Control method of a powder compression motor and a beverage machine

Abstract

The embodiment of the application provides a powder pressing motor control method and a beverage machine, and relates to the technical field of the beverage machine. The specific implementation scheme is: obtaining powder pressing information, the powder pressing information including a target powder pressing strength value; determining a target current upper limit value and a target rotating speed corresponding to the target powder pressing strength value based on the target powder pressing strength value and a pre-designed calculation rule, the pre-designed calculation rule representing a mapping relationship between a plurality of powder pressing strength values and a plurality of current upper limit values and a plurality of rotating speeds; controlling the powder pressing motor of the beverage machine to operate based on the target rotating speed to execute a powder pressing action; and when the working current of the powder pressing motor is greater than the target current upper limit value during the execution process of the powder pressing action, controlling the powder pressing motor to stop operating. Based on the scheme, the powder pressing strength output by the powder pressing motor can be accurately controlled, so that different powder pressing strengths required during powder pressing processing can be accurately provided.

Description

Technical Field

[0001] This application relates to the field of beverage machine technology, and more specifically, to a powder tamping motor control method and a beverage machine. Background Technology

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

[0003] Currently, most coffee machines have an automatic tamping function, which can grind coffee beans and then tamp them, so that the tamped coffee pouches can be used for brewing.

[0004] The inventors of this application have discovered that different tamping pressures will produce coffee with different flavors. If different tamping pressures can be precisely provided for tamping, it will be possible to brew a variety of coffees with different flavors. However, existing coffee machines cannot precisely control the tamping pressure. Summary of the Invention

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

[0006] In a first aspect, embodiments of this application provide a method for controlling a powder pressing motor, the method comprising:

[0007] Obtain tamping information, including the target tamping force value;

[0008] Based on the target pressing force value and the preset calculation rules, the target current upper limit value and target speed corresponding to the target pressing force value are determined. The preset calculation rules characterize the mapping relationship between multiple pressing force values ​​and multiple current upper limit values ​​and multiple speeds.

[0009] Based on the target rotation speed, control the operation of the beverage machine's tamping motor to perform the tamping action;

[0010] During the powder pressing process, if the operating current of the powder pressing motor exceeds the target current upper limit, the powder pressing motor will be stopped.

[0011] Secondly, this application provides a beverage machine, which includes a controller and a powder pressing motor. The controller is communicatively connected to the powder pressing motor and is configured to implement the steps of the powder pressing motor control method described above when executing.

[0012] The beneficial effects of the technical solutions provided in this application are:

[0013] The method provided in this application determines the corresponding upper limit of the target current and the corresponding target speed based on the target pressing force value, and controls the pressing force output by the pressing motor by using the corresponding target speed value and the corresponding upper limit of the target current during the pressing action, thereby accurately providing the different pressing forces required during the pressing process. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0015] Figure 1 This application provides a schematic diagram of a beverage machine system.

[0016] Figure 2 A schematic flowchart illustrating the powder pressing motor control method provided in this application embodiment;

[0017] Figure 3 This is a flowchart illustrating the control logic executed by the motor driver in the embodiments of this application.

[0018] Figure 4 This is a flowchart illustrating the control logic executed by the main controller in this embodiment of the application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0020] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0022] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0023] The powder tamping motor control method of this application is applied to beverage machines. The beverage machine in this embodiment is a coffee machine that can make coffee, which will be described as an example.

[0024] The inventors of this application discovered that using a larger tamping force results in smaller gaps between coffee grounds in the compressed coffee puck, while using a smaller tamping force results in larger gaps between coffee grounds. Different tamping forces lead to varying gaps between coffee grounds in the compressed puck, which in turn affects the amount of substances extracted during brewing, ultimately impacting the taste of the brewed coffee. By precisely applying different tamping forces, it is possible to brew a variety of coffees with different flavor profiles.

[0025] In existing coffee machines, the tamping motor 120 mostly operates using a constant speed control method. The torque output of the tamping motor 120 cannot be precisely adjusted, which means that the tamping force cannot be precisely controlled.

