阅读说明：本技术 雪糕制造设备的控制方法、系统和雪糕售卖系统 (Control method and system of ice cream manufacturing equipment and ice cream selling system ) 是由 林军 于 2020-05-12 设计创作，主要内容包括：本申请涉及一种雪糕制造设备的控制方法、系统、雪糕售卖系统和存储介质。所述方法包括：接收与雪糕订单信息中包含的雪糕类型信息对应的制作控制指令,制作控制指令包含加料标记位以及雪糕份量标记位,加料标记位存储的第一数值用于表征加料类型以及加料类型的份量,雪糕份量标记位存储的第二数值用于表征雪糕的份量；根据制作控制指令中的第一数值与第二数值,确定与制作控制指令对应的机械臂控制程序；根据确定出的机械臂控制程序,控制机器臂模块的移动路径,以生产与制作控制指令对应的雪糕。本申请的方案,在自动制作雪糕的基础上,还控制了机器臂模块的移动路径,可以有效提高雪糕制作过程的控制处理效率。(The application relates to a control method and a control system of ice cream manufacturing equipment, an ice cream selling system and a storage medium. The method comprises the following steps: receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream weight mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark position is used for representing the weight of the ice cream; determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value in the manufacturing control instruction; and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction. According to the scheme, on the basis of automatically making ice cream, the moving path of the robot arm module is controlled, and the control processing efficiency of the ice cream making process can be effectively improved.)

1. A method for controlling an apparatus for manufacturing ice cream, the method comprising:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

2. The method as claimed in claim 1, wherein the moving path includes a position below a cup dropping opening of a cup dropping machine and a position below a ice cream outlet of an ice cream maker, and the controlling the moving path of the robot arm module according to the determined robot arm control program to produce the ice cream corresponding to the preparation control command includes:

controlling a mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup;

and the control mechanical arm module moves the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream so as to produce the ice cream corresponding to the making control instruction.

3. The method of claim 2, wherein controlling the cup drop machine to drop the ice cream cup after the robot arm module is controlled to move below the cup drop opening of the cup drop machine according to the determined robot arm control program comprises:

and controlling the robot arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop ice cream cups according to the weight of the ice cream.

4. The method of claim 2, wherein when the first numerical value indicates that the filling type and the portion of the filling type are not empty, the controlling the robot arm module to move below the cup dropping opening of the cup dropping machine according to the determined control program of the robot arm and controlling the cup dropping machine to drop the ice cream cup according to the portion of the ice cream bar further comprises:

and controlling a robot arm module to move the ice cream cup to the position below a discharge hole of the feeding mechanism according to the determined mechanical arm control program, and controlling the feeding mechanism to discharge the ice cream cup according to the feeding type and the weight of the feeding type.

5. The method of claim 1, wherein the type of charge comprises at least one of a jam type, a fruit pieces type.

6. The method of claim 5, wherein the portion of the filling type includes a portion of jam and a portion of crushed fruit, and wherein controlling the movement path of the robot arm module according to the determined robot arm control program to produce ice cream bars corresponding to the preparation control instructions comprises:

controlling a mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup;

the control machine arm module moves the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream;

the control robot arm module moves the ice cream cup to the position below a discharge hole of a jam feeding mechanism, and the jam feeding mechanism is controlled to discharge the jam into the ice cream cup according to the weight of the jam;

and controlling a mechanical arm module to move the ice cream cup to the position below a discharge hole of the fruit crushing feeding mechanism, and controlling the fruit crushing feeding mechanism to discharge the ice cream cup according to the weight of the fruit crushed to produce the ice cream corresponding to the making control instruction.

7. The method of claim 1, wherein after controlling a moving path of a robot module according to the determined robot arm control program to produce ice cream bars corresponding to the preparation control instructions, further comprising:

when the ice cream is made, the rotating door mechanism is controlled to move the ice cream cup to a preset serving position;

and after detecting that the meal taking position is empty, controlling the revolving door mechanism to reset to the material taking position.

8. The method of claim 1, further comprising:

and uploading equipment information of the ice cream manufacturing equipment to a background server, wherein the equipment information comprises working state information and/or fault information.

