CN110326982B - Intelligent stirring device with multi-sensor data fusion - Google Patents

Abstract

The invention discloses an intelligent stirring device for multi-sensor data fusion, which comprises: the tennis ball launching device comprises a tennis ball launching device, a driving motor, a speed reducer, a material barrel, a base and an intelligent control module; wherein intelligent control module includes again: MCU minimum system, infrared temperature sensor, ultrasonic distance sensor, current sensor, etc. An infrared temperature sensor and an ultrasonic sensor are arranged on the tennis ball shaft of the stirring device, and a current sensor is arranged on the inner side of the stirring device. Because the rotational speed of (mixing) shaft is big more or the material is more, driving motor's electric current is just big more to the classification of cream, weight, temperature and the degree of beating send out all have a correlation, intelligent control module can be according to the demand of these information and degree of beating send out the rotational speed of automatic adjustment (mixing) shaft, and adjust the stirring time of each stage of beating send out in real time, thereby reach the balance that the cream perfect beat send out and save the electric energy, improve work efficiency greatly, avoid the manual work to beat send out the waste that excessively causes.

Description

Intelligent stirring device with multi-sensor data fusion

Technical Field

The invention relates to an intelligent stirring device, and belongs to the technical field of food mixers. Relates to a stirrer for automatically stirring or mixing liquid or paste objects uniformly, in particular to an intelligent stirring device with multi-sensor data fusion.

Background

A cream stirring device is a food processing machine, mainly used for stirring edible materials such as cream, butter, egg liquid and the like, and is a machine which is provided with a ball beating shaft to rotate in a cylinder, and stirs and mixes one or more raw materials to form a mixture or proper consistency.

The prior art discloses that the authorization number is: chinese patent CN200920045991, chinese patent CN 2009202563231's cream food mixer, including beating ball, material bucket, driving motor, motor control circuit and manual speed governing dish etc. its characterized in that: the driving motor is a direct current brush or a direct current brushless motor, the rotating speed of the motor is manually changed by a worker, and the change of the rotating speed of the motor is controlled by a control circuit. The existing cream stirring machine needs people to observe cream whipping degree all the time, adjusts rotating speed and whipping time according to experience, is easy to have whipped or immature condition, and is difficult to avoid waste because cream whipping is irreversible.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an intelligent stirring device to solve the problems of low efficiency, large waste, high requirement on operators and the like caused by pure manual control of a cream stirrer.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an intelligent agitating unit of multisensor data fusion, its structure includes: the tennis ball launching device comprises a tennis ball launching device, a driving motor, a speed reducer, a material barrel, a base and an intelligent control module;

the intelligent control module comprises: the system comprises an MCU minimum system, an infrared temperature sensor, an ultrasonic distance sensor, a current sensor, a PWM (pulse-width modulation) speed regulation unit, a photoelectric encoder, a high-power direct-current motor driver, an AC-DC (alternating current-direct current) power module, an HMI (human machine interface) display screen, a start button and a stepless speed regulation disc;

the tennis ball for launching materials is arranged on a bowl at the top of the stirring shaft, the bowl is connected with a speed reducer through a transmission mechanism to drive a motor and the speed reducer to be arranged on the inner side of a stirring device main body, an infrared temperature sensor and an ultrasonic sensor are arranged at the top of the bowl of the stirring device, other intelligent control units are arranged on the inner side of the stirring device, a current sensor, a PWM (pulse-width modulation) speed regulation unit, a photoelectric encoder, a high-power direct-current motor driver, an AC-DC (alternating current-direct current) power supply module are arranged, and an HMI (human machine interface) display screen, a stepless speed regulation disc and a start button are arranged on the outer side of the stirring device;

furthermore, the mechanical stirring transmission mechanism consists of a mechanical transmission wheel, a mechanical transmission belt and a mechanical cylinder base.

Furthermore, the mechanical transmission wheel is horizontally embedded in the mechanical transmission belt.

Furthermore, the mechanical transmission wheel groove and the stirring mechanical cylinder are of an integrated cylinder structure.

Further, the stirring mechanical cylinder is vertically fixed on the mechanical cylinder base.

Furthermore, the intelligent control module is an electronic component, so that the precision is high, the speed is high, and multiple systems are controlled.

