Control method, device and storage medium of handheld mixer

Abstract

The application relates to the field of kitchen appliance control and discloses a control method and device of a handheld mixer and a storage medium. The method comprises the following steps: starting the handheld mixer to perform a whipping operation, adjusting the conduction duration of a silicon-controlled module according to the deviation between a current rotating speed and a preset target rotating speed, so that the motor runs at a constant speed; determining a load weight coefficient based on the fluctuation amplitude of the rotating speed deviation; weighting and updating the preset continuous whipping number according to the time interval and the load weight coefficient to obtain an updated continuous whipping number; when a preset first threshold is reached, the target rotating speed is reduced to a protection rotating speed based on the updated continuous whipping number; and when a preset second threshold is reached, the handheld mixer is switched to a locked state. In the embodiment of the application, the rotating speed of the motor is dynamically reduced in a step-by-step manner through the continuous whipping number during the control of the constant rotating speed of the motor, so that the heat accumulation state of the motor is intervened, and the service life of the motor is improved.

Description

Technical Field

[0001] This invention relates to the field of kitchen appliance control, and more particularly to a control method, device and storage medium for a handheld mixer. Background Technology

[0002] A hand blender is a portable kitchen appliance that uses a motor to drive blades to blend ingredients. Compared to traditional countertop food processors, hand blenders offer advantages such as flexible operation and portability, and are widely used in both home and commercial kitchens.

[0003] In the prior art, CN109391214B discloses a food processor and its constant speed control method and device. This method detects the motor speed using a Hall sensor and adjusts the conduction time of the thyristor module based on the deviation between the current speed and the target speed, thus achieving constant speed operation of the motor. This technical solution uses frequency speed measurement at high speeds and periodic speed measurement at low speeds, improving the accuracy of speed measurement. However, this solution only focuses on constant speed control itself and does not consider the heat accumulation problem of the motor under long-term continuous operation, nor does it utilize the feedback information generated during speed control for more in-depth control decisions.

[0004] In practical use of handheld blenders, factors such as the viscosity of the ingredients and the depth of blending directly affect the difficulty of motor control and the rate of heat accumulation. The speed deviation generated during constant speed control reflects the load intensity, but under heavy loads, a constant speed leads to rapid heat accumulation, thus reducing motor lifespan. Therefore, existing handheld blenders do not consider the reduced motor lifespan caused by heat accumulation during constant speed control, necessitating a new technology to address this issue. Summary of the Invention

[0005] The main objective of this invention is to solve the technical problem that existing handheld mixers do not take into account the reduced motor life caused by heat accumulation during constant speed control.

[0006] The first aspect of the present invention provides a control method for a handheld mixer, the handheld mixer comprising: a motor, a thyristor module for driving the motor, and a Hall sensor for detecting the corresponding rotational speed of the motor, the control method for the handheld mixer comprising: The handheld mixer is started to perform a mixing operation. The current speed of the motor is obtained through the Hall sensor. Based on the deviation between the current speed and the preset target speed, the conduction time of the thyristor module is adjusted to make the motor run at a constant speed. The speed deviation fluctuation range of the motor during constant speed operation is obtained, and the load weighting coefficient is determined based on the speed deviation fluctuation range; Obtain the time interval between two adjacent agitation operations, and update the preset number of consecutive agitations based on the time interval and the load weight coefficient to obtain the updated number of consecutive agitations; When the updated number of continuous agitation times reaches a preset first threshold, the target speed is reduced to the protection speed based on the updated number of continuous agitation times, and the conduction time of the thyristor module is adjusted based on the protection speed to make the motor run at a constant speed. When the number of consecutive beating cycles after the update reaches a preset second threshold, the handheld mixer is switched to a locked state, wherein the second threshold is greater than the first threshold.

[0007] Optionally, in a first implementation of the first aspect of the present invention, the step of obtaining the speed deviation fluctuation amplitude of the motor during constant speed operation includes: Within a preset time window, the current rotational speed is collected, and the deviation sequence between the current rotational speed and the target rotational speed is calculated; Calculate the root mean square value or standard deviation of the deviation sequence to generate the speed deviation fluctuation amplitude.

