Ice discharging control system and ice discharging device

Abstract

The invention provides an ice output control system and an ice output device, and the system comprises an MCU processor which is pre-stored with an ice jamming judgment strategy based on current analysis; the motor driving module is connected with the MCU processor and is used for driving an ice outlet motor; wherein an output shaft of the ice discharging motor is coaxially connected with the end part of a rotating screw rod of the ice discharging device, and the ice discharging motor drives the rotating screw rod to rotate forwards at a single end so as to push out ice; the current acquisition module is connected with the MCU processor and the motor driving module and is used for acquiring bus current and phase line current data for driving an ice outlet motor in real time; in the ice outlet process, when the MCU processor judges an ice jamming state based on an ice jamming judgment strategy and according to bus current and / or phase line current data, the ice outlet motor is controlled to rotate reversely to enable the rotating screw to rotate reversely to eliminate ice jamming, and then the ice outlet motor is controlled to restore forward rotation to continue to discharge ice, so that an ice cone can be broken within seconds without manual intervention, and the ice breaking efficiency is improved. And the continuity and the stability of the ice discharging process are greatly guaranteed.

Description

Technical Field

[0001] This invention relates to the field of smart appliances, and more particularly to an ice dispensing control system and an ice dispensing device. Background Technology

[0002] In current technology, commercial settings such as catering, tea shops, and coffee shops consume large quantities of ice with continuous demand, heavily relying on stable and efficient automatic ice dispensing equipment to ensure smooth operations. However, most mainstream ice dispensing equipment on the market suffers from a prominent common problem in actual use: it is prone to ice jamming. Once ice jamming occurs, it not only interrupts the ice dispensing process, affecting business efficiency, but also requires manual intervention for disassembly and cleaning. This process is cumbersome and causes wear and tear on the equipment itself, increasing maintenance costs and reducing the equipment's lifespan in the long run. Summary of the Invention

[0003] This invention provides an ice-discharging control system and an ice-discharging device to solve the problems existing in related technologies. The technical solution is as follows: In a first aspect, embodiments of the present invention provide an ice-discharging control system, comprising: The MCU processor has at least one ice-detection strategy based on current analysis pre-stored. The motor drive module, connected to the MCU processor, is used to drive the ice-dispensing motor; wherein, the output shaft of the ice-dispensing motor is coaxially connected to the end of the rotating screw of the ice-dispensing device, and the ice-dispensing motor drives the rotating screw to rotate in the forward direction to push out the ice; The current acquisition module is connected to the MCU processor and the motor drive module to acquire the bus current and phase current data of the ice-discharging motor in real time. During the ice removal process, the MCU processor, based on the ice jam judgment strategy, determines that the ice jam is caused by the bus current and / or phase current data. When this is determined, the ice removal motor is reversed, causing the rotating screw to rotate in the opposite direction to eliminate the ice jam. Then, the ice removal motor is controlled to resume forward rotation to continue ice removal.

[0004] In one embodiment, the motor drive module is a three-phase bridge circuit, including three sets of bridge arms, each set of bridge arms including an upper bridge arm switch and a lower bridge arm switch; the DC side of the three-phase bridge circuit is connected to a DC power supply.

[0005] In one implementation, the current acquisition module includes: The bus current sampling resistor is connected to the DC bus of the three-phase bridge circuit and is used to collect the bus current flowing through the DC bus. Phase current sampling resistors are connected between the source and ground of each lower bridge arm switch transistor to collect phase current. The voltage signals across the bus current sampling resistor and the phase current sampling resistor are processed by the signal conditioning circuit in the current acquisition module and then transmitted to the MCU processor.

[0006] In one implementation, the ice detection strategy includes: The bus current driving the ice-discharging motor is collected in real time and filtered to obtain the filtered real-time bus current value. The real-time bus current value is compared with the preset static ice-blocking current threshold. When the real-time bus current value exceeds the static ice-blocking current threshold, it is determined to be an ice-blocking state.

[0007] In one implementation, the ice detection strategy includes: Real-time acquisition of at least two phase current data output from the motor drive module, followed by filtering to obtain filtered phase current data; The actual commutation state of the ice machine is calculated based on the filtered phase current data. The actual commutation state is compared with the current theoretical commutation state issued by the MCU processor. If the two are inconsistent, it is determined to be a stuck state.

