Powder pressing motor control method and beverage machine

Abstract

The embodiment of the invention provides a powder pressing motor control method and a beverage machine, and relates to the technical field of beverage machines. According to the specific implementation scheme, powder pressing information is obtained, wherein the powder pressing information comprises a target powder pressing force value; based on the target powder pressing force value and a preset calculation rule, a target current upper limit value and a target rotating speed corresponding to the target powder pressing force value are determined, and the preset calculation rule represents the mapping relation between the multiple powder pressing force values and the multiple current upper limit values and the multiple rotating speeds; based on the target rotating speed, a powder pressing motor of the beverage machine is controlled to operate so as to execute the powder pressing action; and in the execution process of the powder pressing action, when the working current of the powder pressing motor is larger than the target current upper limit value, the powder pressing motor is controlled to stop running. On the basis of the scheme, the powder pressing force output by the powder pressing motor can be accurately controlled, and therefore different powder pressing force needed during powder pressing treatment can be accurately provided.

Description

Technical Field

[0001] The present application relates to the technical field of beverage machines, and more specifically, to a powder pressing motor control method and a beverage machine. Background Art

[0002] Coffee machines are becoming increasingly popular in the market due to their ease of use and simple operation.

[0003] Currently, most coffee machines have an automatic powder pressing function, which can grind coffee beans and then press them into powder, so that the coffee powder cake made by the pressing process can be used for brewing.

[0004] The inventor of the present application discovered that coffee with different tastes can be brewed under different pressing forces. If different pressing forces can be accurately provided for pressing, coffee with a variety of different tastes can be brewed. However, existing coffee machines are unable to accurately control the pressing force. Summary of the invention

[0005] The present application provides a powder pressing motor control method and a beverage machine, aiming to solve at least one of the above technical defects. The technical solution adopted in the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a powder pressing motor control method, the method comprising:

[0007] Obtaining powder compaction information, the powder compaction information including a target powder compaction strength value;

[0008] Based on the target powder compaction force value and a preset calculation rule, a target current upper limit value and a target rotation speed corresponding to the target powder compaction force value are determined, wherein the preset calculation rule represents a mapping relationship between multiple powder compaction force values ​​and multiple current upper limit values ​​and multiple rotation speeds;

[0009] Based on the target speed, the powder compacting motor of the beverage machine is controlled to operate so as to perform a powder compacting action;

[0010] During the execution of the powder compacting action, when the working current of the powder compacting motor is greater than the target current upper limit value, the powder compacting motor is controlled to stop running.

[0011] In a second aspect, an embodiment of the present application provides a beverage machine, which includes a controller and a powder pressing motor, the controller is communicatively connected with the powder pressing motor, and the controller is configured to implement the steps of the above-mentioned powder pressing motor control method when executed.

[0012] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0013] The method provided in the embodiment of the present application can accurately control the powder compacting force output by the powder compacting motor by determining the corresponding target current upper limit value and the corresponding target rotational speed according to the target powder compacting force value, and by using the corresponding target rotational speed value and the corresponding target current upper limit value for control during the execution of the powder compacting action, thereby achieving accurate provision of different powder compacting forces required for powder compacting processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0015] Figure 1 A system schematic diagram of a beverage machine provided in an embodiment of the present application;

[0016] Figure 2 A schematic diagram of a flow chart of a powder pressing motor control method provided in an embodiment of the present application;

[0017] Figure 3 It is a flowchart of the control logic executed by the motor driver in the embodiment of the present application.

[0018] Figure 4 Schematic diagram of the flow of control logic executed by the main controller in the embodiment of the present application. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0020] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0021] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0022] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0023] The powder pressing motor control method of the present application is applied to a beverage machine. The beverage machine in the embodiment of the present application is described by taking a coffee machine that can make coffee as an example.

[0024] The inventor of the present application has discovered that using a larger pressing force for powder compaction will result in smaller gaps between coffee powder in the compacted coffee powder cake, while using a smaller pressing force for powder compaction will result in larger gaps between coffee powder in the compacted coffee powder cake. Using different pressing forces for powder compaction will result in different gaps between coffee powder in the compacted coffee powder cake, and the gaps between coffee powder will affect the amount of substances extracted during brewing, and ultimately affect the taste of the brewed coffee. If different pressing forces can be accurately provided for powder compaction, coffee with a variety of different tastes can be brewed.

[0025] In existing coffee machines, the powder pressing motor 120 is mostly operated in a constant speed control mode, and the torque output by the powder pressing motor 120 cannot be accurately adjusted, and the powder pressing force cannot be accurately controlled.

[0026] Figure 1 A system schematic diagram of a beverage machine provided in an embodiment of the present application is shown.

[0027] like Figure 1 As shown, in some embodiments, the beverage machine provided in the embodiment of the present application includes a controller and a powder pressing motor 120, the controller is in communication connection with the powder pressing motor 120, and the controller is configured to execute the powder pressing motor 120 control method provided in the embodiment of the present application. By executing the above-mentioned powder pressing motor 120 control method, the controller can achieve precise control of the powder pressing force output by the powder pressing motor 120, so as to brew coffee with a variety of different tastes corresponding to different powder pressing forces.

[0028] In an optional manner of the embodiment of the present application, the beverage machine further includes a brewing device (not shown in the figure), the powder pressing motor 120 is drivingly connected to the brewing device, and the brewing device is used to perform the powder pressing action;

[0029] The controller includes a main controller 111 and a motor driver 112 . The main controller 111 , the motor driver 112 and the powder pressing motor 120 are communicatively connected in sequence.

[0030] The brewing device moves under the drive of the powder compacting motor 120, thereby performing a powder compacting action.

[0031] As an example, the powder pressing motor 120 may be a brushless DC motor.