[0008] Optionally, in a second implementation of the first aspect of the present invention, the step of determining the load weighting coefficient based on the speed deviation fluctuation amplitude includes: The fluctuation amplitude of the rotational speed deviation is compared with the preset fluctuation range to obtain the comparison result; Based on the comparison results, a preset mapping relationship is queried to obtain the load weight coefficient corresponding to the fluctuation range, wherein the load weight coefficient increases as the fluctuation range increases.

[0009] Optionally, in a third implementation of the first aspect of the present invention, the step of reducing the target rotation speed to a protection speed based on the updated number of continuous agitations includes: Based on the protection level range of the updated number of continuous agitations, a preset stepped speed mapping table is consulted to determine the protection speed. The stepped speed mapping table defines multiple protection level ranges, each protection level range corresponding to a protection speed. The protection speed decreases in a stepped manner as the protection level increases.

[0010] Optionally, in a fourth implementation of the first aspect of the present invention, the step of weighting and updating the preset number of consecutive agitations according to the time interval and the load weight coefficient to obtain the updated number of consecutive agitations includes: When the time interval is less than the first preset duration, the load weight coefficient is increased according to the product of the preset basic increment value and the load weight coefficient to generate an updated number of consecutive stirring times. When the time interval is greater than or equal to the first preset duration and less than the second preset duration, the load weight coefficient is reduced according to the product of the preset basic increment value and the load weight coefficient to generate an updated number of consecutive stirring times. When the time interval is greater than or equal to the second preset duration, the number of consecutive beatings is reset to zero, and an updated number of consecutive beatings is generated.

[0011] Optionally, in a fifth implementation of the first aspect of the present invention, after the step of acquiring the current speed of the motor through the Hall sensor, and before the step of adjusting the conduction time of the thyristor module according to the deviation between the current speed and the preset target speed, the method further includes: Determine whether the current rotational speed is greater than or equal to a preset rotational speed threshold; If so, the number of pulses output by the Hall sensor within the third preset time period is obtained, and the corrected current rotational speed is calculated based on the third preset time period and the number of pulses; If not, the interval width between two adjacent pulses output by the Hall sensor is measured, and the corrected current speed is calculated based on the interval width and the number of pulses output by the Hall sensor during one revolution of the motor.

[0012] Optionally, in a sixth implementation of the first aspect of the present invention, after the step of adjusting the conduction duration of the thyristor module based on the protected rotation speed to make the motor run at a constant speed, the method further includes: Obtain the duration of constant speed operation at the protected rotation speed; When the duration reaches the preset heat dissipation duration, it is determined whether the updated number of consecutive stirrings is less than the first threshold. If so, the protection speed corresponding to the handheld mixer will be restored to the target speed.

[0013] Optionally, in a seventh implementation of the first aspect of the invention, after the step of switching the handheld mixer to the locked state, the method further includes: Read the lock duration; When the locking duration is not less than the preset unlocking duration, the handheld mixer will be released from the locked state, and the number of continuous mixing counts will be reset to zero.

[0014] A second aspect of the present invention provides a control device for a handheld mixer, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; the at least one processor invokes the instructions in the memory to cause the control device for the handheld mixer to execute the control method for the handheld mixer described above.

[0015] A third aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the control method for the handheld mixer described above.

