dispensing the first category of beverage ingredients ceases. The first information meeting the first preset condition means that H1 - Hc ≤ h1 is satisfied.

[0200] After the output of the first category of beverage ingredients is completed, the second category of beverage ingredients is output. When the output of the second category of beverage ingredients stops, the distance between the beverage output port 22 and the liquid level of the second category of beverage ingredients is Hc+h2, where h2 is the minimum vertical distance between the opening edge and the liquid level of the second category of beverage ingredients, determined based on data statistics or experience, so that the second category of beverage ingredients cannot splash out of the container 26. When the second category of beverage ingredients are output according to user instructions, the first sensing component 241 detects and confirms in real time the vertical distance H2 between the beverage output port 22 and the liquid level of the second category of beverage ingredients. When it is determined that H2-Hc>h2, the second category of beverage ingredients continue to be output; when it is determined that H2-Hc≤h2, continuing to load the second category of beverage ingredients will cause the second category of beverage ingredients to splash, and the output of the second category of beverage ingredients is stopped. The second information meets the second preset condition, that is, H2-Hc≤h2.

[0201] If not, the beverage outlet 22 is kept in the downwardly moving state, and the process returns to step S331 in which the second transmitting unit 2431 sends the second detection wave.

[0202] It should be noted that dispensing the first category of beverage ingredients before dispensing the second category of beverage ingredients can prevent splashing of the second category of beverage ingredients. In other embodiments, the second category of beverage ingredients may be dispensed first before the first category of beverage ingredients. In this embodiment, h1 can be set to a first preset value. The first preset condition is that when the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients is less than or equal to the first preset value, dispensing of the first category of beverage ingredients is stopped. h2 can be set to a second preset value. The second preset condition is that when the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients is less than or equal to the second preset value, dispensing of the second category of beverage ingredients is stopped. It should be noted that in other embodiments, the first preset condition is not limited to the vertical distance between the opening edge of the container 26 and the top of the first category of beverage ingredients being less than or equal to the first preset value, and the second preset condition is not limited to the vertical distance between the opening edge of the container 26 and the liquid level of the second category of beverage ingredients being less than or equal to the second preset value. It can also be less than other distances, and this is not limited here.

[0203] According to one embodiment of the present application, the beverage dispensing device 20 includes a fourth sensing component 244, which is located above the support platform 27. The fourth sensing component 244 is used to determine whether the beverage dispensing port 22 has moved downward to the target position based on image information and to obtain detection information. Specifically, in this embodiment, the beverage dispensing device 20 includes the fourth sensing component 244. The fourth sensing component 244 uses the obtained image information to determine whether the beverage dispensing port 22 has moved downward to the target position and provides real-time feedback of the detection information through image information. When the detection information meets a preset condition, the fourth sensing component 244 stops dispensing the first type of beverage ingredients and / or stops dispensing the second type of beverage ingredients.

[0204] According to one embodiment of the present application, the beverage output device 20 also includes a water receiving box 28 and a prompt component 282. A water level sensor 281 is provided in the water receiving box 28. The water receiving box 28 is located under the supporting platform 27. The prompt component 282 is used to output prompt information. The control method also includes: in response to the step of stopping the beverage output port 22 from moving downward, judging whether the water level in the water receiving box 28 reaches a preset water level according to the detection signal obtained by the water level sensor 281; if so, the prompt component 282 outputs a prompt information; if not, outputting the first category of beverage ingredients and / or the second category of beverage ingredients to the container 26 for receiving the beverage according to the user's instructions, and at the same time continuing to judge whether the water level in the water receiving box 28 reaches the preset water level according to the detection signal obtained by the water level sensor 281. If so, stopping outputting the first category of beverage ingredients and / or the second category of beverage ingredients and outputting the prompt information.

[0205] Specifically, referring to FIG. 5 or FIG. 6 , the beverage dispensing device 20 further includes a water receiving box 28 located under the carrier 27 , and a water level sensor 281 is provided in the water receiving box 28 . The control method further includes the following steps:

[0206] S51 : In response to the step of stopping the beverage outlet 22 from moving downward, it is determined whether the water level in the water receiving box 28 reaches a preset water level according to the detection signal obtained by the water level sensor 281 .

[0207] Generally, after the beverage output port 22 moves downward to an appropriate position, the beverage output device 20 will output the first category of beverage ingredients and / or the second category of beverage ingredients to the container 26 according to user instructions. In order to avoid situations such as the user temporarily taking away the container 26, moving the container 26 or replacing the container 26, which may easily cause the first category of beverage ingredients and / or the second category of beverage ingredients output from the beverage output port 22 to fill the water receiving box 28 and cause the second category of beverage ingredients to overflow, a water level sensor 281 is provided to detect the water level in the water receiving box 28 to control the output or closing of the beverage output port 22.

[0208] If yes, step S52 is executed: the prompt component 282 outputs prompt information.

[0209] If the detection signal received by the water level sensor 281 determines that the water level in the water receiving box 28 has reached a preset level, indicating that if the first and / or second category beverage ingredients enter the water receiving box 28, the second category beverage ingredients in the water receiving box 28 will overflow, the beverage dispensing device 20 will not dispense the first and / or second category beverage ingredients. The prompt component 282 then outputs a prompt message to remind the user to clean the water receiving box 28 promptly. The prompt component 282 can be a display screen, an LED light, a speaker, a vibrator, etc. The prompt message can be text or images displayed on the display screen; a light or flashing LED light; a sound played by the speaker; a vibration generated by the vibrator, etc.

[0210] If not, the first category of beverage ingredients and / or the second category of beverage ingredients are output to the container 26 for receiving the beverage according to the user's instructions, and at the same time, the detection signal obtained by the water level sensor 281 is continuously used to determine whether the water level in the water receiving box 28 reaches the preset water level. If so, the output of the first category of beverage ingredients and / or the second category of beverage ingredients and the output of the prompt information are stopped.

[0211] According to one embodiment of the present application, in response to stopping the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients, the beverage outlet can also be controlled to move toward the initial direction to facilitate removal of the container and cleaning of the water receiving box.

