A motor control method and its system

Abstract

The present invention relates to a motor control method and system thereof. The method is installed on a drive motor of a food blender, and a power collection module for collecting the real-time power of the drive motor is installed on the drive motor, and a concentration induction module for evaluating the viscosity of the stirred material is arranged inside the stirring container; the method comprises the following steps: setting a plurality of stirring operation modes according to the different output powers of the drive motor for different stirred materials in a time series, the stirring operation modes including recording the concentration data of the stirred material at a plurality of stirring operation time points, selecting one of the stirring operation modes, starting the drive motor, and in the time series, obtaining in real time the first power data corresponding to the first operation time point of the rotation of the drive motor and the first material concentration data of the stirred material.

Description

Technical Field

[0001] The present invention relates to motor control technology, and particularly to a motor control method and system thereof. Background Art

[0002] Food blenders have been widely used in household or commercial applications. A blender is a basic and indispensable device for mixing, crushing, or emulsifying various food ingredients to achieve the desired texture and consistency. Traditional blenders usually include a motor-driven agitator for stirring materials in a mixing container. The motor control methods of these blenders are relatively simple, usually only providing a few fixed speed settings and unable to adjust the stirring intensity in real time according to the type and viscosity of the materials. Summary of the Invention

[0003] The present invention provides a motor control method and system thereof, aiming to solve at least one of the technical problems existing in the prior art.

[0004] The technical solution of the present invention is a motor control method, including: a drive motor installed on a food blender, a power collection module installed on the drive motor for collecting the real-time power of the drive motor, and a concentration sensing module arranged inside the mixing container for evaluating the viscosity of the stirred material; the method includes the following steps: setting a plurality of stirring operation modes according to the different output powers of the drive motor for different stirring materials in a time series, the stirring operation modes including recording the concentration data of the stirring material at a plurality of stirring operation time points, selecting one of the stirring operation modes, starting the drive motor, in the time series, real-time obtaining the first power data corresponding to the first operation time point of the rotation of the drive motor and the first material concentration data of the stirring material, comparing the first material concentration data with the concentration data of the stirring material at the corresponding time point of the stirring operation mode to obtain first material concentration comparison data, when the result of the first material concentration comparison data is not zero, exiting the current stirring operation mode, changing the output power of the drive motor in the time series, and at the same time increasing at least two time points in the time series between the next operation time periods, collecting a first material concentration data group composed of corresponding at least two first material concentration data, at the next operation time point, real-time obtaining the second power data corresponding to the rotation of the drive motor at this operation time point and the second material concentration data of the stirring material, comparing the second material concentration data with the concentration data of the stirring material at the corresponding time point of the stirring operation mode to obtain second material concentration comparison data, and judging whether to enter the preset stirring operation mode.

[0005] Furthermore, the comparison data result of the first material concentration is zero, positive, and negative. Among them, when the absolute values of the positive and negative values are less than the limit value, they are regarded as zero. When the comparison data result of the first material concentration is zero, the output power of the driving motor remains unchanged in the time series. When the comparison data result of the first material concentration is positive, the output power of the driving motor decreases in the time series. When the comparison data result of the first material concentration is negative, the output power of the driving motor increases in the time series.

[0006] Furthermore, among multiple time points between the first operation time point and the second operation time point, a first material concentration data set composed of multiple collected first material concentration data is compared with the first material concentration data for each data in the first material concentration data set to obtain multiple third material concentration comparison data. The comparison data result of the third material concentration is zero, positive, and negative. When the comparison data result of the third material concentration is zero, the output power of the driving motor remains unchanged in the time series. When the comparison data result of the third material concentration is positive, the output power of the driving motor decreases in the time series. When the comparison data result of the third material concentration is negative, the output power of the driving motor increases in the time series.

[0007] Furthermore, the comparison data result of the second material concentration is zero, positive, and negative. Among them, when the absolute values of the positive and negative values are less than the limit value, they are regarded as zero. When the comparison data result of the second material concentration is zero, enter the preset stirring operation mode. When the comparison data result of the second material concentration is positive or negative, enter the precise stirring operation mode. The steps of the precise stirring operation mode are as follows: Set the target stirring material concentration corresponding to at least two target time periods. The time series between the remaining target time periods increases by more than five time points. Collect a second material concentration data set composed of corresponding at least five material concentration data. Compare the material concentration data in the second material concentration data set with the target stirring material concentration respectively to obtain the comparison data result of the third material concentration. When the comparison data result of the third material concentration is negative, the driving motor outputs precise power for the remaining target time periods until the stirring operation reaches the target stirring material concentration corresponding to the last target time period.

