A control method and control device for liquid material feeding and a cooking machine

Abstract

The application provides a control method of liquid material feeding, which comprises the following steps: when feeding of to-be-fed liquid material is performed, a motor of a cooking machine is controlled to operate at a target voltage, and a target pulse number of the motor is collected; a target rotating speed of the motor is determined based on the target pulse number of the motor and target data information, wherein the target data information represents a relationship among a pulse number of the motor, a viscosity of the liquid material and an outflow speed of the liquid material; the motor is controlled to rotate in a first direction at the target rotating speed, so as to extract and feed the to-be-fed liquid material; after the to-be-fed liquid material is fed, the motor is controlled to rotate in a second direction, so as to reverse extract residual to-be-fed liquid material in an outflow pipe of the cooking machine; and the second direction is opposite to the first direction. The application also provides a control device and a cooking machine.

Description

Technical Field

[0001] This application relates to the technical field of liquid dispensing, and in particular to a control method, control device and cooking machine for liquid dispensing. Background Technology

[0002] Currently, most cooking robots have the function of automatically extracting liquids. Generally, a cooking robot can have multiple channels for different liquids, using different brands and viscosities. Liquids of different viscosities are also sprayed with varying force from the nozzles. If the liquid used is highly viscous, it can easily clog the tubes and cause them to break during extraction. If the machine is not used for a long time, the tubes may become empty, leading to inaccurate extraction. Furthermore, improper control of the spray force can compromise the flavor of the dish, thus affecting the robot's performance. Summary of the Invention

[0003] This application provides a liquid dispensing control method, control device, and cooking machine, which solves the problems of easy pipe blockage and pipe rupture in the liquid dispensing schemes of related technologies, ensuring the accuracy of liquid extraction and guaranteeing performance.

[0004] The technical solution of this application embodiment is implemented as follows: A method for controlling the dispensing of liquid materials, the method comprising: When adding the liquid material to be added, the motor of the cooking machine is controlled to run at the target voltage, and the target number of pulses of the motor is collected. The target rotational speed of the motor is determined based on the target pulse count and target data information of the motor; wherein, the target data information characterizes the relationship between the motor pulse count, the viscosity of the liquid, and the liquid discharge rate; The motor is controlled to rotate in the first direction at the target speed to extract and dispense the liquid material to be dispensed; After the liquid to be added is added, the motor is controlled to rotate in the second direction to back-extract the remaining liquid to be added from the liquid outlet pipe of the cooking machine; wherein, the second direction is opposite to the first direction.

[0005] In the above scheme, controlling the motor of the cooking machine to operate under the target voltage includes: Within the first target duration, the motor is controlled to operate at the target voltage.

[0006] In the above scheme, determining the target speed of the motor based on the target pulse count and target data information of the motor includes: Obtain the target data information from the target database; If the target data information contains a pulse number that matches the target pulse number, the injection force of the motor is determined based on the target pulse number of the motor and the target data information. The target speed of the motor is determined based on the injection force.

[0007] In the above scheme, controlling the motor to rotate along the first direction at the target speed includes: The second target duration is determined based on the target pulse count of the motor and the target data information; During the second target duration, the motor is controlled to rotate in the first direction at the target speed.

[0008] In the above scheme, determining the second target duration based on the target pulse count of the motor and the target data information includes: Based on the target pulse count of the motor and the first correspondence in the target data information, the viscosity of the liquid to be added is determined; wherein, the first correspondence characterizes the mapping relationship between the pulse count of the motor and the viscosity of the liquid. Based on the viscosity of the liquid to be dispensed and the second correspondence in the target data information, the target dispensing speed of the liquid to be dispensed is determined; wherein, the second correspondence characterizes the mapping relationship between the viscosity of the liquid and the dispensing speed of the liquid. The second target duration is determined based on the target liquid discharge rate and the volume of liquid to be added.

[0009] The method in the above scheme further includes: If the target data information does not contain a pulse number that matches the target pulse number of the motor, a prompt message is output to remind the user to adjust the dispensing data of the liquid to be dispensed; Receive user input regarding the adjusted rotation speed and adjusted duration for the liquid to be dispensed; The target rotational speed is determined to be the adjusted rotational speed, and the second target duration is determined to be the adjusted duration.

[0010] The method in the above scheme further includes: Receive user input regarding the adjusted viscosity of the liquid to be added; Send the adjusted viscosity, the adjusted rotation speed, and the adjusted duration to the server; If it is determined that the adjusted viscosity, the adjusted rotation speed, and the adjusted duration meet the target conditions, the adjusted viscosity, the adjusted rotation speed, and the adjusted duration are stored in the target database according to the corresponding relationship.