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

[0027] like Figure 1 As shown, in some embodiments, the beverage machine provided in this application includes a controller and a tamping motor 120. The controller is communicatively connected to the tamping motor 120 and is configured to execute the tamping motor 120 control method provided in this application. By executing the above-mentioned tamping motor 120 control method, the controller can achieve precise control of the tamping force output by the tamping motor 120, so as to brew a variety of coffees with different tastes corresponding to different tamping forces.

[0028] In one optional embodiment of this application, the beverage machine further includes a brewing device (not shown in the figure), and the powder pressing motor 120 is driven and connected to the brewing device, which is used to perform the powder pressing action.

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

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

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

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

[0033] In this embodiment, the powder targeted by the tamping action may include, but is not limited to, coffee powder, tea powder, etc. The following description uses the tamping action performed on coffee powder as an example.

[0034] In one optional embodiment of this application, the main controller 111 is used to: acquire powder pressing information, determine the target current upper limit and target speed corresponding to the target powder pressing force value based on the target powder pressing force value and the preset calculation rules, generate a powder pressing control signal based on the target current upper limit and target speed, and send the powder pressing control signal to the motor driver 112;

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

[0036] Reference Figure 1 As shown, the beverage machine may also include a screen 130 for user interaction. As an example, the screen 130 can be a touchscreen, allowing the user to submit tamping information via taps or other means. After receiving the tamping information, the controller triggers the corresponding steps of the tamping motor control method.

[0037] Understandably, users can also submit powder pressing information through methods such as gesture control, voice control, and eye control, thereby triggering various steps of the corresponding powder pressing motor control method. Gesture control could include actions such as clicking or swiping on the screen 130 with a finger or stylus. Eye control could involve capturing the focus position of the user's eyes on the screen 130.

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

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

[0040] In this embodiment of the application, after the main controller 111 determines the target current upper limit value and target speed corresponding to the target pressing force value based on the preset calculation rules, it can generate a pressing control signal based on the target current upper limit value and target speed, and send the pressing control signal to the motor driver 112, thereby controlling the operation of the pressing 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. The motor driver 112 can control the powder pressing motor 120 based on the PWM signal after receiving it. Specifically, the motor driver 112 may include a MOSFET switching circuit, which can control the powder pressing motor 120.

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

[0043] As an example, a brewing device may include a brewing body, an upper piston, and a lower piston, which define a brewing chamber for containing coffee grounds. Specifically, a tamping motor 120 is driven to the lower piston, which can drive the lower piston to move relative to the upper piston, thereby reducing the volume of the brewing chamber containing the coffee grounds and thus achieving the tamping action.

[0044] During the process of the tamping motor 120 being controlled by the motor driver 112 to perform the tamping action, the speed of the tamping motor 120 will first approach the target speed and drive the lower piston of the brewing device to move. After the lower piston of the brewing device moves to contact the coffee powder, the speed of the tamping motor 120 begins to decrease. At this time, the operating current of the tamping motor 120 will begin to increase until the operating current of the tamping motor 120 exceeds the target current upper limit value. Then, the tamping motor 120 is controlled to stop running, thus completing the tamping action.

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

[0046] As an example, the powder pressing motor 120 can feed back Hall signals 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. The main controller 111 can determine data such as the rotational speed of the powder pressing motor 120 and the driven stroke of the powder pressing motor 120 based on the pulse feedback signal.

[0047] Figure 2 A schematic flowchart of a powder pressing motor 120 control method provided in an embodiment of this application is shown. Figure 2 As shown, this method mainly includes:

[0048] Step 210: Obtain tamping information, including the target tamping force value;

[0049] Step 220: Based on the target pressing force value and the preset calculation rules, determine the target current upper limit value and target rotation speed corresponding to the target pressing force value. The preset calculation rules represent the mapping relationship between multiple pressing force values ​​and multiple current upper limit values ​​and multiple rotation speeds.

[0050] Step 230: Based on the target rotation speed, control the operation of the tamping motor 120 of the beverage machine to perform the tamping action;

[0051] Step 240: During the execution of the powder pressing action, when the operating current of the powder pressing motor 120 is greater than the target current upper limit, the powder pressing motor 120 is controlled to stop running.

