Vehicle, vehicle-mounted tea bar machine and control method thereof

Abstract

The application relates to the technical field of vehicle-mounted equipment control, and provides a vehicle, a vehicle-mounted tea bar machine and a control method thereof. The control method of the vehicle-mounted tea bar machine comprises the following steps: acquiring a deviation angle of water flow output by the vehicle-mounted tea bar machine deviating from a vertical direction and a driving acceleration of the vehicle; calculating a water flow basic flow rate required for eliminating the deviation angle based on a preset water flow falling height, the driving acceleration and the deviation angle; predicting a driving acceleration change condition of the vehicle in a preset future time period, correcting the water flow basic flow rate based on the driving acceleration change condition; determining a target flow rate of the vehicle-mounted tea bar machine according to the corrected water flow basic flow rate, and controlling the vehicle-mounted tea bar machine to work at the target flow rate. The control method can reduce the probability of water flow deviating to outside a cup due to acceleration and deceleration of the vehicle during driving, thereby improving the driving experience of a user.

Description

Technical Field

[0001] This application relates to the field of vehicle-mounted equipment control technology, and in particular to a vehicle, a vehicle-mounted tea bar machine, and a control method thereof. Background Technology

[0002] Currently, the water flow rate of car-mounted tea bar machines is mostly controlled by a fixed flow rate, that is, a fixed water output speed is set for water to be output, and after the water flows down, it will fall into the water cup located directly below the water outlet.

[0003] However, when the vehicle accelerates, decelerates, or travels over bumpy roads, the water flow is prone to deflection due to inertia, and may not fall accurately into the cup below, resulting in a poor driving experience for the user. Summary of the Invention

[0004] In view of this, this application aims to propose a control method for an in-vehicle tea bar machine to reduce the probability of water falling out of the cup due to the deviation of water flow caused by the acceleration and deceleration of the vehicle, thereby improving the user's driving experience.

[0005] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0006] A method for controlling a vehicle-mounted tea bar machine includes: acquiring the deviation angle of the water flow output by the vehicle-mounted tea bar machine from the vertical direction and the vehicle's driving acceleration; calculating the basic water flow velocity required to eliminate the deviation angle based on a preset water flow drop height, the driving acceleration, and the deviation angle; predicting the change in the vehicle's driving acceleration within a preset future time period, and correcting the basic water flow velocity based on the change in driving acceleration; determining the target flow velocity of the vehicle-mounted tea bar machine based on the corrected basic water flow velocity, and controlling the operation of the vehicle-mounted tea bar machine with the target flow velocity.

[0007] Furthermore, the step of calculating the basic flow velocity of the water flow based on the preset water drop height, the driving acceleration, and the deviation angle includes: performing disturbance filtering on the driving acceleration to determine the effective driving acceleration; and calculating the basic flow velocity of the water flow based on the effective driving acceleration, the water drop height, the vehicle speed, and the deviation angle.

[0008] Furthermore, predicting the change in the vehicle's acceleration over a preset future time period includes: acquiring the vehicle's speed; predicting the change in the vehicle's acceleration over a preset future time period when the rate of change of the speed changes, and / or when the vehicle's acceleration changes.

[0009] Furthermore, predicting the change in the vehicle's acceleration over a preset future time period includes: calculating the rate of change of the vehicle's speed over a preset detection time period; and predicting the change in the vehicle's acceleration over a preset future time period based on the rate of change of the vehicle's speed over the preset detection time period.

[0010] Furthermore, the step of correcting the basic flow velocity of the water flow based on the change in driving acceleration includes: predicting, based on the change in driving acceleration, the displacement offset of the position where the water flow falls at the basic flow velocity relative to the position of a preset teacup within a preset future time period; and correcting the basic flow velocity of the water flow based on the predicted displacement offset.

[0011] Furthermore, the step of correcting the basic flow velocity based on the predicted displacement offset includes: determining a target correction offset based on the displacement offset; calculating the flow velocity adjustment amount required to eliminate the target correction offset based on the target correction offset, the basic flow velocity, and a preset displacement-flow velocity correlation model; and correcting the basic flow velocity based on the flow velocity adjustment amount to obtain the corrected basic flow velocity.

[0012] Furthermore, the method also includes: determining the preset target water temperature and the corresponding preset heating module power corresponding to the vehicle-mounted tea bar machine's operating mode selected by the user; obtaining the current outlet water temperature of the vehicle-mounted tea bar machine, and determining the target heating power based on the preset target water temperature, the outlet water temperature, and the preset heating module power; and controlling the water flow heating module of the vehicle-mounted tea bar machine to heat the water flow at the target heating power.

[0013] Furthermore, determining the target heating power based on the preset target water temperature, the outlet water temperature, and the preset heating module power includes: calculating the temperature difference between the outlet water temperature and the preset target water temperature; determining the target heating power based on the preset heating module power when the temperature difference is within a preset safe temperature difference range; compensating the preset heating module power using a preset compensation algorithm based on the temperature difference when the temperature difference is within a preset warning temperature difference range, and determining the compensated preset heating module power as the target heating power; and determining the target heating power based on preset mandatory protection measures when the temperature difference is within a preset high-risk temperature difference range.

[0014] Compared with related technologies, this application has at least the following advantages:

[0015] (1) The vehicle-mounted tea bar machine control method described in this application reduces the probability of water falling outside the cup due to vehicle acceleration and deceleration by determining the basic flow velocity of the water flow to compensate for the deviation angle of the water flow. It also predicts the future changes in driving acceleration and corrects the basic flow velocity of the water flow accordingly. By correcting the basic flow velocity of the water flow, the probability of water flow deviating and falling outside the cup due to changes in driving acceleration is reduced, thereby improving the user's driving experience.

[0016] (2) This application also uses the effective driving acceleration after perturbation filtering of driving acceleration to calculate the basic flow velocity of water flow, which can ignore the small perturbations of the vehicle, so that the calculation of the basic flow velocity of water flow will not fluctuate due to the presence of small perturbations, thereby making the water dispensing process of the vehicle tea bar machine more stable and reducing the probability of water dispensing vibration.

[0017] (3) This application first determines whether the rate of change of the vehicle's speed has changed and whether the vehicle's acceleration has changed. If it is determined that the vehicle's acceleration is not constant based on the speed or acceleration, the application then predicts the change in the vehicle's acceleration over a preset future time period and corrects the basic flow velocity of the water. This allows the basic flow velocity to be corrected only when necessary, and not when unnecessary, thereby reducing the computational power consumption of the vehicle.

[0018] (4) This application also achieves short-term prediction of future driving acceleration by using the historical driving speed change rate of a preset detection period, so that the change of future driving acceleration of the vehicle can be quickly predicted without the need for complex environment or driver intention perception.

[0019] (5) In addition to correcting the basic flow velocity of the water flow, this application first predicts the actual displacement deviation that the water flow may make when falling at the basic flow velocity, and uses the displacement deviation to correct the basic flow velocity of the water flow. In this way, since the additional deviation caused by the change in vehicle acceleration during the fall of the water flow is predicted in advance, the landing point deviation caused by the change in future driving acceleration can be effectively compensated, so that the water flow can be aligned with the cup opening during the entire fall process, thereby improving the accuracy of water discharge and the reliability of use in driving scenarios.

[0020] (6) Based on the predicted displacement offset, this application calculates the flow rate adjustment amount in combination with the displacement flow rate correlation model, and uses the flow rate adjustment amount to correct the basic flow rate of the water flow, so that the water flow rate of the vehicle-mounted tea bar machine is controlled by the corrected basic flow rate, thereby reducing the occurrence of water flow offset during vehicle travel and causing water to fall outside the cup.

