Material stirring method and system and storage medium

Abstract

The invention discloses a material stirring method and system and a storage medium, and the method comprises the steps: obtaining a material image and the current weight of a material, recognizing the material image, and obtaining a material type; calling a corresponding stirring strategy, wherein the stirring strategy at least comprises a preset initial rotating speed, a preset stirring paddle rotating speed range, preset stirring time, preset torque, preset weight and a preset stirring effect; calculating a weight difference value of the current weight and the preset weight of the material, and determining initial stirring time according to the weight difference value and preset stirring time; the materials are stirred according to the stirring strategy, stirring data are collected in real time within the initial stirring time, and the stirring data at least comprise one or more of the current temperature of the materials, the current physical state of the materials, torque change data of a stirring paddle and the current rotating speed of the stirring paddle; according to the stirring data, at least one of the current rotating speed of the stirring paddle, the position of the stirring container and the stirring time is dynamically adjusted in the stirring process until the expected physical state is achieved, and stirring is automatically stopped.

Description

Technical Field

[0001] The present invention relates to the technical field of material stirring, and in particular to a material stirring method, system and storage medium. Background Art

[0002] In many industrial production and life scenarios, such as the field of food freezing and processing, stirring frozen solids is a common and key operation. However, due to the unique physical properties of frozen solids themselves, traditional stirring technologies face many challenges in such application scenarios.

[0003] Frozen solids are usually in a low-temperature state, with high hardness and brittleness, which makes it extremely easy to have problems of material fragmentation during the stirring process. At the same time, such solids are extremely sensitive to temperature changes, and even small temperature fluctuations may have a significant impact on their quality. During the stirring process, the physical properties of frozen solids are not constant, but the existing material stirring methods can only operate according to a preset fixed program or a simple feedback mechanism, and it is difficult to sense the changes in material characteristics in real time and make adaptive adjustments accordingly. This leads to the situation that the preset fixed parameters in the initial stage of stirring may no longer be applicable in the later stage of stirring, resulting in phenomena such as uneven stirring, excessive material fragmentation or energy waste, and it is impossible to ensure the high efficiency of the stirring process and the stability of product quality.

[0004] That is, the existing stirring methods have the problems of being difficult to dynamically adjust the stirring strategy according to the real-time state of the material, and lack of flexibility and low adaptability. Summary of the Invention

[0005] The main purpose of the present invention is to provide a material stirring method, system and storage medium, aiming to solve the technical problems of the existing material stirring methods lacking flexibility and low adaptability.

[0006] To achieve the above object, the present invention provides a material stirring method, which includes the following steps:

[0007] Obtain a material image and the current weight of the material, identify the material image to obtain the material type, and the material is a frozen solid;

[0008] Obtain the desired physical state, and call the corresponding stirring strategy according to the material type and the desired physical state. The stirring strategy at least includes a preset initial rotation speed, a preset stirring paddle rotation speed range, a preset stirring time, a preset torque, a preset weight and a preset stirring effect. The preset stirring effect at least includes a preset temperature and the desired physical state;

[0009] Calculate the weight difference between the current weight of the material and the preset weight, and determine the initial stirring time according to the weight difference and the preset stirring time;

[0010] Stir the material according to the stirring strategy, and collect stirring data in real time during the initial stirring time. The stirring data includes at least one or more of the current temperature of the material, the current physical state of the material, the torque change data of the stirring paddle, and the current rotation speed of the stirring paddle.

[0011] According to the stirring data, during the stirring process, at least one of the current rotation speed of the stirring paddle, the position of the stirring container, and the stirring time is dynamically adjusted until the desired physical state is reached, and then the stirring is automatically stopped.

[0012] Optionally, the preset stirring paddle speed range includes at least the standard speed, the maximum standard speed, and the minimum standard speed; the standard speed is greater than the preset initial speed, the preset initial speed and the standard speed are set according to the physical properties of the material, and the maximum standard speed and the minimum standard speed are set according to the standard speed.

[0013] Stir the material according to the stirring strategy, specifically, first stir the material at the initial speed, and then switch to the standard speed to continue stirring the material after the initial stirring is completed.