[0052] The tamping information can be generated during the tamping action or at the start of beverage preparation. It's understood that tamping is one step in beverage preparation. The tamping information includes the target tamping pressure value. This target tamping pressure value is the pressure expected to be applied to the coffee grounds during the tamping process, aiming to compress the coffee grounds into a coffee puck at the target tamping pressure value, thereby brewing the desired coffee flavor corresponding to that target tamping pressure value.

[0053] In practical use, multiple levels of tamping pressure can be provided for users to choose from, with the target tamping pressure value being the tamping pressure value selected by the user.

[0054] As an example, it can provide four tamping strength values: 20kg, 40kg, 60kg and 80kg. Users can select any of these tamping strength values ​​as the target tamping strength value. It can be understood that different tamping strength values ​​correspond to brewing coffee with different tastes.

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

[0056] In this embodiment of the application, preset calculation rules can be established in advance. The preset calculation rules represent the mapping relationship between multiple powder pressing force values ​​and multiple current upper limit values ​​and multiple rotation speeds.

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

[0058] When the powder pressing motor 120 performs the powder pressing action, the magnitude of the powder pressing force is related to its corresponding upper limit current and its corresponding speed. Therefore, for different powder pressing force values, corresponding upper limit current and corresponding speed can be determined to create preset calculation rules. By using the corresponding speed and upper limit current values ​​for control during the powder pressing action, precise control of the powder pressing force can be achieved. Based on the closed-loop control of the upper limit current and speed corresponding to the target powder pressing force value, the actual output powder pressing force of the powder pressing motor 120 can accurately approach the target powder pressing force value.

[0059] In this embodiment, after determining the target current upper limit and target speed corresponding to the target pressing force value based on preset calculation rules, the pressing motor 120 can be controlled to run based on the target current upper limit and target speed to perform the pressing action. Specifically, the pressing motor 120 can be controlled to run at the target speed, and when the operating current of the pressing motor 120 is greater than the target current upper limit, the pressing motor 120 can be controlled to stop running.

[0060] As an example, a brewing device may include a brewing body, an upper piston, and a lower piston, which define a brewing chamber for holding coffee grounds. Specifically, a tamping motor 120 is driven and connected to the lower piston. The tamping motor 120 can drive the lower piston to move relative to the upper piston, thereby reducing the volume of the brewing chamber containing the coffee grounds and achieving the tamping action. During the tamping action, the rotational speed of the tamping motor 120 will first approach the target rotational speed and drive the lower piston of the brewing device to move. After the lower piston of the brewing device moves to contact the coffee grounds, the rotational speed of the tamping motor 120 begins to decrease. At this time, the operating current of the tamping motor 120 will begin to increase until the operating current of the tamping motor 120 exceeds the target current upper limit. At this point, the tamping motor 120 is controlled to stop running, and the tamping action can be considered complete.

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

[0062] The method provided in this application determines the corresponding upper limit of current and the corresponding rotation speed based on the target pressing force value, and controls the pressing force precisely by using the corresponding rotation speed value and the corresponding upper limit of current during the pressing action, thereby achieving precise provision of different pressing forces required during the pressing process.

[0063] In one optional embodiment of this application, the target rotational speed corresponds to a target rotational speed range. Based on the target rotational speed, controlling the operation of the powder tamping motor 120 of the beverage machine includes:

[0064] The powder pressing motor 120 is controlled to run with one of the speeds in the target speed range as the target speed.

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

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

[0067] In this embodiment, the target speed can be a target speed range. In practical use, a speed within the target speed range can be used as the target to control the powder pressing motor 120 to operate close to that speed. As an example, the median value of the target speed range can be used as the target to control the operation of the powder pressing motor 120.

[0068] The target speed range can be understood as the reasonable range of the operating speed of the tamping motor 120. When the speed of the tamping motor 120 is within the target speed range, it means that the speed of the tamping motor 120 will not be too slow, which can avoid affecting the efficiency of the tamping action due to the slow speed, and thus avoid affecting the efficiency of beverage preparation. In addition, the speed of the tamping motor 120 will not be too fast, which can avoid the tamping motor 120 driving the lower piston of the brewing device too quickly and causing over-rushing.