[0212] This embodiment can be understood as follows: after the beverage outlet 22 moves downward to an appropriate position, if the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 has not reached the preset water level, the first category of beverage ingredients and / or the second category of beverage ingredients will be output to the container 26 for receiving the beverage according to the user's instruction. During the process of outputting the first category of beverage ingredients and / or the second category of beverage ingredients, the detection signal of the water level sensor 281 will continue to be obtained and it will be determined whether the water level in the water receiving box 28 has reached the preset water level. If the water level in the water receiving box 28 has not reached the preset water level, the output of the first category of beverage ingredients and / or the second category of beverage ingredients will continue; if the water level in the water receiving box 28 has reached the preset water level, the output of the first category of beverage ingredients and / or the second category of beverage ingredients will immediately stop, as will the output of the prompt message. This embodiment, by synchronously detecting whether the water level in the water receiving box 28 has reached a preset level during the process of dispensing the first and / or second category beverage ingredients, can prevent situations such as the user temporarily removing, moving, or replacing the container 26 during the dispensing process, which could easily cause the first and / or second category beverage ingredients dispensed from the beverage outlet 22 to fill the water receiving box 28 and thus cause the second category beverage ingredients to overflow. Therefore, the water level sensor 281 continuously detects the water level in the water receiving box 28 to control the dispensing or closing of the beverage outlet 22. When the dispensing of the first and / or second category beverage ingredients is stopped, the beverage outlet 22 can also be controlled to move toward its initial direction to facilitate the removal of the container 26 and the cleaning of the water receiving box 28.

[0213] According to one embodiment of the present application, referring to FIG. 21 , the beverage dispensing device 20 further includes a water receiving box 28 and a prompting assembly 282 located below the supporting platform 27 . A water level sensor 281 is provided in the water receiving box 28 . The control method further includes the following steps:

[0214] S51: In response to the step of receiving the user instruction, it is determined whether the water level in the water receiving box 28 reaches a preset water level according to the detection signal obtained by the water level sensor 281.

[0215] Specifically, when the beverage dispensing device 20 receives a user instruction, in order to avoid situations such as the user temporarily taking away the container 26, moving the container 26 or replacing the container 26, which may easily cause the first category of beverage ingredients and / or the second category of beverage ingredients output from the beverage outlet 22 to fill the water receiving box 28 and thus cause the second category of beverage ingredients to overflow, therefore, a water level sensor 281 is first set to detect the water level in the water receiving box 28 to determine whether it is necessary to remind the user to clean the water receiving box 28.

[0216] If yes, step S52 is executed: the prompt component 282 outputs prompt information.

[0217] If the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 has reached the preset water level, it means that if the first category of beverage ingredients and / or the second category of beverage ingredients enter the water receiving box 28, the second category of beverage ingredients in the water receiving box 28 will overflow. Therefore, the prompt component 282 outputs a prompt message at this time to remind the user to clean the water receiving box 28 in time.

[0218] If not, the step of moving the beverage outlet 22 downward from the initial position is executed.

[0219] According to one embodiment of the present application, the control method further includes: in response to the step of receiving a user instruction, determining whether the presence of the container 26 is detected on the supporting platform 27; if so, executing the step of moving the beverage outlet 22 downward from the initial position; if not, stopping the movement of the beverage outlet 22.

[0220] Specifically, after the beverage dispensing device 20 receives a user instruction, in order to avoid situations such as the user accidentally touching the device or temporarily taking away the container 26, resulting in the actual absence of the container 26 that needs to receive the first category of beverage ingredients and / or the second category of beverage ingredients, it is necessary to determine whether the presence of the container 26 is detected on the supporting platform 27 before the beverage dispensing port 22 moves downward from the initial position.

[0221] If yes, the step of moving the beverage outlet 22 downward from the initial position is executed.

[0222] If not, it means that there is no container 26 on the supporting platform 27. At this time, the beverage outlet 22 will not descend and the output of the first category of beverage ingredients and / or the second category of beverage ingredients will stop.

[0223] This embodiment detects the presence of a container 26 on the support platform 27 after receiving a user command, thereby preventing splashing or spilling of beverage ingredients due to accidental touch. It should be noted that this embodiment can detect the presence of the container 26 by means of a micro switch, an infrared pair of tubes, an infrared transceiver (mounted on the same side to receive reflected light), an ultrasonic sensor, or the like.

[0224] In some embodiments, the detection information includes the vertical distance between the top of the object received in the container and the edge of the container opening.

[0225] When the container contains only the first category of beverage ingredients, the vertical distance between the top of the container and the edge of the container opening is the first information.

[0226] When the container contains only the second category of beverage ingredients, the vertical distance between the top of the container and the edge of the container opening is the second information.

[0227] When the contents of the container include a mixture of first and second category beverage ingredients, if the first category beverage ingredients sink to the bottom of the second category beverage ingredients or float in the second category beverage ingredients, the vertical distance between the top of the container and the edge of the container opening serves as the second information. If the first category beverage ingredients float above the second category beverage ingredients, and the distance between the top of the first category beverage ingredients protruding above the liquid surface of the second category beverage ingredients and the liquid surface of the second category beverage ingredients is small, for example, less than 2 mm, less than 3 mm, less than 5 mm, etc., the vertical distance between the top of the container and the edge of the container opening serves as the second information or the first information. If the first category beverage ingredients float above the second category beverage ingredients, and the distance between the top of the first category beverage ingredients protruding above the liquid surface of the second category beverage ingredients and the liquid surface of the second category beverage ingredients is large, for example, greater than or equal to 5 mm, greater than or equal to 8 mm, greater than or equal to 1 cm, etc., the vertical distance between the top of the container and the edge of the container opening serves as the first information.

[0228] To solve the above technical problems, the present application also provides a beverage output device 20. Referring to Figures 22 and 23, the beverage output device 20 includes an instruction receiving component 21, a beverage output port 22, a moving component 2323, a detection component 24 and a processor 25. The instruction receiving component 21 is used to receive user instructions, and the user instructions include outputting a first instruction, a second instruction and a third instruction. The first instruction is an instruction for outputting the first category of beverage ingredients, the second instruction is an instruction for outputting the second category of beverage ingredients, and the third instruction is an instruction for outputting the first category of beverage ingredients and the second category of beverage ingredients; the beverage output port 22 is used to output beverages to the container 26, and the beverages include the first category of beverage ingredients and / or the second category of beverage ingredients; the first category of beverage ingredients include ingredients with fixed shapes, elastic ingredients, and ingredients with poor fluidity, such as ice cubes, crushed ice, red beans, mung beans, peanuts, pearls in pearl milk tea, coconut flakes, taro balls, milk jelly, jelly, tortoise jelly, fruit puree, taro puree, ice cream, puffed food, baked goods, etc., and the second category of beverage ingredients include ingredients with high fluidity, such as water, juice, milk, coffee, cola, soy milk, etc. The moving component 2323 is connected to the beverage outlet 22, and the moving component 2323 is used to move the beverage outlet 22; the detection component 24 is used to detect the opening edge of the container 26 and the detection information inside the container 26; the processor 25 is connected to the instruction receiving component 21, the moving component 2323 and the detection component 24, and the processor 25 is used to execute any of the control methods for the beverage output device 20 described above.