[0011] A control device, the device comprising: A drive module, which is connected to the controller and the motor of the cooking machine; An information acquisition module is connected to the controller and the motor, and is used to acquire the target pulse number of the motor when the motor is running under the target voltage and send it to the controller; The controller is used to determine the target speed of the motor based on the target data information and the target pulse number sent by the information acquisition module, and to send a first control signal to the drive module based on the target speed; wherein, the target data information represents the relationship between the motor pulse number, the viscosity of the liquid and the liquid discharge rate; The drive module is used to drive the motor to rotate along a first direction at the target speed based on the first control signal, and to drive the motor to rotate along a second direction after the liquid to be added is added; the first direction and the second direction are opposite.

[0012] In the above scheme, the information acquisition module includes an encoder, wherein: The encoder is mounted on the motor and connected to the controller.

[0013] In the above solution, the device further includes a protection module, wherein: The protection module is connected to the controller and the drive module, and is used to acquire the real-time current of the motor and send it to the controller; The controller is also configured to send a second control signal to the drive module based on the real-time current sent by the protection module; The drive module is also used to drive the motor to stop rotating based on the second control signal.

[0014] In the above scheme, the protection module includes: a resistor and a signal amplifier, wherein: One end of the resistor is connected to the drive module, and the other end of the resistor is connected to one end of the signal amplifier; The other end of the signal amplifier is connected to the controller, and is used to amplify the real-time current passing through the resistor and send the processed real-time current to the controller. The controller is further configured to send the second control signal to the drive module when it is determined that the real-time current after the processing is greater than the first current threshold.

[0015] In the above scheme, the protection module further includes a comparator, wherein: One end of the comparator is connected to the other end of the signal amplifier, and the other end of the comparator is connected to the controller. It is used to receive the processed real-time current sent by the signal amplifier, compare the processed real-time current with a second current threshold, and send the comparison result to the controller; the second current threshold is less than the first current threshold. The controller is further configured to send the second control signal to the drive module if the comparison result sent by the comparator indicates that the processed real-time current is greater than the second current threshold.

[0016] A cooking machine, the cooking machine including the control device described above.

[0017] The liquid dispensing control method, control device, and cooking machine provided in this application embodiment include the following steps: When dispensing the liquid to be dispensed, control the motor of the cooking machine to operate at a target voltage and collect the target pulse count of the motor; determine the target rotational speed of the motor based on the motor pulse count and target data information; the target data information characterizes the relationship between the motor pulse count, the viscosity of the liquid, and the liquid dispensing speed; control the motor to rotate at the target rotational speed along a first direction to extract and dispense the liquid to be dispensed; after dispensing the liquid to be dispensed, control the motor to rotate along a second direction opposite to the first direction to back-extract the remaining liquid in the dispensing pipe of the cooking machine. The liquid to be dispensed is controlled by a motor. When dispensing the liquid, the target motor speed is determined based on the initial target pulse count. The motor is then controlled to dispense and extract the liquid according to the target speed. After dispensing, the motor can be reversed to remove any remaining liquid from the outlet pipe. This method achieves precise liquid dispensing by controlling the motor speed and prevents residual liquid from remaining in the outlet pipe. It solves the problems of easy pipe blockage and pipe breakage in related liquid dispensing schemes, ensuring both the accuracy of liquid extraction and performance. Attached Figure Description

[0018] Figure 1 A schematic flowchart illustrating a liquid dispensing control method provided for an embodiment of this application; Figure 2 A schematic flowchart illustrating another liquid dispensing control method provided for an embodiment of this application; Figure 3 A schematic flowchart illustrating another method for controlling liquid dispensing provided in an embodiment of this application; Figure 4 A flowchart illustrating a liquid dispensing control method according to another embodiment of this application; Figure 5 A schematic diagram of the structure of a control device provided for an embodiment of this application; Figure 6 A schematic diagram showing the mounting position of an encoder in a control device provided for an embodiment of this application; Figure 7 This is a schematic diagram of another control device provided in an embodiment of this application. Detailed Implementation

[0019] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0020] It should be understood that the phrases "embodiments of this application" or "foreign embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "embodiments of this application" or "in the foreign embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0021] Unless otherwise specified, any step in the embodiments of this application performed by the electronic device may be executed by the processor of the electronic device. It is also worth noting that the embodiments of this application do not limit the order in which the electronic device performs the following steps. Furthermore, the methods used to process data in different embodiments may be the same or different methods. It should also be noted that any step in the embodiments of this application can be executed independently by the electronic device; that is, when the electronic device performs any step in the following embodiments, it may not depend on the execution of other steps.

