Adaptive conveyor belt control method, device, system and snack production process

Abstract

The present invention provides an adaptive conveyor belt control method, device, system and snack production process, the method comprising acquiring a gripping state of a gripping station; the gripping state of the gripping station comprising a snack gripping state and a snack placement state; when the snack gripping state is abnormal, a first adaptive conveying speed is calculated based on abnormal data of the snack gripping state, and the first conveyor belt is controlled to use the first adaptive conveying speed to convey the snacks on the tray through the gripping station; when the snack placement state is abnormal, a second adaptive conveying speed is calculated based on abnormal data of the snack placement state, and the second conveyor belt is controlled to use the second adaptive conveying speed to convey an empty tray through the gripping station, the gripping station places the gripped snacks into the empty tray to form a to-be-packaged item, and the to-be-packaged item is conveyed out of the gripping station, thereby avoiding situations such as missed gripping and missed placement.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated food production, and in particular relates to an adaptive conveyor belt control method, device, system and a snack production process. Background Art

[0002] Current snack processing production lines (such as mooncake processing production lines) generally use automated production lines for processing and production. When sorting and packaging snacks, a snack conveyor belt is usually used to transport the trays with snacks to the grabbing station, and an empty tray conveyor belt is used to transport the empty trays and cake trays. The snacks are grabbed by the robot at the grabbing station and placed in the empty tray to obtain the cake tray. However, the existing snack conveyor belts and empty tray conveyor lines both use a fixed conveying speed to convey snacks and empty trays during production, resulting in the conveyor belt being unable to adapt to and flexibly adjust its conveying speed according to the actual grabbing and placement conditions, resulting in frequent missed grabs and missed placements. Summary of the Invention

[0003] In order to overcome the shortcomings of the existing technology, the present invention provides an adaptive conveyor belt control method, device, system and snack production process to solve the problem in the existing technology that the conveyor belt cannot adapt and flexibly adjust its conveying speed according to the actual grasping and placement conditions, thereby often resulting in missed grasping, missed placement, etc.

[0004] One embodiment of the present invention provides an adaptive conveyor belt control method, comprising the following steps:

[0005] Acquiring a grasping state of a grasping station; wherein the grasping state of the grasping station includes a snack grasping state and a snack placing state;

[0006] When the pastry grabbing state is abnormal, the first conveyor belt is controlled to use a first adaptive conveying speed to convey the pastry on the tray through the grabbing station. After the pastry is grabbed by the grabbing station, the empty tray is conveyed out of the grabbing station. The first adaptive conveying speed is calculated based on abnormal pastry grabbing state data, and the abnormal pastry grabbing state data includes one or more of the pastry grabbing trajectory of the tray, the conveying time of the tray, and the actual number of pastries grabbed by the robot.

[0007] When the placement state of the snack is abnormal, the second conveyor belt is controlled to use the second adaptive conveying speed to convey the empty tray through the grabbing station, and the grabbing station places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station; wherein, the second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0008] In one embodiment, obtaining the gripping status of the gripping station includes:

[0009] Obtaining the snack grabbing trajectory of the tray, the current conveying speed of the first conveyor belt, and the grabbing time of the manipulator;

[0010] Determining the conveying time of the tray at the grasping station according to the snack grabbing trajectory of the tray and the current conveying speed of the first conveyor belt to obtain the conveying time of the tray;

[0011] Determine the number of snacks grabbed by the manipulator during the conveying time of the tray according to the grabbing time of the manipulator and the conveying time of the tray, and obtain the actual grabbing number of the manipulator;

[0012] If the actual number of snacks grabbed by the robot arm is inconsistent with the number of snacks on the tray, it is determined that the snack grabbing state is abnormal.

[0013] In one embodiment, an image of the tray located in the gripping station is acquired to obtain an image of the tray; wherein the image of the tray includes the positions of all the snacks;

[0014] Performing coordinate point conversion on the position of the dessert to obtain coordinate point information of the dessert;

[0015] The snack grabbing trajectory of the tray is obtained based on the coordinate point information of the snack.

[0016] In one embodiment, the coordinate point information of the next snack to be grabbed is determined according to the snack grabbing trajectory of the tray;

[0017] Determining the grasping distance of the manipulator according to the coordinate point information of the next snack to be grasped and the coordinate point information of the empty tray;

[0018] The grasping time of the manipulator is obtained according to the current grasping speed and grasping distance of the manipulator.