[0016] In this embodiment of the invention, based on constant speed control technology, the number of stirring cycles is statistically analyzed as a basis for heat accumulation, and the fluctuation amplitude of the deviation sequence between the previous speed and the target speed is extracted as a basis for judging the load. When the viscosity of the food is high or the stirring resistance is large, the fluctuation amplitude of the motor speed increases, and the motor heats up faster; conversely, when the load is light, the speed fluctuation is small and the heating speed is slow. The increment of the number of stirring cycles is weighted based on the load weight coefficient. Under heavy load conditions, the growth rate of the number of continuous stirring cycles is faster, thus triggering the protection mechanism earlier; under light load conditions, the growth rate is slower, allowing for more continuous operation cycles. Compared with the prior art, this invention achieves dynamic adjustment of the number of continuous stirring cycles to characterize the actual heat accumulation situation by sensing the actual load conditions. During the process of controlling the motor constant speed, the motor speed is dynamically reduced in a stepwise manner by the number of continuous stirring cycles to intervene in the heat accumulation state of the motor and improve the service life of the motor. This solves the technical problem that existing handheld mixers do not consider the reduction in motor life caused by heat accumulation during constant speed control. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of one embodiment of the control method for a handheld mixer in this invention; Figure 2 This is a schematic diagram of a specific embodiment of step 102 of the control method for a handheld mixer in this invention. Figure 3 This is a schematic diagram of a specific embodiment of step 103 of the control method for a handheld mixer in this invention. Figure 4 This is a schematic diagram of a specific embodiment of the control method for a handheld mixer in this invention, following step 104. Figure 5 This is a schematic diagram of one embodiment of the control device for a handheld mixer in this invention. Detailed Implementation

[0018] This invention provides a control method, device, and storage medium for a handheld mixer.

[0019] The embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] In the description of the embodiments disclosed in this invention, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0021] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 An embodiment of the control method for a handheld mixer according to the present invention includes: a motor, a thyristor module for driving the motor, and a Hall sensor for detecting the corresponding rotational speed of the motor. The control method for the handheld mixer includes: 101. Start the handheld mixer to perform the mixing operation, obtain the current speed of the motor through the Hall sensor, and adjust the conduction time of the thyristor module according to the deviation between the current speed and the preset target speed so that the motor runs at a constant speed; In this embodiment, the handheld mixer includes a motor, a thyristor module driving the motor, a Hall sensor for detecting the motor speed, and a processor. The processor can be implemented using a microcontroller (MCU) or a digital signal processor (DSP), and has functions such as a multi-channel ADC, timer / counter, PWM output, and interrupt handling. The Hall sensor works in conjunction with a magnetic ring mounted on the motor rotor. When the magnetic ring rotates, the Hall sensor outputs an alternating pulse signal, and the processor calculates the current motor speed based on the pulse signal. The thyristor module is connected in series between the motor and the power supply module. The processor controls the on / off state of the thyristor module via a PWM signal, thereby controlling the motor speed.

[0022] Start the handheld mixer to perform the mixing operation, obtain the current speed of the motor, obtain the pulse signal through the Hall sensor, analyze the current speed based on the pulse signal, and calculate the deviation ΔV=V-Vset between the current speed V and the target speed Vset.

[0023] The on-time of the thyristor module is adjusted based on the deviation ΔV. If ΔV > 0, meaning the current speed is greater than the target speed, the off-time of the thyristor module is increased to reduce the motor speed. If ΔV < 0, meaning the current speed is less than the target speed, the off-time of the thyristor module is decreased to increase the motor speed. If ΔV = 0, the current on-time remains unchanged. This constant speed control method is executed cyclically at a relatively high frequency, for example, once every 10ms, to ensure rapid stabilization of the motor speed.

[0024] Furthermore, after step 101 and before step 102, the following specific methods are also included: 1011. Determine whether the current rotational speed is greater than or equal to a preset rotational speed threshold; 1012. If so, then obtain the number of pulses output by the Hall sensor within the third preset time period, and calculate the corrected current rotational speed based on the third preset time period and the number of pulses; 1013. If not, measure the interval width between two adjacent pulses output by the Hall sensor, and calculate the corrected current speed based on the interval width and the number of pulses output by the Hall sensor for one revolution of the motor.

[0025] In steps 1011-1013, in order to improve the accuracy of obtaining the motor speed, the current speed data can be corrected based on the current speed and the Hall sensor.

[0026] Determine if the current rotational speed is greater than or equal to a preset speed threshold. If the current rotational speed is greater than or equal to the preset speed threshold, use the frequency measurement method to obtain the number of pulses N output by the Hall sensor within a third preset time T3, and calculate the current rotational speed V according to the formula V=60N / T3. If the current rotational speed is less than the preset speed threshold, use the periodic measurement method to measure the interval width Tx between two adjacent pulses, and calculate the current rotational speed V according to the formula V=60fc / (P*N), where fc is the reference clock frequency, P is the number of pole pairs of the motor, and N is the number of pulses output by the Hall sensor.