[0022] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0023] This application provides a method for controlling the dispensing of liquid materials, which can be applied to a cooking machine. (Refer to...) Figure 1 As shown, the method may include the following steps: Step 101: When adding the liquid material to be added, control the motor of the cooking machine to run at the target voltage and collect the target number of motor pulses.

[0024] The liquid to be added can refer to the liquid seasonings that need to be added to the corresponding position in the pot when cooking food using the cooking machine; the cooking machine specifically refers to a commercial cooking machine. The target voltage can be a pre-set fixed voltage.

[0025] It should be noted that the motor can be made to operate at a fixed target voltage by providing a fixed pulse width modulation (PWM) signal to the motor; and the fixed PWM signal corresponds to the analog meter voltage. Furthermore, the target pulse count of the motor is acquired by a device installed on the motor capable of acquiring pulse counts; in one feasible embodiment, this device can refer to an encoder. Specifically, the target pulse count of the motor can be acquired by the encoder while the motor is running and rotating at the target voltage.

[0026] Step 102: Determine the target speed of the motor based on the number of motor pulses and target data information.

[0027] Among them, the target data information represents the relationship between the number of motor pulses, the viscosity of the liquid, and the liquid discharge rate.

[0028] Specifically, the target data information can be pre-stored; furthermore, the target data information is information that can characterize the mapping relationship between the number of motor pulses, the viscosity of the liquid, and the dispensing rate of the liquid. It should be noted that the dispensing rate of the liquid refers to the amount of liquid dispensed per unit time.

[0029] In this embodiment, the required injection force can be determined first based on the target pulse count and target data information of the motor, and then the motor speed can be determined based on the injection force.

[0030] Step 103: Control the motor to rotate in the first direction at the target speed to extract and release the liquid material to be released.

[0031] In this embodiment of the application, after determining the target speed of the motor, the motor can be controlled to rotate along the first direction at this target speed so as to draw the liquid to be added from the liquid tank into the pipe of the liquid outlet pipe and put it into the corresponding position in the pot body from the nozzle.

[0032] It should be noted that the first direction can refer to the direction of the motor's forward rotation, that is, the direction of rotation that enables the liquid to be drawn from the liquid tank to the outlet pipe.

[0033] Step 104: After adding the liquid material to be added, control the motor to rotate in the second direction to back-extract the remaining liquid material to be added from the liquid outlet pipe of the stir-fry machine.

[0034] The second direction is opposite to the first direction.

[0035] In this embodiment of the application, after it is determined that the liquid to be added has been added, the motor can be controlled to rotate in the second direction so as to draw the remaining liquid to be added in the outlet pipe back into the liquid tank. In this way, the liquid at the nozzle is drawn back into the liquid tank after the back-drawing, so that the problem of liquid leakage will not occur, and there will be no liquid residue in the outlet pipe. This avoids the liquid in the pipe from drying in the pipe for a long time, thus preventing the pipe blockage problem, and further avoiding pipe rupture and pump damage.

[0036] It should be noted that the second direction can refer to the direction of the motor's reverse rotation, that is, the direction of rotation that can draw the liquid back into the liquid tank from the outlet pipe and nozzle.

[0037] Based on the foregoing embodiments, in other embodiments of this application, reference is made to... Figure 2 As shown, the "controlling the motor of the cooking machine to operate at the target voltage" in step 101 above can be achieved in the following way: Step 101A: Within the first target duration, control the motor to run at the target voltage.

[0038] The first target duration can be a pre-set duration; this first target duration is the time required to ensure that the liquid to be added is drawn from the liquid tank to the outlet pipe after the motor rotates, but not the required amount of liquid is drawn to the outlet pipe. It should be noted that this first target duration can be determined based on actual needs and historical operating data.

[0039] Specifically, within the first target duration, a fixed PWM signal can be provided to the motor to enable the motor to run at a fixed target voltage for the first target duration; thus, after the motor runs at the target voltage for the first target duration, the encoder on the motor can collect the target number of pulses of the motor.

[0040] In other embodiments of this application, reference is made to Figure 2 As shown, step 102 above can be implemented in the following way: Step 102A: Obtain target data information from the target database.

[0041] The target database can be the data storage device in the cooking machine.