9. A control system of an ice cream bar manufacturing apparatus, the system comprising:

the instruction receiving module is used for receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of ice cream;

the program searching module is used for determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and the mechanical arm control module is used for controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

10. A control system of ice cream manufacturing equipment is characterized by comprising:

a memory for storing a computer program;

a processor for executing the computer program, the computer program when executed implementing the steps of the method of any of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.

12. An ice cream vending system, comprising:

the ordering screen is used for acquiring ice cream order information;

a memory for storing a computer program;

control means for loading said computer program to perform the method of any of claims 1-8.

13. The system of claim 12, further comprising a cup drop machine, a popsicle machine, a feed mechanism, and a revolving door mechanism, wherein the control device is connected to the cup drop machine, the popsicle machine, the feed mechanism, and the revolving door mechanism, respectively.

14. The system of claim 12, further comprising a background server, wherein the background server is configured to receive the ice cream order information from the ordering screen, parse the ice cream order information to obtain the production control command, and send the production control command to the control device.

Technical Field

The application relates to the technical field of intelligent production, in particular to a control method and a system of ice cream bar manufacturing equipment, an ice cream bar selling system and a storage medium.

Background

The ice cream is a hard frozen food with a stick, which is prepared by taking granulated sugar, milk powder, eggs, essence, starch, malt flour, gelatin and the like as main raw materials and carrying out mixing, blending, heating, sterilizing, homogenizing, light congealing and injection molding and freezing.

The traditional ice cream is mostly made by manual operation, and milk stored in the inner cavity of the ice cream machine is made by pressing the discharging rod, so that the working intensity is high, and the efficiency is low.

Disclosure of Invention

In view of the above, there is a need to provide a method and a system for controlling ice cream manufacturing equipment, an ice cream vending system and a storage medium, which can improve the working efficiency of the ice cream manufacturing process.

A method for controlling an apparatus for manufacturing ice cream, the method comprising:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

In one embodiment, the moving path includes a position below a cup dropping opening of the cup dropping machine and a position below a popsicle outlet of the popsicle machine, and the controlling the moving path of the robot arm module according to the determined robot arm control program to produce popsicles corresponding to the preparation control command includes:

controlling a mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup;

and the control mechanical arm module moves the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream so as to produce the ice cream corresponding to the making control instruction.

In one embodiment, the controlling the cup dropping machine to drop the ice cream cup after the robot arm module is controlled to move below the cup dropping opening of the cup dropping machine according to the determined robot arm control program comprises:

and controlling the robot arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop ice cream cups according to the weight of the ice cream.

In one embodiment, when the feeding type represented by the first numerical value and the portion of the feeding type are not empty, the controlling the robot arm module to move below the cup dropping opening of the cup dropping machine according to the determined robot arm control program and controlling the cup dropping machine to drop the ice cream cup according to the portion of the ice cream bar further includes:

and controlling a robot arm module to move the ice cream cup to the position below a discharge hole of the feeding mechanism according to the determined mechanical arm control program, and controlling the feeding mechanism to discharge the ice cream cup according to the feeding type and the weight of the feeding type.

In one embodiment, the feeding type comprises at least one of jam type and fruit fragment type.

In one embodiment, the feeding type portion includes a portion of jam and a portion of crushed fruit, and the controlling the moving path of the robot arm module according to the determined robot arm control program to produce ice cream bars corresponding to the preparation control command includes:

controlling a mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup;

the control machine arm module moves the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream;

the control robot arm module moves the ice cream cup to the position below a discharge hole of a jam feeding mechanism, and the jam feeding mechanism is controlled to discharge the jam into the ice cream cup according to the weight of the jam;

and controlling a mechanical arm module to move the ice cream cup to the position below a discharge hole of the fruit crushing feeding mechanism, and controlling the fruit crushing feeding mechanism to discharge the ice cream cup according to the weight of the fruit crushed to produce the ice cream corresponding to the making control instruction.

In one embodiment, after the controlling the moving path of the robot module according to the determined robot arm control program to produce the ice cream bar corresponding to the making control command, the method further comprises:

when the ice cream is made, the rotating door mechanism is controlled to move the ice cream cup to a preset serving position;

and after detecting that the meal taking position is empty, controlling the revolving door mechanism to reset to the material taking position.

In one embodiment, the method further comprises:

and uploading equipment information of the ice cream manufacturing equipment to a background server, wherein the equipment information comprises working state information and/or fault information.