[0019] In one embodiment, obtaining the gripping status of the gripping station further includes:

[0020] Obtaining coordinate point information of the empty pallet, the current conveying speed of the second conveyor belt, and the placement time of the manipulator; wherein the coordinate point information of the empty pallet is configured as the relationship between the empty pallet near the output port of the grabbing station and the grabbing station, and the coordinate point information of the empty pallet includes first position information and second position information, the first position information is configured as the empty pallet near the output port of the grabbing station is within the grabbing station, and the second position information is the empty pallet near the output port of the grabbing station is before the process of the grabbing station;

[0021] Determining the empty pallet conveying time according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt; wherein the empty pallet conveying time includes a first conveying time and a second conveying time, wherein the first conveying time is configured as the conveying time required for the empty pallet near the output port of the grabbing station to be conveyed out of the grabbing station; and the second conveying time is configured as the conveying time required for the empty pallet near the output port of the grabbing station to enter the grabbing station;

[0022] The placement state of the snack is determined according to the placement time of the robot and the conveying time of the empty tray.

[0023] In one embodiment, determining the conveying time of the empty pallet according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt includes:

[0024] Obtaining the first conveying time according to the first position information and the current conveying speed of the second conveyor belt;

[0025] The second conveying time is obtained according to the second position information and the current conveying speed of the second conveyor belt.

[0026] In one embodiment, determining the placement status of the snack according to the placement time of the robot and the delivery time of the empty tray includes:

[0027] If the placement time of the robot is greater than the first conveying time, it is determined that the placement state of the snack is abnormal;

[0028] Alternatively, if the placement time of the robot arm is less than the second conveying time, it is determined that the placement state of the snack is abnormal.

[0029] In one embodiment, obtaining the coordinate point information of the empty tray includes:

[0030] Acquire a first image and a second image of the second conveyor belt; wherein the first image is configured as an image of the second conveyor belt in front of the grabbing station, and the first image includes empty pallets to be transported to the grabbing station; and the second image is configured as an image of the second conveyor belt in the grabbing station, and the second image includes all empty pallets and items to be packaged in the grabbing station;

[0031] performing image fusion on the first image and the second image, and determining the position of the empty pallet near the output port of the grabbing station according to the fusion result to obtain the actual position of the empty pallet;

[0032] When the actual position of the empty tray is within the grabbing station, determining the actual position of the empty tray as the first position information, and performing coordinate point conversion on the first position information;

[0033] When the actual position of the empty pallet is before the process of the grabbing station, the actual position of the empty pallet is determined as the second position information, and the coordinate point conversion is performed on the second position information.

[0034] In one embodiment, it further includes:

[0035] A first model is established based on the operating parameters of the first conveyor belt, and an adaptive algorithm for adaptively controlling the first conveyor belt is determined based on the first model; abnormal data of the pastry placement state is calculated based on the adaptive algorithm, and the first adaptive conveying speed is output; wherein the operating parameters of the first conveyor belt include one or more of a dynamic parameter, a load parameter, and an external interference parameter of the first conveyor belt;

[0036] And / or, a second model is established according to the operating parameters of the second conveyor belt, and an adaptive algorithm for adaptively controlling the second conveyor belt is determined based on the second model; abnormal data of the snack placement state is calculated based on the adaptive algorithm, and the second adaptive conveying speed is output; wherein the operating parameters of the second conveyor belt include one or more of the dynamic parameters, load parameters and external interference parameters of the second conveyor belt.

[0037] In one embodiment, it further includes:

[0038] When the snack grabbing state is normal, the first conveyor belt is controlled to use the first preset conveying speed to convey the material tray to the grabbing station. After being grabbed by the grabbing station, the empty material tray is conveyed out of the grabbing station; wherein, the first adaptive conveying speed is greater than or less than the first preset conveying speed, and the first preset conveying speed is configured as the initial speed of the first conveyor belt.

[0039] In one embodiment, it further includes:

[0040] When the snack placement state is normal, the second conveyor belt is controlled to use the second preset conveying speed to convey the material tray through the grabbing station, and the grabbing station places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station; wherein, the second adaptive conveying speed is greater than or less than the second preset conveying speed, and the first preset conveying speed is configured as the initial speed of the second conveyor belt.