[0042] It should be noted that the target database stores information such as spray force, liquid discharge speed, and motor pulse count corresponding to liquids of different viscosities. Furthermore, the target data stored in the database can be data obtained from laboratory processing of liquids of different viscosities; different viscosities correspond to different data. In addition, the target data can also store information on the motor current corresponding to liquids of different viscosities.

[0043] In one feasible embodiment, the liquid of viscosity 1 corresponds to the current I1, pulse number N1, and spray force F1; the liquid of viscosity 2 corresponds to the current I2, pulse number N2, and spray force F2; and the liquid of viscosity 3 corresponds to the current I3, pulse number N3, and spray force F3, etc. It should be noted that, based on experimental results, the spray force for each viscosity of liquid can be correctly sprayed onto the food in the pot, without spraying onto the heated pot, thus preventing the liquid from drying out and affecting the taste.

[0044] Step 102B: If there is a pulse number in the target data information that matches the target pulse number, determine the injection force based on the target pulse number of the motor and the target data information.

[0045] In this embodiment of the application, after detecting the target pulse number of the motor, it can first determine whether there is a pulse number that matches the target pulse number in the target data information stored in the target database. If it is determined that there is a pulse number that matches the target pulse number in the target data information, the injection force can be directly determined based on the target pulse number of the motor and the target data information.

[0046] Step 102C: Determine the target speed of the motor based on the injection force.

[0047] Specifically, after determining the injection force, the injection force can be processed to obtain the target speed of the motor. In one feasible embodiment, the target speed of the motor can be determined by finding the correspondence between the injection force and the speed based on the determined injection force.

[0048] In other embodiments of this application, reference is made to Figure 2 As shown, step 103 above can be achieved in the following way: Step 103A: Determine the second target duration based on the target pulse count and target data information of the motor.

[0049] In this embodiment, the target data information can be processed based on the target pulse count of the motor to obtain the second target duration. It should be noted that the second target duration is the rotation duration used to control the motor to rotate at a determined target speed. Furthermore, the second target duration is longer than the first target duration; and the second target duration ensures that the volume of liquid to be extracted is exactly the required volume for this application.

[0050] Step 103B: During the second target duration, control the motor to rotate in the first direction at the target speed.

[0051] Specifically, after determining the second target duration, the motor can be controlled to rotate along the first direction at a target speed for the second target duration, thereby drawing the liquid to be added from the liquid tank into the outlet pipe and spraying it out from the nozzle, placing it into the corresponding position inside the pot. It should be noted that the motor can be controlled to rotate along the first direction at a target speed for the second target duration after the first target duration.

[0052] In other embodiments of this application, reference is made to Figure 3 As shown, step 103A above, which determines the second target duration based on the target pulse count and target data information of the motor, may include: Step 103A1: Determine the viscosity of the liquid to be added based on the first correspondence between the target pulse number of the motor and the target data information.

[0053] The first correspondence characterizes the mapping relationship between the number of pulses of the motor and the viscosity of the liquid.

[0054] In this embodiment, the first correspondence can be a mapping relationship between liquids of different viscosities and the number of motor pulses. Specifically, the first correspondence between liquids of different viscosities and the number of motor pulses can be found based on the detected target number of motor pulses, thereby determining the viscosity of the liquid to be added.

[0055] Step 103A2: Determine the target dispensing speed of the liquid to be dispensed based on the viscosity of the liquid to be dispensed and the second correspondence in the target data information.

[0056] The second correspondence characterizes the mapping relationship between the viscosity of the liquid and the discharge rate of the liquid.

[0057] In this embodiment, the second correspondence can be a mapping relationship between liquids of different viscosities and their dispensing rates. Specifically, based on the determined viscosity of the liquid to be dispensed, the second correspondence between liquids of different viscosities and their dispensing rates can be found to determine the target dispensing rate of the liquid to be dispensed, which is the amount of liquid dispensed per unit time.

[0058] Step 103A3: Determine the second target duration based on the target liquid discharge rate and the volume of liquid to be added.

[0059] Specifically, after determining the target dispensing speed of the liquid to be dispensed, the volume of the liquid to be dispensed can be obtained, and then the volume of the liquid to be dispensed and the target dispensing speed can be calculated to obtain the second target duration.

[0060] In other embodiments of this application, the method may further include: Step 102D: If there is no pulse number in the target data information that matches the target pulse number of the motor, output a prompt message to remind the user to adjust the dispensing data of the liquid to be dispensed.

[0061] In this embodiment, if it is determined that there is no pulse number matching the target pulse number in the target data information, a prompt message can be output using a target prompt method. It should be noted that the target prompt method may include using the display screen and / or speaker on the cooking machine.