[0008] In one implementation, it further includes: The weighing module, connected to the MCU processor, is used to monitor the ice storage volume and the weight of the ice dispensed in real time. During the ice removal process, the MCU processor obtains real-time weight data fed back by the weighing module, uses a proportional-integral-derivative control algorithm to calculate the deviation between the target total weight of ice removal and the real-time weight data, and dynamically adjusts the speed of the ice removal motor according to the deviation until the deviation between the real-time weight data and the target total weight of ice removal is within the preset range.

[0009] In one implementation, it further includes: The cleaning module is built into the ice dispensing device and is connected to the MCU processor to execute the cleaning process.

[0010] In one embodiment, the ice dispensing device includes a bucket body with an ice bucket lid on top. The cleaning module includes a rotating nozzle integrated on the ice bucket lid, which is connected to an external water source via a pipeline. When the cleaning process is executed, the MCU processor controls the water flow through the rotating nozzle to rinse the inside of the bucket body.

[0011] In one embodiment, the rotary nozzle is a stainless steel nozzle that can rotate 360°.

[0012] Secondly, embodiments of the present invention provide an ice-discharging device, including the ice-discharging control system as described above.

[0013] Thirdly, embodiments of the present invention provide an electronic device comprising a memory and a processor. The memory and the processor communicate with each other via an internal connection path. The memory stores instructions, and the processor executes the instructions stored in the memory. When the processor executes the instructions stored in the memory, it causes the processor to perform the method described in any of the above embodiments.

[0014] Fourthly, embodiments of the present invention provide a computer-readable storage medium that stores a computer program, wherein when the computer program is run on a computer, the methods in any of the above-described embodiments are executed.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following: This invention utilizes a structure where a rotating screw is axially driven to a single end by an ice-discharging motor. This eliminates the need for bearings at the ice-discharging screw, replacing the traditional complex double-bearing structure. This significantly reduces the conditions for ice jamming from a physical perspective, minimizing ice jamming and ice arching phenomena. Combined with a multi-current analysis ice jamming detection strategy, it can accurately and in real-time capture early signs of ice jamming. Once ice jamming is detected, the ice-discharging motor is immediately reversed, causing the rotating screw to rotate in the opposite direction. This allows the ice cone to be broken within seconds without manual intervention, greatly ensuring the continuity and stability of the ice-discharging process.

[0016] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0017] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in the invention and should not be construed as limiting the scope of the invention.

[0018] Figure 1 This is a schematic diagram of the ice-discharging control system of the present invention; Figure 2 This is a circuit diagram of the motor drive module of the present invention; Figure 3 This is a cross-sectional view of the ice-discharging device of the present invention; Figure 4 This is an exploded structural diagram of the ice removal device of the present invention.

[0019] In the diagram: 1. EPP protective layer; 2. Barrel body; 3. Rotating screw; 4. Ice dispensing motor; 5. Semiconductor refrigeration module; 6. Rotating nozzle; 7. Pipeline. Detailed Implementation

[0020] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0021] Example 1 This embodiment provides an ice discharge control system, such as Figure 1 As shown, the system includes a power module, a power conversion module, an MCU processor, a network module, a motor drive module, a current acquisition module, a cleaning module, and a weighing module.

[0022] The power module is connected to the power conversion module and is used to provide the different voltages required by the system, including powering the MCU processor.

[0023] The MCU processor, as the control core of the system, mainly performs ice jam detection. When ice jam is detected, it sends a reverse command to the motor drive module, causing the ice-discharging motor to reverse and eliminate the ice jam.

[0024] The network module connects to the MCU processor and is used for data exchange with the remote control platform. In this embodiment, the network module obtains ice-discharging commands and speed parameters from the remote control platform. The MCU processor then sends ice commands to the motor drive module, causing the ice-discharging motor to rotate in both directions according to the speed parameters. Simultaneously, the network module can also obtain at least one ice-jamming detection strategy from the remote control platform, and the MCU processor executes the ice-jamming detection judgment according to the strategy.