[0041] One embodiment of the present invention further provides an adaptive conveyor belt control device, comprising:

[0042] An acquisition module is used to acquire the grasping status of the grasping station; wherein the grasping status of the grasping station includes the dessert grasping status and the dessert placing status;

[0043] a first control module, configured to control the first conveyor belt to convey the snacks on the tray through the grabbing station at a first adaptive conveying speed when the snack grabbing state is abnormal, and to convey the empty tray out of the grabbing station after being grabbed by the grabbing station; wherein the first adaptive conveying speed is calculated based on abnormal snack grabbing state data, wherein the abnormal snack grabbing state data includes one or more of a snack grabbing trajectory of the tray, a conveying time of the tray, and an actual number of snacks grabbed by the robot;

[0044] The second control module is used to control the second conveyor belt to use a second adaptive conveying speed to convey the empty tray through the grabbing station when the snack placement state is abnormal, and the grabbing station places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station; wherein the second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0045] One embodiment of the present invention further provides an adaptive conveyor belt control system, comprising:

[0046] An acquisition device is used to acquire the grasping status of the grasping station; wherein the grasping status of the grasping station includes a snack grasping status and a snack placing status;

[0047] a first conveyor belt, configured to convey the snacks on the tray through the grabbing station at a first adaptive conveying speed when the snack grabbing state is abnormal, and to convey the empty tray out of the grabbing station after the tray is grabbed by the grabbing station; wherein the first adaptive conveying speed is calculated based on abnormal snack grabbing state data, the abnormal snack grabbing state data including one or more of a snack grabbing trajectory of the tray, a conveying time of the tray, and an actual number of snacks grabbed by the robot;

[0048] The second conveyor belt uses a second adaptive conveying speed to convey the empty tray through the grabbing station when the snack placement state is abnormal. The grabbing station places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station. The second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0049] One embodiment of the present invention further provides a snack production process, comprising the following steps:

[0050] Place the baked snacks on a tray;

[0051] The empty tray and the tray with the snacks are transported using an adaptive conveyor belt control method as described above, and are grasped at a grasping station to form pieces to be packaged, and are then transported to a packaging location for packaging.

[0052] The adaptive conveyor belt control method, device, system, and snack production process provided by the above embodiments have the following beneficial effects:

[0053] Since the acquired grabbing status of the grabbing station includes the snack grabbing status and the snack placing status, the actual grabbing and placing conditions are monitored according to the snack grabbing status and the snack placing status. When the snack grabbing status or the snack placing status is abnormal, the conveying speed of the conveyor belt can be adjusted in real time, accurately and flexibly to ensure that the robot arm of the grabbing station can grab the snacks on the tray one by one and accurately place them in the empty tray to obtain the packaged items, avoiding the occurrence of missed grabbing, missed placing, etc., preventing the snacks on the tray from being directly conveyed out of the grabbing station before all are grabbed, and preventing the empty tray from being directly conveyed out of the grabbing station after no snacks are placed. When an abnormal state of the pastry grabbing is detected, the material tray is conveyed by the first conveyor belt using the first adaptive conveying speed. When an abnormal state of the pastry grabbing is detected, the empty tray is conveyed by the second conveyor belt using the second adaptive conveying speed, thereby realizing adaptive speed regulation of the second conveyor belt, thereby realizing adaptive speed regulation of the first conveyor belt and the second conveyor belt, avoiding missed grasping, reducing production costs, avoiding waste of resources, and realizing refined and precise production. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0055] Figure 1 A schematic flow chart of an adaptive conveyor belt control method provided in one embodiment of the present invention;

[0056] Figure 2 A schematic diagram of a process for obtaining a gripping status of a gripping station in an adaptive conveyor belt control method provided in one embodiment of the present invention;

[0057] Figure 3 Another schematic diagram of a flow chart of obtaining a gripping status of a gripping station in an adaptive conveyor belt control method provided in one embodiment of the present invention;

[0058] Figure 4 A flow chart for determining the delivery time of empty pallets;

[0059] Figure 5 for Figure 3 A flow chart showing the process of determining the delivery time of an empty pallet;

[0060] Figure 6 A schematic structural diagram of an electronic device provided in one embodiment of the present invention;

[0061] Figure 7 A simplified structural diagram of an adaptive conveyor belt control system provided in one embodiment of the present invention;

[0062] Figure 8 A schematic top view of the adaptive conveyor belt control system provided in one embodiment of the present invention.