[0062] In addition, this prompt message can encourage users to manually correct the data for adding the liquid. Furthermore, the data for adding the liquid can refer to the relevant data at the time of adding the liquid.

[0063] Step 102E: Receive the user's input of the adjusted rotation speed and adjusted duration for the liquid to be added.

[0064] Specifically, after receiving the prompt message, users can manually correct (i.e., calibrate) the adjusted rotation speed and duration for the liquid to be added. It should be noted that the adjusted rotation speed and duration can be directly input by the user into the cooking machine, or they can be input through a third-party device with a communication connection to the cooking machine.

[0065] Step 102F: Determine the target speed as the adjusted speed and the second target duration as the adjusted duration.

[0066] It should be noted that after the cooking machine receives the adjusted speed and adjusted duration input by the user, it can set the target speed as the adjusted speed and set the second target duration as the adjusted duration; then, the motor can rotate along the first direction at the adjusted speed within the adjusted duration to extract and dispense the liquid to be dispensed.

[0067] In other embodiments of this application, the method may further include: Receives user input regarding the adjusted viscosity of the liquid to be added.

[0068] Specifically, if it is determined that there is no pulse number matching the target pulse number in the target data information, the user can also input the adjusted viscosity of the liquid to be added into the cooking machine.

[0069] Send the adjusted viscosity, adjusted rotation speed, and adjusted duration to the server.

[0070] It should be noted that the adjusted viscosity, speed, and duration after manual calibration by the user will be saved in the cooking machine. Additionally, these adjusted values ​​can be transmitted to the backend server via the cloud. This allows backend staff to confirm the type of liquid with the customer via phone or on-site follow-up, and then compare the data for that type of liquid with the data transmitted from the backend server in the laboratory.

[0071] If the adjusted viscosity, adjusted rotational speed, and adjusted duration are determined to meet the target conditions, the adjusted viscosity, adjusted rotational speed, and adjusted duration are stored in the target database according to the corresponding relationship.

[0072] In this embodiment, if the data comparison is correct and valid, the data is saved to the target database, and other machine pumps can adapt to the manually calibrated and saved data in the database when pumping this liquid. If the comparison data is incorrect, it is not saved to the target database, thereby improving the accuracy of liquid output.

[0073] It should be noted that meeting the target conditions can mean that the adjusted viscosity, adjusted rotation speed, and adjusted duration are correctly and effectively compared with the corresponding data.

[0074] In other embodiments of this application, the liquid output is not determined by a flow meter, but by controlling the duration, which greatly improves the accuracy of the output.

[0075] In a feasible embodiment of this application, the extraction of oyster sauce and soy sauce is used as an example. Oyster sauce has a higher viscosity than soy sauce. Therefore, within the first target duration, under the same PWM signal drive, the extraction speed of oyster sauce is lower (fewer encoder pulses) and the current is higher; the extraction speed of soy sauce is higher (more encoder pulses) and the current is lower. This allows for the identification of liquids with different viscosities. Data on liquids of different viscosities are pre-tested in the laboratory and stored in a database, which is shared with each machine. Each extraction is followed by a backflow, so the pipeline is empty. For example, when extracting oyster sauce, the number of pulses detected within the first target duration is N0, and the detected current is I0. By comparing N0 and I0 with the data in the target database, the corresponding speed and the amount of oyster sauce extracted within the time period T1 are quickly matched. After the data is matched, the pump sprays according to the speed in the target database. Assuming the fuel consumption in the target database during the first target duration is X1, and the fuel consumption calculated based on the rotational speed after the first target duration T1 is X2, then the total fuel consumption is X1 + X2. Since the viscosity of the liquid is determined within the T1 time period, the T1 time period must be short (less than the minimum liquid output). If the data in the target database does not match within the T1 time period, the user is prompted to manually calibrate the liquid output. After calibration, the data is automatically saved, and the calibrated data is sent to backend personnel via the cloud platform. Backend personnel then contact the customer via phone or on-site follow-up to understand what liquid the customer is using. They then conduct laboratory tests on this liquid, measuring the pulse count and current during the T1 time period, and compare this data with the customer's calibrated data. If the comparison data is correct, the data is shared in the target database; otherwise, no action is taken. If a motor ages over time, it can lead to inaccurate liquid dispensing. To prevent this, aging tests are conducted on the motor in the laboratory. The motor is tested by pumping liquid 100 times and measuring the dispensing volume, or by pumping liquid 200 times and measuring the dispensing volume, etc. Different numbers of pumping volumes correspond to the number of pumping volumes M. The database stores the number of pumping volumes M and the viscosity data. When 100 pumping volumes have been completed, the system searches the target database for the corresponding number of pumping volumes M0, then finds the viscosity based on the rotation speed, and finally matches the spray force. This achieves automatic calibration.