[0008] Furthermore, the precise power output by the driving motor meets the following formula requirements:

[0009]

[0010] Wherein, t is the end time point within the remaining target time period, P(t) is the precise power output by the drive motor at time t, k is a coefficient associated with the shape, size of the food blender and the mixing container, τ is any time point within t, C(τ) is the concentration of the mixing material at time τ, ρ(C(τ)) is the material density function varying with the concentration of the mixing material, N(τ) is the rotational speed of the mixing knife holder at time τ, and D(τ) is the inner diameter of the mixing container at time τ.

[0011] Further, the concentration sensing module includes at least one concentration sensor, and the concentration sensor is a concentration sensor based on an optical measurement method, which detects the change of the material concentration inside the mixing container in a non-contact manner and sends the detection data to a control unit in real time through a signal transmission mechanism.

[0012] Further, the power collection module can collect and record the power consumption of the drive motor under different mixing operation modes and store this data in a non-volatile memory.

[0013] Further, the food blender includes a user interface to allow the user to input the expected mixing material concentration data and material characteristics through this interface.

[0014] The technical solution of the present invention also relates to a computer device, including a memory and a processor. When the processor executes the computer program stored in the memory, the above method is implemented.

[0015] The technical solution of the present invention also relates to a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above method is implemented.

[0016] According to some embodiments of the present invention,

[0017] The beneficial effects of the present invention are as follows.

[0018] By real-time monitoring the concentration and power consumption of the mixing material and dynamically adjusting the output power of the motor according to this data, the present invention realizes precise control of the mixing process; at the same time, when the material concentration meets the expectation, the control system maintains the current output power of the motor unchanged, avoiding unnecessary power adjustment, thereby improving energy efficiency.

[0019] In addition, some additional aspects and advantages of the present invention will be given in the following description, some will become obvious from the following description, or will be understood through the practice of the present invention. Description of the Drawings

[0020] Figure 1 is the overall flowchart of the motor control method according to the embodiment of the present invention.

[0021] Figure 2 It is a detailed schematic diagram of the precise stirring operation mode according to an embodiment of the present invention.

[0022] Figure 3 It is a detailed schematic diagram of the motor control system according to an embodiment of the present invention.

[0023] Figure 4 It is the overall flowchart of various single stirring operation modes according to an embodiment of the present invention.

[0024] Figure 5 It is the operation mode diagram of the single stirring operation mode associated time according to an embodiment of the present invention.

[0025] Figure 6 It is the detailed flowchart schematic diagram of the motor control method according to an embodiment of the present invention. Detailed implementation manners

[0026] The following will clearly and completely describe the concept, specific structure and technical effects generated by the present invention in combination with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention.

[0027] It should be noted that, unless otherwise specified, when a certain feature is referred to as "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. The singular forms of "a", "the" and "said" used herein are also intended to include the plural forms, unless the context clearly indicates otherwise. In addition, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this technology belongs. The terms used in the description of this specification herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0028] It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish elements of the same type from each other. For example, without departing from the scope of this disclosure, the first element may also be referred to as the second element, and similarly, the second element may also be referred to as the first element. The use of any and all example or exemplary language (such as "for example", "such as", etc.) provided herein is only intended to better illustrate the embodiments of the present invention, and unless otherwise required, will not impose a limitation on the scope of the present invention.

[0029] Referring to Figures 1 to 6 In some embodiments, the present invention discloses a motor control method. Referring to Figure 1 as shown, this control method is based on the following structure:

[0030] A drive motor installed on a food blender, a power collection module for collecting the real-time power of the drive motor is installed on the drive motor, and a concentration sensing module for evaluating the viscosity of the stirred material is arranged inside the stirring container;

[0031] Refer to Figure 1 Combine Figure 3 And Figure 6 As shown, the method includes the following steps:

[0032] S10. Set a plurality of stirring operation modes according to the different output powers of the drive motor for different stirring materials in a time series, and the stirring operation modes include recording the concentration data of the stirring materials at a plurality of stirring operation time points. Specifically, in this step, first, according to the characteristics of different stirring materials, such as viscosity and consistency, a plurality of stirring operation modes are set. Each mode contains a series of preset power and concentration parameters, which correspond to specific time points during the stirring process. These data can be determined through experiments and stored in the control system of the blender for users to select or the system to automatically select.