[0063] Figure numbers: 111, first conveyor belt, 112, second conveyor belt, 113, grabbing station. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0065] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0066] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0067] See also Figure 1-5One embodiment of the present invention provides an adaptive conveyor belt control method, comprising the following steps:

[0068] S100, obtaining a grasping state of the grasping station 113; wherein the grasping state of the grasping station 113 includes a snack grasping state and a snack placing state;

[0069] In this embodiment, since the grasping status acquired at the grasping station 113 includes the grasping status and the placement status of the snack, the actual grasping and placement status can be monitored based on the grasping status and the placement status of the snack. When an abnormality occurs in the grasping status or the placement status of the snack, the conveying speed of the conveyor belt can be adjusted in real time, accurately, and flexibly to ensure that the manipulator at the grasping station 113 can grasp the snacks on the tray one by one and accurately place them into the empty tray to obtain the unpackaged items, thereby avoiding situations such as missed grasping or missed placement, preventing the tray from being directly conveyed out of the grasping station 113 before all the snacks on it are grasped, and preventing the empty tray from being directly conveyed out of the grasping station 113 before any snacks are placed. In this embodiment, the snacks can be mooncakes, and the empty tray indicates that there are no mooncakes (snacks) on the tray, and the unpackaged indicates that the mooncakes (snacks) have been placed in the empty tray and are waiting to be conveyed to the next process for outer packaging.

[0070] Dim sum is a type of wheat-based food. Legend has it that during the Eastern Jin Dynasty, a great general was deeply moved by the soldiers fighting bravely day and night on the battlefield, defeating the enemy and achieving countless military feats. He immediately ordered the baking of delicious cakes and pastries beloved by the people and sent them to the front lines to comfort the soldiers and express his gratitude. From then on, the name "dim sum" became popular and has been used ever since.

[0071] There are more and more varieties of dim sum, such as: buns, dumplings, cakes, balls, rolls, biscuits, pastries, etc.

[0072] Bao mainly refers to various types of steamed buns made with fermented dough. There are many varieties and styles, including large and small bao according to the degree of fermentation. According to shape, there are pleated bao such as sanding bao and xiaolongbao; fancy bao such as longevity peach bao and goldfish bao; seamless bao such as sugar bao and crystal bao. They also include barbecue pork bao, raw meat bao, barbecue pork xiaolongbao, honey barbecue pork bao, steamed buns, and other bao.

[0073] Dumplings are an important form of Chinese pastry. They come in various shapes: wooden fish-shaped, such as boiled dumplings and wontons; crescent-shaped, such as steamed dumplings, pot stickers, and boiled dumplings; comb-back-shaped, such as shrimp dumplings; ox horn-shaped, such as pot stickers; sparrow-head-shaped, such as small wontons; and other pictographic varieties, such as fancy steamed dumplings. According to the ingredients used, they can be divided into: water-based dumplings, such as boiled dumplings, steamed dumplings, and pot stickers; oil-based dumplings, such as curry dumplings and eyebrow dumplings; and other types, such as wheat flour shrimp dumplings, cornmeal steamed dumplings, and red and white rice flour dumplings.

[0074] Cakes are mostly made with rice, flour, eggs and other ingredients as the main ingredients. Rice flour cakes include: spongy cakes, such as five-color small round sponge cakes, red bean and lard sponge cakes, etc.; sticky cakes, such as lard and white sugar rice cakes, rose and fruit honey cakes, etc.; fermented cakes, such as Lunjiao cakes and cotton cakes, etc. Flour cakes include thousand-layer oil cakes and honey cakes. Cakes include plain cakes and fancy cakes. Others include yam cakes, water chestnut cakes, chestnut cakes, peanut cakes and other cakes made with fruits, dried fruits, grains, vegetables, etc.

[0075] Tuan, often called "gaotuan" together with gao, is generally made with rice flour and is mostly spherical. Varieties include: raw flour tuan, such as tangyuan and pigeon dumplings; cooked flour tuan, such as double-filling tuan. Other varieties include fruit-filled yuanxiao and sesame dumplings.

[0076] Rolls are made with a wide range of ingredients and come in many varieties. They include: yeast rolls, which can be categorized into flower rolls, such as four-happiness rolls, butterfly rolls, and chrysanthemum rolls; folded rolls, such as pig's trotter rolls and lotus leaf rolls; stretched rolls, such as silver thread rolls and chicken shred rolls; rice (flour) rolls, such as Ruyi sesame cold rolls; cake rolls, such as sauce cake rolls; puff pastry rolls, such as olive nut puff pastry rolls; and pastry rolls, such as sesame and fresh milk rolls. There are also special varieties like spring rolls and flower rolls.

[0077] Cakes are a traditional Chinese food. Based on the dough, they can be divided into: water-based cakes, such as thin pancakes and oil-based cakes; yeast-based cakes, such as Huangqiao sesame cakes and fermented rice cakes; crispy cakes, such as scallion pancakes and Suzhou-style mooncakes; and other types of cakes, such as rice flour pancakes, egg noodles, and meat-flavored pot cakes; and water chestnut cakes and osmanthus millet cakes made with fruits, vegetables, and grains. Mooncakes are also included.