The invention has the beneficial effects that: the intelligent control module is provided with a temperature sensor, a distance sensor, a current sensor, an MCU minimum system and an HMI (human machine interface), and the intelligent controller can automatically adjust the rotating speed of the stirring shaft according to the requirements of cream type information, cream weight information, cream temperature information and whipping degree and adjust the stirring time required by each whipping stage in real time, so that the balance of perfect whipping of cream and electric energy saving is achieved, the working efficiency is greatly improved, the waste caused by excessive manual whipping is avoided, the judgment operation of manual intelligence is realized, and the operation is safer, more reliable, efficient and convenient. In addition, the manual mode can be switched according to special requirements of users, stepless speed regulation is carried out, and the method is scientific and reasonable and has wide application range.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic view of the overall structure of an intelligent stirring device of the present invention.

Fig. 2 is a schematic diagram of a sensor for detecting temperature distance information according to the present invention.

FIG. 3 is a schematic diagram of an HMI operation interface of the present invention.

Fig. 4 is a block diagram of an intelligent cream stirring device system.

Fig. 5 is a work flow of the intelligent cream stirring device.

Fig. 6 is a membership function C.

Fig. 7 is a membership function T.

Fig. 8 is a membership function D.

In fig. 1: 1-a stirring base; 2, a manual stepless speed regulation disc; 3-start button; 4-main body; 5-HMI display screen; 6-material barrel; 7-an infrared temperature sensor; 8-ultrasonic distance sensors; 9-serve tennis.

Detailed Description

The invention is further described with reference to the following figures and detailed description.

As shown in fig. 1, the intelligent stirring device for multi-sensor data fusion of the present invention comprises: the tennis ball beating machine comprises a stirring base 1, a manual stepless speed regulator 2, a starting button 3, a main machine body 4, a material barrel 6, a beating tennis ball 9, a driving motor, a speed reducer and an intelligent control module. The intelligent control module is an electronic component, and is high in precision, high in speed and multi-system control.

The intelligent control module comprises: the device comprises an infrared temperature sensor 7, an ultrasonic distance sensor 8, a current sensor, a PWM (pulse-width modulation) speed regulation unit, a photoelectric encoder, a high-power direct-current motor driver, an AC-DC (alternating current-direct current) power module, an HMI (human machine interface) display screen 5, a start button 3 and a manual stepless speed regulation disc 2;

the working modes of the infrared temperature sensor 7 and the ultrasonic distance sensor 8 are shown in fig. 2, the maximum detection distance L of the two sensors is 40cm, and the cream surface can slowly rise along with the whipping of cream, so that the detection distance can be smaller and smaller; the maximum available detection angle range of the two sensors is 30 degrees, for example, in a sector area in fig. 2, once a user selects automatic, the two sensors detect temperature and distance information at a certain frequency and feed back the information to the MCU minimum system.

The HMI display 5, whose operation is shown in fig. 3, through which the user can directly touch and select the desired degree of the issue, includes: mousse, decorating and molding, wherein the mousse corresponds to the whipping degree of 8, the decorating corresponds to the whipping degree of 9 and the molding corresponds to the whipping degree of 10; the user only needs to click 'automatic', then selects the type of issuing, and the MCU minimum system can complete issuing according to the instruction; the manual operation and the automatic operation can be switched, the reason for keeping the manual operation is to consider the special requirements of the user, for example, the user uses special cream or not whipping cream, at the moment, the user directly clicks a manual button, and then the user automatically operates the stepless speed regulating disc 2 to finish whipping.

The tennis ball 9 is used for serving materials and is arranged on a bowl at the top of the stirring shaft, the bowl is connected with the speed reducer through the transmission mechanism, the driving motor and the speed reducer are arranged on the inner side of the stirring device main body, although the detection of the temperature and the distance of the tennis ball can be interfered in the rotating process, the detection frequency of the sensor is far higher than the rotating frequency of the tennis ball, the MCU minimum system can sample for many times, and the average value is taken as the detection result after the abnormal value is removed, so that the influence factor can be ignored.

Other parts of the intelligent control module are arranged on the inner side of the stirring device, and the intelligent control module is provided with a current sensor, a PWM (pulse-width modulation) speed regulation unit, a photoelectric encoder, a high-power direct-current motor driver and an AC-DC (alternating current-direct current) power supply module, wherein an HMI (human machine interface) display screen 5, a manual stepless speed regulation disc 2 and a start button 3 are arranged on the outer side of the stirring device;

fig. 4 shows a system block diagram of the intelligent cream stirring device, which includes: cream to be whipped, an infrared temperature sensor, an ultrasonic sensor, a current sensor, a direct current motor driving module, a driving motor, an MCU, a manual stepless speed regulation disc, an HMI, a switch and a power supply module. Wherein the user sends the instruction to MCU through HMI, and MCU receives the data and the analysis of infrared temperature sensor, ultrasonic sensor, current sensor, then control direct current motor drive module, reaches the cream of different degrees and sends out the purpose.