[0033] S20. Select one of the stirring operation modes, start the drive motor, and in a time series, obtain the first power data corresponding to the first operation time point of the rotation of the drive motor and the first material concentration data of the stirring material in real time. Specifically, after the user selects a suitable stirring operation mode, the drive motor is started. The control system monitors and records the power output of the motor and the concentration of the stirring material in real time. These data are collected by the power collection module and the concentration sensing module and transmitted to the control unit wirelessly or wiredly.

[0034] S30. Compare the first material concentration data with the concentration data of the stirring material at the corresponding time point of the stirring operation mode to obtain the first material concentration comparison data. After obtaining the power and concentration data at the first operation time point in real time, the control system compares these data with the target values at the corresponding time points in the preset stirring operation mode. The comparison result, that is, the first material concentration comparison data, is used to evaluate whether the stirring process meets the expectations.

[0035] S40. When the result of the first material concentration comparison data is not zero, exit the current stirring operation mode, change the output power of the driving motor in the time series, and at the same time increase the time series between the next operation time periods by at least two time points, and collect a first material concentration data group composed of corresponding at least two first material concentration data. If the first material concentration comparison data is not zero, that is, there is a deviation between the actual concentration and the target concentration, the control system will exit the current stirring operation mode and adjust the output power of the motor according to the deviation. At the same time, in order to monitor the stirring process more carefully, the control system will add at least two additional time points in the next operation time period to collect more concentration data and form a first material concentration data group.

[0036] S50. At the next operation time point, obtain the second power data corresponding to the rotation of the driving motor at this operation time point and the second material concentration data of the stirred material in real time, compare the second material concentration data with the stirred material concentration data at the corresponding time point of the stirring operation mode, obtain the second material concentration comparison data, and judge whether to enter the preset stirring operation mode. At the next operation time point, the control system obtains and records the power output of the motor and the material concentration in real time again. Then, compare these data with the preset target to obtain the second material concentration comparison data. Based on this data, the control system judges whether to adjust to another preset stirring operation mode or maintain the current mode.

[0037] Specifically, in step S30, it is further optimized that the result of the first material concentration comparison data is zero, positive, or negative. Among them, when the absolute values of the positive and negative values are less than the limit value, they are regarded as zero values. The situation where the limit value is set in the zero value is that values close to the first material concentration are regarded as the stirred material of the stirring operation reaching the expectation.

[0038] When the result of the first material concentration comparison data is zero, the output power of the driving motor remains unchanged in the time series; when the first material concentration comparison data yields a zero value, the control system maintains the current output power of the driving motor unchanged. This strategy allows the system to operate stably when the material concentration meets the expectation, avoiding unnecessary power adjustments and thus improving energy efficiency.

[0039] When the result of the first material concentration comparison data is positive, the output power of the driving motor decreases in the time series; when the first material concentration comparison data is positive, the control system reduces the output power of the driving motor. This applies to the situation where the material concentration is higher than expected, which may cause over-stirring. By reducing the power, the stirring speed can be slowed down to prevent over-stirring.

[0040] When the result of the first material concentration comparison data is negative, the driving motor increases its output power in the time series. When the first material concentration comparison data is negative, the control system increases the output power of the driving motor. This applies to the situation where the material concentration is lower than expected and stronger stirring is required to achieve uniform mixing.

[0041] Specifically, in step S40, it is further optimized. It further details how to collect and process the material concentration data between the first operation time point and the second operation time point, and how to dynamically adjust the output power of the motor based on this data. Among multiple time points between the first operation time point and the second operation time point, a first material concentration data group composed of multiple collected first material concentration data is formed. Each data in the first material concentration data group is compared with the first material concentration data to obtain multiple third material concentration comparison data, and the results of the third material concentration comparison data are zero, positive, and negative values. Between two key operation time points, the control system determines a series of time points according to the time interval set by the stirring operation mode. At these time points, the concentration sensing module collects the concentration data of the stirred material to form a first material concentration data group. For each concentration data in the first material concentration data group, the control system compares it with the preset concentration target. This comparative analysis generates multiple third material concentration comparison data, which reflect the deviation between the actual concentration and the target concentration.

[0042] When the result of the third material concentration comparison data is zero, the output power of the driving motor remains unchanged in the time series. When the result of the comparison data is zero, it indicates that the current material concentration meets the preset target, and the control system maintains the current output power of the driving motor unchanged.

[0043] When the result of the third material concentration comparison data is positive, the driving motor reduces its output power in the time series. When the result of the comparison data is positive, it means that the material concentration is higher than the target concentration, and the control system reduces the output power of the driving motor to reduce the stirring intensity and prevent over - mixing of the material.