[0014] Optionally, according to the stirring data, dynamically adjust the current rotation speed of the stirring paddle during the stirring process, which at least includes the following steps:

[0015] Obtain the torque change data of the stirring paddle;

[0016] Analyze the torque change data of the stirring paddle. If the torque of the stirring paddle gradually decreases, the current rotation speed of the stirring paddle is automatically increased at a preset rate; if the torque of the stirring paddle increases within a preset time, the current rotation speed of the stirring paddle is decreased; if the torque of the stirring paddle increases beyond a preset threshold within a preset time, an alarm is issued to prompt the operator to check.

[0017] Analyze the change of the material temperature according to the current temperature of the material, and judge whether the rising speed of the material temperature is normal. If not, the current rotation speed of the stirring paddle is decreased, or the stirring is paused until the temperature returns to normal and then the stirring is continued.

[0018] Optionally, according to the stirring data, dynamically adjust the position of the stirring container during the stirring process, which at least includes the following steps:

[0019] Obtain the torque change data of the stirring paddle between multiple positions in the stirring container;

[0020] Judge whether the torque change of the stirring paddle is greater than a preset difference. If so, adjust the position of the stirring container up or down so that the area where the torque change of the stirring paddle is greater than the preset difference is fully stirred.

[0021] Optionally, according to the stirring data, dynamically adjust the stirring time during the stirring process, which at least includes the following steps:

[0022] Obtain the current temperature and current physical state of the material;

[0023] During the stirring process, continuously determine whether the current temperature of the material is consistent with the preset temperature, and whether the current physical state of the material is consistent with the expected physical state; if both are consistent, automatically end the stirring, otherwise, continue stirring or extend the stirring time.

[0024] Optionally, it also includes monitoring the operating state of the stirring system during the stirring process to determine whether there is abnormal data;

[0025] If there is abnormal data, perform a fault detection to determine whether there is a fault. If so, prompt the fault information on the user interface;

[0026] The fault information includes the fault type, fault location, fault severity, preliminary judgment of the fault cause, and fault handling suggestions.

[0027] Optionally, when calling the corresponding stirring strategy according to the material type and the expected physical state, determine whether the material type is a special material type. If so, automatically add warm water to assist stirring during the stirring process;

[0028] Among them, the special material type is preset.

[0029] Optionally, it also includes prompting the stirring completion information on the user interface, and displaying the stirring result information and the stirring progress bar.

[0030] Corresponding to the above-mentioned material stirring method, the present invention provides a material stirring system, which includes:

[0031] A data acquisition module, used to acquire the material image and the current weight of the material, identify the material image to obtain the material type, and the material is a frozen solid;

[0032] A stirring strategy acquisition module, used to obtain the expected physical state, and call the corresponding stirring strategy according to the material type and the expected physical state. The stirring strategy at least includes a preset initial rotation speed, a preset stirring paddle rotation speed range, a preset stirring time, a preset torque, a preset weight, and a preset stirring effect. The preset stirring effect at least includes a preset temperature and the expected physical state;

[0033] A calculation module, used to calculate the weight difference between the current weight of the material and the preset weight, and determine the initial stirring time according to the weight difference and the preset stirring time;

[0034] A stirring module, used to stir the material according to the stirring strategy, and collect stirring data in real time during the initial stirring time. The stirring data at least includes one or more of the current temperature of the material, the current physical state of the material, the stirring paddle torque change data, and the current rotation speed of the stirring paddle;

[0035] A dynamic adjustment module, configured to dynamically adjust at least one of the current rotation speed of the stirring paddle, the position of the stirring container, and the stirring time during the stirring process according to the stirring data, and automatically stop stirring until the desired physical state is reached.

[0036] In addition, to achieve the above object, the present invention also provides a computer-readable storage medium, on which a material stirring program is stored. When the material stirring program is executed by a processor, the steps of the material stirring method as described above are implemented.