[0027] 102. Obtain the speed deviation fluctuation range of the motor during constant speed operation, and determine the load weighting coefficient based on the speed deviation fluctuation range; In this embodiment, within a preset time window Tw (e.g., Tw = 5 seconds), 500 speed deviation data points are continuously collected at a sampling interval of 10ms, forming a deviation sequence {ΔV1, ΔV2, ..., ΔV500}. Each deviation data point ΔVi represents the difference between the current speed Vi and the target speed Vset within the corresponding control cycle. Then, the speed deviation fluctuation amplitude is calculated, and the root mean square value of the deviation sequence is calculated as the speed deviation fluctuation amplitude σ. The calculation formula is as follows:

[0028] Where n is the number of data points in the deviation sequence (n=500). The root mean square value σ comprehensively reflects the overall fluctuation of the motor speed deviation during constant speed operation. The larger σ is, the more severe the deviation of the motor speed from the target value, and the more frequent and significant adjustments the constant speed control loop needs to make to maintain a constant speed. This usually means that the load resistance is large and unstable, such as when beating thick dough or mixing a large amount of solid ingredients. The smaller σ is, the more stable the motor speed, and the lighter and more uniform the load, such as when stirring liquid juice or thin egg batter.

[0029] Finally, based on the calculated range of deviation fluctuation σ, the corresponding load weight coefficient is obtained by querying a preset table. Furthermore, the step 102, "obtaining the speed deviation fluctuation amplitude of the motor during constant speed operation," includes the following specific implementation methods: 1021. Within a preset time window, the current rotational speed is collected, and the deviation sequence between the current rotational speed and the target rotational speed is calculated; 1022. Calculate the root mean square value or standard deviation of the deviation sequence to generate the speed deviation fluctuation amplitude.

[0030] In steps 1021-1022, within a preset time window Tw (e.g., Tw=5 seconds), 500 speed deviation data points are continuously collected at a sampling interval of 10ms, which is the execution cycle of constant speed control, to form a deviation sequence {ΔV1, ΔV2, ..., ΔV500}. The root mean square value or standard deviation corresponding to the deviation sequence {ΔV1, ΔV2, ..., ΔV500} is calculated to generate the speed deviation fluctuation amplitude.

[0031] For details, please refer to Figure 2 , Figure 2 This is a schematic diagram of a specific embodiment of step 102 of the control method for a handheld mixer in this invention. Step 102, "determining the load weight coefficient based on the speed deviation fluctuation amplitude," includes the following specific implementation methods: 1023. Compare the fluctuation amplitude of the rotational speed deviation with the preset fluctuation range to obtain the comparison result; 1024. Based on the comparison results, query the preset mapping relationship to obtain the load weight coefficient corresponding to the fluctuation range, wherein the load weight coefficient increases as the fluctuation range increases.

[0032] In steps 1023-1024, based on the speed deviation fluctuation amplitude, the load weight coefficient mapping table is queried, and the calculated speed deviation fluctuation amplitude is compared with multiple preset fluctuation range intervals. By querying the preset load weight coefficient mapping table, the corresponding load weight coefficient w is determined. It should be noted that the load weight coefficient increases as the fluctuation range increases. The load weight coefficient mapping table can be found in Table 1.

[0033] Table 1. Load Weight Coefficient Mapping Table Fluctuation range Load level Load weighting coefficient w Typical food ingredient scenarios 0≤σ<50rpm Light load 1.0 Mix fruit juice, egg mixture, and thin batter. 50≤σ<150rpm Medium and light load 1.5 Blend milkshake, salad dressing, and medium-thick sauce. 150≤σ<300rpm medium load 2.0 Whisk together cream, mashed potatoes, and thick batter. 300≤σ<500rpm Heavy load 3.0 Kneading dough, blending nut butter and minced meat σ≥500rpm Overweight load 4.0 Large amounts of dough, ice cubes, mixing, engine stalling The fluctuation range thresholds and weighting coefficients in the above mapping table can be adjusted according to the specific motor model, transmission structure, and target protection strategy. For example, for handheld mixers with lower power, the upper limit of each fluctuation range can be appropriately lowered to trigger the protection mechanism earlier; for handheld mixers with higher power and better heat dissipation, the upper limit can be appropriately increased to allow for longer continuous operation.