[0044] When the result of the third material concentration comparison data is negative, the driving motor increases its output power in the time series. When the result of the comparison data is negative, the material concentration is lower than the target concentration, and the control system increases the output power of the driving motor to increase the stirring intensity and ensure that the material can be fully mixed.

[0045] Specifically, in step S40, it is further optimized. In this embodiment, a precise stirring operation mode is introduced. The results of the second material concentration comparison data are zero, positive, and negative values. Among them, when the absolute values of the positive and negative values are less than the limit value, they are regarded as zero values.

[0046] When the result of the comparison data of the second material concentration is zero, enter the preset stirring operation mode;

[0047] When the result of the comparison data of the second material concentration is positive or negative, enter the precise stirring operation mode.

[0048] The control system obtains the material concentration data at the preset second operation time point, compares it with the target concentration, and generates the comparison data of the second material concentration. These data will determine whether it is necessary to adjust the stirring operation mode. When the comparison data of the second material concentration is zero, that is, the material concentration meets the preset target, the control system will maintain the current stirring operation mode unchanged. This ensures the stability of the stirring process when it reaches the ideal state. When the comparison data of the second material concentration is positive or negative, the control system determines that more precise stirring control is required, and thus enters the precise stirring operation mode. In this mode, the system will perform more intensive data collection and power adjustment.

[0049] Refer to Figure 2 As shown, in the precise stirring operation mode, the steps of the precise stirring operation mode are as follows:

[0050] S401. Set the target stirring material concentration corresponding to at least two target time periods;

[0051] S402. The time series between the remaining target time periods increases by more than five time points, and collect a second material concentration data set composed of at least five corresponding material concentration data;

[0052] S403. Compare the material concentration data in the second material concentration data set with the target stirring material concentration respectively to obtain the result of the comparison data of the third material concentration. When the result of the comparison data of the third material concentration is negative, the driving motor in the remaining target time periods outputs the precise power until the stirring operation reaches the target stirring material concentration corresponding to the last target time period.

[0053] The above-mentioned precise power output by the driving motor meets the following formula requirements, and the calculation method of the precise power output by the driving motor is based on a mathematical formula that comprehensively considers factors such as the stirring material concentration, density, rotation speed of the stirring tool holder, and inner diameter of the stirring container.

[0054]

[0055] Wherein, t is the end time point within the remaining target time period, P(t) is the precise power output by the drive motor at time t, k is a coefficient related to the shape, size of the food blender and the mixing container, τ is any time point within t, C(τ) is the concentration of the mixed materials at time τ, ρ(C(τ)) is the material density function varying with the concentration of the mixed materials, N(τ) is the rotational speed of the mixing blade seat at time τ, and D(τ) is the inner diameter of the mixing container at time τ.

[0056] The control system first determines a base power P base , which is the minimum power requirement of the motor under no load or specific conditions. The coefficient k is related to the specific shape, size of the food blender and the characteristics of the mixing container. The control system determines an appropriate value of k according to the design parameters of the blender. At the time point τ, the concentration sensing module monitors and records the concentration C(τ) of the mixed materials in real time. According to the monitored concentration C(-), the control system queries or calculates the corresponding material density ρ(C(τ)). This density function may be based on experimental data or theoretical models. The control system monitors the rotational speed N(τ) of the mixing blade seat and the inner diameter D(τ) of the mixing container in real time, and these parameters may change during the mixing process. Using the above parameters, the control system performs an integral operation on the precise power formula to calculate the power P(t) that the motor should output at a specific time t. According to the calculation result, the control system adjusts the output power of the motor to ensure that the mixing process reaches the required accuracy. The control system compares the adjusted power output with the material concentration monitored in real time to form a closed-loop feedback mechanism. If the concentration still does not meet the target, the system will continue to adjust the power output until precise control is achieved.

[0057] Furthermore, the concentration sensing module includes at least one concentration sensor, and the concentration sensor is a concentration sensor based on an optical measurement method, which detects the change of the material concentration inside the mixing container in a non-contact manner and transmits the detection data to a control unit in real time through a signal transmission mechanism. This non-contact measurement method can reduce the interference to the mixing process and improve the measurement accuracy. The power collection module can collect and record the power consumption of the drive motor in different mixing operation modes and store this data in a non-volatile memory. This data is very valuable for analyzing the energy efficiency of the mixing process, optimizing the mixing operation mode and performing fault diagnosis.