[0025] The motor drive module is connected to the MCU processor and is used to drive the ice-dispensing motor to perform ice dispensing or ice-clearing actions according to the instructions of the MCU processor. In this embodiment, any rotation direction of the ice-dispensing motor is predefined as forward. During normal ice dispensing, the ice-dispensing motor is controlled to drive the rotating screw in the ice dispensing device in the forward direction, so that the rotating screw rotates in the forward direction to push out the prepared ice; when ice jamming is detected, the ice-dispensing motor is controlled to reverse and then rotate forward, driving the rotating screw to change from the original forward rotation to reverse rotation, reversing to destroy the ice cone shape, thereby eliminating the ice jamming phenomenon, and then resumes forward rotation, so that ice dispensing can continue smoothly.

[0026] In this embodiment, as Figure 2As shown, the motor drive module includes a drive circuit, a three-phase bridge circuit, and an ice-discharging motor. The drive circuit is used to generate multiple drive control signals. The three-phase bridge circuit consists of six switching transistors (Q1~Q6), which are divided into three groups of bridge arms. Each group of bridge arms includes an upper bridge arm switching transistor and a lower bridge arm switching transistor. The DC side of the three-phase bridge circuit is connected to a DC power supply.

[0027] In this embodiment, the ice-discharging motor is a three-phase motor with a first-phase input terminal, a second-phase input terminal, and a third-phase input terminal. Multiple output terminals of the drive circuit are electrically connected to the control terminals of six switching transistors (Q1~Q6) to independently control the on / off state of each transistor. The three AC output nodes of the three-phase bridge circuit are respectively connected to the first-phase input terminal, the second-phase input terminal, and the third-phase input terminal of the three-phase motor. The six switching transistors (Q1~Q6) are one of MOSFETs, IGBTs, or bipolar power transistors.

[0028] The current acquisition module is connected to the MCU processor and the motor drive module to collect the operating current driving the ice-dispensing motor in real time and feed the operating current back to the MCU processor for ice jam detection. In this embodiment, the current acquisition module includes a bus current sampling resistor and a phase current sampling resistor. The bus current sampling resistor is connected to the DC bus of the three-phase bridge circuit to collect the bus current flowing through the DC bus; while the phase current sampling resistors are connected between the source of the lower bridge arm switch transistor in each group of bridge arms and ground to collect the phase current.

[0029] like Figure 2 As shown, R1~R3 ​​are current sampling resistors for each phase. By sampling the voltages UU+ and UU- across R1, the current of phase U is calculated as IU=(UU+ - UU-) / R1. Similarly, by sampling the voltages UV+ and UV- across R2, the current of phase V is calculated. By sampling the voltages UW+ and UW- across R3, the current of phase W is calculated. R4 is the bus current sampling resistor. By sampling the voltage across R4, the bus current I = U / R4 is calculated.

[0030] The voltage signals across the bus current sampling resistor and the phase current sampling resistor are processed by the signal conditioning circuit in the current acquisition module and then transmitted to the MCU processor. The MCU processor performs current calculations to obtain the phase current and the bus current.

[0031] During the ice removal process, the MCU processor, based on an ice jam detection strategy, determines if an ice jam is detected by the bus current and / or phase current data. If so, it controls the ice removal motor to reverse, causing the rotating screw to rotate in the opposite direction to eliminate the ice jam. Then, it controls the ice removal motor to resume forward rotation to continue ice removal. Specifically, the first ice jam detection strategy includes: The bus current driving the ice-discharging motor is collected in real time and filtered to obtain the filtered real-time bus current value. The real-time bus current value is compared with the preset static ice-blocking current threshold. When the real-time bus current value exceeds the static ice-blocking current threshold, it is determined to be in an ice-blocking state. If the real-time bus current value does not exceed the static ice-blocking current threshold, current acquisition and ice-blocking judgment continue.

[0032] Alternatively, time-domain curve analysis can be performed on the real-time bus current value after filtering. When the time-domain curve shows a sudden change in rising edge or falling edge and continues for a predetermined time, it is judged to be in an ice jam state.

[0033] The second ice detection strategy includes: Real-time acquisition of at least two phase current data output from the motor drive module, followed by filtering to obtain filtered phase current data; The actual commutation state of the ice machine is calculated based on the filtered phase current data. The actual commutation state is compared with the current theoretical commutation state issued by the MCU processor. If the two are inconsistent, it is determined to be a stuck state.