A control system of an ice cream bar making apparatus, the system comprising:

the instruction receiving module is used for receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of ice cream;

the program searching module is used for determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and the mechanical arm control module is used for controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

A control system of ice cream manufacturing equipment comprises:

a memory for storing a computer program;

a processor for executing the computer program, the computer program when executed implementing the steps of:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

An ice cream vending system, comprising:

the ordering screen is used for acquiring ice cream order information;

a memory for storing a computer program;

control means for loading the computer program to implement the steps of:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark bit and an ice cream weight mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

In one embodiment, the system further comprises a cup dropping machine, an ice cream machine, a feeding mechanism and a rotating door mechanism, and the control device is respectively connected with the cup dropping machine, the ice cream machine, the feeding mechanism and the rotating door mechanism.

In one embodiment, the system further comprises a background server, wherein the background server is used for receiving the ice cream order information transmitted from the ordering screen, analyzing the ice cream order information to obtain the making control instruction, and transmitting the making control instruction to the control device.

The control method and system of the ice cream bar manufacturing equipment, the ice cream bar selling system and the storage medium, wherein the method comprises the following steps: receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream weight mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark position is used for representing the weight of the ice cream; determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value in the manufacturing control instruction; and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction. Therefore, the ice cream production control method and the ice cream production control system can automatically realize the production and the manufacture of the ice cream by receiving the production control instruction corresponding to the ice cream type information contained in the ice cream order information, do not need manual operation in the middle, automatically control the whole process, and improve the production efficiency; in addition, the corresponding mechanical arm control program can be determined according to the making control instruction, namely the moving path of the mechanical arm module is determined, so that the position where the next position to be moved is determined without moving the mechanical arm module once in the ice cream making process, and the control processing efficiency of the ice cream making process is effectively improved.

Drawings

FIG. 1 is a view showing an application environment of a control method of an ice cream manufacturing apparatus according to an embodiment;

FIG. 2 is a schematic flow chart showing a method for controlling an apparatus for manufacturing ice cream in one embodiment;

FIG. 3 is a schematic sub-flow chart of step 205 of FIG. 2 in one embodiment;

FIG. 4 is a schematic sub-flow chart of step 205 of FIG. 2 according to another embodiment;

FIG. 5 is a schematic flow chart illustrating the operation of the control swing door mechanism in one embodiment;

FIG. 6 is a block diagram showing the structure of a control system of the ice cream manufacturing apparatus according to the embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The control method of the ice cream manufacturing equipment can be applied to the application environment shown in figure 1. Wherein the terminal 102 communicates with the server 104 via a network. The server 104 can issue a making control instruction to the terminal 102, and the terminal 102 can receive the making control instruction corresponding to the ice cream type information contained in the ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream portion mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the portion of the feeding type, and a second numerical value stored in the ice cream portion mark position is used for representing the portion of the ice cream; determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value; and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction. The terminal 102 may be a Programmable Logic Controller (PLC), which is a digital arithmetic operation electronic system specially designed for application in industrial environment. It uses a programmable memory, in which the instructions for implementing logical operation, sequence control, timing, counting and arithmetic operation are stored, and utilizes digital or analog input and output to control various mechanical equipments or production processes. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.

In one embodiment, as shown in fig. 2, there is provided a control method of an ice cream manufacturing apparatus, which is described by taking the method as an example of being applied to a terminal in fig. 1, including the steps of:

step 201, receiving a making control command corresponding to ice cream type information contained in ice cream order information, wherein the making control command comprises a feeding mark bit and an ice cream portion mark bit, a first numerical value stored in the feeding mark bit is used for representing the feeding type and the portion of the feeding type, and a second numerical value stored in the ice cream portion mark bit is used for representing the portion of the ice cream.