[0078] Most pastries are made with oil or water dough. They are categorized by presentation: light pastries, such as Yuanyang butter pastries, Xuanhua pastries, and lotus root pastries; dark pastries, such as Shuangma pastries; and semi-dark pastries, such as apple pastries. Other varieties include peach pastries, lotus seed paste pastries, and sweet dew pastries.

[0079] In addition to the pastry forms mentioned above, there are also some common varieties such as steamed buns, fried dough twists, rice dumplings, and siomai, which are also popular among people.

[0080] After thousands of years of development and creation, their basic forms have become rich and colorful, with realistic shapes, such as geometric shapes, pictographic shapes, natural shapes, etc. Specifically:

[0081] Geometric shapes are the foundation of plastic arts. Geometric shapes are widely used in pastry modeling, and are made by imitating various geometric shapes in life. Geometric shapes can be divided into single geometric shapes and combined geometric shapes. Single geometric shapes include the round shape of glutinous rice balls and lotus root starch dumplings; the triangle and trapezoid of rice dumplings; the square shape of square cakes; the rectangle of pot cakes; the diamond shape of thousand-layer oil cakes, etc. Three-dimensional decorated cakes are composed of several geometric shapes of different sizes, and combined with various decorated shapes to form a beautiful three-dimensional shape. Generally speaking, this kind of cake belongs to the combined geometric shape;

[0082] Pictographic forms can be divided into plant-like and animal-like forms.

[0083] (1) Plant-like shape

[0084] This is a common shape in pastry making, especially some fancy pastries, which pay attention to shape and often imitate plants in nature, such as flowers, like roses and peonies in boat pastries; lotus pastries, lily pastries, and crabapple pastries in oil-fried pastries; orchid dumplings and plum dumplings in water-based products. There are also those that imitate fruits, such as pomegranate buns, longevity peach buns, and gourd buns in yeast dough, and there are even more in boat pastries: persimmons, pears, grapes, oranges, apples, etc.; those that imitate vegetables include: green peppers, radishes, broad beans, peanuts, etc.

[0085] (2) Animal-like shapes

[0086] Animal-shaped pastries are also quite common, such as hedgehog buns, goldfish buns, bat clips, butterfly clips, etc. in yeast dough; dragonfly dumplings, swallow dumplings, cicada dumplings, pigeon dumplings, etc. in water-seasoned pastries; and there are even more in boat-shaped pastries, such as goldfish, jade rabbits, chicks, bluebirds, jade geese, white pigs, etc. These are all animal-shaped pastries;

[0087] Natural shapes use simpler shaping techniques to create irregular shapes during the maturation process. For example, flower-shaped steamed buns naturally "bloom" during steaming. Others, such as open-mouthed smiles, palace peach pastries, honeycomb egg yolk pastries, and lotus pearl cakes, also take their natural shapes during the maturation process.

[0088] In one embodiment, S110, obtaining the gripping status of the gripping station 113, includes:

[0089] S111, obtaining the snack grabbing trajectory of the tray, the current conveying speed of the first conveyor belt 111, and the grabbing time of the robot;

[0090] S112, determining the conveying time of the tray at the grasping station 113 according to the snack grabbing trajectory of the tray and the current conveying speed of the first conveyor belt 111, to obtain the conveying time of the tray;

[0091] S113, determining the number of snacks that the manipulator grabs during the conveying time of the tray according to the grabbing time of the manipulator and the conveying time of the tray, and obtaining the actual number of snacks grabbed by the manipulator;

[0092] S114: If the actual number of snacks grabbed by the robot arm is inconsistent with the number of snacks on the tray, it is determined that the snack grabbing state is abnormal.

[0093] In this embodiment, the snack grabbing trajectory of the tray, the current conveying speed of the first conveyor belt 111 and the grabbing time of the robot are obtained to determine the conveying time of the tray and the actual grabbing quantity of the robot. The conveying time of the tray is configured as the time it takes for the tray to be conveyed out of the grabbing station 113; so that the snack grabbing status can be determined based on the actual grabbing quantity of the robot and the quantity of snacks on the tray; and the grabbing of the robot and the conveying speed of the first conveyor belt 111 can be accurately monitored.

[0094] In another embodiment, the first conveyor belt 111, the tray, and the robot can be monitored using sensors and corresponding algorithms to obtain the trajectory of the snacks being picked up from the tray, the current conveying speed of the first conveyor belt 111, and the robot's grasping time. Specifically, this includes using visual sensors and computer vision algorithms: using visual sensors such as cameras or laser scanners to acquire image data of the mooncakes, and then using computer vision algorithms to process and analyze the data. For example, an object detection algorithm (such as YOLO or Faster R-CNN) can be used to identify the mooncakes in the image and obtain their position and orientation information.