[0034] It needs to be explained that the current theoretical commutation state is the ideal energizing logic that should be applied to the ice motor at the current moment, calculated by the MCU processor based on the target speed and the acquired motor rotor position information. It represents the operating rhythm that the system expects the motor to follow and is a digital manifestation of the control intention.

[0035] The actual commutation state is derived by sampling and analyzing the phase current waveform of the brushless DC motor in real time, and then working backwards to determine the motor's true operating rhythm. In a brushless DC motor, the zero-crossing point and transition edge of the phase current directly correspond to the actual physical position reached by the rotor and the commutation moment. Therefore, it reflects the motor's actual response under real physical conditions such as load and friction.

[0036] This embodiment compares the actual commutation state with the current theoretical commutation state. If the two are inconsistent, it indicates that there are external factors (such as ice jams) causing commutation timing disorder, and the state is judged to be ice jam.

[0037] The MCU processor can also determine that it is currently in a frozen state if both the first and second frozen state detection strategies are met, thus further improving the accuracy of frozen state detection.

[0038] When the MCU processor determines that the ice is stuck, it automatically reverses the ice-discharging motor for a preset time or angle and then resumes forward rotation. The reverse rotation breaks the shape of the ice pile, allowing the ice to continue to be discharged smoothly.

[0039] During the ice-discharging process, the ice-discharging device is equipped with a weighing module connected to an MCU processor to monitor the ice storage volume and the weight of the discharging ice in real time. During discharging, the MCU processor acquires real-time weight data from the weighing module, uses a proportional-integral-derivative (PID) control algorithm to calculate the deviation between the target total weight of discharging ice and the real-time weight data, and dynamically adjusts the speed of the ice-discharging motor based on the deviation until the deviation between the real-time weight data and the target total weight of discharging ice is within a preset range. Specifically: Calculate the deviation of the current control cycle: e(k) = W target W current (k); Among them, W target To determine the target total weight of ice, W current (k) represents real-time weight data.

[0040] The incremental PID algorithm is used to calculate the change (increment) in the control quantity: Δu(k)=Kp·[e(k) e(k 1)]+Ki·e(k)+Kd·[e(k) 2e(k 1)+e(k 2)]; Wherein, Kp, Ki, and Kd are proportional, integral, and differential coefficients (these coefficients need to be tuned to appropriate values ​​for different systems).

[0041] Calculate the absolute control quantity for this period: u(k)=u(k 1)+Δu(k).

[0042] Limit u(k): constrain it within the preset range [Umin, Umax]. This step is crucial to ensure that the motor torque and speed do not exceed limits, protect the mechanical structure, and ensure smooth start-up and stopping on ice, avoiding shocks.

[0043] The limited control quantity u(k) is converted into a specific drive signal (such as the duty cycle of PWM) and output to the motor drive module. The motor drive module adjusts its output power based on this signal, thereby continuously and dynamically regulating the torque and speed of the ice motor. When e(k) is large (far from the target weight), u(k) is also large, the motor runs at high speed, and ice is produced quickly.

[0044] When e(k) decreases (approaching the target weight), u(k) automatically decreases, the motor speed decreases, and the process enters the fine ice-feeding stage.

[0045] When e(k) approaches zero, u(k) also approaches the minimum value required to keep the ice outlet open until the target weight is reached, at which point the MCU commands the motor to stop.

[0046] Subsequently, sampling continues through the weighing module, entering the next control cycle k+1, forming a closed-loop control. When W... current ≥W target Once the speed has steadily decreased to a low level, the control cycle terminates, completing a precise ice removal task.

[0047] In this embodiment, the MCU processor is also connected to a cleaning module, and the hardware components of the cleaning module are concentrated on the ice dispensing device. After the ice dispensing device is used, the remote control platform sends a cleaning command through the network module. The MCU controls the cleaning module to automatically execute the cleaning action, automatically and strictly following the cleaning process to stack the ice bucket for cleaning until the cleaning process is completed. The MCU processor then feeds back the status to the platform. The entire process requires no manual intervention.

[0048] This embodiment employs a multi-current analysis ice jam detection strategy (bus current threshold / abrupt change analysis, phase line commutation status verification) to accurately and in real time capture early signs of ice jamming. Once ice jamming is detected, the system immediately and automatically executes a "reverse-forward" recovery process, breaking up the ice pile within seconds without manual intervention, greatly ensuring the continuity and stability of the ice removal process.

