Abstract
The invention relates to a method (100) for estimating (150) a temporally variable measurement variable of a system, in particular a temperature in a vessel (24), preferably in a food processor (10) for the at least partially automatic preparation of food, wherein at least one measurement information (210.1) is determined by means of a measurement (130), which measurement information differs, at least depending on at least one system parameter (230), from the true value of the measurement variable.
Claims
1. A method for estimating a temporally variable temperature of a food processor, wherein a temperature development takes place by means of heating using a heating element, wherein at least one measurement information is determined by means of a measurement, which measurement information differs, at least depending on at least one system parameter, from the true value of the temperature, wherein the measurement for determining the measurement information is made by a sensor of the food processor, which sensor is arranged so as to be spaced apart from a surface of a base of a mixing vessel of the food processor, wherein the following steps are carried out for estimating the true value: a) providing a plurality of system parameter suggestions which in each case differ from one another and each comprise a suggestion for at least one of the system parameters, b) checking the system parameter suggestions, wherein the measurement and a weighting are carried out repeatedly on the basis of the measurement information determined here, such that an assessment of the system parameter suggestions is provided, and c) performing the estimation on the basis of at least one of the system parameter suggestions, taking into account the assessment, and wherein a regulation of the heating element takes place in accordance with the estimated true value, wherein the heating element is activated or deactivated, respectively, when the estimation result falls below or exceeds a threshold value.
2. The method according to claim 1, wherein the system parameter suggestions are each assigned to an information particle for which at least the following information can be provided: a particle system information which comprises at least the respective system parameter suggestion, a particle prediction information for providing a predicted value of a future measurement information, wherein the predicted value is specific for the respective system parameter suggestion, a particle weighting information for providing the assessment of the respective system parameter suggestion.
3. The method according to claim 2, wherein for the purpose of checking according to step b), the following steps are performed: performing a prediction of the unknown future measurement information for each of the information particles, such that the relevant particle prediction information is determined, wherein the relevant prediction is performed depending on the particle system information of the relevant information particle, performing the measurement, such that the measurement information is determined, evaluating the system parameter suggestions by means of comparing the determined particle prediction information with the determined measurement information, such that the assessment of the system parameter suggestions is effected, and weighting on the basis of the effected assessment.
4. The method according to claim 3, wherein the following steps are performed out while the prediction is performed: estimating a state of the system, wherein the estimation is effected on the basis of a model depending on the particle system information of the relevant information particle, and determining the particle prediction information depending on the estimated state.
5. The method according to claim 2, wherein for the purpose of the weighting, the following steps are performed, such that the check according to step b) is carried out again: performing a weighting decision on the basis of an evaluation, and determining the particle weighting information depending on the weighting decision, such that the assessment of the system parameter suggestions is provided.
6. The method according to of claim 3, wherein an operating information is determined when performing the measurement, and wherein the prediction is in case effected in accordance with at least the operating information or the measurement information last determined, and the particle system information of the relevant information particle.
7. The method according to claim 1, wherein sequential adjustment of the assessment takes place by means of repeated performing of the check according to step b), such that the optimal system parameter suggestion, is determined on the basis of the weighting, in order to achieve an optimal estimation result for the true value of the measurement variable.
8. The method according to claim 1, wherein at least a first selection of different first system parameters and a second selection of different second system parameters is provided, wherein the first system parameters differ from the second system parameters, and wherein in step b) a first check is carried out for the first system parameters and a second check is carried out for the second system parameters, wherein an overall assessment for all the system parameters is subsequently made depending on the first and second checks.
9. The method according to claim 1, wherein at least 3 different and unknown system parameters are provided.
10. The method according to claim 1, wherein during the check according to step b), at least one partial result is determined and stored during at least one earlier partial evaluation, such that during a further check, the partial result is retrieved during a further partial evaluation, if the earlier and the further partial evaluation at least match or are similar or are of the same kind.
11. The method according to claim 1, wherein the temperature is present at a first region, and the measurement for determining the measurement information takes place by means of acquiring a further temperature that is present at a second region that is different from the first region.
12. The method according to claim 1, wherein a temperature-dependent resistance is evaluated in order to determine the measurement information.
13. The method according to claim 1, wherein an operating information is determined in that an operating state of a heating element is acquired.
14. The method according to claim 1, wherein at least further measurement information, or further parameters on the food processor, are also determined when making the measurement.
15. The method according to claim 1, wherein steps a) to c) are carried out in a real-time capable manner during the temporal change in the temperature.