[0095] In another embodiment, a touch sensor and signal processing algorithm can be used: by installing a touch sensor on the robot arm, the sensor will emit a signal when the robot arm touches the mooncake. The signal processing algorithm can be used to analyze the amplitude or changes of the sensor signal to determine the position and orientation of the mooncake.

[0096] Alternatively, inertial sensors and attitude estimation algorithms can be used as needed: inertial sensors such as accelerometers and gyroscopes can be used to sense the manipulator's attitude and motion state. Alternatively, attitude estimation algorithms, such as Kalman filters or quaternion filters, can be used to infer the relative position and orientation of the manipulator and the mooncake based on the attitude data provided by the sensors.

[0097] Alternatively, distance sensors and geometric calculation algorithms can be used as needed: ultrasonic sensors or laser rangefinders can be used to measure the distance between the robot arm and the mooncake. By measuring distance and angle, trigonometric calculation algorithms can be used to determine the position and orientation of the mooncake.

[0098] In one embodiment, an image of the tray located in the grabbing station 113 is acquired to obtain an image of the tray; wherein the image of the tray includes the positions of all the snacks;

[0099] Performing coordinate point conversion on the position of the dessert to obtain coordinate point information of the dessert;

[0100] The snack grabbing trajectory of the tray is obtained based on the coordinate point information of the snack.

[0101] In this embodiment, by capturing an image of the tray within the gripping station 113, the position of each snack in the image is determined using a target detection algorithm or a feature matching algorithm. The snack positions are then converted into coordinate points to generate a snack gripping trajectory. This significantly improves the gripping accuracy of the robot arm and ensures operational stability. Specifically, the following steps may be included:

[0102] Visual detection of snack position: This uses visual sensors and computer vision algorithms to detect snack positions. Based on the image of the snacks on the empty tray, algorithms such as object detection or feature matching are used to determine the position of each snack in the image.

[0103] Establish a snack position model: Convert the snack position information into coordinates in the robot coordinate system. The snack position obtained by visual inspection needs to be mapped to the coordinate system within the robot workspace to ensure that the robot can accurately grasp the snack.

[0104] Determine the optimal grasping order: Based on the location of the snacks, use a path planning algorithm to determine the optimal order for the robot to grasp the snacks one by one. Consider using a heuristic search algorithm (such as the A* algorithm) or an optimization algorithm (such as a genetic algorithm or an ant colony algorithm) for path planning.

[0105] Consider the manipulator's motion constraints: When determining the optimal grasping path, the manipulator's own motion constraints also need to be considered. For example, consider factors such as the manipulator's joint limitations, the end effector's range of motion, and collision avoidance to ensure the manipulator can move smoothly and grasp the snack.

[0106] Optimize the path: Based on the specific scenario and requirements, the optimal grasping path can be further optimized. For example, by adjusting the path sequence or path shape to minimize the manipulator's movement time, minimize the movement distance, or balance the workload.

[0107] In another embodiment, further comprising:

[0108] Determine the location and quantity of snacks on the empty tray through visual inspection. Store the snack location information as coordinate data.

[0109] The robot's workspace is modeled as a graph or network, where each node represents the position of a dessert or the robot's posture. Based on the robot's motion constraints, feasible paths are connected. The robot's starting and ending points are determined. The starting point can be the robot's initial position, while the ending point can be any position of the dessert on the empty tray.

[0110] Apply a heuristic search algorithm (such as the A* algorithm) to search for the best path. This algorithm uses a heuristic function to estimate the cost of reaching the goal and dynamically selects the next node during the search process. The heuristic function can be defined based on factors such as distance, time, and obstacle avoidance;

[0111] After obtaining the initial path, you can consider optimizing the path. You can use optimization algorithms (such as genetic algorithms and ant colony algorithms) to adjust the path to reduce the total moving distance, minimize the time, or balance the workload.

[0112] When calculating the path, the robot's motion constraints and possible obstacles need to be considered. Collision detection is performed and collisions are avoided by adjusting the path or avoiding obstacles.

[0113] The algorithm calculates the path and converts it into a sequence of instructions for the robot, ensuring that the robot grasps each snack along the optimal path. During implementation, adjustments and optimizations can be made based on the characteristics and needs of the robot system.