[0058] The food blender includes a user interface to allow the user to input the expected concentration data of the mixed materials and the material characteristics through this interface. The system automatically selects the most suitable mixing operation mode or adjusts the parameters of the precise mixing operation mode according to the user input to achieve personalized mixing control.

[0059] The present invention also discloses a computer device, including a memory and a processor, and when the processor executes the computer program stored in the memory, the method as described above is implemented.

[0060] The present invention also discloses a computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method as described above is implemented.

[0061] By monitoring the concentration and power consumption of the stirred material in real time and dynamically adjusting the output power of the motor according to this data, the present invention realizes precise control of the stirring process; at the same time, when the material concentration meets the expectation, the control system maintains the current output power of the motor unchanged, avoiding unnecessary power adjustment, thereby improving energy efficiency.

[0062] According to the characteristics of different stirred materials, such as viscosity and consistency, multiple stirring operation modes can be set, enabling the mixer to adapt to various different stirring requirements. Through the user interaction interface, the user can input the expected concentration data of the stirred material and the material characteristics, and the system automatically selects the most suitable stirring operation mode or adjusts the parameters of the precise stirring operation mode according to the user input, realizing personalized stirring control. The power collection module can collect and record the power consumption data of the driving motor in different stirring operation modes and store this data in the non-volatile memory, providing valuable information for analyzing the energy efficiency of the stirring process, optimizing the stirring operation mode, and conducting fault diagnosis. The control system compares the adjusted power output with the real-time monitored material concentration to form a closed-loop feedback mechanism, ensuring that the stirring process reaches the required accuracy. A concentration sensor based on an optical measurement method is used for non-contact detection, reducing the interference to the stirring process and improving the measurement accuracy. When there is a deviation between the material concentration data and the target value, the system can intelligently increase or decrease the output power of the motor according to the positive or negative and magnitude of the deviation to achieve more refined stirring control. Through precise power adjustment and real-time monitoring, the present invention can effectively improve the mixing quality and uniformity of the stirred material, avoiding problems such as uneven stirring or over-stirring. The method of the present invention can be implemented by a computer device and a computer-readable storage medium, and is easy to integrate into the existing food mixer system, having good application prospects and market potential.

[0063] It should be recognized that the method steps in the embodiments of the present invention can be implemented or carried out by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer-readable memory. The method can use standard programming techniques. Each program can be implemented in a high-level procedural or object-oriented programming language to communicate with the computer system. However, if necessary, the program can be implemented in assembly or machine language. In any case, the language can be a compiled or interpreted language. In addition, for this purpose, the program can run on a dedicated integrated circuit programmed for this purpose.

[0064] In addition, the operations of the processes described herein can be performed in any suitable order, unless otherwise indicated herein or otherwise clearly contradicted by the context. The processes described herein (or variations and / or combinations thereof) can be performed under the control of one or more computer systems configured with executable instructions and can be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or by a combination thereof. The computer program includes a plurality of instructions executable by one or more processors.

[0065] Furthermore, the method can be implemented in any type of computing platform operatively connected to a suitable one, including but not limited to personal computers, minicomputers, mainframes, workstations, network or distributed computing environments, separate or integrated computer platforms, or communicating with charged particle tools or other imaging devices, etc. Aspects of the present invention can be implemented in machine-readable code stored on a non-transitory storage medium or device, whether removable or integrated into the computing platform, such as a hard disk, optical read and / or write storage medium, RAM, ROM, etc., such that it can be read by a programmable computer and can be used to configure and operate the computer to perform the processes described herein when the storage medium or device is read by the computer. In addition, the machine-readable code, or portions thereof, can be transmitted via a wired or wireless network. When such media include instructions or programs that implement the above-described steps in conjunction with a microprocessor or other data processor, the inventions described herein include these and other different types of non-transitory computer-readable storage media. When programmed according to the methods and techniques of the present invention, the present invention can also include the computer itself.

[0066] The computer program can be applied to the input data to perform the functions described herein, thereby transforming the input data to generate output data stored in a non-volatile memory. The output information can also be applied to one or more output devices such as a display. In a preferred embodiment of the present invention, the transformed data represents physical and tangible objects, including a specific visual depiction of the physical and tangible objects generated on the display.

[0067] As described above, this is only a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. As long as it achieves the technical effects of the present invention by the same means, any modifications, equivalent replacements, improvements, etc., made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention. Within the scope of protection of the present invention, its technical solutions and / or implementation manners can have various different modifications and variations.