[0032] The controller may specifically include a main controller 111 and a motor driver 112, wherein the main controller 111 is used to generate a powder pressing control signal and send the powder pressing control signal to the motor driver 112, and the motor driver 112 is used to control the speed and other operating parameters of the powder pressing motor 120 according to the powder pressing control signal.

[0033] In the embodiment of the present application, the powder for which the powder pressing action is performed may include but is not limited to coffee powder, tea powder, etc. The following description is made by taking the powder pressing action performed on coffee powder as an example.

[0034] In an optional manner of the embodiment of the present application, the main controller 111 is used to: obtain powder compaction information, determine a target current upper limit value and a target speed corresponding to the target powder compaction strength value based on the target powder compaction strength value and a preset calculation rule, generate a powder compaction control signal based on the target current upper limit value and the target speed, and send the powder compaction control signal to the motor driver 112;

[0035] The motor driver 112 is used to: receive the powder compacting control signal sent by the main controller 111, control the operation of the powder compacting motor 120 based on the target speed to perform the powder compacting action, and during the execution of the powder compacting action, when the working current of the powder compacting motor 120 is greater than the target current upper limit value, control the powder compacting motor 120 to stop running.

[0036] Reference Figure 1 As shown, the beverage machine may further include a screen 130 for interacting with the user. As an example, the screen 130 may be a touch screen, and the user may submit the compressed powder information by clicking on the touch screen, and after the controller obtains the compressed powder information, it triggers the corresponding steps of the compressed powder motor control method.

[0037] It is understandable that the user can also submit the powder pressing information through gesture control, voice control, eyeball control, etc., so as to trigger the corresponding steps of the powder pressing motor control method. Gesture control can be such as the user clicking or sliding on the screen 130 with a finger or a stylus. Eyeball control can be capturing the focus position of the eyeball on the screen 130.

[0038] As an example, the screen 130 in this example may also only have a display function and provide physical buttons, through which the user can submit the powder pressing information, thereby triggering the corresponding steps of the powder pressing motor control method.

[0039] As an example, see Figure 1 The screen 130 , the main controller 111 , the motor driver 112 and the powder pressing motor 120 are communicatively connected in sequence, and the screen 130 can input the target powder pressing force value to the main controller 111 through the RS485 interface.

[0040] In an embodiment of the present application, after the main controller 111 determines the target current upper limit and target rotational speed corresponding to the target powder compacting force value based on the preset calculation rules, it can generate a powder compacting control signal based on the target current upper limit and the target rotational speed, and send the powder compacting control signal to the motor driver 112, thereby controlling the operation of the powder compacting motor 120 through the motor driver 112.

[0041] As an example, the powder pressing control signal generated by the main controller 111 may include a pulse width modulation (PWM) signal. After receiving the PWM signal, the motor driver 112 may control the powder pressing motor 120 based on the PWM signal. Specifically, the motor driver 112 may include a MOS tube switch circuit, and the powder pressing motor 120 may be controlled by controlling the MOS tube switch circuit.

[0042] As an example, the powder pressing control signal generated by the main controller 111 may also include a direction control signal, and the direction control signal is used to control the running direction of the powder pressing motor 120, thereby controlling the moving direction of the brewing device.

[0043] As an example, the brewing device may include a brewing body, an upper piston and a lower piston, and the brewing body, the upper piston and the lower piston may define a brewing cavity, and the brewing cavity is used to contain coffee powder. Specifically, the powder pressing motor 120 is drivingly connected to the lower piston, and the powder pressing motor 120 may drive the lower piston to move relative to the upper piston, so as to reduce the volume of the brewing cavity containing the coffee powder, thereby realizing the powder pressing action.

[0044] During the process of the motor driver 112 controlling the powder compacting motor 120 to perform the powder compacting action, the rotation speed of the powder compacting motor 120 will first approach the target rotation speed and drive the lower piston of the brewing device to move. After the lower piston of the brewing device moves to contact with the coffee powder, the rotation speed of the powder compacting motor 120 begins to decrease. At this time, the working current of the powder compacting motor 120 will begin to increase until the working current of the powder compacting motor 120 is greater than the target current upper limit value, and then the powder compacting motor 120 is controlled to stop running, that is, the powder compacting action is completed.

[0045] In the embodiment of the present application, when the working current of the powder compacting motor 120 is the target current upper limit value, the powder compacting motor 120 outputs the maximum powder compacting force, that is, the powder compacting force of the target powder compacting force value. At this time, it can be considered that the powder compacting force of the target powder compacting force value has been applied for powder compacting, and the powder compacting action has been completed.

[0046] As an example, the powder pressing motor 120 can feed back the Hall signal to the motor driver 112, the motor driver 112 can generate a pulse feedback signal based on the Hall signal, and send the pulse feedback signal to the main controller 111, and the main controller 111 can determine the rotation speed of the powder pressing motor 120, the driven stroke of the powder pressing motor 120 and other data according to the pulse feedback signal.

[0047] Figure 2 FIG. 1 is a flow chart of a method for controlling a powder pressing motor 120 provided in an embodiment of the present application. Figure 2 As shown, the method may mainly include:

[0048] Step 210: obtaining powder compaction information, the powder compaction information including a target powder compaction force value;

[0049] Step 220: determining a target current upper limit value and a target rotational speed corresponding to the target powder compaction force value based on the target powder compaction force value and a preset calculation rule, wherein the preset calculation rule represents a mapping relationship between a plurality of powder compaction force values ​​and a plurality of current upper limit values ​​and a plurality of rotational speeds;

[0050] Step 230: Based on the target speed, control the powder compacting motor 120 of the beverage machine to operate so as to perform a powder compacting action;

[0051] Step 240 : During the execution of the powder compacting operation, when the working current of the powder compacting motor 120 is greater than the target current upper limit value, the powder compacting motor 120 is controlled to stop running.