The work flow of the intelligent cream stirring device is shown in fig. 5: a user starts a power supply, selects an operation mode, and if the user selects manual operation, the user only needs to manually adjust the stepless speed regulation disc according to the requirement of the user to beat; if the automatic selection is carried out, the sending degree is required to be selected, after the selection is finished, the system can automatically judge the sending degree according to the timely detected temperature, distance and current information, adjust the rotating speed and time of each stage, and automatically stop and inform a user when the sending reaches the specified degree.

According to research and experiments, the common cream processing steps for making birthday cakes or western pastries can be divided into seven steps:

decomposing ice blocks, unfreezing, beating at a medium speed, beating at a high speed for the first time, beating at a high speed for the second time, beating at a high speed for the third time, and homogenizing; the cream whipping degrees corresponding to the seven steps are respectively as follows: 0. 4, 6, 8, 9, 10.

The reason for the seven steps is as follows:

before use, cream is usually placed in a refrigerating chamber for refrigeration, so that ice blocks are inevitably included in the cream when the cream is used, and therefore, the ice blocks are firstly decomposed for a short time, which is called as an ice block decomposition period; after the ice blocks are decomposed, the ice blocks are unfrozen, so that the cream reaches the level capable of being whipped, and the stage is called as the unfreezing period; when the cream reaches the level of being whipped, the stirring speed needs to be increased to quickly blend air, and it is worth noting that the whipping speed cannot be too high, because too high speed can cause insufficient and uneven air blending, and the stage is called as a medium-speed whipping period; when the air is almost melted, the stirring speed needs to be quickly increased so as to avoid the condition that the cream is damaged due to overhigh temperature, and the phase is called as a high-speed whipping period; according to different requirements of operators on cream, the high-speed whipping period is divided into three stages (primary high-speed whipping, secondary high-speed whipping and tertiary high-speed whipping); after the cream is completely matured, the whipping speed needs to be reduced, so that some cream at the edge and the bottom of the material barrel and cream in the middle are fully and uniformly mixed, redundant air is discharged, the cream tastes finer and smoother, and the stage is called as a homogenization period.

The reason for setting three types of sending degree options of 8, 9 and 10 is as follows:

this intelligent stirring device is mainly to standard cake preparation workshop, and the demand of this type of preparation workshop to cream processing generally falls into three types: mousse, mounting pattern and molding. According to investigations it was found that for the cream raw material currently available on the market, it was processed to a ripeness of 8 for use as mousse, 9 for use as decorating and 10 for use as moulding.

The reason for non-contact infrared temperature measurement is as follows:

in addition, the temperature of the cream whipping environment is completely different in winter and summer, which determines that the speed and time of the cream in each whipping period are different, so that the measurement of the initial temperature of the cream whipping is necessary; the cream is used as a birthday cake or a western-style pastry, if the contact temperature measurement is selected, firstly, the cream is insanitary, secondly, the serving ball rotates all the time, and a contact temperature sensor is not arranged at a proper position of the material barrel, so that the non-contact infrared temperature measurement is selected; although the non-contact infrared temperature measurement cannot measure the central temperature change of the cream and is not accurate in contact temperature measurement, the relative change of the surface temperature of the cream can be measured, and the relative change is in a linear relation with the central temperature of the cream.

The reason for the noncontact distance detection is:

when a decorator in a standard cake workshop whipps cream, the common whipping amount is 1L, 1.5L and 2L, and a special condition exists, namely when a little of mature fresh milk remains in a material barrel, a cake is not made enough, and when the cake is poured and wasted, the decorator can directly add 1L or 2L of cream to whip, so that the whipping speed and time of each whipping period at the back are directly influenced, and the initial amount of the cream is very necessary to judge; knowing the volume and the shape of the material barrel, measuring the rising height of the whipped cream, and knowing the whipping condition of the cream; the invention adopts the ultrasonic sensor to measure the distance (0-4) m, the precision is 0.1cm, the measurement angle is 15 degrees, the working frequency is 40Hz, and the requirement is met.