[0037] The beneficial effects of the present invention are:

[0038] (1) Compared with the prior art, the present invention determines the material type by identifying the material image, and then calls the corresponding stirring strategy according to the material type and the desired physical state, realizing personalized stirring for different frozen solid materials; during the stirring process, stirring data is collected in real time, and the stirring parameters are dynamically adjusted according to these data until the desired physical state is reached, effectively improving the flexibility and adaptability of stirring, avoiding phenomena such as uneven stirring, excessive material fragmentation, or energy waste, and ensuring the efficiency of the stirring process and the stability of product quality;

[0039] (2) Compared with the prior art, by setting the standard rotation speed, the maximum value of the standard rotation speed, and the minimum value of the standard rotation speed, the present invention first uses the initial rotation speed to preliminarily stir the material, and then switches to the standard rotation speed to continue stirring the material after the preliminary stirring is completed, which can better meet the stirring requirements of different frozen solid materials, avoid excessive impact on the material caused by too high initial rotation speed, and at the same time increasing the rotation speed during the stirring process can accelerate the stirring process and improve the stirring efficiency;

[0040] (3) Compared with the prior art, by analyzing the torque change data of the stirring paddle, the present invention realizes the dynamic adjustment of the current rotation speed of the stirring paddle; when the torque gradually decreases, automatically increasing the rotation speed can accelerate the stirring process and improve the stirring efficiency; when the torque increases within a preset time, reducing the rotation speed and sending an alarm to prompt the operator to check can avoid damage to the stirring paddle due to excessive resistance, and at the same time prevent excessive fragmentation of the material, ensuring the stability of the stirring process and the product quality;

[0041] (4) Compared with the prior art, according to the current rotation speed of the stirring paddle and the torque change data between multiple positions in the stirring container, the present invention judges and adjusts the position of the stirring container, which can stir the material more evenly, avoid the problem of uneven material distribution caused by insufficient local stirring, improve the stirring quality, and ensure that the stirred material can reach the preset stirring effect;

[0042] (5) Compared with the prior art, the present invention defines the indicators of the preset stirring effect, including the preset temperature and the desired physical state, and dynamically adjusts the stirring time according to the current temperature and the current physical state of the material, which can ensure that the material reaches the desired physical state during the stirring process, avoid over-stirring or under-stirring, improve the accuracy of stirring and the stability of product quality, and save energy at the same time;

[0043] (6) Compared with the prior art, the present invention monitors the operating state of the stirring system during the stirring process, judges whether there is abnormal data, and conducts fault detection and prompt, which can timely detect the possible faults during the stirring process, remind the operator to handle them, avoid the further expansion of the faults, reduce the risk of equipment damage and production interruption, and improve the reliability and safety of the stirring system;

[0044] (7) Compared with the prior art, for special material types, the present invention automatically adds warm water to assist stirring during the stirring process, which can improve the stirring performance of special materials, prevent the materials from sticking to the stirring paddle, ensure the smooth progress of the stirring process, improve the stirring quality and efficiency, and at the same time broaden the applicable range of the stirring method, making it better adapt to different types of frozen solid materials;

[0045] (8) Compared with the prior art, the present invention prompts the information of the completion of stirring on the user interface, displays the stirring result information and the evaluation of the material state, so that the operator can intuitively understand the results and key data of the stirring process, which is convenient for evaluating and recording the stirring process, provides a reference basis for the subsequent production process, and improves the controllability and traceability of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings described herein are used to provide a further understanding of the present invention and form a part of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0047] Figure 1 is a flow diagram of an embodiment of the material stirring method of the present invention;

[0048] Figure 2 is a framework diagram of an embodiment of the material stirring system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0050] As Figure 1 shown, a method for mixing materials according to the present invention includes the following steps:

[0051] Obtain a material image and the current weight of the material, identify the material image to obtain the material type, and the material is a frozen solid;

[0052] Obtain the desired physical state, and call the corresponding mixing strategy according to the material type and the desired physical state. The mixing strategy at least includes a preset initial rotation speed, a preset mixing paddle rotation speed range, a preset mixing time, a preset torque, a preset weight, and a preset mixing effect. The preset mixing effect at least includes a preset temperature and the desired physical state;

[0053] Calculate the weight difference between the current weight of the material and the preset weight, and determine the initial mixing time according to the weight difference and the preset mixing time;

[0054] Mix the material according to the mixing strategy, and collect mixing data in real time during the initial mixing time. The mixing data at least includes one or more of the current temperature of the material, the current physical state of the material, the change data of the mixing paddle torque, and the current rotation speed of the mixing paddle;

[0055] According to the mixing data, at least one of the current rotation speed of the mixing paddle, the position of the mixing container, and the mixing time is dynamically adjusted during the mixing process until the desired physical state is reached, and then the mixing is automatically stopped.