The ice cream order information refers to an order which is submitted by a user and is expected to be made into ice cream, specifically comprises the feeding information in the ice cream selected by the user, the quantity information of the ice cream and the like, the ice cream order information is submitted to a server by the client, and the server can generate a corresponding making control instruction after receiving the ice cream order information. And sending the production control instruction to the terminal. The making control instruction specifically comprises a feeding mark bit and a ice cream weight mark bit, wherein a first numerical value stored in the feeding mark bit is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark bit is used for representing the weight of the ice cream. The first value and the second value are generated based on the ice cream type specified by the ice cream order information of the user. In one embodiment, the first value and the second value may be characterized numerically. Different numbers indicate different filling types, different filling quantities, different ice cream quantities, each combination of a first value and a second value corresponding to an ice cream. It is understood that when the portion is characterized in numerical form, the second value should be greater than or equal to 0.

Step 203, determining a robot arm control program corresponding to the manufacturing control command according to the first numerical value and the second numerical value.

The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection. In this application, accomplish the production configuration process of ice cream through the arm module, replace the manual work to get cup and preparation, liberate the people from loaded down with trivial details and repeated work, and automatic discharging can realize the management of no humanization completely, liberate artifical, work efficiency height, because nobody participates in addition, food is more sanitary. The mechanical arm control program is a control program for controlling the operation of the mechanical arm, and corresponds to the types of ice cream bars which can be made by the ice cream bar making equipment. The terminal 102 also stores various mechanical arm operation programs corresponding to the ice cream bars, so that after the manufacturing control instruction is obtained, the terminal 102 can select the corresponding mechanical arm operation program based on the first numerical value and the second numerical value in the manufacturing control instruction, and then control the mechanical arm to complete the process of ice cream bar generation and configuration.

And step 205, controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

After the mechanical arm control program corresponding to the making control instruction is determined, the terminal can call and execute the mechanical arm control program, so that the moving path of the corresponding mechanical arm is directly controlled, and the ice cream production process is completed. Because the corresponding mechanical arm control program is determined according to the manufacturing control instruction and the moving path of the mechanical arm module is controlled, the position where the next position to be moved is determined without moving the mechanical arm module once, and the working efficiency of the ice cream machine is greatly improved

The control method of the ice cream bar manufacturing equipment comprises the following steps: receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream weight mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark position is used for representing the weight of the ice cream; determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value in the manufacturing control instruction; and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction. Therefore, the ice cream production control method and the ice cream production control system can automatically realize the production and the manufacture of the ice cream by receiving the production control instruction corresponding to the ice cream type information contained in the ice cream order information, do not need manual operation in the middle, automatically control the whole process, and improve the production efficiency; in addition, the corresponding mechanical arm control program can be determined according to the making control instruction, namely the moving path of the mechanical arm module is determined, so that the position where the next position to be moved is determined without moving the mechanical arm module once in the ice cream making process, and the control processing efficiency of the ice cream making process is effectively improved.

In one embodiment, as shown in fig. 3, the moving path includes a position below a cup dropping opening of the cup dropping machine and a position below an ice cream outlet of the ice cream maker, and step 205 includes:

step 302, controlling the robot arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup;

and 304, controlling the robot arm module to move the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controlling the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream so as to produce the ice cream corresponding to the making control instruction.

The cup dropping machine is a mechanical structure for controlling the ice cream cup to fall, wherein the cup dropping machine can control the ice cream cup to fall, and the rear mechanical arm can take the ice cream cup to carry out subsequent ice cream configuration work after the ice cream cup falls by the cup dropping mechanism. The ice cream machine is a machine for producing and dropping ice cream into an ice cream cup.

Specifically, in one embodiment, the cup dropping machine can drop multiple types of ice cream cups, the corresponding cup dropping positions of different ice cream cups are different, and the mechanical arm control program can control the mechanical arm to take the ice cream cups dropped by the cup dropping machine from different cup dropping positions. After the terminal identifies the ice cream type information, the ice cream cup falling machine can be controlled to fall the ice cream cup corresponding to the ice cream size information according to the weight of the ice cream, and the falling ice cream cup is obtained below the ice cream cup falling machine by controlling the moving path of the mechanical arm. Of course, there may be only one fixed type of ice cream cup, and in this case the cup access path of the robotic arm is fixed. In the embodiment, the cup falling machine is used for controlling the corresponding ice cream cup to fall, and the ice cream is controlled by the ice cream machine to fall, so that the automation degree of the ice cream making process can be further improved, and the ice cream making efficiency is improved.