16. The method according to claim 1, wherein the system parameter(s) are configured in each case as at least one of the following parameters: a specific heat capacity, a power of a heating element, a heat transfer coefficient, a mass of the heating plate.
17. The method according to claim 1, wherein the system parameter suggestions are at least determined or provided on the basis of random values at least in part.
18. The method according to claim 1, wherein the check according to step b), takes place repeatedly, with at least 5 repetitions, with the result that, on the basis of the assessment that is successively refined in the process, an approximation of the true value is made during the estimation.
Description
(1) Further advantages, feature and details of the invention can be found in the following description, in which embodiments of the invention are described in detail with reference to the drawings. In this case, the features mentioned in the claims and in the description can each be essential to the invention individually or in any combination. In the drawings:
(2) FIG. 1 is a schematic perspective view of a food processor,
(3) FIG. 2 is a further schematic perspective view of a food processor,
(4) FIG. 3 is a schematic cross section through a vessel of a food processor,
(5) FIG. 4 is a schematic view for illustrating a method according to the invention,
(6) FIG. 5-11 are schematic views for illustrating method steps of a method according to the invention,
(7) In the following figures, identical reference characters are used for the same technical features, even in different embodiments.
(8) FIGS. 1 and 2 are schematic views of a food processor 10. The food processor 10 comprises a housing 20 that comprises a receptacle 22 for a mixing vessel 24. In this case, the mixing vessel 24 can be closed by a lid 21 for example, and preferably comprises a handle 23. A mixer unit 51 and/or a heating element 53, in particular comprising a heating plate 53.1, and/or at least one sensor 52, preferably a temperature sensor 52, is preferably arranged in the region of the mixing vessel 24. In this case, the mixer unit 51, in particular a blade, is in particular arranged inside the mixing vessel 24. The sensor 52 is preferably arranged outside of the interior of the mixing vessel 24, e.g. in the region of the heating element 53 or of the heating plate 53.1, or on or in a mixing vessel base 24.1 of the mixing vessel 24.
(9) The food processor furthermore comprises a control panel 26 which for example comprises a display 25, preferably a touch screen 25. In this case, the display 25 is used in particular as both an input and an output means. In this case, the control panel 26 in particular allows an operator of the food processor 10 to set and/or activate and/or deactivate, on the food processor 10, preparation parameters and/or operating parameters, such as the mixer unit speed, the heating temperature and/or the time period of the preparation, e.g. the mixing. Furthermore, it is also conceivable for a type of food to be set using the control panel 26. In this case, said user settings and/or inputs can in particular be used for determining a measurement information 210.1 and/or an operating information 210.2.
(10) It may also be possible for recipe-related instructions or information and/or graphical control elements to be output via the display 25. Operation of the food processor 10 can be carried out using said graphical control elements, which are preferably components of a graphical user interface, as input means. It is also conceivable for an estimation result (estimated value) to be output via the display 25.
(11) FIGS. 1 and 2 furthermore show that the food processor 10 comprises at least one working apparatus 50 which preferably comprises at least one working tool 51, such as a mixer unit 51. It may also be possible for the food processor 10 to comprise a processing apparatus 60 which for example comprises electronics components and/or a memory. The food processor 10 may likewise comprise further working apparatuses 50 and/or further sensors 52 and/or a heating means 53 and/or scales 54, which are in each case integrated in the food processor 10. The scales 54 are used in particular to acquire or to measure a weight force on the mixing vessel 24. For this purpose, the object to be weighed is for example placed and/or poured onto and/or into the mixing vessel 24. A weight value that can be determined by the scales 54 may for example also be consulted for determining the measurement information 210.1 and/or the operating information 210.2. The heating means 53 is for example designed such that the food in the mixing vessel 24 can be heated by the heating means 53, preferably up to temperatures in a range of from 10° C. to 150° C., preferably 30° C. to 120° C.
(12) FIG. 2 furthermore schematically shows a drive 30 of the food processor 10 which comprises an electric motor 31. In this case, the drive 30 and/or the motor 31 is connected to at least one working apparatus 50 and/or to at least one working tool 51, in particular a mixer unit 51, such that force transmission takes place from the motor 31 and/or a drive shaft of the drive 30 to the working apparatus 50 and/or the working tool 51 and/or the mixer unit 51.