[0021] (7) This application also matches the preset target water temperature and preset heating module power according to the working mode of the vehicle-mounted tea bar machine selected by the user, and determines the target heating power in combination with the actual water temperature. It can stably control the water temperature at the preset target water temperature corresponding to the working mode in different working modes, so as to meet the user's needs for different drinking modes.

[0022] (8) Based on the difference between the outlet water temperature and the preset target water temperature, the entire heating process of the water flow can be divided into multiple stages. In the initial stage, the temperature difference is within the preset safe temperature difference range. The target heating power can be determined by using the preset heating module power to heat the water flow with high heating power first. When the water temperature rises to the point where the difference is within the preset warning temperature difference range, compensation is made on the basis of the preset heating module power, and the heating power is automatically adjusted. When the temperature difference is within the preset high-risk temperature difference range, the target heating power is determined according to the preset forced protection measures, which can prevent the water flow temperature from suddenly rising to exceed the preset target water temperature due to excessive heating power.

[0023] Another objective of this application is to provide a vehicle-mounted tea bar machine, wherein the control system of the vehicle-mounted tea bar machine includes a memory and a controller; the memory stores a computer program, and the controller executes the computer program to realize the above-mentioned vehicle-mounted tea bar machine control method.

[0024] Another object of this application is to provide a vehicle that includes the aforementioned in-vehicle tea bar machine.

[0025] The vehicle and in-vehicle tea bar machine described in this application can reduce the probability of water flowing out of the cup due to vehicle acceleration and deceleration, thereby improving the user's driving experience. Attached Figure Description

[0026] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0027] Figure 1 This is a flowchart illustrating the vehicle-mounted tea bar machine control method described in an embodiment of this application.

[0028] Figure 2 This is a schematic diagram illustrating the process of correcting the flow rate of water by utilizing future changes in driving acceleration in the vehicle-mounted tea bar machine control method described in this application embodiment.

[0029] Figure 3 This is a schematic diagram illustrating the process of correcting the flow rate of water based on future displacement offset in the vehicle-mounted tea bar machine control method described in this application embodiment.

[0030] Figure 4This is a flowchart illustrating the heating control process in the vehicle-mounted tea bar machine control method described in this application embodiment.

[0031] Figure 5 This is a schematic diagram of the process for determining the target heating power in the vehicle-mounted tea bar machine control method described in the embodiments of this application. Detailed Implementation

[0032] To make the technical solution and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0034] Furthermore, it should be noted in the description of this application that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] Furthermore, in the description of this application, unless otherwise expressly defined, the terms "installation," "connection," "joint," and "connector" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application in light of the specific circumstances.

[0036] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The present application will now be described in detail through exemplary embodiments. However, it should be understood that, without further description, elements, structures, and features in one embodiment may be advantageously incorporated into other embodiments.

[0038] An embodiment of the first aspect of this application provides a control method for an in-vehicle tea bar machine, applied to a vehicle, and more specifically to the control system of an in-vehicle tea bar machine built into the vehicle, executed by a controller in the control system of the in-vehicle tea bar machine.

[0039] A car-mounted tea bar machine is a vehicle-mounted water device that is integrated inside a vehicle and can provide users with functions such as water dispensing, heating, and tea brewing while the vehicle is in motion. It typically includes a water faucet, a cup holder, and a heating module.

[0040] The in-vehicle tea bar machine uses a faucet as its water outlet to dispense water. Directly below this outlet is a cup holder (more specifically, a pre-set cup placement area). When the vehicle is stationary, the water flows vertically downwards under gravity and automatically into the cups.

[0041] In related technologies, the flow rate control of in-vehicle tea bar machines mostly adopts a fixed flow rate control method, that is, a fixed water output speed is preset, so that the water flows out at the fixed water output speed and falls vertically into the cup.

[0042] However, this method is only suitable for stationary or stable operating conditions (such as when the vehicle is traveling at a constant speed or when it is accelerating or decelerating slowly). Once the vehicle accelerates or decelerates suddenly or goes over potholes or speed bumps, the water flow will be deflected due to inertia and will not fall into the cup, which may cause the water to overflow or even scald the user.

[0043] In view of this, in order to overcome the shortcomings of related technologies, the vehicle-mounted tea bar machine control method of this embodiment combines... Figure 1 In terms of overall design, it includes the following steps S110-S140.

[0044] Step S110: Obtain the deviation angle of the water flow output from the vehicle-mounted tea bar machine from the vertical direction and the vehicle's driving acceleration.

[0045] Specifically, vehicle acceleration refers to the acceleration of the vehicle along the direction of travel. Specifically, when the vehicle is accelerating, the acceleration is positive, and when the vehicle is decelerating, the acceleration is negative. In this embodiment, the acceleration can be calculated by obtaining the vehicle's real-time speed from its wheel sensors and then extracting the speed change per unit time.

[0046] Additionally, the faucet of a car-mounted tea bar machine is usually pointed downwards, and the water cups are typically positioned below the faucet. When the vehicle is stationary, the water flows vertically downwards due to gravity and automatically flows into the water cups.

[0047] When a vehicle accelerates or decelerates, the water flowing from the tap retains its horizontal motion as it did before acceleration or deceleration due to inertia. However, since the vehicle is actually accelerating or decelerating, the water appears to tilt backward or forward when the vehicle is used as a reference point.

[0048] Using the vehicle as a reference, the tilt angle produced by the water flow (that is, the angle at which the water flow deviates from the vertical direction, which is the vertical direction in the motion coordinate system with the vehicle as the reference) is taken as the deviation angle of the water flow.

[0049] It is worth noting that the deviation angle refers to the angle by which the water flow deviates from the vertical direction. It has no positive or negative value, meaning that whether the water flow deviates in front of or behind the vehicle, the deviation angle is always positive.

[0050] More specifically, the process of obtaining the deviation angle may include: reversing the obtained vehicle acceleration to obtain the relative acceleration of the water flow in the horizontal direction. Using this relative acceleration in the horizontal direction and the acceleration due to gravity, the deviation angle is calculated.

[0051] Specifically, the deviation angle θ satisfies: tanθ=a / g; where a is the relative acceleration in the horizontal direction (do not substitute the direction when calculating, only substitute the value of the relative acceleration, for example, if the relative acceleration is -2, substitute a=2 into the formula when calculating), and g is the gravitational acceleration.

[0052] It can be seen that the smaller the change in vehicle speed per unit time, that is, the smaller 'a', the closer the deviation angle is to 0. Conversely, the larger the change in vehicle speed per unit time, the larger 'a', and thus the larger the deviation angle. In other words, the greater the deviation from the original falling position of the water, the easier it is for the water to fall outside the cup, or even scald the passenger.

[0053] Therefore, after obtaining the current driving acceleration and the deviation angle corresponding to the current driving acceleration in step S110, steps S120-S140 are executed to reduce the probability of water falling outside the cup by adjusting the water flow.

[0054] Step S120: Based on the preset water flow drop height, driving acceleration, and deviation angle, calculate the basic water flow velocity required to eliminate the deviation angle.

[0055] Specifically, the preset water drop height is the vertical distance between the water tap of the vehicle-mounted tea bar machine and the cup holder. This height is a fixed structural parameter of the vehicle-mounted tea bar machine, determined during equipment assembly, and can be obtained directly from factory measurements or structural design drawings, remaining constant during use.

[0056] Specifically, the basic flow velocity refers to the initial falling velocity (vertical velocity) of the water flow corresponding to the deviation angle, in order to eliminate the deviation angle as much as possible.

[0057] More specifically, the essence of water flow deviation is that the vehicle's acceleration is not zero (vehicle acceleration and deceleration), causing the water flow to deviate in the horizontal direction, resulting in the water's landing point deviating from the rim of the cup. Therefore, to avoid the water's landing point deviating from the rim of the cup and to reduce the deviation angle, the horizontal displacement of the water flow needs to be minimized.