In one embodiment, when neither the first value indicates a type of charge nor a portion of the type of charge is empty, after step 302, the method further includes: and controlling the mechanical arm module to move the ice cream cup to the lower part of the discharge hole of the feeding mechanism according to the determined mechanical arm control program, and controlling the feeding mechanism to discharge the ice cream cup according to the feeding type and the weight of the feeding type.

The user can determine whether to charge the ice cream in the ice cream order information, and when the user determines that the ice cream does not need to be charged, the charging type represented by the first numerical value stored in the charging mark bit in the making control instruction and the amount of the charging type are all empty. When the user determines that the ice cream needs to be filled, the filling type represented by the first numerical value stored in the filling mark bit in the manufacturing control instruction and the portion of the filling type are not empty. At the moment, the mechanical arm control program controls the mechanical arm module to move to the discharge hole position of the feeding mechanism, and corresponding feeding processing is carried out to generate the final ice cream. In the embodiment, the ice cream ingredients are added into the ice cream cup through the feeding mechanism, so that the automation degree of the ice cream making process can be further improved, and the ice cream making efficiency is improved.

In one embodiment, the feeding type includes at least one of jam type and fruit fragment type. For the feeding marker location, in one embodiment, the different first values correspond to different types of jams or pieces, or a combination of at least two different types of jams, or a combination of at least two different pieces, or a combination of at least one jam and at least one piece, etc. In another embodiment, the feeding flag bit comprises a jam flag bit and a broken fruit flag bit, i.e., the first value comprises the value stored in the jam flag bit and the value stored in the broken fruit flag bit, and then the 2 values are greater than or equal to 0, if 0, it means that there is no jam and broken fruit, and then greater than 0, then the different values are either different types of jams or broken fruits; for the first 2 embodiments, the value may also correspond to the amount, for example, 1 represents blueberry jam and 1 amount of blueberry jam, and if the value is 11, the same is indicated as blueberry jam, and then 2 amounts of blueberry jam are provided. In addition, in other embodiments, the feeding flag bits may include a jam type flag bit and a fruit pieces type flag bit, and a jam portion flag bit and a fruit pieces portion flag bit. Each marking bit carries a corresponding value by which the type of charge and the amount of the charge type are characterized. In the embodiment, the terminal can select a corresponding mechanical arm control program based on the feeding type, so that the efficiency of the ice cream making process is improved.

As shown in FIG. 4, in one embodiment, the serving size of the filling type includes a portion of jam and a portion of fruit pieces, and step 205 includes:

and step 401, controlling the robot arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup.

And 403, controlling the robot arm module to move the ice cream cup to the position below an ice cream outlet of the ice cream machine, and controlling the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream.

And 405, controlling the robot arm module to move the ice cream cup to the position below a discharge hole of the jam feeding mechanism, and controlling the jam feeding mechanism to discharge the jam into the ice cream cup according to the quantity of the jam.

And 407, controlling the robot arm module to move the ice cream cup to the position below the discharge hole of the fruit piece feeding mechanism, and controlling the fruit piece feeding mechanism to discharge the ice cream cup according to the weight of the fruit pieces so as to produce the ice cream corresponding to the making control instruction.

Specifically, when the charging type submitted by the user specifically comprises jam and fruit pieces, after the mechanical arm control program is determined, the mechanical arm control program can be used for controlling the mechanical arm to sequentially add the ice cream making materials into the ice cream cup along the sequence of the lower part of the cup falling machine, the lower part of the ice cream machine, the jam charging mechanism and the fruit piece charging mechanism, so that the ice cream making is completed. It should be noted that the order of adding the ice cream is not fixed in this embodiment, but in other embodiments, jam and fruit pieces can be added first, and then the ice cream is added to the ice cream cup. In this embodiment, the terminal can select a corresponding mechanical arm control program based on the charging type, so as to control the mechanical arm to take ice cream cups in sequence, and add corresponding making raw materials to the ice cream cups to complete the making of ice creams, thereby improving the efficiency of the ice cream making process.

As shown in fig. 5, in one embodiment, after controlling the moving path of the robot arm module according to the determined robot arm control program to produce ice cream bars corresponding to the production control instructions, the method further includes:

step 502, when the ice cream is finished, the rotating door mechanism is controlled to move the ice cream cup to a preset food taking position.

And 504, after detecting that the preset meal taking position is empty, controlling the rotating door mechanism to reset to the material taking position.