[0052] The powder compaction information may be generated when the powder compaction action is performed or when the beverage preparation starts. It is understood that the powder compaction action is one of the steps in the beverage preparation. The powder compaction information includes a target powder compaction force value. The target powder compaction force value is the pressure value expected to be applied to the coffee powder during the execution of the powder compaction action. It is expected that the coffee powder will be compacted into a coffee powder cake under the target powder compaction force value, and then the coffee with the expected taste corresponding to the target powder compaction force value will be brewed.

[0053] In actual use, a variety of powder compression strength values ​​can be provided for users to choose from, and the target powder compression strength value is the powder compression strength value selected by the user.

[0054] As an example, four levels of compacting strength values, 20kg, 40kg, 60kg and 80kg, can be provided, and the user can select any level of compacting strength value as the target compacting strength value. It can be understood that different compacting strength values ​​correspond to brewing coffee with different tastes.

[0055] It is understandable that the target powder compression strength value can also be set according to the type of beverage to be brewed. Specifically, a mapping relationship between different beverage types and target powder compression strength values ​​can be established in advance. After the user selects the beverage to be prepared, the corresponding target powder compression strength value can be automatically determined based on the above mapping relationship, and the powder compression action is performed based on the target powder compression strength value.

[0056] In the embodiment of the present application, a preset calculation rule can be pre-established, and the preset calculation rule represents the mapping relationship between multiple powder pressing force values ​​and multiple current upper limit values ​​and multiple rotation speeds.

[0057] For any compacting force value, the current upper limit value corresponding to the compacting force value is the maximum current value of the compacting motor 120 during the compacting action based on the compacting force value. The speed corresponding to the compacting force value can be understood as the control target of the speed of the compacting motor 120 during the compacting action based on the compacting force value.

[0058] When the powder compacting motor 120 performs the powder compacting action, the magnitude of the powder compacting force value is related to the corresponding current upper limit value and the corresponding rotational speed. Therefore, the corresponding current upper limit value and the corresponding rotational speed can be determined for different powder compacting force values ​​to create a preset calculation rule, and the corresponding rotational speed value and current upper limit value are used for control during the execution of the powder compacting action to achieve precise control of the powder compacting force. The powder compacting motor 120 is controlled in a closed loop based on the current upper limit value and the rotational speed corresponding to the target powder compacting force value, so that the actual output powder compacting force of the powder compacting motor 120 can be accurately close to the target powder compacting force value.

[0059] In the embodiment of the present application, after the target current upper limit and the target speed corresponding to the target powder compacting force value are determined based on the preset calculation rules, the powder compacting motor 120 can be controlled to run based on the target current upper limit and the target speed to perform the powder compacting action. Specifically, the powder compacting motor 120 can be controlled to run at the target speed, and when the working current of the powder compacting motor 120 is greater than the target current upper limit, the powder compacting motor 120 is controlled to stop running.

[0060] As an example, the brewing device may include a brewing body, an upper piston and a lower piston, and the brewing body, the upper piston and the lower piston may define a brewing cavity, and the brewing cavity is used to contain coffee powder. Specifically, the powder pressing motor 120 is connected to the lower piston, and the powder pressing motor 120 may drive the lower piston to move relative to the upper piston, so as to reduce the volume of the brewing cavity containing the coffee powder, thereby realizing the powder pressing action. In the process of the powder pressing motor 120 performing the powder pressing action, the rotation speed of the powder pressing motor 120 will first approach the target rotation speed, and drive the lower piston of the brewing device to move. After the lower piston of the brewing device moves to contact with the coffee powder, the rotation speed of the powder pressing motor 120 begins to decrease, and at this time, the working current of the powder pressing motor 120 will begin to increase until the working current of the powder pressing motor 120 is greater than the target current upper limit value, and the powder pressing motor 120 is controlled to stop running, and at this time, it can be considered that the powder pressing action is completed.

[0061] In the embodiment of the present application, when the working current of the powder compacting motor 120 is the target current upper limit value, the powder compacting motor 120 outputs the maximum powder compacting force, that is, the powder compacting force of the target powder compacting force value. At this time, it can be considered that the powder compacting force of the target powder compacting force value has been applied for powder compacting, and the powder compacting action has been completed.

[0062] The method provided in the embodiment of the present application can accurately control the powder pressing force by determining the corresponding upper limit value of the current and the corresponding rotational speed according to the target powder pressing force value, and by using the corresponding rotational speed value and the corresponding upper limit value of the current for control during the execution of the powder pressing action, thereby achieving accurate provision of different powder pressing forces required for powder pressing processing.

[0063] In an optional manner of the embodiment of the present application, the target speed corresponds to a target speed range, and based on the target speed, the powder pressing motor 120 of the beverage machine is controlled to operate, including:

[0064] Controlling the powder compacting motor 120 to operate with one of the target speed ranges as the target speed;

[0065] In response to detecting that the speed of the powder compacting motor 120 is less than the lower limit of the target speed range, increasing the current of the powder compacting motor 120 according to a preset speed-up strategy to increase the speed of the powder compacting motor 120;

[0066] In response to detecting that the speed of the powder compacting motor 120 is greater than the upper limit of the target speed range, the current of the powder compacting motor 120 is reduced according to a preset speed reduction strategy to reduce the speed of the powder compacting motor 120 .

[0067] In the embodiment of the present application, the target speed may be a target speed interval. In actual use, a speed in the target speed interval may be used as a target to control the powder pressing motor 120 to run close to the speed. As an example, the median of the target speed interval may be used as a target to control the operation of the powder pressing motor 120.

[0068] The target speed range can be understood as a reasonable range of speeds when the powder compacting motor 120 is in operation. When the speed of the powder compacting motor 120 is within the target speed range, it indicates that the speed of the powder compacting motor 120 will not be too slow, thereby avoiding affecting the efficiency of the powder compacting action due to too slow speed, thereby avoiding affecting the efficiency of beverage preparation, and the speed of the powder compacting motor 120 will not be too fast, thereby avoiding overshooting caused by the powder compacting motor 120 quickly driving the lower piston of the brewing device.