[0056] Preferably, obtaining the desired physical state specifically means providing multiple desired physical states for the user to select and obtaining the user selection instruction to obtain the desired physical state, or obtaining the desired physical state by the user inputting the desired physical state.

[0057] Furthermore, the mixing strategy also includes the shape of the mixing paddle.

[0058] In this embodiment, the current temperature of the material is obtained through a temperature sensor; the current rotation speed of the stirring paddle is obtained through a Hall sensor, the current of the stirring paddle is obtained through a piezoresistor, and the voltage of the stirring paddle is obtained through a main control chip, and the rotation speed, current, and voltage are converted into torque to obtain the torque change data of the stirring paddle; the current image of the material is collected through a camera and image analysis is performed to obtain the current physical state of the material. Specifically, the edge information of the material particles in the image is detected through an edge detection algorithm (such as the Canny algorithm, Sobel operator). In practical applications, an appropriate algorithm can be selected according to the characteristics of the material particles and the image quality, or multiple algorithms can be combined to improve the detection accuracy; then, based on the edge information, the pre-trained deep learning model (such as CNN) performs image analysis to identify the particle state of the material. It can be understood that the above deep learning model is trained through a large number of labeled particle state images, and the specific training process can be implemented through existing technologies and will not be elaborated here.

[0059] It should be noted that different frozen solid materials have different characteristics, such as hardness, viscosity, density, etc. In the stirring system of the present invention, multiple common types of frozen solid materials (such as milkshakes, ice creams, etc.) and corresponding stirring strategies are pre-stored. Moreover, for the same type of material, there can be multiple preset stirring effects with different taste requirements.

[0060] Furthermore, to ensure the accuracy of material type identification, before calling the corresponding stirring strategy according to the material type and the desired physical state, the result of material type identification can be manually checked to see if it is correct. If there is an error, it can be corrected.

[0061] The present invention determines the material type by identifying the material image, and then calls the corresponding stirring strategy according to the material type and the desired physical state, realizing personalized stirring for different frozen solid materials; during the stirring process, stirring data is collected in real time, and the stirring parameters are dynamically adjusted according to these data until the desired physical state is reached, effectively improving the flexibility and adaptability of stirring, avoiding phenomena such as uneven stirring, excessive fragmentation of materials, or energy waste, and ensuring the efficiency of the stirring process and the stability of product quality.

[0062] In this embodiment, the preset stirring paddle rotation speed range at least includes the standard rotation speed, the maximum standard rotation speed, and the minimum standard rotation speed; the standard rotation speed is greater than the preset initial rotation speed, and the preset initial rotation speed and the standard rotation speed are set according to the physical characteristics of the material, and the maximum standard rotation speed and the minimum standard rotation speed are set according to the standard rotation speed;

[0063] Stir the material according to the stirring strategy. Specifically, first use the initial rotation speed to perform preliminary stirring on the material, and after the preliminary stirring is completed, switch to the standard rotation speed to continue stirring the material.

[0064] Preferably, the physical properties of the material include hardness and caking degree; the preliminary stirring specifically refers to the stirring paddle performing two cycles of vertical stirring on the material at the initial rotation speed, and each cycle of stirring includes the process of the stirring paddle moving from the upper position to the lower position and then returning to the upper position.

[0065] By setting the standard rotation speed, the maximum value of the standard rotation speed, and the minimum value of the standard rotation speed, the present invention first uses the initial rotation speed to perform preliminary stirring on the material, and after the preliminary stirring is completed, switches to the standard rotation speed to continue stirring the material, which can better meet the stirring requirements of different frozen solid materials, avoid excessive impact on the material caused by too high initial rotation speed, and at the same time increasing the rotation speed during the stirring process can accelerate the stirring process and improve the stirring efficiency.

[0066] Preferably, the maximum value of the standard rotation speed is 140% of the standard rotation speed, and the minimum value of the standard rotation speed is 50% of the standard rotation speed.