[0229] Specifically, the instruction receiving component 21 receives user instructions, the moving component 2323 controls the beverage outlet 22 to rise or fall, and the detection component 24 moves synchronously with the beverage outlet 22. The detection component 24 emits a first detection wave and receives the echo of the first detection wave, which is used to detect the opening edge of the container 26 and the detection information inside the container 26. The detection information includes first information and second information. When the detection component 24 is in a suitable position to detect the opening edge of the container 26 and the detection information inside the container 26, the beverage outlet 22 is controlled to output the first category of beverage ingredients and / or the second category of beverage ingredients. During the process of outputting the first category of beverage ingredients and / or the second category of beverage ingredients, when the detection information of the first category of beverage ingredients in the container 26 meets a preset condition, the beverage output device 20 automatically stops outputting the first category of beverage ingredients and / or the second category of beverage ingredients to prevent the first category of beverage ingredients and / or the second category of beverage ingredients from splashing.

[0230] The instruction receiving component 21 may include an input area of ​​a button, knob, microphone, camera or display screen set on the beverage output device 20; or the beverage output device 20 is used to connect to the user's client by wire or wirelessly, and the instruction receiving component 21 includes an antenna, a connector set on the beverage output device 20, and an input area of ​​a button, knob, microphone, camera or display screen set on the client.

[0231] The processor 25 is the computing and control core and the execution unit for information processing and program execution.

[0232] According to one embodiment of the present application, referring to FIG. 24 , the beverage dispensing device 20 further includes a support platform 27 for supporting a container 26. A beverage dispensing port 22 is located above the support platform 27. The beverage dispensing port 22 has a motion track having a first end a away from the support platform 27 and a second end b closer to the support platform 27. Specifically, when the container 26 is placed on the support platform 27, the beverage dispensing port 22 moves downward toward the support platform 27. The starting position of the beverage dispensing port 22 is the first end a, and the end of the beverage dispensing port 22 after reaching its lowest position is the second end b.

[0233] According to one embodiment of the present application, the detection assembly 24 includes a first sensing assembly 241. The first sensing assembly 241 is located above the support platform 27. The first sensing assembly 241 is fixed relative to the beverage outlet 22. The first sensing assembly 241 is connected to the processor 25. The first sensing assembly 241 is configured to move synchronously with the beverage outlet 22. Specifically, the first sensing assembly 241 is located above the support platform 27. The first sensing assembly 241 is configured to move synchronously with the beverage outlet 22, emit a first detection wave, and receive an echo of the first detection wave.

[0234] According to one embodiment of the present application, the first sensing component 241 is an ultrasonic detector or a time-of-flight (TOF) detector.

[0235] According to one embodiment of the present application, the first sensing component 241 is used to detect the opening edge of the container 26 and the detection information in the container 26, and the detection information includes first information and second information. The first information is the top information of the first category of beverage ingredients, and the second information is the liquid level information of the second category of beverage ingredients. Specifically, when the first sensing component 241 is located at a suitable position where it can detect the opening edge of the container 26 and the detection information in the container 26, the beverage output port 22 is controlled to output the first category of beverage ingredients and / or output the second category of beverage ingredients. During the process of outputting the first category of beverage ingredients and / or outputting the second category of beverage ingredients, when the detection information in the container 26 meets the preset conditions, the beverage output device 20 automatically stops outputting the first category of beverage ingredients and / or outputting the second category of beverage ingredients, so as to avoid splashing of the first category of beverage ingredients and / or the second category of beverage ingredients.

[0236] According to one embodiment of the present application, with continued reference to FIG. 23 , the detection assembly 24 further includes a second sensing assembly 242. The second sensing assembly 242 is positioned above the support platform 27 and is fixed relative to the beverage outlet 22. The second sensing assembly 242 is configured to move synchronously with the beverage outlet 22. The second sensing assembly 242 includes a trigger portion 2421 and a microswitch 2422. The trigger portion 2421 is configured to trigger the microswitch 2422 when it contacts the edge of the opening of the container 26. The microswitch 2422 is connected to the processor 25. Specifically, the trigger portion 2421 is configured to protrude relative to the beverage outlet 22 toward the container 26. When the beverage outlet 22 moves downward, the trigger portion 2421 is configured to trigger the microswitch 2422 when it contacts the edge of the opening of the container 26.

[0237] According to one embodiment of the present application, the second sensing component 242 is used to detect the opening edge of the container 26, and the first sensing component 241 is used to detect detection information within the container 26. Specifically, the second sensing component 242 is used to detect the opening edge of the container 26. If the trigger portion 2421 of the second sensing component 242 triggers the microswitch 2422, indicating that the trigger portion 2421 abuts the opening edge of the container 26, the beverage outlet 22 stops moving downward, and the first category of beverage ingredients and / or the second category of beverage ingredients are discharged into the container 26 according to user instructions. After the first sensing component 241 detects that the detection information within the container 26 meets preset conditions, it stops discharging the first category of beverage ingredients and / or the second category of beverage ingredients.

[0238] According to one embodiment of the present application, with continued reference to Figures 15 and 23, the detection assembly 24 further includes a third sensing assembly 243, which is configured to move synchronously with the beverage outlet 22. The support platform 27 of the beverage dispensing device 20 further includes a first sidewall 271 and a second sidewall 272 disposed opposite each other on both sides. The third sensing assembly 243 includes a second transmitting portion 2431 and a second receiving portion 2432 disposed opposite each other. The second transmitting portion 2431 is movably disposed on the first sidewall 271, and the second receiving portion 2432 is movably disposed on the second sidewall 272. The third sensing assembly 243 is connected to the processor 25. Specifically, as the beverage outlet 22 moves downward, the third sensing assembly 243 moves downward synchronously with the second transmitting portion 2431 and the second receiving portion 2432, and the second transmitting portion 2431 emits a second detection wave, which determines whether the second receiving portion 2432 receives the second detection wave. In response to the second receiving part 2432 not receiving the second detection wave, it means that the third sensing component 243 has detected the opening edge of the container 26, and the beverage outlet 22 has reached the target position. At this time, the beverage outlet 22 stops moving downward, and the first type of beverage ingredients and / or the second type of beverage ingredients are output to the container 26 according to the user's instructions.