[0069] In order to ensure that the speed of the compacting motor 120 is within the target speed range, the speed control can be performed in the following manner: when it is detected that the speed of the compacting motor 120 is less than the lower limit of the target speed range, the current of the compacting motor 120 is increased according to the preset speed-up strategy to increase the speed of the compacting motor 120; and when it is detected that the speed of the compacting motor 120 is greater than the upper limit of the target speed range, the current of the compacting motor 120 is reduced according to the preset speed-down strategy to reduce the speed of the compacting motor 120. Keeping the speed of the compacting motor 120 within the target speed range can not only brew coffee with a desired taste with a compacting force that is precisely close to the target compacting force value, but also ensure the efficiency of beverage preparation and avoid overshooting of the lower piston of the brewing device.

[0070] In an optional manner of the embodiment of the present application, increasing the current of the powder pressing motor 120 according to a preset speed-up strategy includes:

[0071] The duty cycle of the pulse width modulation signal is controlled to increase a first preset duty cycle value to increase the current of the powder compacting motor 120 , wherein the pulse width modulation signal is used to control a switch circuit of the powder compacting motor 120 .

[0072] In the embodiment of the present application, the speed-up strategy can increase the first preset duty cycle value for controlling the duty cycle of the PWM signal to increase the current of the powder pressing motor 120. By increasing the duty cycle of the PWM signal, the on-time of the switch circuit of the powder pressing motor 120 is increased under the control of the PWM signal, thereby increasing the current of the powder pressing motor 120. After the current of the powder pressing motor 120 increases, the speed of the powder pressing motor 120 can be increased. When the speed of the powder pressing motor 120 is less than the lower limit of the target speed range, the speed of the powder pressing motor 120 is increased through the speed-up strategy so that the speed of the powder pressing motor 120 is within the target speed range.

[0073] In an optional manner of the embodiment of the present application, reducing the current of the powder compacting motor 120 according to a preset speed reduction strategy includes:

[0074] The duty cycle of the pulse width modulation signal is controlled to decrease by a second preset duty cycle value, so as to reduce the current of the powder compacting motor 120 , wherein the pulse width modulation signal is used to control the switch circuit of the powder compacting motor 120 .

[0075] In the embodiment of the present application, the speed reduction strategy can reduce the duty cycle of the PWM signal by a second preset duty cycle value to reduce the current of the powder pressing motor 120. By reducing the duty cycle of the PWM signal, the on-time of the switch circuit of the powder pressing motor 120 is reduced under the control of the PWM signal, thereby reducing the current of the powder pressing motor 120. After the current of the powder pressing motor 120 is reduced, the speed of the powder pressing motor 120 can be reduced. When the speed of the powder pressing motor 120 is greater than the upper limit of the target speed range, the speed of the powder pressing motor 120 is reduced by the speed reduction strategy so that the speed of the powder pressing motor 120 is within the target speed range.

[0076] In an optional manner of the embodiment of the present application, the preset calculation rule satisfies at least one of the following characteristics:

[0077] The powder pressing force value is positively correlated with the upper limit of current;

[0078] The powder pressing force value is positively correlated with the rotation speed.

[0079] In the embodiment of the present application, the powder compression force value is positively correlated with the current upper limit value, that is, a larger powder compression force value corresponds to a larger current upper limit value, and a smaller powder compression force value corresponds to a smaller current upper limit value.

[0080] The current upper limit value is the maximum current of the powder compacting motor 120 during the powder compacting action. Under the same voltage conditions, the higher the current upper limit value, the greater the torque output by the powder compacting motor 120, which also makes the powder compacting force value greater. Therefore, the powder compacting force value can be configured to be positively correlated with the current upper limit value.

[0081] In the embodiment of the present application, the powder compression force value is positively correlated with the rotational speed, that is, a larger powder compression force value corresponds to a larger rotational speed, and a smaller powder compression force value corresponds to a smaller rotational speed.

[0082] During the powder compacting process, when the powder compacting motor 120 has a higher rotation speed, the current of the powder compacting motor 120 is also higher. Under the same voltage conditions, when the current of the powder compacting motor 120 is higher, the torque output by the powder compacting motor 120 is also greater, which makes the powder compacting force value greater. Therefore, the powder compacting force value can be configured to be positively correlated with the rotation speed.

[0083] In an optional manner of the embodiment of the present application, the multiple powder pressing force values ​​include at least a first powder pressing force value and a second powder pressing force value, the multiple current upper limit values ​​include at least a first current upper limit value corresponding to the first powder pressing force value and a second current upper limit value corresponding to the second powder pressing force value, and the multiple rotation speeds include at least a first rotation speed corresponding to the first powder pressing force value and a second rotation speed corresponding to the second powder pressing force value;

[0084] Among them, the first powder compaction force value is greater than the second powder compaction force value, the first current upper limit value is greater than the second current upper limit value, and the first rotation speed is greater than the second rotation speed.

[0085] In the embodiment of the present application, there may be multiple powder pressing force values, which may include a first powder pressing force value and a second powder pressing force value. The current upper limit value corresponding to the first powder pressing force value is the first current upper limit value, the rotation speed corresponding to the first powder pressing force value is the first rotation speed, the current upper limit value corresponding to the second powder pressing force value is the second current upper limit value, and the rotation speed corresponding to the second powder pressing force value is the second rotation speed.

[0086] The first powder compaction force value is greater than the second powder compaction force value. Considering the positive correlation between the powder compaction force value and the current upper limit value, the first current upper limit value can be configured to be greater than the second current upper limit value in the preset calculation rule. At the same time, considering the positive correlation between the powder compaction force value and the rotation speed, the first rotation speed can be configured to be greater than the second rotation speed in the preset calculation rule.