[0058] Based on the kinematic displacement formula, when the horizontal velocity and acceleration are constant, the shorter the water's falling time, the smaller the horizontal displacement, and thus the smaller the actual deviation of the water from the cup's rim, resulting in a smaller deviation angle. Furthermore, the distance between the outlet and the cup (i.e., the water's falling height) is usually fixed. Therefore, increasing the vertical component of the initial flow velocity (i.e., the initial falling velocity) can accelerate the overall falling speed, thereby shortening the falling time and minimizing the deviation angle.

[0059] Therefore, in step S120, the basic water flow velocity is calculated to minimize the deviation angle of the water flow caused by vehicle acceleration and deceleration. Specifically, determining this basic water flow velocity involves: based on a preset water flow drop height, the vehicle's acceleration at the current moment, and the corresponding deviation angle, assuming the vehicle travels at a constant acceleration, constructing the kinematic equations of the water flow in the vertical and horizontal directions, and solving them simultaneously to obtain the basic water flow velocity at the current moment. It is worth noting that this basic water flow velocity is the initial vertically downward velocity of the water flowing from the tap. Its core function is to shorten the water flow drop time by increasing the flow velocity, thereby reducing the deviation caused by the vehicle's acceleration during the drop.

[0060] Specifically, the formula for calculating the basic flow velocity of this water flow can be: .

[0061] Where V is the basic flow velocity of the water, a is the acceleration (positive when accelerating and negative when decelerating), h is the preset water drop height, g is the gravitational acceleration, and θ is the deviation angle of the water flow from the vertical direction.

[0062] Step S130: Predict the change in vehicle acceleration over a preset future time period, and correct the basic flow velocity of the water flow based on the change in vehicle acceleration.

[0063] The preset future time period refers to the length of time it may take for water to fall from the outlet to a preset height. This preset future time period can be determined based on the basic water flow velocity in step S120. For example, using the basic water flow velocity in step S120 as the initial falling velocity, the preset falling height as the vertical displacement, and gravity acceleration as the vertical acceleration, the required falling time is calculated. The time period with the current moment as the initial moment and the required falling time as the duration is the preset future time period.

[0064] Changes in vehicle acceleration refer to the changes in the magnitude and direction of acceleration that a vehicle will experience within a preset future time period.

[0065] Specifically, the basic flow velocity of the water in step S120 is calculated based on the premise that the vehicle is traveling at a constant acceleration. That is, it is calculated assuming that the vehicle's acceleration remains constant from the current moment until the water flows into the cup.

[0066] If the vehicle's acceleration changes slightly during the water's descent, and the water still begins to fall at its base velocity, the water will still deviate slightly. However, because the change in acceleration is small, the deviation will be minimal, and the water will still fall into the cup. But if the vehicle experiences a sudden acceleration or deceleration, and the water still begins to fall at its base velocity, the water will deviate more significantly horizontally, causing it to fall outside the cup.

[0067] Therefore, in step S130, by predicting the change in driving acceleration within a preset future time period, the basic flow velocity of the water is corrected based on the change in driving acceleration. Then, step S140 is executed to determine the target flow velocity based on the corrected basic flow velocity and control the operation of the vehicle-mounted tea bar machine.

[0068] Step S140: Determine the target flow rate of the vehicle-mounted tea bar machine based on the corrected basic water flow velocity, and control the operation of the vehicle-mounted tea bar machine with the target flow rate.

[0069] Specifically, in this embodiment, the vehicle-mounted tea bar machine also uses a preset PID (Proportional-Integral-Derivative Controller) flow rate adjustment strategy to adjust the flow rate of the water based on the actual positional deviation of the current water flow, thereby obtaining the current flow rate PID adjustment amount to compensate for the actual positional deviation of the current water flow.

[0070] Specifically, the preset PID flow rate regulation strategy includes: .

[0071] Where e(t) is the error at the current moment, that is, the deviation between the actual landing point of the water flow detected in real time and the preset position of the teacup. This is the integral (cumulative sum) of the error from time t=0 to the current time t. Kp is the rate of change of error (differential); Ti is the proportional gain; Td is the integral time; and Td is the derivative time.

[0072] u(t) is the PID adjustment amount of the current flow rate calculated based on the deviation of the actual landing point of the water flow from the preset teacup position.

[0073] In other words, during actual vehicle operation, on the one hand, a preset PID control adjustment strategy is used to adjust the flow rate to address the current positional deviation, so that the subsequent water flow can actually fall into the cup. On the other hand, based on the driving acceleration and future changes in driving acceleration, a corrected basic flow rate is determined, and the water flow rate is adjusted in advance using the corrected basic flow rate to reduce the positional deviation caused by subsequent speed changes.

[0074] Therefore, in this embodiment, when determining the target flow velocity, the current flow velocity PID adjustment amount can be superimposed with the corrected basic water flow velocity to obtain the final target flow velocity.

[0075] Then, the vehicle-mounted tea bar machine is controlled to operate at the target flow rate, so that the vertical speed of the water flowing out of the outlet is the target flow rate, in order to reduce the chance of water falling outside the cup.

[0076] Therefore, through steps S110-S140, the basic flow velocity of the water is first calculated based on the vehicle's driving acceleration and the deviation angle of the water flow from the vertical direction. Then, the basic flow velocity of the water is corrected based on the predicted future changes in the vehicle's driving acceleration. The operation of the vehicle-mounted tea bar machine is controlled based on the corrected basic flow velocity.

[0077] This not only reduces the chance of water falling out of the cup due to vehicle acceleration and deceleration by determining the basic water flow velocity, but also reduces the probability of water deviating and falling out of the cup due to changes in vehicle acceleration by predicting future changes in vehicle acceleration and adjusting the basic water flow velocity accordingly, thereby improving the user's driving experience.

[0078] Continue by Figure 1 As shown, in some exemplary embodiments, in step S120 above, the basic flow velocity of the water is calculated based on the preset water drop height, vehicle acceleration, and deviation angle. Specifically, this may include: performing disturbance filtering on the vehicle acceleration to determine the effective vehicle acceleration; and calculating the basic flow velocity of the water based on the effective vehicle acceleration, water drop height, vehicle speed, and deviation angle.

[0079] Specifically, in actual driving, in addition to normal acceleration, deceleration, and changes in driving status when passing through obvious bumps or potholes, vehicles are also affected by minor road bumps and slight vibrations, causing instantaneous and minute disturbances in the vehicle's acceleration. These disturbances have small amplitudes and high randomness in affecting the vehicle's acceleration, and will not cause significant deviations in the water flow.

[0080] If these minute disturbances are considered in the calculation of the basic flow velocity, the existence of these disturbance factors will cause the calculated basic flow velocity to change continuously, resulting in frequent fluctuations in the calculated basic flow velocity, which in turn affects the stability of the outflow.

[0081] Therefore, when calculating the basic flow velocity in step S120, the driving acceleration is first subjected to disturbance filtering to filter out the disturbance acceleration caused by the presence of the above-mentioned disturbance factors, so as to obtain the effective driving acceleration. Then, the effective driving acceleration and the formula for the basic flow velocity in the embodiment of step S120 are used to calculate the basic flow velocity.

[0082] More specifically, the aforementioned disturbance factors are unexpected interference factors generated by the environment or the equipment itself, and these disturbance factors appear instantaneously and do not cause a significant deviation in the water flow when they appear, thus constituting invalid disturbances. The disturbance acceleration is the change in vehicle acceleration caused by the disturbance factor, which is the instantaneous, small-amplitude, and irregular acceleration change read by the sensor due to the vehicle body sway caused by the disturbance factor.