(13) Furthermore, FIG. 3 is a schematic cross section through a mixing vessel 24 of a food processor 10. It can be seen that a heating element 53, which for example comprises a heating plate 53.1, is provided on the mixing vessel 24 or in the mixing vessel 24. In this case, the heating element 53 and/or the heating plate 53.1 is used in particular for heating an interior or contents of the interior of the mixing vessel 24, in particular the heating plate 53.1 and/or the heating element 53 not coming into direct contact with the contents of the mixing vessel 24. As a result, for example a surface 24.2 of a mixing vessel base 24.1 is arranged between the heating element 53 and/or the heating plate 53.1 and the interior or the contents of the mixing vessel 24. In this case, said surface 24.2 preferably completely covers the heating element 53 and/or the heating plate 53.1 and/or a sensor 52 and/or spatially completely separates said element and/or plate and/or sensor from contents and/or an interior of the mixing vessel 24, such that the contents of the mixing vessel 24 cannot come into direct contact with the heating element 53 and/or the heating plate 53.1 and/or the sensor 52. In particular, for this purpose the sensor 52 and/or the heating element 53 and/or the heating plate 53.1 is arranged beneath the surface 24.2, in the mixing vessel base 24.1 or outside the mixing vessel base 24.1. Different regions 90, preferably of different temperatures, are provided. In particular, a first region 90a, at which the measurement variable is located, is provided in the interior of the mixing vessel 24 and/or on the surface 24.2 of the mixing vessel 24.1. A second region 90b, in which a further measurement variable is acquired by means of a measurement 130 in order to determine a measurement information 210.1, is preferably provided in the region of the sensor 52 and/or in the region of the heating element 53 and/or in the region of the heating plate 53.1 and/or inside the mixing vessel 24.1. In this case, in order to carry out the method 100 according to the invention, the sensor 52 is electrically connected to a processing apparatus 60 for example, in order in particular to transmit the measurement information 210.1 via said electrical connection. It may also be possible for the processing apparatus 60 to be electrically connected to the heating element 53 in order to electrically transmit the operating information 210.2.
(14) FIG. 4 schematically illustrates the method steps of a method 100 according to the invention. In this case, the method 100 is used in particular for estimating 150 a temporally variable measurement variable of a system, in particular a temperature in a vessel, preferably the mixing vessel 24, preferably in a food processor 10 for at least partially automatic preparation of food. In this case, at least one measurement information 210.1 is preferably determined by means of a measurement, which measurement information differs, at least in accordance with at least one system parameter 230, from the true value of the measurement variable. In this case, the method steps 100.1, 100.2, 100.3 are carried out in order to make it possible to estimate the true value. According to a first method step 100.1, a plurality of system parameter suggestions is provided, which suggestions in each case differ from one another and each comprise a suggestion for at least one of the system parameters. According to a second method step 100.2, the system parameter suggestions are (each) checked, (or the relevant system parameter suggestions), the measurement and a weighting being carried out repeatedly on the basis of the measurement information 210.1 determined in the process, such that an assessment of the system parameter suggestions is provided. According to a further method step 100.3, the estimation is made, in particular on the basis of at least one of the system parameter suggestions, taking into account the assessment.
(15) FIG. 5 shows that the at least one system parameter 230 influences a measurement information 210.1, because said measurement information differs, in accordance with the one system parameter 230, from the true value of the measurement variable. It may also be possible for the system parameter 230 not to have any influence on an operating information 210.2, with the result that the operating information 210.2, e.g. a control information 210.2 of the food processor, is independent of the system parameter 230. This is the case for example when the operating information 210.2 specifies whether a heating element 53 is activated or deactivated. This is dependent for example on a user input and/or a user specification (e.g. a temperature setting). The measurement information 210.1 and/or the operating information 210.2 can then be determined for example during a measurement 130. In this case, the measurement information 210.1 and/or the operating information 210.2 is used in particular as input information 210 for checking the system parameter suggestions and/or for performing the estimation 150.
(16) FIG. 6 schematically shows the structure of an information particle 220. In this case, the information particle 220 comprises at least one particle system information 220.1, at least one particle prediction information 220.2, and at least one particle weighting information 220.3. Said items of information can in each case be determined and/or changed individually, in particular mutually independently.