[0067] In this embodiment, according to the stirring data, dynamically adjusting the current rotation speed of the stirring paddle during the stirring process includes at least the following steps:

[0068] Obtain the torque change data of the stirring paddle;

[0069] Analyze the torque change data of the stirring paddle. If the torque of the stirring paddle gradually decreases, automatically increase the current rotation speed of the stirring paddle at a preset rate; if the torque of the stirring paddle increases within a preset time, decrease the current rotation speed of the stirring paddle; if the torque of the stirring paddle increases beyond a preset threshold within a preset time, issue an alarm to prompt the operator to check.

[0070] Analyze the change of the material temperature according to the current temperature of the material, and judge whether the rising speed of the material temperature is normal. If not, decrease the current rotation speed of the stirring paddle, or pause the stirring until the temperature returns to normal and then continue stirring.

[0071] Preferably, if the torque of the stirring paddle gradually decreases (decreases to 10% of the preset torque) within a preset time, automatically increase the current rotation speed of the stirring paddle at a preset rate. Among them, the preset rate is preset according to the actual material needs in the specific application scenario. The rotation speed increase and the torque decrease are linearly related, and the rotation speed decrease and the torque increase are linearly related. If the torque of the stirring paddle increases within a preset time (specifically increases to 120%-140% of the preset torque), decrease the current rotation speed of the stirring paddle.

[0072] In this embodiment, the preset threshold is 150% of the preset torque. It can be understood that the specific value of the preset time is preset according to the material type and the selection of the motor.

[0073] Preferably, it is judged whether the rising speed of the material temperature is normal. Specifically, it is judged whether the rising speed of the material temperature is greater than 3°C per minute. If the rising speed of the material temperature is less than or equal to 3°C per minute, the rising speed of the material temperature is normal.

[0074] If the rising speed of the material temperature is greater than 3°C per minute, the rising speed of the material temperature is abnormal. Then, the current rotation speed of the stirring paddle is reduced to 50% of the standard rotation speed, and it is further judged whether the rising speed of the material temperature is greater than 5°C per minute. If so, the stirring is paused.

[0075] Through the analysis of the torque change data of the stirring paddle, the present invention realizes the dynamic adjustment of the current rotation speed of the stirring paddle. When the torque gradually decreases, automatically increasing the rotation speed can accelerate the stirring process and improve the stirring efficiency. When the torque increases within a preset time, reducing the rotation speed and sending an alarm to prompt the operator to check can avoid damage to the stirring paddle due to excessive resistance and prevent excessive crushing of the material, ensuring the stability of the stirring process and the product quality.

[0076] In this embodiment, according to the stirring data, during the stirring process, the position of the stirring container is dynamically adjusted, which at least includes the following steps:

[0077] Obtain the torque change data of the stirring paddle between multiple positions in the stirring container;

[0078] Judge whether the torque change of the stirring paddle is greater than a preset difference value. If so, adjust the position of the stirring container upward or downward so that the area where the torque change of the stirring paddle is greater than the preset difference value is fully stirred.

[0079] Preferably, the preset difference value is 10%-20% of the preset torque.

[0080] It can be understood that when the torque change of the stirring paddle between two positions is greater than the preset difference value, there is a problem of insufficient stirring in the area between the two positions, and there may be relatively large hard lumps. Therefore, automatically adjusting the position of the stirring container can ensure that this area is fully stirred.

[0081] Based on the current rotation speed of the stirring paddle and the torque change data of the stirring paddle between multiple positions in the stirring container, the present invention judges and adjusts the position of the stirring container, which can stir the material more evenly, avoid the problem of uneven material distribution caused by insufficient local stirring, improve the stirring quality, and ensure that the stirred material can achieve the preset stirring effect.

[0082] In this embodiment, according to the stirring data, during the stirring process, the stirring time is dynamically adjusted, which at least includes the following steps:

[0083] Obtain the current temperature of the material and the current physical state of the material;

[0084] During the stirring process, it is judged in real time whether the current temperature of the material is consistent with the preset temperature, and whether the current physical state of the material is consistent with the desired physical state; if both are consistent, the stirring is automatically ended, otherwise, the stirring is continued or the stirring time is extended. Specifically, if within the initial stirring time, the current temperature of the material is inconsistent with the preset temperature, or the current physical state of the material is inconsistent with the desired physical state, the stirring is continued; if the initial stirring time ends and the current temperature of the material is inconsistent with the preset temperature, or the current physical state of the material is inconsistent with the desired physical state, the stirring time is extended.