[0087] In an optional manner of the embodiment of the present application, during the execution of the powder compacting action, when the working current of the powder compacting motor 120 is greater than the target current upper limit value, after the powder compacting motor 120 is controlled to stop running, the method further includes:

[0088] Controlling the powder compacting motor 120 to run in the opposite direction of the running direction when performing the powder compacting action, so as to perform the action of moving to the scraping position, during which the powder compacting motor 120 runs at the rated speed of the powder compacting motor 120;

[0089] During the execution of the action of moving to the scraping position, when the speed of the powder pressing motor 120 is not greater than the preset stall speed, the powder pressing motor 120 is controlled to stop running, waiting for the execution of the scraping operation. In the embodiment of the present application, during the execution of the powder pressing action, when the working current of the powder pressing motor 120 is greater than the target current upper limit value, it can be considered that the powder pressing action is completed. At this time, the powder pressing motor 120 can be controlled to stop running, so that the lower piston of the brewing device stays at the powder pressing stop position.

[0090] As an example, the lower piston of the brewing device can move from the initial position to the powder pressing stop position along the first direction under the drive of the powder pressing motor 120; wherein, the initial position can be the position where the brewing device receives powder, that is, when coffee powder is input into the brewing device, the lower piston is located at the initial position; wherein, the powder pressing stop position can be the position of the lower piston when the powder pressing motor 120 is controlled to stop moving because the working current of the powder pressing motor 120 is greater than the target current upper limit value, that is, when the working current of the powder pressing motor 120 is greater than the target current upper limit value, the powder pressing motor 120 is controlled to stop moving, at this time, the lower piston is located at the powder pressing stop position, and the lower piston remains in the powder pressing stop position to prepare the beverage.

[0091] Specifically, the first direction may be upward along the height direction of the beverage machine.

[0092] After the powder compacting action is completed, the powder compacting motor 120 may be controlled to run in the opposite direction of the running direction when the powder compacting action is performed, so as to perform the action of moving to the scraping position.

[0093] During the execution of the action of moving to the scraping position, the lower piston of the brewing device will move from the powder pressing stop position to the scraping position, waiting for the subsequent scraping operation to clean the residue on the brewing device.

[0094] As an example, the lower piston of the brewing device can move from the powder pressing stop position to the scraping position along the second direction under the drive of the powder pressing motor 120; wherein, the scraping position can be the position where the lower piston pushes out the coffee powder cake residue, that is, when the scraping operation is performed, the lower piston is located at the scraping position, and when the lower piston is at the scraping position, it is convenient for the scraping structure to scrape off the coffee powder cake residue used for beverage preparation.

[0095] Specifically, the second direction may be downward along the height direction of the beverage machine, and the second direction is opposite to the first direction.

[0096] When executing the action of moving to the scraping position, the powder pressing motor 120 only needs to drive the brewing device to move, and its load is relatively small. At this time, in order to improve work efficiency, the powder pressing motor 120 can be controlled to run at a rated speed.

[0097] During the execution of the action of moving to the scraping position, when the rotation speed of the powder pressing motor 120 is not greater than the preset stall speed, it can be considered that the lower piston of the brewing device has been limited to the scraping position. At this time, the powder pressing motor 120 can be controlled to stop running, so that the brewing device stays at the scraping position, waiting for the execution of the scraping operation.

[0098] In an optional manner of the embodiment of the present application, after the scraping operation is completed, the method further includes:

[0099] Controlling the powder compacting motor 120 to run in the same running direction as when performing the powder compacting action, so as to perform the resetting action, during which the powder compacting motor 120 runs at the rated speed of the powder compacting motor 120;

[0100] During the execution of the reset action, when the driven stroke of the powder compacting motor 120 reaches the first preset stroke, the powder compacting motor 120 is controlled to stop running.

[0101] In the embodiment of the present application, after the scraping operation is completed, the powder pressing motor can be controlled to run in the same running direction as when performing the powder pressing action to perform a resetting action.

[0102] During the resetting process, the lower piston of the brewing device is driven by the powder pressing motor 120 to move from the scraping position to the initial position.

[0103] When performing the reset action, the powder pressing motor 120 only needs to drive the lower piston of the brewing device to move without pressing the powder, and its load is relatively small. At this time, in order to improve work efficiency, the powder pressing motor 120 can be controlled to run at the rated speed.

[0104] The first preset stroke is the stroke of the powder pressing motor 120 corresponding to the distance between the scraping position and the initial position. When the driven stroke of the powder pressing motor 120 reaches the first preset stroke, the lower piston of the corresponding brewing device moves from the scraping position to the initial position.

[0105] During the resetting process, the driven stroke of the powder pressing motor 120 can be obtained. When the driven stroke of the powder pressing motor 120 reaches the first preset stroke, it can be considered that the lower piston of the brewing device has moved to the initial position. At this time, the powder pressing motor 120 can be controlled to stop running, so that the brewing device stays in the initial position, waiting for the next input of coffee powder to the brewing device and the execution of the next powder pressing action.

[0106] In an optional manner of the embodiment of the present application, the above method further includes at least one of the following:

[0107] During the execution of the powder compacting action, when the driven stroke of the powder compacting motor 120 is greater than the second preset stroke, the powder compacting motor 120 is controlled to stop running;

[0108] During the execution of the action of moving to the scraping position, when the driven stroke of the powder compacting motor 120 is greater than the third preset stroke, the powder compacting motor 120 is controlled to stop running.