[0069] To ensure that the speed of the tamping motor 120 is within the target speed range, the speed can be controlled as follows: when the speed of the tamping motor 120 is detected to be less than the lower limit of the target speed range, the current of the tamping motor 120 is increased according to a preset speed-up strategy to increase the speed of the tamping motor 120; and when the speed of the tamping motor 120 is detected to be greater than the upper limit of the target speed range, the current of the tamping motor 120 is reduced according to a preset speed-down strategy to reduce the speed of the tamping motor 120. Maintaining the speed of the tamping motor 120 within the target speed range ensures that the desired coffee flavor is brewed with a tamping force that precisely approaches the target tamping force value, while also ensuring beverage preparation efficiency and preventing over-stroke of the lower piston of the brewing device.

[0070] In one optional embodiment of this 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 increased by a first preset duty cycle value to increase the current of the powder pressing motor 120. The pulse width modulation signal is used to control the switching circuit of the powder pressing motor 120.

[0072] In this embodiment, the speed-up strategy can increase the duty cycle of the control PWM signal by a first preset duty cycle value to increase the current of the powder pressing motor 120. By increasing the duty cycle of the PWM signal, the on-time of the switching 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. The increased current of the powder pressing motor 120 leads to an increase in its rotational speed. When the rotational speed of the powder pressing motor 120 is less than the lower limit of the target rotational speed range, the speed-up strategy is used to increase the rotational speed of the powder pressing motor 120 so that its rotational speed is within the target rotational speed range.

[0073] In one optional embodiment of this application, reducing the current of the powder pressing motor 120 according to a preset speed reduction strategy includes:

[0074] The duty cycle of the pulse width modulation signal is reduced by a second preset duty cycle value to reduce the current of the powder pressing motor 120. The pulse width modulation signal is used to control the switching circuit of the powder pressing motor 120.

[0075] In this embodiment, the speed reduction strategy can reduce the duty cycle of the control 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 switching 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 reduction strategy is used to reduce the speed of the powder pressing motor 120 so that the speed of the powder pressing motor 120 is within the target speed range.

[0076] In one optional embodiment of this application, the preset calculation rule satisfies at least one of the following features:

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

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

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

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

[0081] In this embodiment, the pressing force value is positively correlated with the rotation speed, that is, a larger pressing force value corresponds to a larger rotation speed, and a smaller pressing force value corresponds to a smaller rotation speed.

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

[0083] In one optional embodiment of this application, the plurality of pressing force values ​​include at least a first pressing force value and a second pressing force value; the plurality of current upper limit values ​​include at least a first current upper limit value corresponding to the first pressing force value and a second current upper limit value corresponding to the second pressing force value; and the plurality of rotation speeds include at least a first rotation speed corresponding to the first pressing force value and a second rotation speed corresponding to the second pressing force value.

[0084] Among them, the first pressing force value is greater than the second 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.

[0085] In this embodiment, multiple pressing force values ​​can be set, including a first pressing force value and a second pressing force value. The upper limit of the current corresponding to the first pressing force value is the first upper limit of the current, and the rotation speed corresponding to the first pressing force value is the first rotation speed. The upper limit of the current corresponding to the second pressing force value is the second upper limit of the current, and the rotation speed corresponding to the second pressing force value is the second rotation speed.

[0086] The first pressing force value is greater than the second pressing force value. Considering the positive correlation between the pressing force value and the upper limit of the current, the first upper limit of the current can be configured to be greater than the second upper limit of the current in the preset calculation rules. Similarly, considering the positive correlation between the pressing 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 rules.

[0087] In one optional embodiment of this application, during the execution of the powder pressing action, after controlling the powder pressing motor 120 to stop running when the operating current of the powder pressing motor 120 exceeds the target current upper limit, the above method further includes:

[0088] The powder pressing motor 120 is controlled to run in the opposite direction to the powder pressing action to move to the slag scraping position. During this period, the powder pressing motor 120 runs at its rated speed.