[0239] The second transmitting portion 2431 is movably disposed on the first side wall 271. The second transmitting portion 2431 can be directly and movably connected to the first side wall 271, or the second transmitting portion 2431 can be movably located on the side of the first side wall 271 facing the carrier 27 or on the side facing away from the carrier 27. The second receiving portion 2432 is movably disposed on the second side wall 272. The second receiving portion 2432 can be directly and movably connected to the second side wall 272, or the second receiving portion 2432 can be movably located on the side of the second side wall 272 facing the carrier 27 or on the side facing away from the carrier 27.

[0240] According to one embodiment of the present application, the third sensing component is an infrared pair tube.

[0241] According to one embodiment of the present application, the third sensing component 243 is used to detect the opening edge of the container 26, and the first sensing component 241 is used to detect detection information within the container 26, which includes first information and second information. Specifically, when the third sensing component 243 detects the opening edge of the container 26, it indicates that the beverage outlet 22 has reached the target position. When the first sensing component 241 detects that the detection information within the container 26 meets a preset condition, it stops dispensing the first type of beverage ingredients and / or dispenses the second type of beverage ingredients.

[0242] According to one embodiment of the present application, the detection assembly 24 includes a fourth sensing assembly 244, which is located above the support platform 27. The fourth sensing assembly 244 is used to detect the opening edge of the container 26 and the detection information within the container 26 through image information. The fourth sensing assembly 244 is connected to the processor 25. Specifically, in this embodiment, the beverage dispensing device 20 includes the fourth sensing assembly 244. The fourth sensing assembly 244 uses the obtained image information to determine whether the beverage dispensing port 22 has moved downward to the target position, and provides real-time feedback of the detection information through image information. When the detection information meets preset conditions, the fourth sensing assembly 244 stops dispensing the first category of beverage ingredients and / or dispensing the second category of beverage ingredients.

[0243] According to one embodiment of the present application, the fourth sensing component 244 is a camera.

[0244] According to one embodiment of the present application, referring to Figures 25, 26, and 27, the beverage dispensing device 20 includes a first sleeve group 231. The first sleeve group 231 includes a plurality of first sleeves 2311 arranged in a hierarchical manner. The innermost first sleeve 2311 is fixedly disposed at the first end a. The remaining first sleeves 2311 can be relatively movable along a first direction X to achieve telescopic extension. The first direction X is a direction toward or away from the container 26. The first sleeve 2311 fixedly disposed at the first end a is a first fixed sleeve. The first sleeve 2311 in the first sleeve group 231 that is farthest from the first fixed sleeve is a first movable sleeve. The first movable sleeve is also the outermost first sleeve 2311 in the first sleeve group 231. The beverage dispensing port 22 is located on the first movable sleeve. The first sleeve group 231 of this embodiment is configured as a smaller sleeve at the top and a larger sleeve at the bottom. Specifically, the innermost first sleeve 2311 is fixedly mounted at the first end a, while the remaining first sleeves 2311 are stacked outside the innermost first sleeve 2311, allowing for relative movement and expansion along a first direction X. Because the plurality of first sleeves 2311 are relatively movable and expandable along the first direction X, and the innermost first sleeve 2311 is fixedly mounted at the first end a, during the process of dispensing the first and / or second category beverage ingredients, the first movable sleeve extends toward the second end b near the container 26. At this time, the first movable sleeve can drive the remaining first sleeves 2311 located between the first fixed sleeve and the first movable sleeve to extend toward the second end b near the container 26. This prevents splashing during the dispensing of the first and / or second category beverage ingredients. After dispensing the first and / or second category beverage ingredients, the first movable sleeve retracts from the second end b proximate to the container 26 toward the first end a distal from the container 26, thereby causing the other first sleeves 2311 located between the first fixed sleeve and the first movable sleeve to retract toward the first end a distal from the container 26. This allows the user to avoid touching the beverage outlet 22 with their hands after dispensing the first and / or second category beverage ingredients, which could affect the user experience. The innermost first sleeve 2311 is fixed to the first end a, so that during the extension and retraction process, the first sleeve group 231 remains relatively fixed to the first end a distal from the container 26, thereby ensuring a more stable extension and retraction process. Therefore, this structural arrangement facilitates the user's dispensing of the first and / or second category beverage ingredients through the extension and retraction of the first sleeve group 231, preventing the first and / or second category beverage ingredients from splashing and affecting the user experience.

[0245] According to one embodiment of the present application, a conveying channel (not shown in the figure) is formed in the first sleeve group 231, and a first-category beverage ingredient output port 221 is formed at the bottom of the first movable sleeve. The beverage output port 22 includes a first-category beverage ingredient output port 221, and a first-category beverage ingredient output port 221 is formed at the bottom of the first movable sleeve. When the user takes the first-category beverage ingredients, the first-category beverage ingredients move from the conveying channel toward the first-category beverage ingredient output port 221, and the first-category beverage ingredients are output from the output port. The conveying channel formed by the first sleeve group 231 having a hollow structure inside can also facilitate the output of the first-category beverage ingredients when the user takes the first-category beverage ingredients, and can make the output process of the first-category beverage ingredients smoother.

[0246] According to one embodiment of the present application, when the first sleeve assembly 231 is in the extended state, the inner diameter of the delivery channel gradually increases in the direction close to the beverage outlet 22. The setting of the gradually increasing inner diameter of the delivery channel can prevent the first type of beverage ingredients from being stuck.

[0247] According to one embodiment of the present application, the beverage dispensing device 20 further includes a second sleeve group 232. The second sleeve group 232 is sleeved outside the first sleeve group 231. The second sleeve group 232 includes multiple second sleeves 2322 arranged in a hierarchical manner. The outermost second sleeve 2322 or the innermost second sleeve 2322 is fixedly mounted at the first end a, and the remaining second sleeves 2322 are relatively movable along a first direction X to achieve telescopic movement. The first direction X is a direction toward or away from the container 26. The second sleeve 2322 fixedly mounted at the first end a is a second fixed sleeve. The second sleeve 2322 in the second sleeve group 232 farthest from the second fixed sleeve is a second movable sleeve. The second movable sleeve is relatively fixed to the first movable sleeves in the first sleeve group 231. Specifically, when the outermost second sleeve 2322 is fixedly disposed at the first end a, the second sleeve group 232 has a structure that is larger at the top and smaller at the bottom; when the innermost second sleeve 2322 is fixedly disposed at the first end a, the second sleeve group 232 has a structure that is smaller at the top and larger at the bottom. When the user is taking the first category of beverage ingredients and / or the second category of beverage ingredients, since the second fixed sleeve is fixedly arranged at the first end a, and the second sleeve 2322 farthest from the second fixed sleeve, i.e., the second movable sleeve, is relatively fixed to the first movable sleeve, at this time, as the first movable sleeve extends toward the end close to the container 26, the first movable sleeve will drive the second movable sleeve to extend toward the end close to the container 26. Since multiple second sleeves 2322 are arranged in layers, other second sleeves 2322 will also extend toward the end close to the container 26. When the second sleeve group 232 and the first sleeve group 231 both extend toward the second end b, the distance between the first sleeve group 231 and the second sleeve group 232 and the container 26 is shortened, and when the first category of beverage ingredients and / or the second category of beverage ingredients are output, the first category of beverage ingredients and / or the second category of beverage ingredients will not splash everywhere, and the user experience will be better. Furthermore, since the second fixed sleeve is fixedly disposed at the first end a, the second sleeve group 232 can be more stable during the process of the second sleeve group 232 extending and retracting.