[0109] The second preset stroke is the driving stroke of the powder pressing motor 120 corresponding to the maximum distance between the initial position and the powder pressing stop position. During the execution of the powder pressing action, when the driven stroke of the powder pressing motor 120 is greater than the second preset stroke, the powder pressing motor 120 is controlled to stop running, so as to realize the stroke warning during the execution of the powder pressing action, and avoid the failure of the powder pressing motor 120 caused by exceeding the preset stroke. Furthermore, the first stroke alarm can also be issued to remind the user to check / repair the fault.

[0110] The third preset stroke is the driving stroke of the powder pressing motor 120 corresponding to the maximum distance between the powder pressing stop position and the scraping position. By controlling the powder pressing motor 120 to stop running when the driven stroke of the powder pressing motor 120 is greater than the third preset stroke during the execution of the action of moving to the scraping position, a stroke warning is implemented during the execution of the action of moving to the scraping position, thereby avoiding the failure of the powder pressing motor 120 due to exceeding the preset stroke. Furthermore, a second stroke alarm can also be issued to remind the user to check / repair the fault.

[0111] In an optional manner of the embodiment of the present application, the above method further includes:

[0112] Generate a pulse feedback signal based on the Hall signal of the powder pressing motor 120;

[0113] The rotation speed of the compacting motor 120 and / or the driven stroke of the compacting motor 120 are determined based on the pulse feedback signal.

[0114] In the embodiment of the present application, the powder pressing motor 120 can feed back the Hall signal during operation, and a pulse feedback signal can be generated based on the Hall signal of the powder pressing motor 120. The rotation speed of the powder pressing motor 120, the driven stroke of the powder pressing motor 120 and other information can be determined based on the pulse feedback signal, thereby effectively controlling the powder pressing motor 120 based on the rotation speed, driven stroke and other information fed back by the powder pressing motor 120.

[0115] Specifically, after determining the rotational speed of the powder pressing motor 120 based on the pulse feedback signal: in response to the rotational speed of the powder pressing motor 120 being less than the lower limit of the target speed range, the current of the powder pressing motor 120 can be increased according to a preset speed-up strategy to increase the rotational speed of the powder pressing motor 120; in response to the rotational speed of the powder pressing motor 120 being greater than the upper limit of the target speed range, the current of the powder pressing motor 120 can be reduced according to a preset speed-down strategy to reduce the rotational speed of the powder pressing motor 120; when the rotational speed of the powder pressing motor 120 is not greater than the preset stall speed, the powder pressing motor 120 can be controlled to stop running, pending the execution of the scraping operation.

[0116] Specifically, after determining the driven stroke of the powder pressing motor 120 based on the pulse feedback signal: when the driven stroke of the powder pressing motor 120 reaches the first preset stroke during the execution of the resetting action, the powder pressing motor 120 can be controlled to stop running; when the driven stroke of the powder pressing motor 120 during the execution of the powder pressing action is greater than the second preset stroke, the powder pressing motor 120 can be controlled to stop running; when the driven stroke of the powder pressing motor 120 during the execution of the action of moving to the scraping position is greater than the third preset stroke, the powder pressing motor 120 can be controlled to stop running.

[0117] In an optional manner of the embodiment of the present application, different target powder compaction force values ​​correspond to the same preset voltage, and the method further includes:

[0118] During the execution of the powder compacting action corresponding to different target powder compacting force values, the powder compacting motor 120 operates at a preset voltage.

[0119] In the embodiment of the present application, different target powder compacting force values ​​correspond to the same preset voltage, so that when the powder compacting action is performed with different target powder compacting force values, the powder compacting motor 120 operates at the same preset constant voltage.

[0120] As an example, four levels of powder compacting force values ​​of 20kg, 40kg, 60kg and 80kg can be provided. When these powder compacting force values ​​are used as target powder compacting force values, the powder compacting motor 120 can operate at the same preset constant voltage, for example, 24V, that is, no matter the target powder compacting force value is 20kg, 40kg, 60kg or 80kg, the powder compacting motor 120 operates at a constant voltage of 24V.

[0121] The following describes the control logic process executed by the motor driver 112 in conjunction with a specific application scenario of coffee making. Figure 3 , Figure 3 It is a flowchart of the control logic executed by the motor driver 112 in the embodiment of the present application.

[0122] like Figure 3 As shown in , after the beverage machine is started and the hardware is initialized, the motor driver 112 can detect whether the PWM signal sent by the main controller 111 is received.

[0123] When the motor driver 112 does not receive the PWM signal, it does not control the powder pressing motor 120 to operate, and does not output a pulse feedback signal to the main controller 111 .

[0124] When receiving the PWM signal, the motor driver 112 can obtain the direction control signal sent by the main controller 111 and determine whether the direction control signal is forward rotation.

[0125] If the direction of the direction control signal is forward rotation, the target speed corresponding to the target compacting force value selected by the user can be used as the target to control the operation of the compacting motor 120. During the operation of the compacting motor 120, the motor driver 112 obtains the Hall signal of the compacting motor 120, converts the Hall signal into a pulse feedback signal, and sends the pulse feedback signal to the main controller 111. After obtaining the pulse feedback signal, the main controller 111 can calculate the speed of the compacting motor 120 according to the pulse feedback signal.

[0126] When the speed of the powder compacting motor 120 is greater than the upper limit of the target speed range, the duty cycle of the PWM signal is reduced, and the current of the powder compacting motor 120 is reduced to reduce the speed of the powder compacting motor 120 and prevent the overshoot of the powder compacting motor 120. When the speed of the powder compacting motor 120 is less than the lower limit of the target speed range, the duty cycle of the PWM signal is increased, and the current of the powder compacting motor 120 is increased to increase the speed of the powder compacting motor 120 and improve work efficiency.

[0127] During the execution of the powder compacting action, the working current of the powder compacting motor 120 is compared with the target current upper limit value. When the working current of the powder compacting motor 120 does not exceed the target current upper limit value, the powder compacting action can continue to be performed. When the working current of the powder compacting motor 120 exceeds the target current upper limit value, the powder compacting motor 120 can be controlled to brake, so that the brewing device stays at the powder compacting stop position, and then the pulse feedback signal can be stopped from being output to the main controller 111.