[0089] During the execution of the movement to the slag scraping position, when the rotational 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, pending the execution of the slag scraping operation. In this embodiment of the application, during the execution of the powder pressing action, when the operating current of the powder pressing motor 120 is greater than the target current upper limit value, the powder pressing action can be considered to be 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, driven by the tamping motor 120, can move from the initial position to the tamping stop position along the first direction. The initial position can be the position where the brewing device receives coffee powder, that is, when coffee powder is input into the brewing device, the lower piston is in the initial position. The tamping stop position can be the position where the lower piston stops moving when the operating current of the tamping motor 120 is greater than the target current upper limit value. That is, when the operating current of the tamping motor 120 is greater than the target current upper limit value, the tamping motor 120 is controlled to stop moving, and at this time, the lower piston is in the tamping stop position, and the lower piston remains in the tamping stop position to prepare the beverage.

[0091] Specifically, the first direction can be upwards along the height of the beverage machine.

[0092] After the powder pressing action is completed, the powder pressing motor 120 can be controlled to run in the opposite direction to the powder pressing action, so as to move to the slag scraping position.

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

[0094] As an example, the lower piston of the brewing device, driven by the tamping motor 120, can move from the tamping stop position to the scraping position in the second direction; wherein, the scraping position can be the position where the lower piston pushes out the coffee grounds, that is, when the scraping operation is performed, the lower piston is located in the scraping position, and when the lower piston is located in the scraping position, it is convenient for the scraping structure to scrape off the coffee grounds used in beverage preparation.

[0095] Specifically, the second direction can be downward along the height of the beverage machine, which is the opposite of the first direction.

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

[0097] During the execution of the action of moving to the slag scraping position, when the 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 slag scraping position. At this time, the powder pressing motor 120 can be controlled to stop running, so that the brewing device stays in the slag scraping position, waiting for the slag scraping operation to be executed.

[0098] In one optional embodiment of this application, after the slag scraping operation is completed, the above method further includes:

[0099] The powder pressing motor 120 is controlled to run in the same direction as when performing the powder pressing action to perform the reset action. During this period, the powder pressing motor 120 runs at the rated speed of the powder pressing motor 120.

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

[0101] In this embodiment of the application, after the slag scraping operation is completed, the powder pressing motor can be controlled to run in the same direction as when the powder pressing action was performed, so as to perform the reset action.

[0102] During the reset process, the lower piston of the brewing device will move from the scraping position to the initial position under the drive of the powder pressing motor 120.

[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. Its load is 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 slag 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 slag scraping position to the initial position.

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

[0106] In one optional embodiment of this application, the method further includes at least one of the following:

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

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

[0109] The second preset stroke is the drive stroke of the powder pressing motor 120 corresponding to the maximum distance between the initial position and the powder pressing stop position. By controlling the powder pressing motor 120 to stop running when its driven stroke exceeds the second preset stroke during the powder pressing operation, a stroke warning is provided during the powder pressing process to prevent malfunction of the powder pressing motor 120 due to exceeding the predetermined stroke. Furthermore, a first stroke alarm can also be issued to remind the user to check / repair the fault.

[0110] The third preset stroke is the drive stroke of the powder pressing motor 120 corresponding to the maximum distance between the powder pressing stop position and the slag scraping position. By controlling the powder pressing motor 120 to stop running when its driven stroke exceeds the third preset stroke during the movement to the slag scraping position, a stroke warning is provided during the movement to the slag scraping position, preventing malfunction of the powder pressing motor 120 due to exceeding the predetermined stroke. Furthermore, a second stroke alarm can also be issued to remind the user to check / repair the fault.

[0111] In one optional embodiment of this application, the above method further includes:

[0112] A pulse feedback signal is generated based on the Hall signal of the powder pressing motor 120;

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

[0114] In this embodiment, the powder pressing motor 120 can feed back Hall signals during operation. Based on the Hall signals of the powder pressing motor 120, a pulse feedback signal can be generated. Based on the pulse feedback signal, information such as the rotational speed and the driven stroke of the powder pressing motor 120 can be determined, thereby enabling effective control of the powder pressing motor 120 based on the feedback information such as the rotational speed and the driven stroke of the powder pressing motor 120.