[0083] Specifically, the perturbation filtering of driving acceleration can be achieved using the Kalman filter algorithm. The Kalman filter algorithm does not directly trust the actual measured driving acceleration collected by the sensor at the current moment. Instead, it combines the vehicle's motion law to dynamically estimate the true acceleration, thereby automatically eliminating high-frequency small perturbations that do not conform to the motion law, thus achieving perturbation filtering of driving acceleration.

[0084] The specific process of perturbation filtering in the Kalman filter algorithm includes: based on the driving acceleration and speed of the previous moment, the predicted acceleration (predicted value) of the vehicle at the current moment is deduced under the condition that the vehicle is not affected by minor bumps (the vehicle's acceleration will not change in a very short time).

[0085] When the sensor actually collects the current driving acceleration (actual measurement value), the Kalman filter algorithm compares the actual measurement value with the predicted value. If the difference is small, it indicates that the actual measurement value is basically reliable, and the Kalman filter algorithm will trust the actual measurement value more. If the difference is large, it is considered that this difference is likely caused by disturbances such as minor bumps in the road surface or random vibrations. Therefore, the Kalman filter algorithm will significantly reduce the trust level of the actual measurement value and increase the trust level of the predicted value. Based on the trust level, the algorithm determines the trust weight of the two values. After weighted summation of the actual measurement value and the predicted value, the corrected acceleration is obtained, which is the effective driving acceleration.

[0086] By continuously predicting and correcting acceleration using the Kalman filter algorithm, the algorithm can output smooth and continuous effective driving acceleration. With continuous iteration of the Kalman filter algorithm, it will eventually retain only the true acceleration components caused by driving operations or significant changes in road conditions, while completely filtering out invalid disturbances such as minor road bumps and equipment vibrations.

[0087] Therefore, by using the effective driving acceleration after perturbation filtering of the driving acceleration, the basic flow velocity of the water is calculated, ignoring the minor disturbances experienced by the vehicle. This ensures that the calculation of the basic flow velocity of the water will not fluctuate due to the presence of minor disturbances, thereby making the water dispensing process of the car-mounted tea bar machine more stable and reducing the probability of water dispensing vibration.

[0088] Continue by Figure 1 As shown, in some exemplary embodiments, in step S130 above, predicting the change in vehicle acceleration over a preset future time period may specifically include: obtaining the vehicle's speed.

[0089] Predict the change in vehicle acceleration over a preset future time period when the rate of change of driving speed changes.

[0090] Alternatively, it can predict how a vehicle's acceleration will change over a predetermined future time period, given that the vehicle's acceleration is altered.

[0091] Alternatively, if the rate of change of driving speed changes and the vehicle's driving acceleration changes, predict the change in the vehicle's driving acceleration over a preset future time period.

[0092] Specifically, when the vehicle is moving at a constant speed, accelerating uniformly, and decelerating uniformly, the vehicle's acceleration will not change during the water flow. Therefore, the basic water flow velocity calculated in step S120 can be used as the target flow velocity to control the operation of the vehicle-mounted tea bar machine without correction.

[0093] Conversely, if the base water flow velocity is used as the target flow velocity to control the operation of the car-mounted tea bar machine when the vehicle's acceleration changes, the water flow will still deviate significantly due to the acceleration change. Therefore, the base water flow velocity can be adjusted according to the vehicle's acceleration change, and the adjusted base water flow velocity can be used as the target flow velocity to control the operation of the car-mounted tea bar machine.

[0094] Therefore, in step S130, the vehicle's speed is first obtained. If the rate of change of the vehicle's speed changes (that is, the rate of change of the speed at the current moment is different from the rate of change of the speed at the previous moment), it is equivalent to a change in the vehicle's acceleration, and the step of predicting the change of the vehicle's acceleration in a preset future time period is executed.

[0095] If it is directly determined that the vehicle's acceleration has changed (that is, the acceleration at the current moment is different from the acceleration at the previous moment), then the step of predicting the change of the vehicle's acceleration in the preset future time period is also executed.

[0096] Conversely, if the rate of change of the vehicle's speed does not change and the acceleration does not change, the step of predicting the change of the vehicle's acceleration in the preset future time period is not performed. Instead, the basic flow velocity of the water determined in step S120 is used as the target flow velocity to control the operation of the vehicle-mounted tea bar machine.

[0097] Therefore, the algorithm first determines whether the rate of change of the vehicle's speed and acceleration have changed. If the algorithm determines that the vehicle's acceleration is not constant based on the speed or acceleration, it then predicts the change in the vehicle's acceleration over a preset future time period and corrects the base flow velocity of the water. This allows for correction of the base flow velocity only when necessary, and avoids correction when unnecessary, thereby reducing the computational power consumed by the algorithm.

[0098] Continue by Figure 1 As shown, in some exemplary embodiments, step S130, predicting the change in vehicle acceleration over a preset future time period, may specifically include: calculating the rate of change of driving speed over a preset detection time period, and predicting the change in vehicle acceleration over a preset future time period based on the rate of change of driving speed over the preset detection time period.

[0099] The preset detection time period refers to a continuous and fixed-duration segment of vehicle travel time, starting from the current moment and tracing back to the beginning. It's worth noting that the duration of this preset detection time period can be a preset value, such as 0.2s to 1.0s (ensuring sufficient historical information for prediction while avoiding the introduction of too much invalid historical information). Alternatively, the duration of the preset detection time period can be set to be close to or slightly longer than the water flow descent time (the duration of a preset future time period), ensuring that the historical trend length is sufficient to reliably extrapolate acceleration changes within future descent periods.

[0100] Specifically, the prediction process for the change in driving acceleration may include: calculating the rate of change of vehicle speed over time within a preset detection period, obtaining the historical acceleration of the vehicle at each moment within the preset detection period, and forming a historical acceleration sequence.

[0101] Then, based on this historical acceleration sequence, the acceleration change trend of the vehicle in the preset future time period is deduced through trend fitting, moving average or Kalman filtering algorithms, so as to obtain the prediction result of the future driving acceleration change.

[0102] Therefore, in this embodiment, instead of relying on complex environmental perception and driver intent, the system achieves short-term prediction of future driving acceleration by using the rate of change of historical driving speed over a preset detection period, thereby enabling rapid prediction of changes in the vehicle's future driving acceleration.

[0103] Continue by Figure 1 and combined Figure 2 As shown, in some exemplary embodiments, step S130 involves correcting the basic flow velocity of the water flow based on changes in driving acceleration, which may specifically include steps S131-S132.

[0104] Step S131: Based on the changes in driving acceleration, predict the displacement of the water flow at the base flow velocity relative to the preset teacup position within a preset future time period.

[0105] The displacement offset within the preset future time period can be a function Y(t) used to describe the changing trend of the predicted displacement offset at each time point. Y(t) represents the horizontal offset distance of the actual position of the water flow at time t relative to the preset center position of the cup opening when the water flow falls at the basic flow velocity, covering the horizontal offset distance corresponding to each sampling time point within the preset future time period.

[0106] The preset teacup position is a location pre-set on the countertop of the car tea bar machine for placing water cups. The center of the preset teacup position is on the same vertical line as the water outlet of the car tea bar machine.

[0107] The basic flow velocity of the water is calculated based on the premise that the vehicle is moving at a constant acceleration, and it is the vertical velocity that allows the water to flow into the cup. However, the vehicle's acceleration may change during the water's descent. Therefore, when controlling the water to fall at this basic flow velocity, the actual water will deviate from this vertical line, resulting in a corresponding positional deviation. The positional deviation at each moment is the horizontal offset distance at that moment.