[0076] The liquid dispensing control method provided in the embodiments of this application can determine the target speed of the motor based on the target number of pulses during the initial operation of the motor when dispensing the liquid to be dispensed, and control the motor to extract and dispense the liquid to be dispensed according to the target speed. After dispensing, the motor can be controlled to reverse and withdraw the remaining liquid to be dispensed in the liquid pipe. This method can achieve precise liquid dispensing by controlling the speed of the motor, and can also withdraw the remaining liquid in the liquid pipe after dispensing to avoid residual liquid in the liquid pipe. This solves the problems of easy pipe blockage and pipe rupture in the liquid dispensing schemes of related technologies, ensuring the accuracy of liquid extraction and the performance of use.

[0077] Based on the foregoing embodiments, embodiments of this application provide a control device, referring to... Figure 5 As shown, the device may include: a drive module 21, an information acquisition module 22, and a controller 23, wherein: Drive module 21 is connected to controller 23 and motor 24 of the cooking machine; Information acquisition module 22, information acquisition module 22, controller 23 and motor 24 ( Figure 5 (Not shown in the diagram, connected to the motor) is used to collect the target pulse count of the motor when the motor is running at the target voltage and send it to the controller; The controller 23 is used to determine the target speed of the motor based on the target data information and the number of target pulses sent by the information acquisition module, and to send a first control signal to the drive module based on the target speed. The drive module 21 is used to drive the motor to rotate in a first direction at a target speed based on a first control signal, and to drive the motor to rotate in a second direction after the liquid to be added is added; the first direction and the second direction are opposite.

[0078] Specifically, the drive module can be a device that can drive the motor to rotate in different directions; the controller can refer to a microcontroller unit (MCU); and the information acquisition module can refer to a device that can acquire the number of pulses when the motor rotates.

[0079] In feasible embodiments of this application, the driving module may include a bridge circuit and a driving module; specifically, such as Figure 5 The bridge circuit shown can include four switching transistors: Q1, Q2, Q3, and Q4. Controlling these four transistors controls the forward and reverse rotation of the motor. Specifically, the motor rotates forward when transistors Q1 and Q4 are on and transistors Q2 and Q3 are off. Similarly, the motor rotates in reverse when transistors Q2 and Q3 are on and transistors Q1 and Q4 are off. The motor pumps liquid in the first direction (forward rotation) and pumps liquid back into the liquid tank in the second direction (reverse rotation). The motor speed can be adjusted by the PWM signal output from the drive module during forward or reverse rotation, thereby controlling the speed at which the motor pumps liquid.

[0080] It should be noted that controlling the motor speed can control the force of liquid extraction; the higher the speed, the greater the extraction force, and vice versa.

[0081] In other embodiments of this application, reference is made to Figure 6 As shown, the information acquisition module 22 includes an encoder 221, wherein: Encoder 221 is mounted on motor 24 and connected to controller 23. Figure 6 (Connection to the controller is not shown in the image).

[0082] It should be noted that, Figure 6 The image only shows one encoding setting position. In actual applications, the specific position of the encoder on the motor is not limited and can be determined according to actual needs, as long as it can collect the number of pulses of the motor when it is rotating. Specifically, after the encoder collects the number of pulses of the motor, it can send the number of pulses to the MCU. Then, the MCU can determine the target speed of the motor based on the number of pulses of the motor and the target data information in the target database, and control the motor to rotate at the target speed through the drive module.

[0083] In other embodiments of this application, reference is made to Figure 7 As shown, the control device may further include a protection module 25, wherein: The protection module 25 is connected to the controller 23 and the drive module 21 to acquire the real-time current of the motor and send it to the controller. Controller 23 is also used to send a second control signal to the drive module based on the real-time current sent by the protection module; The drive module 21 is also used to drive the motor to stop rotating based on the second control signal.

[0084] It should be noted that the protection module can be used to protect the motor.

[0085] In other embodiments of this application, reference is made to Figure 7 As shown, the protection module 25 includes: a resistor 251 and a signal amplifier 252, wherein: One end of resistor 251 is connected to drive module 21, and the other end of resistor 251 is connected to one end of signal amplifier 252. The other end of the signal amplifier 252 is connected to the controller 23, which is used to amplify the real-time current passing through the resistor and send the processed real-time current to the controller. The controller 23 is also used to send a second control signal to the drive module when it is determined that the real-time current after processing is greater than the first current threshold.