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

[0116] Specifically, after determining the driven stroke of the powder pressing motor 120 based on the pulse feedback signal: the powder pressing motor 120 can be stopped when the driven stroke of the powder pressing motor 120 reaches the first preset stroke during the execution of the reset action; the powder pressing motor 120 can be stopped when the driven stroke of the powder pressing motor 120 exceeds the second preset stroke during the execution of the powder pressing action; and the powder pressing motor 120 can be stopped when the driven stroke of the powder pressing motor 120 exceeds the third preset stroke during the execution of the action of moving to the slag scraping position.

[0117] In one optional embodiment of this application, different target powder pressing force values ​​correspond to the same preset voltage, and the above method further includes:

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

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

[0120] As an example, four pressing force values ​​of 20kg, 40kg, 60kg and 80kg can be provided. When these pressing force values ​​are used as the target pressing force values, the pressing motor 120 can be operated at the same preset constant voltage, such as 24V. That is, no matter whether the target pressing force value is 20kg, 40kg, 60kg or 80kg, the pressing motor 120 will operate at a constant voltage of 24V.

[0121] The following describes the flow of control logic executed by motor driver 112 in a specific application scenario of coffee making. Please refer to [link / reference]. Figure 3 , Figure 3 This is a flowchart illustrating the control logic executed by the motor driver 112 in this embodiment of the application.

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

[0123] When the motor driver 112 does not receive a PWM signal, it will not control the operation of the powder pressing motor 120, nor will it output a pulse feedback signal to the main controller 111.

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

[0125] If the direction control signal is forward, the target rotational speed corresponding to the user-selected target pressing force value can be used to control the operation of the pressing motor 120. During the operation of the pressing motor 120, the motor driver 112 acquires the Hall signal of the pressing motor 120, converts the Hall signal into a pulse feedback signal, and sends the pulse feedback signal to the main controller 111. After acquiring the pulse feedback signal, the main controller 111 can calculate the rotational speed of the pressing motor 120 based on the pulse feedback signal.

[0126] When the speed of the powder pressing motor 120 exceeds the upper limit of the target speed range, the duty cycle of the PWM signal is reduced, thereby decreasing the current of the powder pressing motor 120 and reducing its speed to prevent overshoot. When the speed of the powder pressing motor 120 is below the lower limit of the target speed range, the duty cycle of the PWM signal is increased, thereby increasing the current of the powder pressing motor 120 and increasing its speed to improve working efficiency.

[0127] During the powder pressing action, the operating current of the powder pressing motor 120 is compared with the target current upper limit. If the operating current of the powder pressing motor 120 does not exceed the target current upper limit, the powder pressing action can continue. If the operating current of the powder pressing motor 120 exceeds the target current upper limit, the powder pressing motor 120 can be braked, causing the brewing device to stop at the powder pressing stop position, and then the pulse feedback signal output to the main controller 111 can be stopped.

[0128] When the motor driver 112 receives the PWM signal, if the direction of the direction control signal is not forward, it indicates that the action of moving to the slag scraping position is being performed. Then it can control the powder pressing motor 120 to run at its rated speed.

[0129] During the movement to the slag scraping position, the motor driver 112 acquires the Hall signal from 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 acquiring the pulse feedback signal, the main controller 111 can calculate the motor speed of the powder pressing motor 120 based on the pulse feedback signal.

[0130] During the movement to the slag scraping position, the rotational speed of the powder pressing motor 120 is compared with the preset stall speed. If the motor speed is not less than the stall speed, the movement to the slag scraping position can continue. If the motor speed is less than the stall speed, the powder pressing motor 120 can be braked, causing the brewing device to stop at the slag scraping position, and then the pulse feedback signal output to the main controller 111 can be stopped.

[0131] The following describes the flow of control logic executed by the main controller 111 in a specific application scenario of coffee making. Please refer to the following: Figure 4 , Figure 4 This is a flowchart illustrating the control logic executed by the main controller 111 in this embodiment of the application.