[0108] In step S131, the process of predicting the horizontal offset distance at any given moment may specifically include: taking the time period from the initial moment of the preset future time period to the given moment as the prediction time period; constructing an instantaneous acceleration sequence based on the instantaneous driving acceleration at each moment within the prediction time period; and then, combining the basic flow velocity of the water flow and the actual falling time of the water flow, performing piecewise integration or time-by-time recursive calculation on the acceleration in the horizontal direction based on the variable acceleration kinematic relationship to obtain the actual horizontal displacement accumulated by the water flow during this prediction time period.

[0109] Simultaneously, the theoretical horizontal displacement of the water flow during the predicted time period is calculated under the condition that the vehicle is moving with uniform acceleration / deceleration (acceleration is the current driving acceleration). (This theoretical horizontal displacement is the displacement offset before the basic flow velocity compensation is offset.)

[0110] The difference between the actual horizontal displacement and the theoretical horizontal displacement is the horizontal offset distance at any given moment.

[0111] Similarly, based on the horizontal offset distance corresponding to each moment, a predicted displacement offset function (a function describing the relationship between the horizontal offset distance and time) is constructed. This predicted displacement offset function is the predicted displacement offset within a preset future time period.

[0112] Step S132: Based on the predicted displacement offset, correct the basic flow velocity of the water flow.

[0113] Specifically, after the displacement offset is predicted, in order to eliminate the predicted displacement offset, the initial falling velocity of the water flow can be increased based on the basic flow velocity to correct the basic flow velocity. This will reduce the displacement offset caused by the water flow when the water flow uses the corrected basic flow velocity as the initial falling velocity (the velocity in the vertical direction).

[0114] Therefore, through steps S131-S132, when correcting the basic water flow velocity, the actual possible displacement deviation of the water flow when falling at the basic flow velocity is predicted first, and the basic flow velocity is corrected using this displacement deviation. By predicting the additional deviation caused by changes in vehicle acceleration during the water flow's descent in advance, and no longer relying solely on the current vehicle acceleration for control, the system can effectively compensate for the landing point deviation caused by future changes in vehicle acceleration. This ensures that the water flow is aligned with the cup rim throughout the descent, thereby improving water delivery accuracy and reliability in driving scenarios.

[0115] Continue by Figures 1 to 2 and combined Figure 3 As shown, in some exemplary embodiments, the basic flow velocity of the water flow is corrected based on the predicted displacement offset in step S132, which may specifically include the following steps S1321-S1323.

[0116] Step S1321: Determine the target correction offset based on the displacement offset.

[0117] Specifically, the target correction offset is the target for correcting the basic flow velocity of the water flow. The aim is to offset the target correction offset by correcting the basic flow velocity of the water flow. Its value can be the displacement offset multiplied by a preset offset ratio, such as 95%.

[0118] It is worth noting that correcting the basic flow velocity is equivalent to increasing the flow velocity in the vertical direction. However, increasing the vertical flow velocity can only minimize the displacement offset, not completely eliminate the total displacement offset. Therefore, in step S1321, based on the predicted displacement offset, the target correction offset is first determined to identify the portion of the displacement offset that needs to be offset by correcting the basic flow velocity. This portion of the displacement offset that needs to be offset is the target correction offset.

[0119] Step S1322: Based on the target correction offset, the basic flow velocity, and the preset displacement velocity correlation model, calculate the flow velocity adjustment amount required to eliminate the target correction offset based on the basic flow velocity.

[0120] Specifically, in step S1322, the preset displacement-velocity correlation model is as follows: .

[0121] Where V0 is the base flow velocity; V1 is the corrected base flow velocity; τ is the time constant, representing the lag time from adjusting the flow velocity to the start of the flow displacement shift and its gradual change. For example, the larger τ is, the slower the pump response, and the longer it takes for the displacement to change significantly after speed adjustment; the smaller τ is, the faster the pump response, and the displacement change can be seen almost immediately after adjustment. K is the system gain (representing the sensitivity of the displacement to changes in flow velocity).

[0122] Specifically, by substituting the target correction offset as Y(t) into the preset displacement-velocity correlation model, the velocity adjustment amount (V1-V0) can be calculated.

[0123] Step S1323: Correct the basic flow velocity of the water flow based on the flow velocity adjustment amount to obtain the corrected basic flow velocity of the water flow.

[0124] Specifically, the corrected basic flow velocity is obtained by superimposing the base flow velocity with the flow velocity adjustment amount. Furthermore, after obtaining the corrected base flow velocity, it is directly superimposed with the current flow velocity PID adjustment amount to obtain the target flow velocity.

[0125] Therefore, through the above steps S1321-S1323, based on the predicted displacement offset, the flow rate adjustment amount is calculated in combination with the displacement flow rate correlation model, and the flow rate adjustment amount is used to correct the basic water flow rate, so that the water flow rate of the vehicle-mounted tea bar machine is controlled by the corrected basic water flow rate, thereby reducing the occurrence of water flow offset causing water to fall outside the cup during vehicle travel.

[0126] Additionally, it's worth noting that the vehicle is equipped with millimeter-wave radar and a vision camera to collect road data. When the controller identifies an uneven road surface based on this data, it can analyze and compare data from previous trips on similarly uneven sections to determine if adjusting the flow rate can help the water fall into the cup. If it detects that adjusting the flow rate cannot help the water fall into the cup, it can immediately stop the onboard tea bar machine and simultaneously output warnings such as "Use the tea bar with caution" and "Use the tea bar prohibited." The system also records the road conditions for future reference.

[0127] When the water flow rate can be adjusted to fall into the cup, the water flow rate can be adjusted in accordance with the above steps S110-S140 to make the water fall into the cup.

[0128] In some exemplary embodiments, the vehicle-mounted tea bar machine has a built-in water heating module that can heat the water flow to output water at various temperatures.

[0129] To meet users' water temperature requirements, refer to Figure 4 The vehicle-mounted tea bar control method of this embodiment may also include the following steps S410-S430.

[0130] Step S410: Based on the operating mode of the in-vehicle tea bar machine selected by the user, determine the preset target water temperature and the corresponding preset heating module power corresponding to the operating mode of the in-vehicle tea bar machine.

[0131] This vehicle-mounted tea bar machine can be configured with multiple operating modes, each corresponding to a preset target water temperature and a preset heating module power. For example, the vehicle-mounted tea bar machine operating modes include a first operating mode, a second operating mode, and a third operating mode.

[0132] For example, the first working mode can be the "green tea" brewing mode, with a preset target temperature of 85℃ and a preset heating module power of 1200W; the second working mode can be the "oolong tea" brewing mode, with a preset target temperature of 90℃ and a preset heating module power of 1300W; and the third working mode can be the "pu-erh tea" brewing mode, with a preset target temperature of 95℃ and a preset heating module power of 1400W.

[0133] Users can select the corresponding working mode of the in-vehicle tea bar machine by pressing the working mode button configured on the machine.

[0134] After the user selects the corresponding working mode of the in-vehicle tea bar machine (if the user starts the tea bar machine directly without selecting a working mode, the user will default to selecting the first working mode), the preset target water temperature and preset heating module power are determined according to the working mode of the in-vehicle tea bar machine selected by the user.

[0135] Step S420: Obtain the current water temperature of the vehicle-mounted tea bar machine, and determine the target heating power based on the preset target water temperature, the water temperature, and the preset heating module power.

[0136] The water temperature at the outlet is the actual water temperature of the vehicle-mounted tea bar machine, which is measured by the temperature sensor at the outlet.

[0137] Specifically, in step S420, in one possible implementation, determining the target heating power may include: superimposing a PID power adjustment amount calculated by a preset PID temperature adjustment algorithm onto the preset heating module power to obtain the target heating power. Specifically, the preset PID temperature adjustment algorithm is as follows: based on the temperature difference between the outlet water temperature and the preset target water temperature, the PID power adjustment amount is calculated through proportional, integral, and derivative adjustments.