[0085] Preferably, the preset stirring time is a stirring time preset according to the material type, the initial state, and the preset stirring effect.

[0086] The present invention defines the indexes of the preset stirring effect, including the preset temperature and the desired physical state, and dynamically adjusts the stirring time according to the current temperature of the material and the current physical state of the material, which can ensure that the material reaches the desired physical state during the stirring process, avoid the situation of over-stirring or under-stirring, improve the accuracy of stirring and the stability of product quality, and save energy at the same time.

[0087] In this embodiment, during the stirring process, the operating state of the stirring system is monitored to judge whether there is abnormal data;

[0088] If there is abnormal data, a fault detection is carried out to judge whether there is a fault. If so, a fault message is prompted on the user interface;

[0089] The fault message includes the fault type, the fault location, the fault severity, the pre-judgment of the fault cause, and the fault handling suggestion.

[0090] Preferably, a fault diagnosis algorithm is used for fault detection. The fault diagnosis algorithm is specifically analyzed based on various methods such as data analysis, machine learning, and expert experience, and can quickly and accurately identify motor faults (such as overload, short circuit, overheat, etc.), stirring paddle faults (such as fracture, deformation, imbalance, etc.), sensor faults (such as abnormal data, signal loss, etc.), and material abnormal conditions (such as caking, blockage, over-temperature, etc.).

[0091] In this embodiment, the stirring paddle is tightly connected to a high-performance vector control frequency conversion motor. The motor can provide precise torque output and a wide speed regulation range, and can realize instantaneous speed change and stable operating state under the precise control of software, meeting the dynamic requirements of different material characteristics and stirring processes.

[0092] The present invention monitors the operating state of the mixing system during the mixing process, determines whether there is abnormal data, and performs fault detection and prompting. It can timely detect possible faults during the mixing process, remind the operator to handle them, avoid the further expansion of faults, reduce the risks of equipment damage and production interruption, and improve the reliability and safety of the mixing system.

[0093] In this embodiment, when calling the corresponding mixing strategy according to the material type and the desired physical state, it is determined whether the material type is a special material type. If so, warm water is automatically added during the mixing process to assist in mixing.

[0094] Among them, the special material type is preset.

[0095] The present invention monitors the operating state of the mixing system during the mixing process, determines whether there is abnormal data, and performs fault detection and prompting. It can timely detect possible faults during the mixing process, remind the operator to handle them, avoid the further expansion of faults, reduce the risks of equipment damage and production interruption, and improve the reliability and safety of the mixing system.

[0096] In this embodiment, it further includes prompting the mixing completion information on the user interaction interface, and displaying the mixing result information and the mixing progress bar.

[0097] Preferably, the mixing result information at least includes: when the mixing is completed, the corresponding mixing time, material temperature, mixing paddle speed, mixing paddle torque, and the picture of the material finished product. Further, the user can switch to the detailed page through the switching instruction to view the mixing time, material temperature, mixing paddle speed, mixing paddle torque, and the material picture recorded during the mixing process.

[0098] The present invention prompts the mixing completion information on the user interaction interface, and displays the mixing result information and the material state evaluation, enabling the operator to intuitively understand the result and key data of the mixing process, facilitating the evaluation and recording of the mixing process, providing a reference basis for the subsequent production process, and improving the controllability and traceability of production.

[0099] As Figure 2 shown, the present invention also correspondingly provides a material mixing system, which includes:

[0100] A data acquisition module 10, configured to acquire the material image and the current weight of the material, identify the material image, and obtain the material type. The material is a frozen solid.