Claims

1. A motor control method, comprising: A drive motor installed on a food blender, a power collection module for collecting the real-time power of the drive motor is installed on the drive motor, and a concentration sensing module for evaluating the viscosity of the stirred material is arranged inside the stirring container; It is characterized in that the method comprises the following steps: According to the different output powers of the drive motor for different stirred materials in a time series, a plurality of stirring operation modes are set, and the stirring operation modes include recording the concentration data of the stirred material at a plurality of stirring operation time points, Select one of the stirring operation modes, start the drive motor, and in the time series, real-time obtain the first power data corresponding to the first operation time point of the rotation of the drive motor and the first material concentration data of the stirred material, Compare the first material concentration data with the concentration data of the stirred material at the corresponding time point of the stirring operation mode to obtain first material concentration comparison data, When the result of the first material concentration comparison data is not zero, exit the current stirring operation mode, change the output power of the drive motor in the time series, and at the same time increase at least two time points in the time series between the next operation time periods, and collect a first material concentration data group composed of at least two corresponding first material concentration data, At the next operation time point, real-time obtain the second power data corresponding to the rotation of the drive motor at this operation time point and the second material concentration data of the stirred material, Compare the second material concentration data with the concentration data of the stirred material at the corresponding time point of the stirring operation mode to obtain second material concentration comparison data, and judge whether to enter the preset stirring operation mode.

2. The method according to claim 1, characterized in that: The result of the first material concentration comparison data is zero, positive and negative values. Among them, when the absolute values of the positive and negative values are less than the limit value, they are regarded as zero values, When the result of the first material concentration comparison data is zero, the output power of the drive motor in the time series remains unchanged, When the result of the first material concentration comparison data is positive, the output power of the drive motor in the time series is reduced, When the result of the first material concentration comparison data is negative, the output power of the drive motor in the time series is increased.

3. The method according to claim 1, characterized in that: Among a plurality of time points between the first operation time point and the second operation time point, a first material concentration data group composed of a plurality of collected first material concentration data is compared with each data of the first material concentration data group to obtain a plurality of third material concentration comparison data, and the results of the third material concentration comparison data are zero, positive and negative values, When the result of the third material concentration comparison data is zero, the output power of the drive motor in the time series remains unchanged, When the result of the third material concentration comparison data is positive, the output power of the drive motor in the time series is reduced, When the result of the third material concentration comparison data is negative, the output power of the drive motor in the time series is increased.

4. The method according to claim 1, wherein: The comparison data result of the second material concentration is a zero value, a positive value, and a negative value. When the absolute values of the positive value and the negative value are less than a limit value, they are regarded as zero values. When the comparison data result of the second material concentration is a zero value, enter the preset stirring operation mode. When the comparison data result of the second material concentration is a positive value or a negative value, enter the precise stirring operation mode. The steps of the precise stirring operation mode are as follows: Set the target stirring material concentration corresponding to at least two target time periods. For the time series between the remaining target time periods, add more than five time points, and collect a second material concentration data set composed of at least five material concentration data. Compare the material concentration data of the second material concentration data set with the target stirring material concentration respectively to obtain a third material concentration comparison data result. When the third material concentration comparison data result is a negative value, the driving motor outputs a precise power for the remaining target time periods until the stirring operation reaches the target stirring material concentration corresponding to the last target time period.

5. The method according to claim 4, wherein: The precise power output by the driving motor meets the following formula requirements: ； Among them, is the end time point within the remaining target time period, is the time when the driving motor outputs the precise power, is a coefficient related to the shape, size of the food blender and the mixing container, is any time point within is the concentration of the mixed material at is the material density function that changes with the concentration of the mixed material, is the rotational speed of the mixing knife holder at is the inner diameter of the mixing container at is a basic power, which is the minimum power requirement of the motor under no load or specific conditions.

6. The method according to claim 1, wherein: The concentration sensing module includes at least one concentration sensor, and the concentration sensor is a concentration sensor based on an optical measurement method, which detects the change of the material concentration inside the stirring container in a non-contact manner and transmits the detection data to a control unit in real time through a signal transmission mechanism.

7. The method according to claim 1, wherein: The power collection module can collect and record the power consumption of the driving motor in different stirring operation modes and store the data in a non-volatile memory.

8. The method according to claim 1, wherein: The food blender includes a user interface to allow the user to input the expected stirring material concentration data and material characteristics through this interface.

9. A computer device, comprising a memory and a processor, characterized in that, When the processor executes the computer program stored in the memory, it implements the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, on which program instructions are stored, and when the program instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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