[0138] The adjustment amount calculated by the preset PID temperature control algorithm is determined by the proportional coefficient, integral coefficient, and derivative coefficient.

[0139] The proportional coefficient Kp is used to output the corresponding adjustment amount based on the current temperature difference; the larger the temperature difference, the stronger the adjustment. The integral coefficient Ti is used to accumulate continuous deviations, eliminate static water temperature errors, and prevent the water temperature from failing to reach the target value stably. The derivative coefficient Td is used to predict water temperature change trends and suppress water temperature overshoot and fluctuations.

[0140] In this embodiment, to achieve precise temperature control and maintain a constant temperature, the Kp value can be selected within a small range, allowing for a slight overshoot of the water temperature output. Similarly, the Ti value is adjusted according to the Kp value to avoid excessively rapid integral accumulation, while the Td value remains moderate. This allows for rapid elimination of errors and suppression of temperature fluctuations. Taking a water temperature of 85℃ as an example, the values ​​of each coefficient can be set to Kp=8, Ti=20, and Td=5.

[0141] In another possible implementation, the entire water flow temperature control process can be segmented based on the outlet water temperature and the preset target water temperature, and the corresponding target heating power can be determined for each segment. Specifically, refer to... Figure 5 In step S420, the target heating power is determined based on the preset target water temperature, the outlet water temperature, and the preset heating module power, which may specifically include the following steps S421-S424.

[0142] Step S421: Calculate the temperature difference between the output water temperature and the preset target water temperature.

[0143] The temperature difference is the absolute value of the difference between the preset target water temperature and the outlet water temperature.

[0144] Step S422: When the temperature difference is within the preset safe temperature difference range, determine the target heating power based on the preset heating module power.

[0145] The preset safe temperature difference range includes a temperature difference that is not less than a first preset temperature difference threshold.

[0146] Specifically, when the temperature difference is not less than the first preset temperature difference threshold, the difference between the outlet water temperature and the preset target water temperature is large. Taking the heating process as an example, if the water flow is heated directly with the preset heating module power at this time, the outlet water temperature will not be easily heated to exceed the preset target water temperature.

[0147] Therefore, when the temperature difference is within the preset safe temperature difference range, in one possible implementation, the preset heating module power can be directly determined as the target heating power. In another possible implementation, determining the target heating power may further include: based on the temperature difference, using a preset PID temperature control algorithm (the proportional coefficient, integral coefficient, and derivative coefficient are all basic set values, such as Kp=8, Ti=20, Td=5 above), calculating a first heating power compensation value, and then adding the first heating power compensation value to the preset heating module power to obtain the target heating power.

[0148] The first preset temperature difference threshold can be set according to the target water temperature and the heating response speed. It is usually set to 3℃~5℃ to ensure that the current water temperature still has a sufficient safety margin from the target water temperature while ensuring heating efficiency, so as to avoid rapid overshoot of water temperature due to failure to reduce power in time.

[0149] Step S423: When the temperature difference is within the preset warning temperature difference range, the preset heating module power is compensated according to the temperature difference using a preset compensation algorithm, and the compensated preset heating module power is determined as the target heating power.

[0150] The preset warning temperature difference range includes a temperature difference that is less than a first preset temperature difference threshold and not less than a second preset temperature difference threshold. The second preset temperature difference threshold is less than the first preset temperature difference threshold.

[0151] Specifically, when the temperature difference is within the preset warning temperature difference range, the difference between the outlet water temperature and the preset target water temperature is not large, but it is not extremely close to the preset target water temperature either. Taking the heating process as an example, if heating continues at the preset heating module power at this time, the outlet water temperature is likely to exceed the preset target water temperature, while heating at a lower power will result in an excessively long heating time.

[0152] Therefore, when the temperature difference is within the preset warning temperature difference range, the preset compensation algorithm is used to compensate the preset heating module power, and the compensated preset heating module power is determined as the target heating power.

[0153] In one possible implementation, if the preset heating module power is directly used as the target heating power in step S422 above, the preset compensation algorithm may include: using a preset PID temperature control algorithm, calculating a second power adjustment compensation amount based on the temperature difference between the real-time outlet water temperature and the preset target water temperature, and then adding the second power adjustment amount to the preset heating module power to obtain the target heating power.

[0154] In another possible implementation, the preset compensation algorithm may further include: adjusting the proportional coefficient, integral coefficient, and derivative coefficient in the preset PID temperature control algorithm according to the preset coefficient adjustment rules; using the preset PID temperature control algorithm after coefficient adjustment, calculating the third power adjustment compensation amount; and adding the third power adjustment compensation amount to the preset heating module power to obtain the target heating power.

[0155] Specifically, the preset coefficient adjustment rule can be: reducing the proportional coefficient to avoid over-adjustment, while appropriately reducing the integral time to accelerate the elimination of static errors, and appropriately increasing the derivative coefficient to enhance the damping effect on the rising trend of water temperature and suppress water temperature overshoot and fluctuation.

[0156] Specifically, as the temperature difference gradually decreases, the proportional coefficient is reduced by a first preset ratio, the integration time is shortened by a second preset ratio, and the derivative coefficient is increased by a third preset ratio. Specifically, for every 1°C decrease in temperature difference, the proportional coefficient is reduced by 10%–20%, the integration time is shortened by 10%–20%, and the derivative coefficient is increased by 10%–20%, so that the proportional coefficient and integration time are slightly reduced when approaching the target water temperature to avoid overshoot and oscillation.

[0157] Step S424: When the temperature difference is within the preset high-risk temperature difference range, determine the target heating power according to the preset mandatory protection measures.

[0158] The preset high-risk temperature difference range includes a temperature difference less than a second preset temperature difference threshold. It's worth noting that the value of this second preset temperature difference threshold can be set comprehensively based on the target water temperature, the range of ambient temperature fluctuations, and the response speed of the heating module. It is typically set between 0.5℃ and 1℃ to ensure that when the outlet water temperature is about to reach the preset target water temperature, forced protection measures can be triggered in a timely manner. This avoids water temperature overshoot due to insufficient heating power reduction caused by an excessively small temperature difference, and also prevents premature reduction of heating power due to an excessively large threshold setting, which would result in slow water temperature rise and failure to reach the target temperature.

[0159] Specifically, when the temperature difference is within the preset high-risk temperature difference range, the difference between the outlet water temperature and the preset target water temperature is minimal. Taking the heating process as an example, if heating continues at the preset heating module power, or at the compensated preset heating module power, it is very easy for the outlet water temperature to exceed the preset target water temperature.

[0160] Therefore, when the temperature difference is within the preset high-risk temperature difference range, a preset mandatory protection measure is triggered. This preset mandatory protection measure may be, for example, directly reducing the preset heating module power to the minimum to prevent the water temperature from rising too quickly.

[0161] Alternatively, the preset mandatory protection measure can be as follows: based on the current ambient temperature, water flow rate, and preset target water temperature, estimate the heat loss dissipated into the environment during water delivery and outlet, and determine the baseline maintaining power for maintaining the water temperature accordingly. This ensures that when heating with this baseline maintaining power, the water temperature can be stabilized near the preset target water temperature. Using this baseline maintaining power as the target heating power, the water flow is heated at a constant temperature to prevent water temperature overshoot and ensure stable outlet water temperature.

[0162] Therefore, through steps S421-S424, the entire heating process of the water flow can be divided into multiple stages based on the difference between the outlet water temperature and the preset target water temperature. In the initial stage, the temperature difference is within the preset safe temperature difference range. The target heating power is determined by using the preset heating module power, and the water flow can be heated with high heating power first. When the water temperature rises to the point where the difference is within the preset warning temperature difference range, compensation is made based on the preset heating module power, and the heating power is automatically adjusted. When the temperature difference is within the preset high-risk temperature difference range, the target heating power is determined according to the preset forced protection measures, which can prevent the water flow temperature from suddenly rising to exceed the preset target water temperature due to excessive heating power.