[0086] The first current threshold can be a pre-set upper limit current value for the motor. Specifically, the resistor can detect the real-time current of the motor in real time and send the collected real-time current to a signal amplifier. The signal amplifier amplifies the signal and sends the processed real-time current to the controller for detection. When the processed real-time current exceeds the first current threshold set by the MCU, the MCU drives the bridge circuit to stop the motor rotation or sends other actions that can protect the motor, thereby protecting the switching transistor circuit and avoiding damage to the motor and the pipeline.

[0087] In other embodiments of this application, reference is made to Figure 7As shown, the protection module 25 also includes: a comparator 253, wherein: One end of comparator 253 is connected to the other end of signal amplifier 252, and the other end of comparator 253 is connected to controller 23. It is used to receive the processed real-time current sent by signal amplifier, compare the processed real-time current with the second current threshold, and send the comparison result to controller; the second current threshold is less than the first current threshold. The controller 23 is also used to send a second control signal to the drive module if the comparison result sent by the comparator indicates that the real-time current after processing is greater than the second current threshold.

[0088] The second current threshold is a pre-set upper limit current value that protects the motor. Specifically, the sampled real-time current is amplified by a signal amplifier and then processed before being sent to a comparator. The comparator compares the processed real-time current with the second current threshold set in the comparator. When the processed real-time current exceeds the second current threshold, the comparator quickly sends the comparison result to the MCU. At this time, the MCU issues a command to stop the motor or other actions that protect the motor, protecting the circuit and preventing damage to the pump body and pipelines. It should be noted that the comparator-based protection scheme can detect faults and take action within microseconds, providing more precise prevention of circuit and pump damage.

[0089] The control device provided in the embodiments of this application can determine the target speed of the motor based on the target number of pulses during the initial operation of the motor when dispensing the liquid to be dispensed, and control the motor to extract and dispense the liquid to be dispensed according to the target speed. After dispensing, the device can control the motor to reverse back to extract the remaining liquid to be dispensed in the liquid pipe. It can achieve precise liquid dispensing by controlling the speed of the motor, and can also extract the remaining liquid in the liquid pipe after dispensing to avoid residual liquid in the liquid pipe. This solves the problems of easy pipe blockage and pipe breakage in the liquid dispensing schemes of related technologies, ensuring the accuracy of liquid extraction and guaranteeing the performance of use.

[0090] Embodiments of this application provide a cooking machine, which may include... Figure 5-7 The corresponding embodiment provides a control device.

[0091] The cooking machine provided in this application embodiment has a control device that, when dispensing liquid, determines the target speed of the motor based on the target number of pulses during the initial operation of the motor, and controls the motor to extract and dispense the liquid according to the target speed. After dispensing, the control device can reverse the motor to extract the remaining liquid in the outlet pipe. This not only achieves precise liquid dispensing by controlling the motor speed, but also removes the remaining liquid in the outlet pipe after dispensing, avoiding residual liquid in the outlet pipe. This solves the problems of easy pipe blockage and pipe breakage in the liquid dispensing schemes of related technologies, ensuring the accuracy of liquid extraction and guaranteeing performance.

[0092] In the description of this application, the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," "some examples," or "other embodiments of this application," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiments or examples, which are included in at least one embodiment or example of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0093] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection, an electrical connection, or a connection that allows communication between the components; it can refer to a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0094] The components described above as separate parts may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0095] In addition, each functional unit in the various embodiments of this application can be integrated into one processing module, or each unit can be a separate unit, or two or more units can be integrated into one unit.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the stated features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0097] The features disclosed in the several device embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0098] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling the dispensing of liquid materials, characterized in that, The method includes: When adding the liquid material to be added, the motor of the cooking machine is controlled to run at the target voltage, and the target number of pulses of the motor is collected. The target rotational speed of the motor is determined based on the target pulse count and target data information of the motor; wherein, the target data information characterizes the relationship between the motor pulse count, the viscosity of the liquid, and the liquid discharge rate; The motor is controlled to rotate in the first direction at the target speed to extract and dispense the liquid material to be dispensed; After the liquid to be added is added, the motor is controlled to rotate in the second direction to back-extract the remaining liquid to be added from the liquid outlet pipe of the cooking machine; wherein, the second direction is opposite to the first direction.