[0128] When the motor driver 112 receives the PWM signal, if the direction of the direction control signal is not forward, indicating that the motor driver 112 is currently executing the action of moving to the scraping position, the powder pressing motor 120 can be controlled to run at its rated speed.

[0129] During the execution of the action of moving to the scraping position, the motor driver 112 obtains the Hall signal of the powder pressing motor 120, converts the Hall signal into a pulse feedback signal, and sends the pulse feedback signal to the main controller 111. After obtaining the pulse feedback signal, the main controller 111 can calculate the motor speed of the powder pressing motor 120 according to the pulse feedback signal.

[0130] During the execution of the action of moving to the scraping position, the speed of the powder pressing motor 120 is compared with the preset stalling speed. When the motor speed is not less than the stalling speed, the action of moving to the scraping position can be continued. When the motor speed is less than the stalling speed, the powder pressing motor 120 can be controlled to brake so that the brewing device stays at the scraping position, and then the pulse feedback signal can be stopped from being output to the main controller 111.

[0131] The following describes the control logic process executed by the main controller 111 in conjunction with the specific application scenario of coffee making. Figure 4 , Figure 4 It is a flowchart of the control logic executed by the main controller 111 in the embodiment of the present application.

[0132] like Figure 4 As shown in , after the beverage machine is started, the main controller 111 can detect whether an instruction to make coffee is received.

[0133] When no instruction to make coffee is received, the main controller 111 may not output a PWM signal.

[0134] When receiving the instruction to make coffee, the main controller 111 can send a PWM signal and a direction control signal corresponding to the target powder compacting force value to the motor driver 112. At this time, the brewing device is in the initial position, and the motor driver 112 controls the powder compacting motor 120 to perform the powder compacting action after receiving the PWM signal and the direction control signal. The motor driver 112 generates a pulse feedback signal based on the Hall signal of the powder compacting motor 120, and sends the pulse feedback signal to the main controller 111.

[0135] During the execution of the powder compacting action, the main controller 111 can determine the driven stroke of the powder compacting motor 120 according to the pulse feedback signal, thereby judging whether the driven stroke is greater than the second preset stroke. The second preset stroke is the driving stroke of the powder compacting motor 120 corresponding to the maximum distance between the initial position and the powder compacting stop position.

[0136] When the driven stroke is greater than the second preset stroke, a stroke warning of the brewing device is issued and the output of the PWM signal is stopped. By issuing a stroke warning and stopping the output of the PWM signal in time, it is possible to avoid a failure of the powder pressing motor 120 due to exceeding the preset stroke.

[0137] When the driven stroke is not greater than the second preset stroke, the powder compacting action can continue to be performed. When the pulse feedback signal does not change within 300ms, it can be determined that the powder compacting motor 120 has stopped running and the powder compacting action is completed. At this time, the brewing device is in the powder compacting stop position. At this time, the main controller 111 can stop outputting the PWM signal for performing the powder compacting action.

[0138] After the powder pressing action is completed, the brewing device is in the powder pressing stop position. At this time, the main controller 111 can send a direction control signal to control the powder pressing motor 120 to reverse, and send a PWM signal to control the powder pressing motor 120 to move to the scraping position.

[0139] During the execution of the action of moving to the scraping position, the main controller 111 can determine the driven stroke of the powder pressing motor 120 according to the pulse feedback signal, thereby judging whether the driven stroke is greater than the third preset stroke. The third preset stroke is the driving stroke of the powder pressing motor 120 corresponding to the maximum distance between the powder pressing stop position and the scraping position.

[0140] When the driven stroke is greater than the third preset stroke, a stroke warning of the brewing device is issued and the output of the PWM signal is stopped. By issuing a stroke warning and stopping the output of the PWM signal in time, it is possible to avoid a failure of the powder pressing motor 120 due to exceeding the preset stroke.

[0141] When the driven stroke is not greater than the third preset stroke, the action of moving to the scraping position can continue to be executed. When the pulse feedback signal does not change within 300ms, it can be determined that the powder pressing motor 120 is blocked, and the action of moving to the scraping position is completed. At this time, the brewing device is in the scraping position. At this time, the main controller 111 can stop outputting the PWM signal for moving to the scraping position.

[0142] After the scraping action is completed, the brewing device is in the scraping position. After the scraping action is completed, the main controller 111 can send a direction control signal to control the powder pressing motor 120 to rotate forward, and send a PWM signal to control the powder pressing motor 120 to perform a reset action.

[0143] During the execution of the reset action, the main controller 111 can determine the driven stroke of the powder pressing motor 120 according to the pulse feedback signal, thereby judging whether the driven stroke reaches the first preset stroke. The first preset stroke is the driving stroke of the powder pressing motor 120 corresponding to the distance between the scraping position and the initial position.

[0144] When the driven stroke does not reach the first preset stroke, the reset action may continue to be performed.

[0145] When the driven stroke reaches the first preset stroke, the PWM signal output is stopped and the reset action is completed. At this time, the brewing device is in the initial position and can wait for the next coffee making instruction, the next input of coffee powder to the brewing device, and the next powder pressing action.

[0146] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0147] The above descriptions are only some embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A powder pressing motor control method, characterized in that: include: Acquire powder compaction information, wherein the powder compaction information includes a target powder compaction strength value; Based on the target powder compaction force value and a preset calculation rule, a target current upper limit value and a target rotation speed corresponding to the target powder compaction force value are determined, wherein the preset calculation rule represents a mapping relationship between a plurality of powder compaction force values ​​and a plurality of current upper limit values ​​and a plurality of rotation speeds; Based on the target rotation speed, controlling the powder compacting motor (120) of the beverage machine to operate so as to perform a powder compacting action; During the execution of the powder compacting action, when the working current of the powder compacting motor (120) is greater than the target current upper limit value, the powder compacting motor (120) is controlled to stop running.