[0163] After determining the target heating power, step S430 is executed to control the water flow heating module according to the target heating power.

[0164] Step S430: Control the water flow heating module of the vehicle-mounted tea bar machine to heat the water flow at the target heating power.

[0165] Specifically, in a vehicle-mounted tea bar system, the heating power of the water flow heating module is typically controlled by a heating drive module. Specifically, the controller of the vehicle-mounted tea bar is connected to the heating drive module, outputting a corresponding PWM (Pulse Width Modulation) control signal to the heating drive module, which then controls the water flow heating module based on the PWM control signal.

[0166] The controller can calculate the duty cycle of the PWM control signal corresponding to the target heating power, and control the actual heating power of the water flow heating module by adjusting the duty cycle of the PWM control signal, so that the water flow heating module heats the water flow at the target heating power.

[0167] Therefore, through steps S410-S430, the preset target water temperature and preset heating module power are matched according to the user's selected vehicle-mounted tea bar machine working mode, and the target heating power is determined in combination with the actual water temperature. This can stably control the water temperature at the preset target water temperature corresponding to the working mode in different working modes, thus meeting the user's needs for different drinking modes.

[0168] It is worth noting that in some embodiments, a hysteresis bandwidth can be set to prevent frequent oscillations in heating power. For example, when returning from a preset high-risk temperature difference range to a preset warning temperature difference range, the temperature difference must be no less than the sum of a second preset temperature difference threshold and a preset anti-oscillation temperature difference threshold (e.g., 0.5°C). That is, when entering the preset high-risk temperature difference range from the preset warning temperature difference range, the system can switch to the preset high-risk temperature difference range once the temperature difference changes from no less than the second preset temperature difference threshold to less than the second preset temperature difference threshold. After entering the preset high-risk temperature difference range, if the temperature difference changes to no less than the second preset temperature difference threshold, the system remains in the preset high-risk temperature difference range until the temperature difference changes to no less than the sum of the second preset temperature difference threshold and the preset anti-oscillation temperature difference threshold. Then, the system switches from the preset high-risk temperature difference range to the preset warning temperature difference range, and the target heating power is determined using the power determination method corresponding to the preset warning temperature difference range.

[0169] In addition, when returning from the preset warning temperature difference range to the preset safe temperature difference range, a corresponding preset anti-oscillation temperature difference threshold is also set, similar to the return from the preset high-risk temperature difference range to the preset warning temperature difference range, which will not be elaborated here.

[0170] It is worth noting that, in some embodiments, the aforementioned first preset temperature difference threshold and second preset temperature difference threshold can be dynamically adjusted according to the rate of change of ambient temperature. For example, when the ambient temperature continues to rise, the first preset temperature difference threshold and the second preset temperature difference threshold can be temporarily reduced.

[0171] In addition, to prevent scalding users due to water splashing and scalding caused by excessive vehicle speed when the water temperature is high, this embodiment also monitors the vehicle's speed in real time. When the vehicle's speed reaches the preset warning speed, it indicates that the current vehicle driving state is likely to cause unstable water flow and hot water splashing, so the water heating module is controlled to stop working; it will resume normal operation only after the user triggers the corresponding in-vehicle tea bar machine working mode again.

[0172] It is worth noting that, regarding the vehicle-mounted tea bar machine control method of this embodiment, based on the above exemplary implementations, in specific implementation, as a preferred embodiment, it is still... Figure 1-5 As shown, it may include, for example:

[0173] The vehicle's acceleration and the angle of deviation from the water flow are obtained. Then, the acceleration is subjected to perturbation filtering to determine the effective acceleration.

[0174] Then, based on the preset water flow drop height, effective driving acceleration, and deviation angle, the basic flow velocity of the water is calculated.

[0175] If the future acceleration remains constant and the flow is in a state of uniform acceleration / deceleration, then the basic flow velocity of the water does not need to be corrected.

[0176] If the vehicle's acceleration changes in the future, indicating that the vehicle is in a state of variable acceleration / deceleration, then the changes in acceleration within a preset future time period are predicted to predict the future displacement of the water flow. Based on this displacement, the basic flow velocity of the water flow is corrected to obtain the corrected basic flow velocity.

[0177] At the same time, the flow rate is continuously adjusted by the preset PID control adjustment strategy to address the current positional deviation, thus obtaining the current flow rate PID adjustment amount.

[0178] Then, the corrected basic water flow velocity (or the uncorrected basic water flow velocity under uniform acceleration / deceleration) is superimposed on the current flow velocity PID adjustment to obtain the target flow velocity, and the vehicle-mounted tea bar machine is controlled to work so that the output water flow velocity is the target flow velocity, thereby reducing the displacement deviation of the water flow caused by vehicle movement by increasing the flow velocity.

[0179] In the preferred embodiment of the above vehicle-mounted tea bar machine control method, the specific implementation of each step can still be referred to the description in the above exemplary embodiments, and the beneficial effects brought about by the design of each step in this preferred embodiment can also be referred to the description in the above exemplary embodiments.

[0180] The vehicle-mounted tea bar machine control method of this embodiment adopts the above design. It not only determines the basic flow velocity of the water based on the actual driving acceleration of the vehicle to reduce the deviation angle of the water flow caused by the vehicle's acceleration and deceleration, but also predicts the future changes in driving acceleration and corrects the basic flow velocity accordingly. This reduces the deviation angle of the water flow when the driving acceleration changes, thereby reducing the probability of water flowing out of the cup due to deviation and improving the user's driving experience.

[0181] An embodiment of the second aspect of this application provides a vehicle-mounted tea bar machine. The control system of the vehicle-mounted tea bar machine includes a memory and a controller. The memory stores a computer program, and the controller executes the computer program to implement the above-described vehicle-mounted tea bar machine control method.

[0182] The in-vehicle tea bar machine of this embodiment can reduce the probability of water flowing out of the cup due to vehicle acceleration and deceleration, thereby improving the user's driving experience.

[0183] Specifically, the vehicle-mounted tea bar machine may include: a motor module, a water heating module, a water pump module, a faucet rotation module, a sterilization module, a water level detection module, a reflux module, and a self-cleaning module.

[0184] The motor module includes a motor controller and a motor. The motor can control the raising and lowering of the tea table, as well as the opening and closing of the sliding cover. It's worth noting that the tea bar controller and the motor controller can communicate via UART (Universal Asynchronous Receiver / Transmitter). The user triggers a tea table raising / lowering command via the armrest screen. Upon receiving the raising command, the controller generates a raising command and outputs it to the motor controller. The motor controller responds to this raising command, driving the sliding cover to open and the tea table to rise.

[0185] After receiving the tea table retraction command, the controller generates a retraction command and outputs it to the motor controller. The motor controller responds to the retraction command to drive the tea table to retract / lower and drive the sliding cover to close.

[0186] Furthermore, the controller can monitor the real-time position of the tea table via a position sensor. Upon detecting that the tea table has reached a preset position, it controls the motor module to stop the tea table from moving. The controller can also perform anti-pinch detection (detecting whether foreign objects are trapped when the sliding cover is opened / closed), and if foreign objects are detected, it controls the motor module to retract.

[0187] The water flow heating module can be a rare-earth thick-film heating module, which can be driven by a heating drive module. Specifically, the controller controls the heating drive module to adjust the heating power and regulate the water flow temperature. Furthermore, the controller can monitor the water temperature and stop heating if the water temperature is too high to prevent potential hazards.

[0188] This water pump module is used to respond to the controller's water supply / stop commands to adjust the water flow rate.