[0248] According to one embodiment of the present application, to allow the second-category beverage ingredients to be dispensed from the beverage dispensing port 22, the beverage dispensing port 22 further includes a second-category beverage ingredient dispensing port 222. The beverage dispensing device 20 further includes a delivery tube 29, with an output end 291 of the delivery tube 29 forming the second-category beverage ingredient dispensing port 222. The output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve. Specifically, when a user dispenses the second-category beverage ingredients, the second-category beverage ingredients flow within the delivery tube 29. When the second-category beverage ingredients reach the output end 291 of the delivery tube 29, the second-category beverage ingredients are dispensed from the second-category beverage ingredient dispensing port 222. Because the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve, when the user dispenses the second-category beverage ingredients, the first movable sleeve or the second movable sleeve extends toward the end closest to the container 26, allowing the output end 291 to be closer to the container 26. This prevents the second-category beverage ingredients from splashing into the container 26, thereby improving the user experience. At the same time, the delivery pipe 29 is arranged between the first sleeve group 231 and the second sleeve group 232. At this time, the second sleeve group 232 can play a certain shielding and protective role for the first sleeve group 231 and other structural parts such as the delivery pipe 29 located outside the first sleeve group 231, making the overall appearance more beautiful. At the same time, it can also extend the service life of structures such as the first sleeve group 231 and the delivery pipe 29.

[0249] In other embodiments, the delivery tube 29 is disposed in the delivery channel formed in the first sleeve assembly 231 , and the second-category beverage ingredient outlet 222 formed by the output end 291 of the delivery tube 29 is embedded in the first-category beverage ingredient outlet 221 .

[0250] The innermost first sleeve 2311 of the first sleeve group 231 is relatively fixed to the first end a, and the remaining first sleeves 2311 can be relatively movable in the direction of approaching or moving away from the container 26 to achieve expansion and contraction. The first sleeve group 231 has a structure that is small at the top and large at the bottom.

[0251] The following lists the cases where the first sleeve group 231 has a structure with a larger upper portion and a smaller lower portion.

[0252] According to one embodiment of the present application, the beverage dispensing device 20 includes a first sleeve group 231. The first sleeve group 231 includes a plurality of first sleeves 2311 arranged in a hierarchical manner. The outermost first sleeve 2311 is fixedly disposed at the first end a. The remaining first sleeves 2311 can be relatively movable along a first direction X to achieve telescoping. The first direction X is a direction toward or away from the container 26. The outermost first sleeve 2311 fixedly disposed at the first end a is a first fixed sleeve. The first sleeve 2311 in the first sleeve group 231 that is farthest from the first fixed sleeve is a first movable sleeve, which is also the innermost first sleeve 2311 in the first sleeve group 231. The beverage dispensing port 22 is located at the second movable sleeve. In this embodiment, the first sleeve group 231 is larger at the top and smaller at the bottom. Specifically, the outermost first sleeve 2311 is fixedly mounted at the first end a, while the remaining first sleeves 2311 are nested within the outermost first sleeve 2311, allowing for relative movement and expansion along a first direction X. Because the plurality of first sleeves 2311 are relatively movable along the first direction X, and the outermost first sleeve 2311 is fixedly mounted at the first end a, during the process of dispensing the first and / or second category beverage ingredients, the first movable sleeve extends toward the second end b proximate to the container 26. At this time, the first movable sleeve can drive the remaining first sleeves 2311 between the first fixed sleeve and the first movable sleeve to extend toward the second end b proximate to the container 26. This prevents splashing during the dispensing of the first and / or second category beverage ingredients. After dispensing the first and / or second category beverage ingredients, the first movable sleeve retracts from the second end b proximate to the container 26 toward the first end a distal from the container 26, thereby causing the other first sleeves 2311 located between the first fixed sleeve and the first movable sleeve to retract toward the first end a distal from the container 26. At this point, after dispensing the first and / or second category beverage ingredients, the user can avoid touching the beverage outlet 22 with their hands, which would otherwise affect the user experience. Since the first fixed sleeve is fixed to the first end a, the first sleeve assembly 231 can remain relatively fixed to the first end a distal from the container 26 during its extension and retraction, thereby ensuring a more stable extension and retraction process. Therefore, this structural arrangement facilitates the user's dispensing of the first and / or second category beverage ingredients through the extension and retraction of the first sleeve assembly 231, thereby preventing the first and / or second category beverage ingredients from splashing and affecting the user experience.

[0253] According to one embodiment of the present application, a delivery channel (not shown) is formed within the first sleeve assembly 231, and a first-category beverage ingredient outlet 221 is formed at the bottom of the first movable sleeve. When a user takes the first-category beverage ingredients, the first-category beverage ingredients move from the delivery channel toward the first-category beverage ingredient outlet 221 and are discharged from the outlet. The delivery channel formed by the hollow interior of the first sleeve assembly 231 also facilitates the discharge of the first-category beverage ingredients during the user's dispensing process, making the discharge process of the first-category beverage ingredients smoother.

[0254] According to one embodiment of the present application, when the first sleeve assembly 231 is in the extended state, the inner diameter of the delivery channel gradually decreases in the direction close to the beverage outlet 22. The setting of the gradually decreasing inner diameter of the delivery channel can gather the delivery path of the first type of beverage ingredients.