[0114] In one embodiment, the coordinate point information of the next snack to be grabbed is determined according to the snack grabbing trajectory of the tray;

[0115] Determining the grasping distance of the manipulator according to the coordinate point information of the next snack to be grasped and the coordinate point information of the empty tray;

[0116] The grasping time of the manipulator is obtained according to the current grasping speed and grasping distance of the manipulator.

[0117] In one embodiment, S120, obtaining the gripping status of the gripping station 113, further includes:

[0118] S121, obtaining the coordinate point information of the empty pallet, the current conveying speed of the second conveyor belt 112, and the placement time of the manipulator; wherein the coordinate point information of the empty pallet is configured as the relationship between the empty pallet near the output port of the grabbing station 113 and the grabbing station 113, and the coordinate point information of the empty pallet includes first position information and second position information, the first position information is configured as the empty pallet near the output port of the grabbing station 113 is within the grabbing station 113, and the second position information is the empty pallet near the output port of the grabbing station 113 is before the process of the grabbing station 113;

[0119] S122, determining the conveying time of the empty pallet according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt 112; wherein the conveying time of the empty pallet includes a first conveying time and a second conveying time, the first conveying time being configured as the conveying time required for the empty pallet near the output port of the grabbing station 113 to be conveyed out of the grabbing station 113; the second conveying time being configured as the conveying time required for the empty pallet near the output port of the grabbing station 113 to enter the grabbing station 113;

[0120] S123. Determine the placement status of the snack according to the placement time of the robot and the conveying time of the empty tray.

[0121] In this embodiment, the empty tray's delivery time is determined by acquiring the empty tray's coordinate information, the current delivery speed of the second conveyor belt 112, and the placement time of the robot. This allows the placement status of the snack to be determined based on the robot's placement time and the empty tray's delivery time, allowing for precise monitoring of the robot's grip and the delivery speed of the second conveyor belt 112. Specifically, the following steps may be included:

[0122] Visual detection of empty pallet coordinates: Use visual sensors and computer vision algorithms to detect empty pallets in real time. By capturing or acquiring video streams, algorithms such as object detection and contour recognition are used to identify the position and shape of the empty pallet within the image. The detected coordinates are saved.

[0123] Calculate the speed of the empty tray: Calculate the speed of the empty tray in space or the second conveyor belt 112 using the continuously detected empty tray coordinate information. Based on the position difference and time interval between adjacent frames, the average speed or instantaneous speed of the empty tray can be estimated.

[0124] Identify the second conveyor belt 112 area and determine the ROI (region of interest): In the image, the second conveyor belt 112 area is identified through visual inspection and segmentation technology. Based on the position and shape of the conveyor belt, a region of interest (ROI) is determined and further processing is limited to this area;

[0125] Moving object tracking: Use the target tracking algorithm to track the empty tray or other moving objects in the ROI. The tracking algorithm can track the target in the current frame based on the previously calculated empty tray position information and estimate its motion trajectory, speed, and other information;

[0126] Calculate the current conveying speed of the second conveyor belt 112: By analyzing the movement of the tracked empty tray or other objects, the current conveying speed of the second conveyor belt 112 can be calculated. This can be estimated by measuring the moving distance of the object in the ROI and the corresponding time interval.

[0127] Combine the coordinate information and conveyor speed using an algorithm: The coordinate information of the empty pallet obtained through visual inspection is combined with the calculated speed of the second conveyor belt 112. Using an appropriate algorithm, such as a Kalman filter or motion model prediction method, the coordinate information from the previous moment and the current conveyor speed are combined to predict the position of the empty pallet at the next moment. Implementation requires selecting the appropriate algorithm and sensor based on actual conditions and system requirements, and performing parameter adjustments and performance optimization.

[0128] In one embodiment, S122, determining the conveying time of the empty pallet according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt 112, includes:

[0129] S122-1. Obtain the first conveying time according to the first position information and the current conveying speed of the second conveyor belt 112;

[0130] S122 - 2 . Obtain the second conveying time according to the second position information and the current conveying speed of the second conveyor belt 112 .

[0131] In one embodiment, S123, determining the placement status of the snack according to the placement time of the robot and the delivery time of the empty tray, includes:

[0132] S123-1. If the placement time of the robot is greater than the first conveying time, it is determined that the placement state of the snack is abnormal;

[0133] S123-2, or, if the placement time of the robot is less than the second conveying time, determine that the placement state of the snack is abnormal.