[0189] This faucet rotation module is used to rotate forward or backward in response to the controller's control. Specifically, the faucet rotation module may include a stepper motor that drives the faucet to rotate forward or backward in response to the controller's control. The controller can determine the number of steps the motor has taken based on the number of pulses controlling the stepper motor's steps. Furthermore, the controller can determine the current rotational position of the faucet. When the faucet reaches the set position, the controller automatically stops the faucet rotation module. Simultaneously, the controller can automatically stop the faucet rotation module and report an error if the stepper motor stalls.

[0190] This sterilization module can be an ultraviolet (UV) sterilization module, which can respond to the controller's control to disinfect the clean water tank and corresponding pipelines using UV sterilization. The controller can also record the sterilization duration and number of sterilization cycles and provide feedback to the vehicle owner.

[0191] The water level detection module is installed in the clean water tank and wastewater tank of the tea bar machine to detect the water level in the internal clean water tank / wastewater tank and send the data back to the controller. Specifically, the water level detection module includes a clean water level gauge installed in the clean water tank (one clean water level gauge can be installed at the high liquid level detection point and one at the low liquid level detection point), and a wastewater level gauge installed in the wastewater tank (one wastewater level gauge can be installed at the high liquid level detection point and one at the low liquid level detection point).

[0192] The clean water level gauge and the wastewater level gauge can be external capacitive level gauges to detect the liquid level in the clean water tank / wastewater tank.

[0193] The controller can issue a low water level warning when it detects that the water level in the clean water tank is too low, and a high wastewater level warning when it detects that the water level in the wastewater tank is too high, so as to remind users to empty the water tank in time.

[0194] The return flow module is installed in the drainage pipeline, and the user can choose to turn it on. After the controller sends a command to start drainage, the return flow module starts working to detect whether there is water flowing through the pipeline. If there is water flowing, it controls the drainage pump to start and drain for 5 seconds. After the drainage is completed, it sends a completion signal back.

[0195] In addition, users can also perform self-cleaning after using the tea table. After the user triggers the self-cleaning command, the controller controls the water pump to start pumping water, and at the same time, the entire pipeline forms a closed loop. The heating module starts heating, heating the water to 100°C and circulating it to sterilize the pipeline at high temperature. Then, the inside of the pipeline is emptied, and the return module starts working to dry the pipeline.

[0196] Furthermore, a flow meter is installed in the pipes of the vehicle-mounted tea bar machine. The controller can collect the water flow rate and alert the user that there is a risk of pipe bending when the flow rate is too low.

[0197] Furthermore, temperature sensors are installed at the inlet and outlet of the vehicle-mounted tea bar machine to collect the inlet water temperature and outlet water temperature in real time.

[0198] It is worth noting that the modules installed in this vehicle-mounted tea bar machine can use existing module products, which will not be elaborated here.

[0199] In addition, it is worth noting that the control system of the vehicle-mounted tea bar machine in this embodiment is composed of various functional modules. This modular design allows for the direct addition of corresponding functional modules as needed when new functional requirements arise, enabling rapid response to functional needs without the need to redevelop the entire control system of the vehicle-mounted tea bar machine. This reduces secondary development costs and provides high scalability.

[0200] An embodiment of the third aspect of this application provides a vehicle that includes the aforementioned in-vehicle tea bar machine.

[0201] The vehicle in this embodiment can reduce the probability of water flowing out of the cup due to vehicle acceleration and deceleration, thereby improving the user's driving experience.

[0202] The above descriptions are merely some embodiments of this application and are not intended to limit this application. The technical features or structures in the foregoing different embodiments can be arbitrarily combined to form other specific technical solutions as needed. For those skilled in the art, this application can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.

Claims

1. A control method for a vehicle-mounted tea bar machine, characterized in that, The method includes: Obtain the deviation angle of the water flow output from the vehicle-mounted tea bar machine from the vertical direction and the vehicle's driving acceleration; Based on the preset water drop height, the driving acceleration, and the deviation angle, calculate the basic water flow velocity required to eliminate the deviation angle; Predict the changes in the vehicle's acceleration over a preset future time period, and correct the basic flow velocity of the water flow based on the changes in acceleration. Based on the corrected basic water flow velocity, the target flow velocity of the vehicle-mounted tea bar machine is determined, and the operation of the vehicle-mounted tea bar machine is controlled by the target flow velocity.

2. The vehicle-mounted tea bar machine control method according to claim 1, characterized in that, The step of calculating the basic flow velocity required to eliminate the deviation angle based on the preset water drop height, the driving acceleration, and the deviation angle includes: The driving acceleration is subjected to disturbance filtering to determine the effective driving acceleration; The basic flow velocity of the water is calculated based on the effective driving acceleration, the preset water drop height, the vehicle speed, and the deviation angle.

3. The vehicle-mounted tea bar machine control method according to claim 1, characterized in that, The prediction of the vehicle's acceleration changes over a preset future time period includes: Obtain the vehicle's speed; If the rate of change of the driving speed changes, and / or if the vehicle's driving acceleration changes, predict the change in the vehicle's driving acceleration over a preset future time period.

4. The vehicle-mounted tea bar machine control method according to any one of claims 1 to 3, characterized in that, The prediction of the vehicle's acceleration changes over a preset future time period includes: Calculate the rate of change of driving speed within a preset detection time period; Based on the rate of change of driving speed within the preset detection time period, predict the change of driving acceleration of the vehicle within a preset future time period.

5. The vehicle-mounted tea bar machine control method according to claim 1, characterized in that, The correction of the basic flow velocity of the water flow based on the change in driving acceleration includes: Based on the changes in driving acceleration, predict the displacement of the position of the water flow falling at the base flow velocity relative to the position of the preset teacup within a preset future time period. Based on the predicted displacement offset, the basic flow velocity of the water is corrected.

6. The vehicle-mounted tea bar machine control method according to claim 5, characterized in that, The correction of the basic flow velocity based on the predicted displacement offset includes: Based on the displacement offset, determine the target correction offset; Based on the target correction offset, the basic flow velocity, and the preset displacement-velocity correlation model, calculate the flow velocity adjustment required to eliminate the target correction offset based on the basic flow velocity. The base flow velocity is corrected based on the flow velocity adjustment amount to obtain the corrected base flow velocity.

7. The vehicle-mounted tea bar machine control method according to claim 1, characterized in that, The method further includes: Based on the operating mode of the in-vehicle tea bar machine selected by the user, determine the preset target water temperature and the corresponding preset heating module power for the operating mode of the in-vehicle tea bar machine. The current water temperature of the vehicle-mounted tea bar machine is obtained, and the target heating power is determined based on the preset target water temperature, the water temperature, and the preset heating module power. The water flow heating module of the vehicle-mounted tea bar machine is controlled to heat the water flow at the target heating power.

8. The vehicle-mounted tea bar machine control method according to claim 7, characterized in that, The step of determining the target heating power based on the preset target water temperature, the outlet water temperature, and the preset heating module power includes: Calculate the temperature difference between the outlet water temperature and the preset target water temperature; When the temperature difference is within a preset safe temperature difference range, the target heating power is determined based on the preset heating module power. When the temperature difference is within the preset warning temperature difference range, the preset heating module power is compensated according to the temperature difference using a preset compensation algorithm, and the compensated preset heating module power is determined as the target heating power. When the temperature difference is within a preset high-risk temperature difference range, the target heating power is determined according to preset mandatory protection measures.

9. A vehicle-mounted tea bar machine, characterized in that, The control system of the vehicle-mounted tea bar machine includes a memory and a controller; The memory stores a computer program, and the controller executes the computer program to implement the vehicle-mounted tea bar machine control method according to any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes the in-vehicle tea bar machine as described in claim 9.

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