[0255] According to one embodiment of the present application, the beverage dispensing device 20 further includes a second sleeve group 232. The second sleeve group 232 is sleeved outside the first sleeve group 231. The second sleeve group 232 includes multiple second sleeves 2322 arranged in a hierarchical manner. The outermost second sleeve 2322 or the innermost second sleeve 2322 is fixedly mounted at the first end a. The second sleeve 2322 fixedly mounted at the first end a is a second fixed sleeve. The second sleeve 2322 in the second sleeve group 232 farthest from the second fixed sleeve is a second movable sleeve, which is fixed relative to the first movable sleeve in the first sleeve group 231. Specifically, when the outermost second sleeve 2322 is fixedly mounted at the first end a, the second sleeve group 232 has a structure with a larger top and a smaller bottom. When the innermost second sleeve 2322 is fixedly mounted at the first end a, the second sleeve group 232 has a structure with a smaller top and a larger bottom. When the user is taking the first category of beverage ingredients and / or the second category of beverage ingredients, since the second fixed sleeve is fixedly arranged at the first end a, and the second sleeve 2322 farthest from the second fixed sleeve, i.e., the second movable sleeve, is relatively fixed to the first movable sleeve, at this time, as the first movable sleeve extends toward the end close to the container 26, the first movable sleeve will drive the second movable sleeve to extend toward the end close to the container 26. Since multiple second sleeves 2322 are layered, other second sleeves 2322 will also extend toward the end close to the container 26. When the second sleeve group 232 and the first sleeve group 231 both extend toward the second end b, the distance between the first sleeve group 231 and the second sleeve group 232 and the container 26 is shortened, and when the first category of beverage ingredients and / or the second category of beverage ingredients are output, the first category of beverage ingredients and / or the second category of beverage ingredients will not splash everywhere, and the user experience will be better. Furthermore, since the second fixed sleeve is fixedly disposed at the first end a, the second sleeve group 232 can be more stable during the process of the second sleeve group 232 extending and retracting.

[0256] According to an embodiment of the present application, the first sleeve 2311 and the second sleeve 2322 correspond to each other and are relatively fixed. Specifically, the first sleeve 2311 and the second sleeve 2322 can be connected to each other in a one-to-one manner by adding a connecting piece.

[0257] According to one embodiment of the present application, to allow the second-category beverage ingredients to be dispensed from the beverage dispensing port 22, the beverage dispensing port 22 further includes a second-category beverage ingredient dispensing port 222. The beverage dispensing device 20 further includes a delivery tube 29, with an output end 291 of the delivery tube 29 forming the second-category beverage ingredient dispensing port 222. The output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve. Specifically, when a user dispenses the second-category beverage ingredients, the second-category beverage ingredients flow within the delivery tube 29. When the second-category beverage ingredients reach the output end 291 of the delivery tube 29, the second-category beverage ingredients are dispensed from the second-category beverage ingredient dispensing port 222. Because the output end 291 is relatively fixed to the first movable sleeve or the second movable sleeve, when the user dispenses the second-category beverage ingredients, the first movable sleeve or the second movable sleeve extends toward the end closest to the container 26, allowing the output end 291 to be closer to the container 26. This prevents the second-category beverage ingredients from splashing into the container 26, thereby improving the user experience. At the same time, the delivery pipe 29 is arranged between the first sleeve group 231 and the second sleeve group 232. At this time, the second sleeve group 232 can play a certain shielding and protective role for the first sleeve group 231 and other structural parts such as the delivery pipe 29 located outside the first sleeve group 231, making the overall appearance more beautiful. At the same time, it can also extend the service life of structures such as the first sleeve group 231 and the delivery pipe 29.

[0258] According to one embodiment of the present application, the beverage dispensing device 20 further includes a water receiving box 28 and a prompting assembly 282. A water level sensor 281 is disposed within the water receiving box 28. The water level sensor 281 and the prompting assembly 282 are connected to the processor 25. The water receiving box 28 is located below the support platform 27, and the prompting assembly 282 is configured to output prompt information. To prevent situations such as the user temporarily removing, moving, or replacing the container 26, which could easily cause the first and / or second category beverage ingredients output from the beverage dispensing port 22 to fill the water receiving box 28 and thereby cause the second category beverage ingredients to overflow, a water level sensor 281 is provided to detect the water level in the water receiving box 28 and determine whether it is necessary to remind the user to clean the water receiving box 28.

[0259] If the detection signal obtained by the water level sensor 281 determines that the water level in the water receiving box 28 reaches the preset water level, it means that if the first category of beverage ingredients and / or the second category of beverage ingredients enter the water receiving box 28, it will cause the second category of beverage ingredients in the water receiving box 28 to overflow. Therefore, at this time, the beverage output device 20 will not output the first category of beverage ingredients and / or the second category of beverage ingredients. The prompt component 282 can remind the user to clean the water receiving box 28 in time.

[0260] The prompt component 282 can be a display screen, LED light, speaker, vibrator, etc.; the prompt information can be text or pictures output by the display screen; LED light can emit light or flash; speaker can play sound; vibrator can generate vibration, etc.

[0261] To solve the above technical problems, referring to FIG. 28 , the present application further provides a storage medium 30 , which stores program instructions 31 , which can be executed to implement any of the above-mentioned control methods for the beverage dispensing device 20 .

[0262] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation methods described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on network units. Some or all of the units can be selected according to actual needs to achieve the purpose of this embodiment.

[0263] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0264] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium 30. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium 30, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor 25 (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium 30 includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0265] The terms "first", "second" and "third" in this application are only used for descriptive purposes and should not be understood as indicating the number of the indicated technical features. Thus, the features defined as "first", "second" and "third" can explicitly or implicitly include at least one of these features. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative positional relationship, movement, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0266] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for a beverage dispensing device, wherein: include: receiving a user instruction, wherein the user instruction includes a first instruction, a second instruction, and a third instruction, wherein the first instruction is an instruction for outputting a first category of beverage ingredients, the second instruction is an instruction for outputting a second category of beverage ingredients, and the third instruction is an instruction for outputting the first category of beverage ingredients and the second category of beverage ingredients; The beverage outlet moves downward from the initial position; Determining whether the beverage outlet moves downward to reach a target position; If yes, stop the beverage outlet from moving downward; In response to the step of stopping the downward movement of the beverage outlet, the first category of beverage ingredients and / or the second category of beverage ingredients are output to the container for receiving the beverage according to user instructions, and in response to the detected detection information meeting a preset condition, the output of the first category of beverage ingredients and / or the output of the second category of beverage ingredients is stopped.