The rotating door mechanism is arranged at the ice cream taking position of the ice cream manufacturing equipment and is specifically used for placing the ice cream produced after the configuration is finished and providing the ice cream finished in the ice cream manufacturing equipment to users through rotation. In addition, the detection device at the terminal and the revolving door can detect the operation of taking the ice cream bar by the user through the detection device when the user takes the ice cream bar, and can control the revolving door to rotate again to reset the revolving door to the original position when the user takes the ice cream bar completely. In this embodiment, provide more convenient meal mode of getting to the user through the revolving door to improve the work efficiency who gets meal process.

In one embodiment, the control method of the ice cream making device further comprises the following steps: and uploading equipment information of the ice cream manufacturing equipment to a background server, wherein the equipment information comprises working state information and/or fault information.

The terminal can also monitor the equipment state of the ice cream manufacturing equipment, the equipment state comprises working state information and equipment fault information, and the working state information specifically comprises production records of ice cream, ice cream milk in the ice cream machine, ice cream cups, the allowance of various ingredients and the like. The fault information comprises the states of all production modules in the ice cream manufacturing equipment, whether the modules have faults or not, when a certain module in the ice cream manufacturing equipment is abnormal and cannot work normally, the terminal can send out corresponding abnormal warning, and in addition, when the surplus of ice cream milk, an ice cream cup and various ingredients in the ice cream machine is insufficient, corresponding reminding messages can be pushed so as to remind workers to carry out charging operation on the ice cream manufacturing equipment. In the embodiment, the normal work of the ice cream bar manufacturing equipment can be ensured by monitoring the working states and the fault states of the modules in the ice cream bar manufacturing equipment, so that the ice cream bar manufacturing efficiency is improved.

It should be understood that although the various steps in the flow charts of fig. 2-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 6, there is provided a control system of an ice cream bar manufacturing apparatus, including: an instruction receiving module 601, a program lookup module 603, and a robot arm control module 605, wherein:

the instruction receiving module 601 is configured to receive a manufacturing control instruction corresponding to ice cream type information included in ice cream order information, where the manufacturing control instruction includes a feeding mark bit and an ice cream portion mark bit, a first numerical value stored in the feeding mark bit is used for representing a feeding type and a portion of the feeding type, and a second numerical value stored in the ice cream portion mark bit is used for representing a portion of ice cream;

the program searching module 603 is configured to determine, according to the first numerical value and the second numerical value, a mechanical arm control program corresponding to the manufacturing control instruction;

and the mechanical arm control module 605 is used for controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce ice cream bars corresponding to the making control instructions.

In one embodiment, the moving path includes a position below a cup dropping opening of the cup dropping machine and a position below a popsicle outlet of the popsicle machine, and the robot arm control module 605 is specifically configured to: controlling the mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup; the control machine arm module moves the ice cream cup to the lower part of an ice cream outlet position of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream so as to produce the ice cream corresponding to the making control instruction.

In one embodiment, when neither the first numerical value indicative of the type of charge nor the quantity of the type of charge is empty, the robot control module 605 is specifically configured to: and controlling the mechanical arm module to move the ice cream cup to the lower part of the discharge hole of the feeding mechanism according to the determined mechanical arm control program, and controlling the feeding mechanism to discharge the ice cream cup according to the feeding type and the weight of the feeding type.

In one embodiment, the type of feed includes at least one of a jam type, a fruit pieces type.

In one embodiment, the serving size of the fill type includes a serving size of jam and a serving size of fruit pieces, and the robot control module 605 is specifically configured to: controlling the mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup; the control machine arm module moves the ice cream cup to the lower part of an ice cream outlet position of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream; the control machine arm module moves the ice cream cup to the position below a discharge port of the jam feeding mechanism, and the jam feeding mechanism is controlled to discharge the jam into the ice cream cup according to the weight of the jam; and controlling the mechanical arm module to move the ice cream cup to the position below the discharge port of the fruit crushing feeding mechanism, and controlling the fruit crushing feeding mechanism to discharge the ice cream cup according to the weight of the fruit crushed to produce the ice cream corresponding to the making control instruction.

In one embodiment, the system further comprises a swing door control module for: when the ice cream is finished, the rotating door mechanism is controlled to move the ice cream cup to a preset meal taking position; and after detecting that the preset meal taking position is empty, controlling the rotating door mechanism to reset to the material taking position.