(17) FIG. 7 shows the execution of a method 100 according to the invention, by way of example. In this case, a prediction 120 of an (initially still) unknown future measurement information 210.1 is first made for each of the information particles 220, such that the relevant particle prediction information 220.2 is determined, the relevant prediction 120 being made in accordance with the particle system information 220.1 of the relevant information particle 220. Subsequently, it may be possible for the measurement 130 to be carried out, such that the measurement information 210.1 is determined. An evaluation 105 of the system parameter suggestions is then carried out, in particular by means of comparing the determined particle prediction information 220.2 with the determined measurement information 210.1, such that the system parameter suggestions are assessed. The prediction 120 and/or the measurement 130 and/or the evaluation 105 can then be repeated a few times, in order to determine as promising as possible an option for the system parameter suggestions, on the basis of the assessment. Subsequently, an estimation 150 can be made on the basis of the most promising option determined by the assessment.
(18) FIG. 8 shows that different system parameters may also be provided, e.g. a first system parameter 230a and a second system parameter 230b, and of course also some further system parameters 230. In this case, all the system parameters 230 influence a measurement information 210.1. In this case, it may be possible for a first evaluation 105a to be carried out for a first selection of system parameters 230, e.g. for first system parameters 230a. It is also conceivable for a second evaluation 105a to be carried out for a further selection of system parameters 230, e.g. for second system parameters 230b, which second evaluation is preferably carried out only after the first evaluation 105a has been carried out (e.g. also repeatedly). It is also possible for a (repeated) check to first take place, on the basis of first system parameter suggestions, for first system parameters 230a, and for a (repeated) second check to subsequently take place for second system parameter suggestions, for second system parameters 230b. This approach makes it possible to also use complex models for the estimation 150.
(19) The repeated execution of the check of the system parameter suggestions is further explained on the basis of FIG. 9. Said figure shows that for example (in particular still before the first check of the system parameter suggestions) a first measurement 130a is made in order to determine at least one measurement information 210.1. The system parameter suggestions are subsequently checked in that initially a first prediction 120a is made on the basis of the relevant system parameter suggestions, and then a second measurement 130b and subsequently an evaluation 105a are carried out. During the first evaluation 105a, in particular the particle prediction information 220.2 determined during the first prediction 120a is compared with the measurement information 210.1 determined during the second measurement 130, such that the assessment of the system parameter suggestions can be made. The determination of the particle prediction information 220.2 during the first prediction 120a was determined for example on the basis of the measurement information 210.1 determined during the first measurement 130a. A first estimation 150a, for example, can take place after the assessment, it also being possible for said step to be omitted. It may therefore alternatively be possible for an estimation 150 to be made only after the repeated execution of the check. In order to repeatedly implement the check, a prediction 120 and a measurement 130 and an evaluation 105 are then carried out again in each repetition step. It is thus possible for example for a second prediction 120b to be made, and subsequently for a third measurement 130c to be made, and for a second evaluation 105b to be made in accordance with the second prediction 120b and the third measurement 130c. Following the final repetition or the final repetition step, e.g. after 10 to 100 (or 1000) repetition steps, the estimation 150 or a second estimation 150b can take place.
(20) FIGS. 10 and 11 show that parallel processing of the relevant individual information particles 220 can also take place in each repetition step. For this purpose, for example an evaluation 105 is carried out in each case for a first information particle 220a and for a second information particle 220b and for a third information particle 220c, such that an (e.g. single) estimation 150 can take place on the basis of said evaluations 105. It is clear from FIG. 11 that a weighting decision 140 for each of the information particles 220 also takes place during each of the evaluations 105 in each case.
(21) The above explanation of the embodiments describes the present invention exclusively within the context of examples. Of course, individual features of the embodiments can be freely combined with one another, insofar as technically possible, without departing from the scope of the present invention.
LIST OF REFERENCE CHARACTERS
(22) 10 food processor 20 housing 21 lid 22 mixing vessel receptacle 23 handle 24 mixing vessel, vessel 24.1 mixing vessel base 24.2 surface of the mixing vessel base 25 display 26 control panel 30 drive 31 motor 50 working apparatus 51 working tool, mixer unit 52 sensor, temperature sensor 53 heating element 53.1 heating plate 54 scales 60 processing apparatus 90 region, measurement location 90a first region, first measurement location 90b second region, second measurement location 100 method 100.1 first method step 100.2 second method step 100.3 third method step 105 evaluation 105a first evaluation 105b second evaluation 120 prediction 120a first prediction 120b second prediction 130 measurement 130a first measurement 130b second measurement 130c third measurement 140 weighting decision 150 estimation 150a first estimation 150b second estimation 210 input information 210.1 measurement information 210.2 operating information, control information 220 information particle 220.1 particle system information, system model information 220.2 particle prediction information 220.3 particle weighting information 220a first information particle 220b second information particle 220c third information particle 230 system parameter 230a first system parameter 230b second system parameter