2. The control method for a beverage dispensing device according to claim 1, wherein: The beverage dispensing device includes a carrying platform, the carrying platform is used to carry the container, the beverage dispensing port is located above the carrying platform, the beverage dispensing port has a moving track, the moving track has a first end away from the carrying platform and a second end close to the carrying platform, the initial position is located at the first end, and in the step of the beverage dispensing port moving downward from the initial position, the beverage dispensing port moves from the first end to the second end.

3. The control method for a beverage dispensing device according to claim 2, wherein: The beverage dispensing device comprises a first sensing component, the first sensing component is located above the supporting platform, the first sensing component is relatively fixed to the beverage dispensing port, and the first sensing component is used to move synchronously with the beverage dispensing port. In the step of determining whether the beverage dispensing port moves downward to reach the target position, the step comprises: The first sensing component emits a first detection wave; Determining whether the first sensing component receives an echo of the first detection wave within a first preset time period; If yes, executing the step of stopping the beverage outlet from moving downward; If not, the beverage outlet is maintained in a state of moving downward, and the process returns to the step of the first sensing component emitting a first detection wave.

4. The control method for a beverage dispensing device according to claim 3, wherein: While maintaining the state that the beverage outlet is moving downward, returning to the step of executing the first sensing component emitting a first detection wave, the step includes: Maintaining the beverage outlet in a state of moving downward; Determine whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches a second preset time length, and the second preset time length is greater than or equal to the first preset time length; If yes, return to the step of executing the first sensing component emitting a first detection wave; If not, the process returns to the step of determining whether the time difference between the time point when the first detection wave was last emitted and the current time point reaches a second preset time length.

5. The control method for a beverage dispensing device according to claim 4, wherein: The second preset time length is greater than or equal to 2N times the distance between the initial position and the supporting platform divided by the speed of sound, wherein N is 1-1000.

6. The control method for a beverage dispensing device according to claim 2, wherein: The beverage dispensing device has a second sensing component, the second sensing component is located above the supporting platform, the second sensing component is relatively fixed to the beverage dispensing port, the second sensing component is used to move synchronously with the beverage dispensing port, the second sensing component includes a trigger part and a micro switch, the trigger part is used to trigger the micro switch when touching the edge of the container opening, and the step of judging whether the beverage dispensing port moves downward to reach the target position includes: Determining whether the triggering unit triggers the micro switch; If yes, executing the step of stopping the beverage outlet from moving downward; If not, the beverage outlet is maintained in a state of moving downward, and the process returns to the step of determining whether the triggering portion triggers the micro switch.

7. The control method for a beverage dispensing device according to claim 2, wherein: The beverage dispensing device has a third sensing component, and the third sensing component is used to move synchronously with the beverage dispensing port. The two sides of the carrier platform of the beverage dispensing device also include a first side wall and a second side wall arranged opposite to each other. The third sensing component includes a second transmitting part and a second receiving part arranged opposite to each other. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. In the step of judging whether the beverage dispensing port moves downward to reach the target position, the following steps are included: The second transmitting unit emits a second detection wave; determining whether the second receiving unit receives the second detection wave; If yes, maintaining the state where the beverage outlet is moved downward, returning to the step of executing the second transmitting unit emitting a second detection wave; If not, the step of stopping the beverage outlet from moving downward is performed.

8. The control method for a beverage dispensing device according to claim 2, wherein: The beverage dispensing device has a fourth sensing component, and the fourth sensing component is located above the supporting platform. The fourth sensing component is used to determine whether the beverage dispensing port moves downward to a target position through image information and detect the detection information.

9. The control method for a beverage dispensing device according to claim 2, wherein: The step of determining whether the beverage outlet moves downward to reach the target position further includes: If not, determining whether the beverage outlet reaches the second end; If yes, executing the step of stopping the beverage outlet from moving downward; If not, the beverage outlet is maintained in a state of moving downward, and the process returns to the step of determining whether the beverage outlet reaches the target position.

10. The control method for a beverage dispensing device according to any one of claims 1 to 9, wherein: The target position includes a position where the vertical distance between the beverage outlet and the edge of the container opening is 0-60 cm.

11. The control method for a beverage dispensing device according to claim 1, wherein: The detection information includes the first information and / or the second information; the step of outputting the first category of beverage ingredients and / or the second category of beverage ingredients to the container for receiving the beverage according to the user instruction, and in response to detecting that the detection information in the container meets the preset condition, stopping the output of the first category of beverage ingredients and / or the second category of beverage ingredients, comprises: In response to the user instruction being the first instruction, outputting the first category of beverage ingredients according to the user instruction, and in response to detecting that the first information in the container meets a first preset condition, stopping outputting the first category of beverage ingredients; or In response to the user instruction being the second instruction, outputting the second category of beverage ingredients according to the user instruction, and in response to detecting that the second information in the container meets a second preset condition, stopping outputting the second category of beverage ingredients; or In response to the user instruction being the third instruction, the first category of beverage ingredients is output according to the user instruction, and in response to detecting that the first information in the container meets a first preset condition, the output of the first category of beverage ingredients is stopped; the second category of beverage ingredients is output according to the user instruction, and in response to detecting that the second information in the container meets a second preset condition, the output of the second category of beverage ingredients is stopped.

12. The control method for a beverage dispensing device according to claim 11, wherein: The first information is the vertical distance between the opening edge of the container and the top of the first type of beverage ingredients, and the first preset condition is that the vertical distance between the opening edge of the container and the top of the first type of beverage ingredients is less than or equal to a first preset value. The second information is the vertical distance between the opening edge of the container and the liquid surface of the second type of beverage ingredients, and the second preset condition is that the vertical distance between the opening edge of the container and the liquid surface of the second type of beverage ingredients is less than or equal to a second preset value; wherein, the first preset value is greater than the second preset value.

13. The control method for a beverage dispensing device according to claim 2, wherein: The beverage dispensing device further includes a water receiving box and a prompting component, wherein a water level sensor is arranged in the water receiving box, the water receiving box is located under the supporting platform, and the prompting component is used to output prompting information. The control method further includes: In response to the step of stopping the beverage outlet from moving downward, determining whether the water level in the water receiving box reaches a preset water level according to the detection signal obtained by the water level sensor; If yes, the prompt component outputs prompt information; If not, outputting the first category of beverage ingredients and / or the second category of beverage ingredients to the container for receiving the beverage according to the user's instruction, and at the same time continuously judging whether the water level in the water receiving box reaches the preset water level according to the detection signal obtained by the water level sensor, and if so, stopping outputting the first category of beverage ingredients and / or the second category of beverage ingredients and outputting the prompt information; or The control method further comprises: In response to the step of receiving the user instruction, judging whether the water level in the water receiving box reaches a preset water level according to the detection signal obtained by the water level sensor; If yes, the prompt component outputs prompt information; If not, the step of moving the beverage outlet downward from the initial position is executed.