Reasons for drive motor current detection:

in the whipping process, the state of the cream is constantly changed from liquid to solid, and the viscosity of the cream is higher and higher; experiments show that the longer the whipping time is, the larger the force borne by the whipping ball is, and the larger the current on the armature of the motor is, so that the viscosity change of the cream can be judged by detecting the current of the motor, and the detection is also a characteristic point for judging whether the cream is whipped to the degree required by an operator. Generally, an experienced operator judges whether the cream is delivered to a required degree according to the glossiness of the surface of the cream, if the operator judges according to the principle by selecting an image processing method, the problem can be solved, but according to experiments, the milk delivery change chart shot by the existing miniature camera is very small in difference and cannot judge the cream delivery degree under the influence of indoor environment light. Finally, the invention selects and detects the current of the driving motor so as to judge the cream whipping maturity. It should be noted that, because the running current changes after the mechanical structures such as the motor, the reducer, the transmission belt and the like are aged, and in addition, the motors used by the fresh milk mixers of different models are different, the invention detects the current by aiming at the mixers and the motors of specific models, and detects the relative current.

The reason for keeping manual stepless speed regulation is as follows:

the automatic whipping program cannot exhaust all special cases, for example, different decorators are used for making mousses, and the requirements of the decorators on the whipping degree of cream may be slightly different; or the decorator has an emergency task and needs to make a barrel of fresh milk; at this time, stepless speed regulation is needed manually, and the hair is played according to experience.

Whipping experiments of typical creams under several typical temperature conditions:

firstly, the following is stated: the stirring device has the capacity of 7L, the maximum cream whipping amount of 2.2L, the rated power of a motor of 300W, the maximum rotating speed of 1000r/min, the power supply voltage of 220V and the size of a machine body of 410x400x210 mm. All the experiments and the establishment of the rule table described below are based on this fresh milk whisking device.

According to research and experiments, the invention relates to several typical temperature divisions of whipping cream of an intelligent stirring device: low (0, 5) ° c, medium (5, 10) ° c, high (10, 18) ° c; the cream with the temperature lower than 0 ℃ or higher than 18 ℃ has the problems of quality reduction and poor mouthfeel when being whipped.

TABLE 1 Low temperature cream whipping data

TABLE 2 moderate temperature cream whipping data

TABLE 3 high temperature cream whipping data

From the data in tables 1,2 and 3, it is obvious that the initial temperature of cream is different and the time required for each whipping stage is not the same when the cream brand, the cream amount and the room temperature are fixed.

Whipping experiments of typical creams at several typical mix volumes:

according to research and experiments, the capacity of the intelligent stirring device is 7L, the maximum cream whipping amount is about 2.2L, and the typical mixing amounts are divided as follows: 1L and 2L; when the mixing amount of the cream is less than 1L, the ball cannot be completely bottomed, so that the situation that part of the ball cannot be fully played occurs; above 2.2L, fresh milk will spill out of the bucket. It should be added that the reason for mixing different brands of cream is to synthesize the stability and taste of cream, which can ensure the taste of fresh milk and facilitate embryo grinding and decoration.

TABLE 4 Low temperature 2L Mixed cream whipping data

TABLE 5 high temperature 2L Mixed cream whipping data

From the data in tables 4 and 5, it is clear that when the mixing is performed at 1L for each of the two cream brands, the time required for each whipping stage is not the same and the motor current changes are not the same when the cream initial temperatures are different.

Whipping experiments with several atypical cream mix volumes:

according to research and experiments, the capacity of the intelligent stirring device is 7L, the maximum cream whipping amount is about 2.2L, and the atypical mixing amounts are divided into: finished fresh milk accounting for 10-30% of the volume of the tank body and 1L of cream, and finished fresh milk accounting for 5-10% of the volume of the tank body and 2L of cream;

TABLE 6 data of whipping of finished fresh milk and 1L cream accounting for 30% of the volume of the jar

TABLE 7 whipping data of finished fresh milk 10% by volume of jar +2L cream

From the data in tables 6 and 7, it is obvious that when the material barrel contains finished product fresh milk and cream is added for whipping, the required time and rotating speed requirements of each whipping stage are greatly different from the data of typical conditions, and when the finished product fresh milk exists in the material barrel, the cream is added, and the whipping initial stage has large change of the distance detection result.