[0101] The stirring strategy acquisition module 20 is used to obtain the desired physical state, and call the corresponding stirring strategy according to the material type and the desired physical state. The stirring strategy at least includes a preset initial rotation speed, a preset stirring paddle rotation speed range, a preset stirring time, a preset torque, a preset weight, and a preset stirring effect. The preset stirring effect at least includes a preset temperature and the desired physical state;

[0102] The calculation module 30 is used to calculate the weight difference between the current weight of the material and the preset weight, and determine the initial stirring time according to the weight difference and the preset stirring time;

[0103] The stirring module 40 is used to stir the material according to the stirring strategy, and collect stirring data in real time during the initial stirring time. The stirring data at least includes one or more of the current temperature of the material, the current physical state of the material, the stirring paddle torque change data, and the current rotation speed of the stirring paddle;

[0104] The dynamic adjustment module 50 is used to dynamically adjust at least one of the current rotation speed of the stirring paddle, the position of the stirring container, and the stirring time during the stirring process according to the stirring data, and automatically stop stirring until the desired physical state is reached.

[0105] The stirring module 40 at least includes a stirring paddle and a variety of sensors. The stirring paddle is used to stir the material according to the stirring strategy, and the variety of sensors are used to collect stirring data in real time during the stirring process. The stirring data at least includes one or more of the current temperature of the material, the current physical state of the material, the stirring paddle torque change data, and the current rotation speed of the stirring paddle.

[0106] Preferably, the sensors at least include a multi-point temperature sensor, a pressure sensor, a three-dimensional material distribution sensor, and a camera.

[0107] Furthermore, the material stirring system further includes:

[0108] The abnormal monitoring module is used to monitor the operating state of the stirring system during the stirring process and judge whether there is abnormal data; if there is abnormal data, it performs a fault detection to judge whether there is a fault. If so, it prompts the fault information on the user interface; the fault information includes the fault type, the fault location, the fault severity, the pre-judgment of the fault cause, and the fault handling suggestion.

[0109] The judgment module is used to judge whether the material type is a special material type when calling the corresponding stirring strategy according to the material type and the desired physical state. If so, warm water is automatically added to assist stirring during the stirring process; among them, the special material type is preset.

[0110] The water supply module is used to automatically add warm water to assist stirring during the stirring process.

[0111] A user interaction module for prompting information indicating the completion of stirring, displaying the stirring result information and a stirring progress bar on a user interaction interface.

[0112] An embodiment of the present invention also provides a computer-readable storage medium. The computer-readable storage medium may be the computer-readable storage medium included in the memory in the above embodiment; or it may exist alone and be a computer-readable storage medium not assembled into the device. At least one instruction is stored in the computer-readable storage medium, and the instruction is loaded and executed by a processor to implement Figure 1 the material stirring method shown. The computer-readable storage medium may be a read-only memory, a magnetic disk or an optical disc, etc.

[0113] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the parts that are the same or similar among the various embodiments, reference can be made to each other. For the system embodiment and the storage medium embodiment, since they are basically similar to the method embodiment, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiment.

[0114] Moreover, in this document, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0115] The above description shows and describes the preferred embodiments of the present invention. It should be understood that the present invention is not limited to the form disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the inventive concept herein through the above teachings or the techniques or knowledge in the relevant field. And the changes and alterations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A method for mixing materials, characterized in that, It includes the following steps: Obtain the material image and the current weight of the material, identify the material image to obtain the material type, and the material is a frozen solid; Obtain the desired physical state, and call the corresponding stirring strategy according to the material type and the desired physical state. The stirring strategy at least includes a preset initial speed, a preset stirring paddle speed range, a preset stirring time, a preset torque, a preset weight, and a preset stirring effect. The preset stirring effect at least includes a preset temperature and the desired physical state; Calculate the weight difference between the current weight of the material and the preset weight, and determine the initial stirring time according to the weight difference and the preset stirring time; Stir the material according to the stirring strategy, and collect stirring data in real time during the initial stirring time. The stirring data at least includes one or more of the current temperature of the material, the current physical state of the material, the change data of the stirring paddle torque, and the current speed of the stirring paddle; According to the stirring data, at least one of the current speed of the stirring paddle, the position of the stirring container, and the stirring time is dynamically adjusted during the stirring process until the desired physical state is reached, and the stirring is automatically stopped.