2. The method according to claim 1, characterized in that: The target speed corresponds to a target speed range, and the control of the operation of the powder pressing motor (120) of the beverage machine based on the target speed includes: Taking one speed in the target speed range as a target, controlling the powder compacting motor (120) to operate; In response to detecting that the rotation speed of the powder compacting motor (120) is less than the lower limit value of the target rotation speed range, increasing the current of the powder compacting motor (120) according to a preset speed-up strategy to increase the rotation speed of the powder compacting motor (120); In response to detecting that the rotation speed of the powder compacting motor (120) is greater than the upper limit value of the target rotation speed range, the current of the powder compacting motor (120) is reduced according to a preset speed reduction strategy to reduce the rotation speed of the powder compacting motor (120).

3. The method according to claim 2, characterized in that Increasing the current of the powder compacting motor (120) according to a preset speed-up strategy comprises: The duty cycle of the pulse width modulation signal is controlled to increase a first preset duty cycle value, so as to increase the current of the powder compacting motor (120), wherein the pulse width modulation signal is used to control a switch circuit of the powder compacting motor (120).

4. The method according to claim 2, characterized in that: The reducing the current of the powder compacting motor (120) according to a preset speed reduction strategy comprises: The duty cycle of the pulse width modulation signal is controlled to reduce a second preset duty cycle value, so as to reduce the current of the powder compacting motor (120), wherein the pulse width modulation signal is used to control a switch circuit of the powder compacting motor (120).

5. The method according to claim 1, characterized in that The preset calculation rule satisfies at least one of the following characteristics: The powder pressing force value is positively correlated with the upper limit value of the current; The powder pressing force value is positively correlated with the rotation speed.

6. The method according to claim 1, characterized in that The multiple powder pressing force values ​​at least include a first powder pressing force value and a second powder pressing force value, the multiple current upper limit values ​​at least include a first current upper limit value corresponding to the first powder pressing force value and a second current upper limit value corresponding to the second powder pressing force value, and the multiple rotation speeds at least include a first rotation speed corresponding to the first powder pressing force value and a second rotation speed corresponding to the second powder pressing force value; Among them, the first powder pressing force value is greater than the second powder pressing force value, the first current upper limit value is greater than the second current upper limit value, and the first rotation speed is greater than the second rotation speed.

7. The method according to any one of claims 1 to 6, characterized in that During the execution of the powder compacting action, when the working current of the powder compacting motor (120) is greater than the target current upper limit value, after controlling the powder compacting motor (120) to stop running, the method further comprises: Controlling the powder compacting motor (120) to run in the opposite direction of the running direction when performing the powder compacting action, so as to perform the action of moving to the scraping position, during which the powder compacting motor (120) runs at the rated speed of the powder compacting motor (120); During the execution of the movement to the scraping position, when the rotation speed of the powder pressing motor (120) is not greater than a preset stalling rotation speed, the powder pressing motor (120) is controlled to stop running, waiting for the scraping operation to be performed.

8. The method according to claim 7, characterized in that After the scraping operation is completed, the method further includes: Controlling the powder compacting motor (120) to run in the same running direction as when performing the powder compacting action, so as to perform a reset action, during which the powder compacting motor (120) runs at the rated speed of the powder compacting motor (120); During the execution of the resetting action, when the driven stroke of the powder compacting motor (120) reaches a first preset stroke, the powder compacting motor (120) is controlled to stop running.

9. The method according to claim 8, characterized in that Also includes at least one of the following: During the execution of the powder compacting action, when the driven stroke of the powder compacting motor (120) is greater than a second preset stroke, controlling the powder compacting motor (120) to stop running; During the execution of the movement to the scraping position, when the driven stroke of the powder pressing motor (120) is greater than a third preset stroke, the powder pressing motor (120) is controlled to stop running.

10. The method according to claim 9, characterized in that Also includes: generating a pulse feedback signal based on a Hall signal of the powder compacting motor (120); The rotation speed of the powder compacting motor (120) and / or the driven stroke of the powder compacting motor (120) are determined based on the pulse feedback signal.

11. The method according to any one of claims 1 to 6, characterized in that: Different target powder compaction force values ​​correspond to the same preset voltage, and the method further includes: During the execution of the powder compacting action corresponding to different target powder compacting force values, the powder compacting motor (120) operates at the preset voltage.

12. A beverage machine, characterized in that: The invention comprises a controller and a powder pressing motor (120), wherein the controller is communicatively connected with the powder pressing motor (120), and the controller is configured to execute the powder pressing motor (120) control method according to any one of claims 1 to 11.

13. The beverage machine according to claim 12, characterized in that: The beverage machine further comprises a brewing device, the powder pressing motor (120) is drivingly connected to the brewing device, and the brewing device is used to perform the powder pressing action; The controller comprises a main controller (111) and a motor driver (112), and the main controller (111), the motor driver (112) and the powder pressing motor (120) are communicatively connected in sequence.

14. The beverage machine according to claim 13, characterized in that: The main controller (111) is used to: obtain the powder compacting information, determine a target current upper limit value and a target rotation speed corresponding to the target powder compacting force value based on the target powder compacting force value and the preset calculation rule, generate a powder compacting control signal based on the target current upper limit value and the target rotation speed, and send the powder compacting control signal to the motor driver (112); The motor driver (112) is used to: receive the powder compacting control signal sent by the main controller (111), control the operation of the powder compacting motor (120) based on the target rotation speed to perform the powder compacting action, and during the execution of the powder compacting action, when the working current of the powder compacting motor (120) is greater than the target current upper limit value, control the powder compacting motor (120) to stop running.

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