[0049] Meanwhile, by combining real-time feedback from the weighing module with a PID control algorithm, the system can smoothly and in real-time adjust the motor speed based on the deviation between the target ice output and the actual ice output. This achieves a perfect match between the ice output speed and the weighing feedback, overcoming the large errors of traditional timed or constant-speed ice output methods and achieving industry-leading quantitative ice output accuracy. Furthermore, with the help of a network module, equipment status, ice output records, fault alarms (such as ice jam self-handling records), and ice shortage alerts can all be reported to the cloud platform in real time, supporting remote monitoring and big data analysis. This facilitates refined management and preventative maintenance for operators, giving the system outstanding market competitiveness and practical value.

[0050] Example 2 This embodiment provides an ice-discharging device, including an ice-discharging control system as described in Embodiment 1. The functions of each module of the system are described in the corresponding descriptions above, and will not be repeated here.

[0051] In this embodiment, as Figure 3 , Figure 4 As shown, the ice-removing device includes: The barrel body 2 has an external EPP protective layer 1; The semiconductor cooling module 5 is attached to the wall of the barrel 2 and is used for cooling. The ice dispensing mechanism is located at the bottom of the bucket body 2, and includes an ice dispensing motor 4 and a rotating screw 3 driven by the ice dispensing motor 4. The ice dispensing motor 4 drives the rotating screw 3 to push the prepared ice blocks out from the ice outlet at the bottom of the bucket body.

[0052] The output shaft of the ice-discharging motor 4 is coaxially connected to the end of the rotating screw 3. The rotating screw 3 is laterally distributed at the ice outlet. When the ice-discharging motor 4 drives the rotating screw 3 to rotate forward at one end, the ice block can be pushed out of the ice outlet, completing the ice-making action. When the ice is stuck, the ice-discharging motor 4 drives the rotating screw 3 to rotate in the opposite direction for a preset time or a preset angle, and then rotates forward again, thereby eliminating the ice jam and continuing to discharge ice.

[0053] Furthermore, multiple rotating screws 3 and multiple ice-discharging motors 4 can be installed at the ice outlet according to actual needs. Each rotating screw 3 is fixed by rigidly connecting one end to the output shaft of its corresponding ice-discharging motor 4. Adjacent rotating screws 3 can mesh with each other. There are no extra bearing structures between the rotating screws 3, which can greatly enhance the flexibility and toughness between the screws, reduce the complex double bearing structure, and thus reduce the ice jamming and ice arching phenomena caused by the double bearing structure.

[0054] In this embodiment, the top of the tank body 2 is equipped with an ice bucket lid. The cleaning module includes a rotating nozzle 6 integrated on the ice bucket lid. The rotating nozzle 6 is a stainless steel nozzle that can rotate 360°. The rotating nozzle 6 is connected to an external water source through a pipe 7. When the cleaning process is executed, cleaning fluid, hot water, drying air, and other cleaning materials enter the rotating nozzle 6 through the pipe 7. The rotating nozzle rotates 360° to rinse the inside of the tank body 2. Finally, warm air is introduced through the pipe 7 to dry the inside of the tank body 2. The entire process is intelligent and requires no manual intervention.

[0055] This embodiment employs an innovative structure of "bearing-free axial flexible connection between three rotating screws" and "single-end drive," endowing the ice-discharging device with a certain degree of self-adaptability and fault tolerance. When the ice blocks are uneven in size or slightly sticky, the flexibly meshing screws can produce slight deformation or displacement, avoiding hard jamming and significantly reducing the conditions for ice jamming from a physical structure perspective.

[0056] Meanwhile, this embodiment abandons the complex dual-bearing support structure and adopts a screw design without intermediate bearings. This not only reduces the number of parts, manufacturing costs, and assembly difficulty, but also reduces failure points caused by bearing wear and corrosion, thus improving mechanical lifespan. Furthermore, it replaces the traditional compressor refrigeration system with a semiconductor refrigeration module and EPP insulation layer, offering significant advantages such as compact structure, vibration-free operation, refrigerant-free operation, quiet operation, and low maintenance costs. It is particularly suitable for commercial scenarios sensitive to space and noise, while also reducing manufacturing costs.