[0034] Under heavy load conditions, the thermal effect generated by the motor per operation is equivalent to w times that under light load conditions. Therefore, when calculating the number of consecutive agitation cycles, the increment is weighted by w, making the contribution of heavy load operation to the number of consecutive agitation cycles greater, thus triggering the protection mechanism earlier. This load-aware protection triggering strategy more accurately reflects the motor's thermal accumulation state compared to the equivalent counting method based solely on time intervals.

[0035] 103. Obtain the time interval between two adjacent agitation operations, and update the preset number of consecutive agitations by weighting according to the time interval and the load weight coefficient to obtain the updated number of consecutive agitations; In this embodiment, the time interval Δt between the start time of the current stirring operation and the end time of the previous stirring operation is calculated. Based on the range of the time interval Δt, the basic increment value and the update direction are found. The basic increment value is multiplied by the load weight coefficient, and the number of consecutive stirrings is increased or decreased according to the update direction to obtain the updated number of consecutive stirrings.

[0036] For details, please refer to Figure 3 , Figure 3 This is a schematic diagram of a specific embodiment of step 103 of the control method for a handheld mixer in this invention. Step 103 includes the following specific implementation methods: 1031. When the time interval is less than the first preset duration, the load weight coefficient is increased according to the product of the preset basic increment value and the load weight coefficient to generate an updated number of continuous stirrings. 1032. When the time interval is greater than or equal to the first preset duration and less than the second preset duration, the load weight coefficient is reduced according to the product of the preset basic increment value and the load weight coefficient to generate an updated continuous whipping count. 1033. When the time interval is greater than or equal to the second preset duration, the continuous whipping count is reset to zero to generate an updated continuous whipping count.

[0037] In steps 1031 - 1033, if Δt < T1, where T1 is the first preset duration, for example, taking a value of 25 seconds, it is determined that this operation is continuous whipping. At this time, the determined load weight coefficient w is read, and the actual increment ΔN actual = ΔN base * w, the basic increment value ΔN base can take a value of 1, and the continuous whipping count is updated to N = N + ΔN actual . For example, if the current is medium load w = 2.0, this operation increases the continuous whipping count by 2, and if it is heavy load w = 3.0, it increases by 3.

[0038] If T1 ≤ Δt < T2, where T2 is the second preset duration, for example, taking a value of 5 minutes, it is determined that this operation is an intermittent operation, and the motor has a certain time to dissipate heat but is not completely cooled. At this time, the continuous whipping count is reduced by the product of the basic decrement value ΔN base and the load weight coefficient w, i.e., N = N - ΔNdec. If N < 0 after the subtraction operation, N is set to 0.

[0039] If Δt ≥ T2, it is determined that the motor has been fully cooled, and the influence of the continuous whipping count on heat accumulation can be ignored. It should be noted that the selection of the second preset duration T2 is based on the complete cooling time of the motor, which is related to the heat dissipation structure of the motor, the ambient temperature, and the heat capacity.

[0040] 104. When the updated continuous whipping count reaches the preset first threshold, based on the updated continuous whipping count, the target speed is reduced to the protection speed, and based on the protection speed, the conduction duration of the thyristor module is adjusted to make the motor operate at a constant speed; In this embodiment, when the updated continuous whipping count N reaches the first threshold, the first threshold can be set to 5. Then, based on the updated continuous whipping count, the target speed is reduced to the protection speed corresponding to the updated continuous whipping count, and then, similar to the operation in step 101, based on the protection speed, the conduction duration of the thyristor module is adjusted to make the motor operate at a constant speed.