2. The method according to claim 1, characterized in that, The control of the motor of the cooking machine to operate at the target voltage includes: Within the first target duration, the motor is controlled to operate at the target voltage.

3. The method according to claim 1, characterized in that, Determining the target speed of the motor based on the target pulse count and target data information of the motor includes: Obtain the target data information from the target database; If the target data information contains a pulse number that matches the target pulse number, the injection force is determined based on the target pulse number of the motor and the target data information; The target speed of the motor is determined based on the injection force.

4. The method according to claim 3, characterized in that, Controlling the motor to rotate in the first direction at the target speed includes: The second target duration is determined based on the target pulse count of the motor and the target data information; During the second target duration, the motor is controlled to rotate in the first direction at the target speed.

5. The method according to claim 4, characterized in that, The determination of the second target duration based on the target pulse count of the motor and the target data information includes: Based on the target pulse count of the motor and the first correspondence in the target data information, the viscosity of the liquid to be added is determined; wherein, the first correspondence characterizes the mapping relationship between the pulse count of the motor and the viscosity of the liquid. Based on the viscosity of the liquid to be dispensed and the second correspondence in the target data information, the target dispensing speed of the liquid to be dispensed is determined; wherein, the second correspondence characterizes the mapping relationship between the viscosity of the liquid and the dispensing speed of the liquid. The second target duration is determined based on the target liquid discharge rate and the volume of liquid to be added.

6. The method according to claim 4, characterized in that, The method further includes: If the target data information does not contain a pulse number that matches the target pulse number of the motor, a prompt message is output to remind the user to adjust the dispensing data of the liquid to be dispensed; Receive user input regarding the adjusted rotation speed and adjusted duration for the liquid to be dispensed; The target rotational speed is determined to be the adjusted rotational speed, and the second target duration is determined to be the adjusted duration.

7. The method according to claim 6, characterized in that, The method further includes: Receive user input regarding the adjusted viscosity of the liquid to be added; Send the adjusted viscosity, the adjusted rotation speed, and the adjusted duration to the server; If it is determined that the adjusted viscosity, the adjusted rotation speed, and the adjusted duration meet the target conditions, the adjusted viscosity, the adjusted rotation speed, and the adjusted duration are stored in the target database according to the corresponding relationship.

8. A control device, characterized in that, The device includes: A drive module, which is connected to the controller and the motor of the cooking machine; An information acquisition module is connected to the controller and the motor, and is used to acquire the target pulse number of the motor when the motor is running under the target voltage and send it to the controller; The controller is used to determine the target speed of the motor based on the target data information and the target pulse number sent by the information acquisition module, and to send a first control signal to the drive module based on the target speed; wherein, the target data information represents the relationship between the motor pulse number, the viscosity of the liquid and the liquid discharge rate; The drive module is used to drive the motor to rotate along a first direction at the target speed based on the first control signal, and to drive the motor to rotate along a second direction after the liquid to be added is added; the first direction and the second direction are opposite.

9. The apparatus according to claim 8, characterized in that, The information acquisition module includes an encoder, wherein: The encoder is mounted on the motor and connected to the controller.

10. The apparatus according to claim 8, characterized in that, The device also includes a protection module, wherein: The protection module is connected to the controller and the drive module, and is used to acquire the real-time current of the motor and send it to the controller; The controller is also configured to send a second control signal to the drive module based on the real-time current sent by the protection module; The drive module is also used to drive the motor to stop rotating based on the second control signal.

11. The apparatus according to claim 10, characterized in that, The protection module includes: a resistor and a signal amplifier, wherein: One end of the resistor is connected to the drive module, and the other end of the resistor is connected to one end of the signal amplifier; The other end of the signal amplifier is connected to the controller, and is used to amplify the real-time current passing through the resistor and send the processed real-time current to the controller. The controller is further configured to send the second control signal to the drive module when it is determined that the real-time current after the processing is greater than the first current threshold.

12. The apparatus according to claim 11, characterized in that, The protection module also includes a comparator, wherein: One end of the comparator is connected to the other end of the signal amplifier, and the other end of the comparator is connected to the controller. It is used to receive the processed real-time current sent by the signal amplifier, compare the processed real-time current with a second current threshold, and send the comparison result to the controller; the second current threshold is less than the first current threshold. The controller is further configured to send the second control signal to the drive module if the comparison result sent by the comparator indicates that the processed real-time current is greater than the second current threshold.

13. A cooking machine, characterized in that, The cooking machine includes the control device as described in any one of claims 8-12.

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