[0132] like Figure 4 As shown, after the beverage machine is started and running, the main controller 111 can detect whether it has received a coffee-making instruction.

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

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

[0135] During the powder pressing action, the main controller 111 can determine the driven stroke of the powder pressing motor 120 based on the pulse feedback signal, thereby determining whether the driven stroke is greater than the second preset stroke. 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.

[0136] If the driven stroke exceeds the second preset stroke, a stroke warning is issued for the brewing device, and the output of the PWM signal is stopped. By issuing a stroke warning and promptly stopping the output of the PWM signal, the pulverizing motor 120 can be prevented from malfunctioning due to exceeding the predetermined stroke.

[0137] The powder pressing action can continue when the driven stroke is no greater than the second preset stroke. If the pulse feedback signal does not change within 300ms, it can be determined that the powder pressing motor 120 has stopped running, the powder pressing action is completed, and the brewing device is in the powder pressing stop position. At this time, the main controller 111 can stop outputting the PWM signal used to execute the powder pressing 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 slag scraping position.

[0139] During the movement to the scraping position, the main controller 111 can determine the driven stroke of the powder pressing motor 120 based on the pulse feedback signal, and thus determine 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] If the driven stroke exceeds the third preset stroke, a stroke warning is issued for the brewing device, and the output of the PWM signal is stopped. By issuing a stroke warning and promptly stopping the output of the PWM signal, the pulverizing motor 120 can be prevented from malfunctioning due to exceeding the preset stroke.

[0141] If the driven stroke is no greater than the third preset stroke, the movement to the scraper position can continue. If the pulse feedback signal does not change within 300ms, it can be determined that the powder pressing motor 120 is stalled, and the movement to the scraper position is completed. At this time, the brewing device is in the scraper position. At this point, the main controller 111 can stop outputting the PWM signal used for the movement to the scraper position.

[0142] After the action of moving to the slag scraping position is completed, the brewing device is in the slag scraping position. After the slag 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 reset operation, the main controller 111 can determine the driven stroke of the powder pressing motor 120 based on the pulse feedback signal, thereby determining whether the driven stroke has reached the first preset stroke. The first preset stroke is the driving stroke of the powder pressing motor 120 corresponding to the distance between the slag scraping position and the initial position.

[0144] If the driven stroke has not reached the first preset stroke, the reset action can continue to be performed.

[0145] When the driven stroke reaches the first preset stroke, the PWM signal output stops, the reset action is completed, and the brewing device is in the initial position, waiting for the next coffee making instruction, waiting for the next input of coffee powder into the brewing device and the next tamping action, etc.

[0146] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0147] The above description is only a partial embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a powder pressing motor, characterized in that, include: Obtain powder compaction information, wherein the powder compaction information includes the target powder compaction force value; Based on the target pressing force value and the preset calculation rules, the target current upper limit value and target rotation speed corresponding to the target pressing force value are determined. The preset calculation rules represent the mapping relationship between multiple pressing force values ​​and multiple current upper limit values ​​and multiple rotation speeds. Based on the target rotation speed, the tamping motor (120) of the beverage machine is controlled to operate in order to perform the tamping action; 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, the powder pressing motor (120) is controlled to stop running, so that the powder pressing action stops after the powder pressing motor outputs the powder pressing force value of the target powder pressing force value; The target rotational speed corresponds to a target rotational speed range. Controlling the operation of the powder-pressing motor (120) of the beverage machine based on the target rotational speed includes: The powder pressing motor (120) is controlled to operate with one of the speeds in the target speed range as the target speed. In response to detecting that the rotational speed of the powder pressing motor (120) is less than the lower limit of the target rotational speed range, the current of the powder pressing motor (120) is increased according to a preset speed-up strategy to increase the rotational speed of the powder pressing motor (120); In response to detecting that the rotational speed of the powder pressing motor (120) is greater than the upper limit of the target rotational speed range, the current of the powder pressing motor (120) is reduced according to a preset speed reduction strategy to reduce the rotational speed of the powder pressing motor (120).