[0041] Specifically, step 104 includes the following specific implementation manners: 1041. Query the preset stepped speed mapping table according to the protection level interval where the updated continuous whipping times are located, and determine the protection speed. In the stepped speed mapping table, multiple protection level intervals are defined, and each protection level interval corresponds to a protection speed. The protection speed decreases step by step as the protection level increases.

[0042] In step 1041, query the preset stepped speed mapping table according to the protection level interval where the updated continuous whipping times are located, and determine the protection speed. It should be noted that multiple protection level intervals are defined in the stepped speed mapping table, and each protection level interval corresponds to a protection speed. The protection speed decreases step by step as the protection level increases. For specific examples, reference can be made to Table 2 below.

[0043] Table 2. Stepped Speed Mapping Table Protection level Number of consecutive beating times N Target speed Vset Protective actions normal 0≤N<N1(5) Vmax=15000rpm Normal constant speed operation Level 1 protection N1(5)≤N <N2(8) V1 = 12000 rpm (0.8Vmax) Reduce speed to 80% and continue running Level 2 protection N2(8)≤N <N3(10) V2 = 9000 rpm (0.6Vmax) Reduce speed to 60% and continue running The heating power of the motor is approximately proportional to the product of the speed and the load. After reaching a certain heat accumulation, since the heating power is roughly proportional to the speed, reducing the speed can directly reduce the heating rate of the motor while maintaining a certain stirring function. The first-level protection reduces the speed to 80% and can reduce the heating power by about 20%. The second-level protection reduces the speed to 60% and can reduce the heating power by about 40%. This progressive speed reduction strategy protects the motor while avoiding the impact on the user experience caused by direct shutdown.

[0044] The following uses a complete numerical example to illustrate the process of speed reduction protection: Assume the basic increment value ΔN base = 1, the first interval value N1 = 5, the second interval value N2 = 8, the third interval value N3 = 10, T1 = 30 seconds, T2 = 5 minutes. The user performs the following operation sequence: Operation 1: Whip the juice, light load w = 1.0, initial N = 0, stop after whipping for 20 seconds. Since this is the first operation, and the time interval from the previous operation is regarded as infinite, so Δt ≥ T2, N remains 0, and the updated continuous whipping times is 0.

[0045] Operation 2: Stir the milkshake, medium-light load w = 1.5, the interval from the end of Operation 1 is 15 seconds Δt < T1, N = 0 + 1 * 1.5 = 1.​​​​​Operation 4, stir the thick batter, medium load w = 2.0, 20 seconds after the end of Operation 3, Δt < T1, N = 4 + 1 * 2.0 = 6. The updated continuous whipping count is 6. At this time, N ≥ N1 (5), triggering first-level protection, and the target speed is reduced from Vmax to V1.

[0048] After resting for 2 minutes, continue with Operation 5, 2 minutes after the end of Operation 4, T1 ≤ Δt < T2, N = 6 - 1 = 5. Still satisfying N ≥ N1, maintain first-level protection.

[0049] Operation 6, knead the dough, heavy load w = 3.0, 10 seconds after the end of Operation 5, Δt < T1, N = 5 + 1 * 3.0 = 8. At this time, N ≥ N2 (8) enters second-level protection, and the speed is reduced from V1 to V2.

[0050] Further, please refer to Figure 4 , Figure 4 which is a schematic diagram of a specific embodiment after step 104 of the control method of the hand-held mixer in the embodiment of the present invention. After step 104, the following specific embodiments are further included: 1042. Obtain the duration of constant-speed operation at the protection speed. 1043. When the duration reaches the preset heat dissipation duration, determine whether the updated continuous whipping count is less than the first threshold. 1044. If so, restore the protection speed corresponding to the hand-held mixer to the target speed.

[0051] In steps 1042 - 1044, in the first-level protection or second-level protection state, continuously monitor the duration Tp of constant-speed operation at the current protection speed. When Tp reaches the preset heat dissipation duration Ts, determine whether the current continuous whipping count N has decreased to below the first threshold N. If so, it means that the motor has been fully cooled during the protection operation and the heat accumulation has dropped to a safe level. Restore the protection speed Vset to the initial target speed Vmax to exit the protection mode and return to the normal constant-speed state. If not, maintain the current protection level and continue to run until the next heat dissipation duration detection.