[0057] This embodiment deeply integrates mechanical innovation (flexible bearingless screw), algorithmic innovation (multi-strategy current judgment + PID closed-loop control), and system innovation (semiconductor cold insulation + intelligent cleaning). It not only specifically solves the long-standing pain point of "ice jamming" in the industry, but also achieves a leapfrog improvement in ice dispensing accuracy, intelligence level, overall cost and reliability, and has outstanding market competitiveness and practical value.

[0058] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in the present invention, and these should all be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An ice-discharging control system, characterized in that, include: The MCU processor has at least one ice-detection strategy based on current analysis pre-stored. A motor drive module, connected to the MCU processor, is used to drive the ice-dispensing motor; wherein, the output shaft of the ice-dispensing motor is coaxially connected to the end of the rotating screw of the ice-dispensing device, and the ice-dispensing motor drives the rotating screw to rotate in the forward direction at one end to push out the ice; The current acquisition module is connected to the MCU processor and the motor drive module, and is used to acquire the bus current and phase current data of the ice-discharging motor in real time. During the ice removal process, the MCU processor, based on the ice jam judgment strategy, determines that an ice jam is in effect according to the bus current and / or the phase current data. When this is determined, it controls the ice removal motor to reverse, causing the rotating screw to rotate in the opposite direction to eliminate the ice jam. Then, it controls the ice removal motor to resume forward rotation to continue removing ice.

2. The ice-discharging control system according to claim 1, characterized in that, The motor drive module is a three-phase bridge circuit, including three bridge arms. Each bridge arm includes an upper bridge arm switch and a lower bridge arm switch. The DC side of the three-phase bridge circuit is connected to a DC power supply.

3. The ice-discharging control system according to claim 2, characterized in that, The current acquisition module includes: A bus current sampling resistor is connected to the DC bus of the three-phase bridge circuit and is used to collect the bus current flowing through the DC bus. Phase current sampling resistors are connected between the source and ground of each of the lower bridge arm switching transistors to collect phase current. The voltage signals across the bus current sampling resistor and the phase current sampling resistor are processed by the signal conditioning circuit in the current acquisition module and then transmitted to the MCU processor.

4. The ice-discharging control system according to claim 1, characterized in that, The ice detection strategy includes: The bus current driving the ice-discharging motor is collected in real time and filtered to obtain the filtered real-time bus current value. The real-time bus current value is compared with a preset static ice-blocking current threshold. When the real-time bus current value exceeds the static ice-blocking current threshold, it is determined to be an ice-blocking state.

5. The ice-discharging control system according to claim 1, characterized in that, The ice detection strategy includes: The system collects at least two phase current data output from the motor drive module in real time and performs filtering to obtain filtered phase current data. Based on the filtered phase current data, the actual commutation state of the ice-discharging motor is calculated. The actual commutation state is compared with the current theoretical commutation state issued by the MCU processor. If the two are inconsistent, it is determined to be a stuck state.

6. The ice-discharging control system according to claim 1, characterized in that, Also includes: The weighing module is connected to the MCU processor and is used to monitor the ice storage amount and the weight of the ice produced in real time. During the ice removal process, the MCU processor acquires real-time weight data fed back by the weighing module, uses a proportional-integral-derivative control algorithm to calculate the deviation between the target total weight of ice removal and the real-time weight data, and dynamically adjusts the speed of the ice removal motor according to the deviation until the deviation between the real-time weight data and the target total weight of ice removal is within a preset range.

7. The ice-discharging control system according to claim 1, characterized in that, Also includes: A cleaning module is built into the ice dispensing device and is connected to the MCU processor to execute the cleaning process.

8. The ice-discharging control system according to claim 7, characterized in that, The ice dispensing device includes a bucket body with an ice bucket lid on top. The cleaning module includes a rotating nozzle integrated on the ice bucket lid, which is connected to an external water source via a pipeline. When the cleaning process is executed, the MCU processor controls the water flow through the rotating nozzle to rinse the inside of the bucket body.

9. The ice-discharging control system according to claim 8, characterized in that, The rotating nozzle is a stainless steel nozzle that can rotate 360°.

10. An ice-discharging device, characterized in that, Includes the ice-discharging control system as described in any one of claims 1 to 9.

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