2. The method according to claim 1, characterized in that, The step of increasing the current of the powder pressing motor (120) according to the preset speed-up strategy includes: The duty cycle of the pulse width modulation signal is increased by a first preset duty cycle value to increase the current of the powder pressing motor (120), wherein the pulse width modulation signal is used to control the switching circuit of the powder pressing motor (120).

3. The method according to claim 1, characterized in that, The reduction of the current of the powder pressing motor (120) according to the preset speed reduction strategy includes: The duty cycle of the pulse width modulation signal is reduced by a second preset duty cycle value to reduce the current of the powder pressing motor (120), wherein the pulse width modulation signal is used to control the switching circuit of the powder pressing motor (120).

4. The method according to claim 1, characterized in that, The preset calculation rule must satisfy 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.

5. The method according to claim 1, characterized in that, The plurality of pressing force values ​​include at least a first pressing force value and a second pressing force value; the plurality of current upper limit values ​​include at least a first current upper limit value corresponding to the first pressing force value and a second current upper limit value corresponding to the second pressing force value; and the plurality of rotation speeds include at least a first rotation speed corresponding to the first pressing force value and a second rotation speed corresponding to the second pressing force value. Wherein, the first pressing force value is greater than the second 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.

6. The method according to any one of claims 1-5, characterized in that, During the execution of the powder pressing action, when the operating current of the powder pressing motor (120) exceeds the target current upper limit, after controlling the powder pressing motor (120) to stop running, the method further includes: The powder pressing motor (120) is controlled to run in the opposite direction to the powder pressing action to perform the action of moving to the slag scraping position. During this period, the powder pressing motor (120) runs at the rated speed of the powder pressing motor (120). During the execution of the movement to the slag scraping position, when the rotational 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 in preparation for the execution of the slag scraping operation.

7. The method according to claim 6, characterized in that, After the slag scraping operation is completed, the method further includes: The powder pressing motor (120) is controlled to run in the same direction as when performing the powder pressing action to perform a reset action. During this period, the powder pressing motor (120) runs at the rated speed of the powder pressing motor (120). During the execution of the reset action, when the driven stroke of the powder pressing motor (120) reaches the first preset stroke, the powder pressing motor (120) is controlled to stop running.

8. The method according to claim 7, characterized in that, It also includes at least one of the following: 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; During the execution of the movement to the scraper position, when the driven stroke of the powder pressing motor (120) is greater than the third preset stroke, the powder pressing motor (120) is controlled to stop running.

9. The method according to claim 8, characterized in that, Also includes: A pulse feedback signal is generated based on the Hall signal of the powder pressing motor (120); The rotational speed of the powder pressing motor (120) and / or the driven stroke of the powder pressing motor (120) are determined based on the pulse feedback signal.

10. The method according to any one of claims 1-9, characterized in that, Different target powder pressing force values ​​correspond to the same preset voltage, and the method further includes: During the execution of the pressing action corresponding to different target pressing force values, the pressing motor (120) operates at the preset voltage.

11. A beverage machine, characterized in that, The device includes a controller and a powder pressing motor (120), the controller being communicatively connected to the powder pressing motor (120), and the controller being configured to perform the powder pressing motor (120) control method according to any one of claims 1-10.

12. The beverage machine according to claim 11, characterized in that, The beverage machine also includes a brewing device, and the powder pressing motor (120) is driven and connected to the brewing device, which is used to perform the powder pressing action; The controller includes 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 connected in sequence for communication.

13. The beverage machine according to claim 12, characterized in that: The main controller (111) is used to: acquire the powder pressing information, determine the target current upper limit and target speed corresponding to the target powder pressing force value based on the target powder pressing force value and the preset calculation rule, generate a powder pressing control signal based on the target current upper limit and the target speed, and send the powder pressing control signal to the motor driver (112). The motor driver (112) is used to: receive the powder pressing control signal sent by the main controller (111), control the powder pressing motor (120) to run based on the target speed to perform the powder pressing action, and control the powder pressing motor (120) to stop running when the working current of the powder pressing motor (120) is greater than the target current upper limit value during the execution of the powder pressing action.

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