[0052] 105. When the updated continuous whipping count reaches the preset second threshold, switch the hand-held mixer to the locked state, where the second threshold is greater than the first threshold.

[0053] In this embodiment, if the updated continuous whipping count reaches the preset second threshold, the second threshold can be taken as 10, and the hand-held mixer is switched to the locked state, that is, it is prohibited from starting and forced to dissipate heat.

[0054] Further, after step 105, the following specific embodiments are further included: 1051. Read the lock duration; 1052. When the locking duration is not less than the preset unlocking duration, the handheld mixer is released from the locked state, and the number of continuous mixing times is reset to zero.

[0055] In steps 1051-1052, while in the locked state, when the locking duration reaches the preset unlocking duration T, the locked state is exited, the number of continuous agitation counts N is reset to zero, and the system returns to normal operability. It should be noted that the preset unlocking duration must be selected to ensure that the motor can be sufficiently cooled to a safe temperature during the locking period.

[0056] In this embodiment of the invention, based on constant speed control technology, the number of stirring cycles is statistically analyzed as a basis for heat accumulation, and the fluctuation amplitude of the deviation sequence between the previous speed and the target speed is extracted as a basis for judging the load. When the viscosity of the food is high or the stirring resistance is large, the fluctuation amplitude of the motor speed increases, and the motor heats up faster; conversely, when the load is light, the speed fluctuation is small and the heating speed is slow. The increment of the number of stirring cycles is weighted based on the load weight coefficient. Under heavy load conditions, the growth rate of the number of continuous stirring cycles is faster, thus triggering the protection mechanism earlier; under light load conditions, the growth rate is slower, allowing for more continuous operation cycles. Compared with the prior art, this invention achieves dynamic adjustment of the number of continuous stirring cycles to characterize the actual heat accumulation situation by sensing the actual load conditions. During the process of controlling the motor constant speed, the motor speed is dynamically reduced in a stepwise manner by the number of continuous stirring cycles to intervene in the heat accumulation state of the motor and improve the service life of the motor. This solves the technical problem that existing handheld mixers do not consider the reduction in motor life caused by heat accumulation during constant speed control.

[0057] Figure 5 This is a schematic diagram of the structure of a control device 500 for a handheld blender according to an embodiment of the present invention. The control device 500 can vary considerably depending on its configuration or performance, and may include one or more central processing units (CPUs) 510 and memory 520, and one or more storage media 530 storing application programs 533 or data 532. The memory 520 and storage media 530 can be temporary or persistent storage. The program stored in the storage media 530 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the control device 500 of the handheld blender. Furthermore, the processor 510 may be configured to communicate with the storage media 530 and execute the series of instruction operations in the storage media 530 on the control device 500 of the handheld blender.

[0058] The control device 500 based on the handheld mixer may also include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input / output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, Free BSD, etc. Those skilled in the art will understand that... Figure 5 The control device structure of the handheld mixer shown does not constitute a limitation on the control device based on the handheld mixer, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0059] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the control method for the handheld mixer.

[0060] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0061] Furthermore, although the operations are described in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0062] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A control method for a handheld mixer, the handheld mixer comprising: The handheld mixer comprises: a motor, a thyristor module for driving the motor, and a Hall sensor for detecting the corresponding rotational speed of the motor; characterized in that the control method of the handheld mixer includes: The handheld mixer is started to perform a mixing operation. The current speed of the motor is obtained through the Hall sensor. Based on the deviation between the current speed and the preset target speed, the conduction time of the thyristor module is adjusted to make the motor run at a constant speed. The speed deviation fluctuation range of the motor during constant speed operation is obtained, and the load weighting coefficient is determined based on the speed deviation fluctuation range; Obtain the time interval between two adjacent agitation operations, and update the preset number of consecutive agitations based on the time interval and the load weight coefficient to obtain the updated number of consecutive agitations; When the updated number of continuous agitation times reaches a preset first threshold, the target speed is reduced to the protection speed based on the updated number of continuous agitation times, and the conduction time of the thyristor module is adjusted based on the protection speed to make the motor run at a constant speed. When the number of consecutive beating cycles after the update reaches a preset second threshold, the handheld mixer is switched to a locked state, wherein the second threshold is greater than the first threshold.