Intelligent processing of multi-sensor data fusion:

and carrying out intelligent processing of multi-sensor data fusion based on the experimental data. The method specifically adopted by the invention is multi-dimensional fuzzy control. It should be noted that, for any beating precondition, the stirring speed and the stirring time of the ice decomposition period, the thawing period and the homogenization period are not changed (according to experiments and experience, the control flow is simplified under the condition of ensuring the beating effect). Then the processing flow of MCU control issuing is as follows:

the MCU receives degree selection (8, 9 and 10) of the HMI, starts automatic whipping, and judges the amount of milk oil poured into the material barrel, the temperature of cream and whether finished product fresh milk is blended or not within 5 seconds after starting according to the acquired average temperature data, maximum liquid level distance and current average value;

the MCU sends out an instruction to control the rotating speed of the stirrer to be 24 percent and the stirring time to be 25 seconds; then, the rotating speed is increased to 40 percent, and the stirring time is 90 seconds; the beating degree is about 4 percent at this time;

continuing to increase the rotating speed to 60%, entering a medium-speed whipping period, calculating whipping time according to the maximum liquid level distance and the current mean value acquired in real time, and controlling the whipping degree of cream to be about 6;

fourthly, the rotating speed is increased to 75% -90%, the rotating speed of which gear is specifically selected depends on the initial amount of cream and the initial temperature of the cream, and then the whipping time of the first high-speed whipping period is comprehensively determined according to the maximum liquid level distance and the current mean value which are collected in real time; if the user selects 8, directly jumping to the step 7 after the stage is finished;

keeping the rotating speed at 75-90%, specifically selecting which gear rotating speed depends on the initial amount of cream and the initial temperature of the cream, then comprehensively determining the whipping time of the second high-speed whipping period according to the maximum liquid level distance and the current mean value collected in real time, and if the user selects 9 times, directly jumping to the 7 th step after the completion of the stage;

maintaining the rotating speed at 75-90%, specifically selecting which gear rotating speed depends on the initial amount of cream and the initial temperature of the cream, then comprehensively determining the whipping time of a third high-speed whipping period according to the maximum liquid level distance and the current mean value acquired in real time, and if the user selects 10 times, performing the 7 th step after the completion of the stage;

seventhly, the rotating speed is reduced to 24 percent, the beating time is 25 seconds, and the stage is a homogenizing period.

Establishing a multi-dimensional fuzzy control rule:

defining current as C, temperature as T, distance as D, rotating speed as S, striking time as P and selecting degree as L; the domain of discourse of C, T, D is then taken as [170,1000], [ -1,26], [3,21], the fuzzy subset of C is { negative large, negative middle, negative small, zero, positive small, positive middle, positive large }, the fuzzy subset of T is { negative large, negative small, zero, positive small, positive large }, the fuzzy subset of D is { negative large, negative middle, negative small, negative zero, positive small, positive middle, positive large }, the fuzzy subset of NB, NM, NS, NZ, ZE, PZ, PS, PM, PB }, and the membership function curves are shown in fig. 6, 7, and 8.

Through a large number of experiments and the existing knowledge of decorating experts, the following 21 control rules can be established:

rule 1-1: if L is 8 (mousse), C is large negative, T is small negative and D is large positive, S and P are carried out according to the table 1 (the second and third high-speed hair-making periods are removed);

rule 1-2: if L is 8 (mousse), C is negative and large, T is positive and small, and D is positive and large, then S and P are carried out according to the table 2 (the second and third high-speed hair-making periods are removed);

rules 1-3: if L is 8 (mousse), C is negative and large, T is positive and D is positive, S and P are carried out according to the table 3 (the second and third high-speed hair-making periods are removed);

rules 1-4: if L is 8 (mousse), C is negative, T is small, D is positive, S and P are carried out according to the table 4 (the second and third high-speed hair-making periods are removed);

rules 1-5: if L is 8 (mousse), C is small in negative, T is large in positive and D is middle, S and P are carried out according to the table 5 (the second and third high-speed hair-making periods are removed);

rules 1-6: if L is 8 (mousse), C is zero, T is small in negative and D is small in positive, S and P are carried out according to the table 6 (the second and third high-speed dispensing periods are removed);

rules 1-7: if L is 8 (mousse), C is zero, T is small and D is small, S and P are carried out according to the table 7 (the second and third high-speed dispensing periods are removed);

rule 2-1: if L is 9 (mounting), C is large, T is small, and D is large, then S and P are performed according to the table 1 (removing the third high-speed printing period);

rule 2-2: if L is 9 (mounting), C is large negative, T is small positive and D is large positive, S and P are carried out according to the table 2 (removing the third high-speed printing period);