14. The control method for a beverage dispensing device according to claim 13, wherein: The method further comprises: in response to stopping outputting the first category of beverage ingredients and / or outputting the second category of beverage ingredients, controlling the beverage output port to move toward the initial position.

15. The control method for a beverage dispensing device according to claim 2, wherein: The control method further comprises: In response to the step of receiving the user instruction, determining whether the presence of a container is detected on the carrying platform; If yes, executing the step of moving the beverage outlet downward from the initial position; If not, the beverage outlet stops moving.

16. The control method for a beverage dispensing device according to claim 1, wherein: The detection information includes the vertical distance between the top of the object received in the container and the edge of the container opening.

17. A beverage dispensing device, wherein: include: An instruction receiving component, for receiving a user instruction, wherein the user instruction includes a first instruction, a second instruction, and a third instruction, wherein the first instruction is an instruction for outputting a first category of beverage ingredients, the second instruction is an instruction for outputting a second category of beverage ingredients, and the third instruction is an instruction for outputting both the first category of beverage ingredients and the second category of beverage ingredients; A beverage outlet, used to output a beverage to the container, wherein the beverage includes a first category of beverage ingredients and / or a second category of beverage ingredients; A moving component connected to the beverage outlet, the moving component is used to move the beverage outlet; A detection component, used for detecting the opening edge of the container and detection information inside the container; A processor is connected to the instruction receiving component, the moving component and the detecting component, and the processor is used to execute the control method of the beverage output device as described in any one of claims 1-16.

18. The beverage dispensing device according to claim 17, wherein: The beverage dispensing device further comprises a carrying platform, the carrying platform is used to carry the container, the beverage dispensing port is located above the carrying platform, the beverage dispensing port has a moving track, and the moving track has a first end away from the carrying platform and a second end close to the carrying platform.

19. The beverage dispensing device according to claim 18, wherein: The detection component includes a first sensing component, the first sensing component is located above the supporting platform, the first sensing component is relatively fixed to the beverage outlet, the first sensing component is connected to the processor, and the first sensing component is used to move synchronously with the beverage outlet.

20. The beverage dispensing device according to claim 19, wherein: The first sensing component is an ultrasonic detector or a time-of-flight detector.

21. The beverage dispensing device according to any one of claims 18 to 20, wherein: The first sensing component is used to detect the opening edge of the container and the detection information in the container.

22. The beverage dispensing device according to any one of claims 18 to 20, wherein: The detection component also includes a second sensing component, which is located above the supporting platform, and is relatively fixed to the beverage outlet. The second sensing component is used to move synchronously with the beverage outlet, and the second sensing component includes a trigger part and a micro switch, and the trigger part is used to trigger the micro switch when it touches the edge of the container opening, and the micro switch is connected to the processor.

23. The beverage dispensing device according to claim 22, wherein: The second sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect detection information in the container.

24. The beverage dispensing device according to any one of claims 18 to 20, wherein: The detection component also includes a third sensing component, and the third sensing component is used to move synchronously with the beverage output port. The two sides of the support platform of the beverage output device also include a first side wall and a second side wall arranged opposite to each other. The third sensing component includes a second transmitting part and a second receiving part arranged opposite to each other. The second transmitting part is movably arranged on the first side wall, and the second receiving part is movably arranged on the second side wall. The third sensing component is connected to the processor.

25. The beverage dispensing device according to claim 24, wherein: The third sensing component is an infrared pair tube.

26. The beverage dispensing device according to claim 24, wherein: The third sensing component is used to detect the opening edge of the container, and the first sensing component is used to detect detection information in the container.

27. The beverage dispensing device according to claim 18, wherein: The detection component includes a fourth sensing component, the fourth sensing component is located above the supporting platform, the fourth sensing component is used to detect the opening edge of the container and the detection information in the container through image information, and the fourth sensing component is connected to the processor.

28. The beverage dispensing device according to claim 27, wherein: The fourth sensing component is a camera.

29. The beverage dispensing device according to claim 18, wherein: The beverage output device also includes: The first sleeve group includes at least two first sleeves which are arranged in layers, wherein the innermost first sleeve or the outermost first sleeve is fixedly arranged at the first end, and the other first sleeves are relatively movable along a first direction to achieve extension and retraction, wherein the first sleeve fixedly arranged at the first end is a first fixed sleeve, and the first sleeve farthest from the first fixed sleeve in the first sleeve group is a first movable sleeve, and the beverage outlet is located at the first movable sleeve; wherein the first direction is a direction approaching or moving away from the container.

30. The beverage dispensing device according to claim 29, wherein: A conveying channel is formed in the first sleeve group, and a first type of beverage ingredient output port is formed at the bottom of the first movable sleeve.

31. The beverage dispensing device according to claim 30, wherein: When the first sleeve assembly is in an extended state, the inner diameter of the delivery channel gradually increases or decreases in a direction approaching the beverage outlet.

32. The beverage dispensing device according to claims 29-31, wherein: The beverage output device also includes: A second sleeve group is sleeved on the outside of the first sleeve group, and the second sleeve group includes at least two second sleeves that are sleeved in layers. The outermost second sleeve or the innermost second sleeve is fixedly arranged at the first end, and the remaining second sleeves are relatively movable along the first direction, so that the second sleeve fixedly arranged at the first end is the second fixed sleeve, and the second sleeve farthest from the second fixed sleeve in the second sleeve group is the second movable sleeve, and the second movable sleeve is relatively fixed to the first movable sleeve.

33. The beverage dispensing device according to claim 32, wherein: The first sleeve and the second sleeve correspond to each other one by one and are relatively fixed.

34. The beverage dispensing device of claim 32, wherein: The beverage output port further includes a second type of beverage ingredient output port, and the beverage output device further includes a delivery pipe, the output end of the delivery pipe forms the second type of beverage ingredient output port, and the output end is relatively fixed to the first movable sleeve or the second movable sleeve.

35. The beverage dispensing device of claim 18, wherein: The beverage dispensing device also includes a water receiving box and a prompt component. A water level sensor is arranged in the water receiving box. The water level sensor and the prompt component are connected to the processor. The water receiving box is located under the supporting platform. The prompt component is used to output prompt information.

36. A storage medium, wherein: The storage medium stores program instructions, and the program instructions can be executed to implement the control method of the beverage dispensing device according to any one of claims 1-16.

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