2. The control method for the handheld mixer according to claim 1, characterized in that, The step of obtaining the speed deviation fluctuation range of the motor during constant speed operation includes: Within a preset time window, the current rotational speed is collected, and the deviation sequence between the current rotational speed and the target rotational speed is calculated; Calculate the root mean square value or standard deviation of the deviation sequence to generate the speed deviation fluctuation amplitude.

3. The control method for the handheld mixer according to claim 1, characterized in that, The step of determining the load weighting coefficient based on the speed deviation fluctuation amplitude includes: The fluctuation amplitude of the rotational speed deviation is compared with the preset fluctuation range to obtain the comparison result; Based on the comparison results, a preset mapping relationship is queried to obtain the load weight coefficient corresponding to the fluctuation range, wherein the load weight coefficient increases as the fluctuation range increases.

4. The control method for the handheld mixer according to claim 1, characterized in that, The step of reducing the target speed to the protection speed based on the updated number of continuous agitations includes: Based on the protection level range of the updated number of continuous agitations, a preset stepped speed mapping table is consulted to determine the protection speed. The stepped speed mapping table defines multiple protection level ranges, each protection level range corresponding to a protection speed. The protection speed decreases in a stepped manner as the protection level increases.

5. The control method for the handheld mixer according to claim 1, characterized in that, The step of updating the preset number of consecutive agitations based on the time interval and the load weight coefficient to obtain the updated number of consecutive agitations includes: When the time interval is less than the first preset duration, the load weight coefficient is increased according to the product of the preset basic increment value and the load weight coefficient to generate an updated number of consecutive stirring times. When the time interval is greater than or equal to the first preset duration and less than the second preset duration, the load weight coefficient is reduced according to the product of the preset basic increment value and the load weight coefficient to generate an updated number of consecutive stirring times. When the time interval is greater than or equal to the second preset duration, the number of consecutive beatings is reset to zero, and an updated number of consecutive beatings is generated.

6. The control method for the handheld mixer according to claim 1, characterized in that, After the step of acquiring the current speed of the motor through the Hall sensor, and before the step of adjusting the conduction time of the thyristor module based on the deviation between the current speed and the preset target speed, the method further includes: Determine whether the current rotational speed is greater than or equal to a preset rotational speed threshold; If so, the number of pulses output by the Hall sensor within the third preset time period is obtained, and the corrected current rotational speed is calculated based on the third preset time period and the number of pulses; If not, the interval width between two adjacent pulses output by the Hall sensor is measured, and the corrected current speed is calculated based on the interval width and the number of pulses output by the Hall sensor during one revolution of the motor.

7. The control method for the handheld mixer according to claim 1, characterized in that, After the step of adjusting the conduction duration of the thyristor module based on the protected rotation speed to ensure constant speed operation of the motor, the method further includes: Obtain the duration of constant speed operation at the protected rotation speed; When the duration reaches the preset heat dissipation duration, it is determined whether the updated number of consecutive stirrings is less than the first threshold. If so, the protection speed corresponding to the handheld mixer will be restored to the target speed.

8. The control method for the handheld mixer according to claim 1, characterized in that, After the step of switching the handheld blender to the locked state, the method further includes: Read the lock duration; When the locking duration is not less than the preset unlocking duration, the handheld mixer will be released from the locked state, and the number of continuous mixing counts will be reset to zero.

9. A control device for a handheld mixer, characterized in that, The control device of the handheld mixer includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; The at least one processor invokes the instructions in the memory to cause the control device of the handheld mixer to perform the control method of the handheld mixer as described in any one of claims 1-8.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the control method for the handheld mixer as described in any one of claims 1-8.

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