rule 2-3: if L is 9 (mounted), C is negative and T is positive and D is positive, then S and P are carried out according to the table 3 (the third high-speed printing period is removed);

rule 2-4: if L is 9 (mounting), C is negative, T is negative, and D is positive, then S and P are performed according to the table 4 (removing the third high-speed printing period);

rule 2-5: if L is 9 (mounting), C is small, T is large and D is middle, then S and P are performed according to the table 5 (removing the third high-speed hair-making period);

rules 2-6: if L is 9 (mounting), C is zero, T is small in negative, and D is small in positive, S and P are carried out according to the table 6 (the third high-speed printing period is removed);

rules 2-7: if L is 9 (mounted), C is zero, T is small and D is small, S and P are carried out according to the table 7 (the third high-speed printing period is removed);

rule 3-1: if L is 10 (plastic type), C is large negative, T is small negative, and D is large positive, then S and P are performed according to the table 1;

rule 3-2: if L is 10 (plastic type), C is large negative, T is small positive, D is large positive, then S and P are performed according to the table 2;

rule 3-3: if L is selected to be 10 (plastic), C is negative and large, T is positive and D is positive, then S and P are carried out according to the table 3;

rule 3-4: if L is 10 (plastic type), C is negative, T is negative and small, D is positive, then S and P are performed according to the table 4;

rule 3-5: if L is 10 (plastic type), C is small, T is large, and D is middle, then S and P are performed according to Table 5;

rule 3-6: if L is selected to be 10 (plastic), C is zero, T is small in negative, D is small in positive, S and P are carried out according to the table 6;

rules 3-7: if L is selected to be 10 (plastic), C is zero, T is small and D is small, S and P are performed according to the table 7;

the 21 rules basically meet the regular cream whipping condition, and if C, T, D detected by the sensor is not in the rule range during whipping, the device is alarmed, and is judged to be abnormal cream or equipment failure, and the device is not started.

The mixing conditions of various creams cannot be exhausted, so only a few typical conditions are selected for description, and in actual operation, a large number of experiments are carried out on the basis of the device disclosed by the invention, so that the effect of intelligent stirring is more beneficial. The user can suitably adjust the fuzzy rule table according to different cream brands, stirrer power and material barrel capacity.

Claims (1)

1. The utility model provides an intelligent agitating unit of multisensor data fusion which characterized in that: the tennis ball pitching machine comprises a pitching tennis ball, a driving motor, a speed reducer, a material barrel, a base and an intelligent control module; wherein:

the intelligent control module comprises: the system comprises an MCU minimum system, an infrared temperature sensor, an ultrasonic distance sensor, a current sensor, a PWM (pulse-width modulation) speed regulation unit, a photoelectric encoder, a high-power direct-current motor driver, an AC-DC (alternating current-direct current) power module, an HMI (human machine interface) display screen, a start button and a manual stepless speed regulation disc;

the launching tennis ball is arranged on a bowl at the top of the stirring shaft, the bowl is connected with the speed reducer through the transmission mechanism, the driving motor and the speed reducer are arranged on the inner side of the stirring device main body, the top of the bowl of the stirring device is provided with the infrared temperature sensor and the ultrasonic distance sensor, the inner side of the stirring device is provided with the MCU minimum system, the current sensor, the PWM speed regulating unit, the photoelectric encoder, the high-power direct-current motor driver, the AC-DC power supply module, the HMI display screen, the manual stepless speed regulating disc and the starting button which are arranged on the outer side of the stirring device;

the infrared temperature sensor (7) arranged at the top of the bowl is a micro non-contact temperature sensor which is embedded on the case shell and can detect the surface temperature of objects beyond 1 meter within the temperature detection range of (-10, 50) DEG C;

the ultrasonic distance sensor (8) arranged at the top of the bowl is a miniature short-distance detection sensor which is embedded on the case shell and can detect the height range (0, 1) meter of cream;

the current sensor arranged in the case can timely detect the current of the motor and feed the current back to the MCU minimum system;

the MCU minimum system arranged in the case can timely control the PWM speed regulation unit by fusing temperature, distance and current data transmitted back by the sensor and utilizing a multi-dimensional fuzzy control strategy;

the user can select the milk whipping degree through an HMI display screen (5) arranged on the outer side of the case, and can also switch between manual operation and automatic operation according to requirements;

wherein the maximum detection distance L of the infrared temperature sensor (7) and the ultrasonic distance sensor (8) is 40 cm.

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