2. The material stirring method according to claim 1, wherein: The preset stirring paddle speed range at least includes a standard speed, a maximum standard speed, and a minimum standard speed; the standard speed is greater than the preset initial speed, and the preset initial speed and the standard speed are set according to the physical characteristics of the material. The maximum standard speed and the minimum standard speed are set according to the standard speed; Stir the material according to the stirring strategy, specifically, first stir the material at the initial speed, and then switch to the standard speed to continue stirring the material after the initial stirring is completed.

3. The material stirring method according to claim 1, characterized in that: According to the stirring data, dynamically adjust the current speed of the stirring paddle during the stirring process, at least including the following steps: Obtain the change data of the stirring paddle torque and the current temperature of the material; Analyze the change data of the stirring paddle torque. If the stirring paddle torque gradually decreases, automatically increase the current speed of the stirring paddle at a preset rate; if the stirring paddle torque increases within a preset time, decrease the current speed of the stirring paddle; if the stirring paddle torque increases beyond a preset threshold within a preset time, issue an alarm to prompt the operator to check; Analyze the change of the material temperature according to the current temperature of the material, and judge whether the rising speed of the material temperature is normal. If not, decrease the current speed of the stirring paddle, or pause the stirring until the temperature returns to normal and then continue the stirring.

4. The material stirring method according to claim 1, characterized in that: According to the stirring data, dynamically adjust the position of the stirring container during the stirring process, at least including the following steps: Obtain the change data of the stirring paddle torque between multiple positions in the stirring container; Judge whether the change of the stirring paddle torque is greater than a preset difference. If so, adjust the position of the stirring container up or down so that the area where the change of the stirring paddle torque is greater than the preset difference is fully stirred.

5. The material stirring method according to claim 1, characterized in that: According to the stirring data, dynamically adjust the stirring time during the stirring process, at least including the following steps: Obtain the current temperature of the material and the current physical state of the material; During the stirring process, continuously judge whether the current temperature of the material is consistent with the preset temperature, and whether the current physical state of the material is consistent with the desired physical state; if both are consistent, automatically end the stirring. If not, continue the stirring or extend the stirring time.

6. The material stirring method according to claim 1, wherein: It also includes monitoring the operating state of the stirring system during the stirring process to determine whether there is abnormal data; If there is abnormal data, a fault detection is performed to determine whether there is a fault. If so, a fault message is prompted on the user interaction interface; The fault message includes the fault type, fault location, fault severity, pre-judgment of the fault cause, and suggestions for fault handling.

7. The material stirring method according to claim 1, wherein: When calling the corresponding stirring strategy according to the material type and the desired physical state, it is determined whether the material type is a special material type. If so, warm water is automatically added during the stirring process to assist in stirring; Among them, the special material type is preset.

8. The material stirring method according to claim 1, characterized in that: It also includes prompting the stirring completion information on the user interaction interface, and displaying the stirring result information and the stirring progress bar.

9. A material stirring system, characterized in that, It includes: A data acquisition module, which is used to acquire the material image and the current weight of the material, identify the material image to obtain the material type, and the material is a frozen solid; A stirring strategy acquisition module, which is used to acquire the desired physical state and call the corresponding stirring strategy according to the material type and the desired physical state. The stirring strategy at least includes a preset initial rotation speed, a preset stirring paddle rotation speed range, a preset stirring time, a preset torque, a preset weight, and a preset stirring effect. The preset stirring effect at least includes a preset temperature and the desired physical state; A calculation module, which is used to calculate the weight difference between the current weight of the material and the preset weight, and determine the initial stirring time according to the weight difference and the preset stirring time; A stirring module, which is used to stir the material according to the stirring strategy and collect stirring data in real time during the initial stirring time. The stirring data at least includes one or more of the current temperature of the material, the current physical state of the material, the change data of the stirring paddle torque, and the current rotation speed of the stirring paddle; A dynamic adjustment module, which is used to at least dynamically adjust one of the current rotation speed of the stirring paddle, the position of the stirring container, and the stirring time during the stirring process according to the stirring data, and automatically stop stirring until the desired physical state is reached.

10. A computer-readable storage medium, characterized in that, A material stirring program is stored on the computer-readable storage medium. When the material stirring program is executed by a processor, the steps of the material stirring method according to any one of claims 1 to 8 are implemented.

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