In one embodiment, the system further comprises a device status monitoring module configured to: and uploading equipment information of the ice cream manufacturing equipment to a background server, wherein the equipment information comprises working state information and/or fault information.

For the specific limitation of the control system of the ice cream bar manufacturing equipment, reference can be made to the above limitation of the control method of the ice cream bar manufacturing equipment, and the detailed description is omitted here. All or part of the modules in the control system of the ice cream bar manufacturing equipment can be realized by software, hardware and the combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, there is provided a control system of an ice cream bar manufacturing apparatus, comprising:

a memory for storing a computer program;

a processor for executing the computer program, wherein the computer program realizes the steps of the control method of the ice cream manufacturing equipment when being executed. Here, the steps of the control method of the ice cream bar manufacturing apparatus may be the steps of the control method of the ice cream bar manufacturing apparatus of each of the above embodiments.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream weight mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark position is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

In one embodiment, the computer program when executed by the processor further performs the steps of: controlling the mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup; the control machine arm module moves the ice cream cup to the lower part of an ice cream outlet position of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream so as to produce the ice cream corresponding to the making control instruction.

In one embodiment, the computer program when executed by the processor further performs the steps of: and controlling the mechanical arm module to move the ice cream cup to the lower part of the discharge hole of the feeding mechanism according to the determined mechanical arm control program, and controlling the feeding mechanism to discharge the ice cream cup according to the feeding type and the weight of the feeding type.

In one embodiment, the computer program when executed by the processor further performs the steps of: controlling the mechanical arm module to move below a cup dropping opening of the cup dropping machine according to the determined mechanical arm control program, and then controlling the cup dropping machine to drop the ice cream cup; the control machine arm module moves the ice cream cup to the lower part of an ice cream outlet position of the ice cream machine, and controls the ice cream machine to produce ice cream with corresponding amount to fall into the ice cream cup according to the amount of the ice cream; the control machine arm module moves the ice cream cup to the position below a discharge port of the jam feeding mechanism, and the jam feeding mechanism is controlled to discharge the jam into the ice cream cup according to the weight of the jam; and controlling the mechanical arm module to move the ice cream cup to the position below the discharge port of the fruit crushing feeding mechanism, and controlling the fruit crushing feeding mechanism to discharge the ice cream cup according to the weight of the fruit crushed to produce the ice cream corresponding to the making control instruction.

In one embodiment, the computer program when executed by the processor further performs the steps of: when the ice cream is finished, the rotating door mechanism is controlled to move the ice cream cup to a preset meal taking position; and after detecting that the preset meal taking position is empty, controlling the rotating door mechanism to reset to the material taking position.

In one embodiment, the computer program when executed by the processor further performs the steps of: and uploading equipment information of the ice cream manufacturing equipment to a background server, wherein the equipment information comprises working state information and/or fault information.

In one embodiment, an ice cream bar vending system is provided, comprising an ordering screen, a memory and a control device, wherein the memory stores a computer program, the ordering screen is used for acquiring ice cream bar order information, and the control device is used for loading the computer program to realize the following steps:

receiving a making control instruction corresponding to ice cream type information contained in ice cream order information, wherein the making control instruction comprises a feeding mark position and an ice cream weight mark position, a first numerical value stored in the feeding mark position is used for representing the feeding type and the weight of the feeding type, and a second numerical value stored in the ice cream weight mark position is used for representing the weight of the ice cream;

determining a mechanical arm control program corresponding to the manufacturing control instruction according to the first numerical value and the second numerical value;

and controlling the moving path of the mechanical arm module according to the determined mechanical arm control program so as to produce the ice cream bar corresponding to the making control instruction.

In one embodiment, the system further comprises a cup dropping machine, an ice cream machine, a feeding mechanism and a rotating door mechanism, and the control device is respectively connected with the cup dropping machine, the ice cream machine, the feeding mechanism and the rotating door mechanism.

In one embodiment, the system further comprises a background server, wherein the background server is used for receiving the ice cream order information transmitted from the ordering screen, analyzing the ice cream order information to obtain a making control instruction, and transmitting the making control instruction to the control device.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile memory may include Read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.