[0134] In one embodiment, obtaining the coordinate point information of the empty tray includes:

[0135] Acquire a first image and a second image of the second conveyor belt 112; wherein the first image is configured as an image of the second conveyor belt 112 in front of the grabbing station 113, and the first image includes empty pallets to be entered into the grabbing station 113; and the second image is configured as an image of the second conveyor belt 112 in the grabbing station 113, and the second image includes all empty pallets and items to be packaged in the grabbing station 113;

[0136] Performing image fusion on the first image and the second image, and determining the position of the empty tray near the output port of the grabbing station 113 based on the image fusion result to obtain the actual position of the empty tray;

[0137] When the actual position of the empty tray is within the grabbing station 113, determining the actual position of the empty tray as the first position information, and performing coordinate point conversion on the first position information;

[0138] When the actual position of the empty pallet is before the process of the grabbing station 113 , the actual position of the empty pallet is determined as the second position information, and the coordinate point conversion is performed on the second position information.

[0139] In this embodiment, by acquiring a first image and a second image and performing image fusion on the first image and the second image, the detection accuracy is improved, and the actual position of the empty pallet can be accurately obtained, thereby achieving the effect of finely controlling the conveyor belt and avoiding the phenomenon of missing pallets. Specifically, the following steps may be included:

[0140] Visually capture images of the second conveyor belt 112: Images of the second conveyor belt 112 are captured by shooting or capturing a video stream. Real-time detection can also be performed using visual sensors and computer vision algorithms. By shooting or capturing a video stream and using algorithms such as object detection and contour recognition, the position and shape of the empty pallet in the image are identified. The detected coordinates are saved.

[0141] Image preprocessing: Preprocess the first and second images, including denoising, image enhancement, edge detection, etc. These preprocessing steps help extract the features of the empty tray and reduce interference;

[0142] Feature extraction: Use computer vision algorithms to extract features from the first and second images. Common features include color, texture, shape, etc. Based on the features of the first and second images, they can be represented as a feature vector;

[0143] Object recognition and tracking: Apply object detection and tracking algorithms to identify and track the empty trays. By matching the extracted features with predefined templates or learned models, the position of each empty tray in the image sequence can be located and tracked.

[0144] Combined algorithm for fusion processing: Based on the multiple images of the empty tray and their relative positions, the combined algorithm is used for fusion processing. The positions of the empty trays in different images can be fused using a probability model, weighted average or other methods to obtain the final position of the empty tray close to the output port;

[0145] Determine the position of the empty tray near the output port: Based on the fusion processing results, determine the position of the empty tray near the output port. This can be determined by comparing the relative position, motion trajectory, and other information of the empty tray.

[0146] It should be noted that in actual applications, some factors may need to be considered, such as lighting changes, occlusion, and stacking of pallets. For specific application scenarios, it may be necessary to select appropriate algorithms and technologies, and perform parameter adjustments and performance optimization to accurately determine the pallet position.

[0147] S200, when the pastry grabbing state is abnormal, controlling the first conveyor belt 111 to use a first adaptive conveying speed to convey the pastry on the tray through the grabbing station 113, and after the empty tray is grabbed by the grabbing station 113, conveying the empty tray out of the grabbing station 113; wherein the first adaptive conveying speed is calculated based on abnormal pastry grabbing state data, and the abnormal pastry grabbing state data includes one or more of the pastry grabbing trajectory of the tray, the conveying time of the tray, and the actual number of pastries grabbed by the robot;

[0148] In this embodiment, when an abnormal state of snack grabbing is detected, the material tray is conveyed by the first conveyor belt 111 using the first adaptive conveying speed, thereby realizing adaptive speed regulation of the first conveyor belt 111, avoiding missed grabbing, reducing production costs, avoiding waste of resources, and realizing refined and precise production.

[0149] S300. When the placement state of the snack is abnormal, control the second conveyor belt 112 to use the second adaptive conveying speed to convey the empty tray through the grabbing station 113, and the grabbing station 113 places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station 113; wherein, the second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0150] In this embodiment, when an abnormal state of snack grabbing is detected, the empty tray is transported by the second conveyor belt 112 using a second adaptive conveying speed, thereby realizing adaptive speed regulation of the second conveyor belt 112, avoiding the phenomenon of missing trays, reducing production costs, avoiding waste of resources, and realizing refined and precise production.

[0151] In one embodiment, it further includes:

[0152] A first model is established based on the operating parameters of the first conveyor belt 111, and an adaptive algorithm for adaptively controlling the first conveyor belt 111 is determined based on the first model; abnormal data of the pastry placement state is calculated based on the adaptive algorithm, and the first adaptive conveying speed is output; wherein the operating parameters of the first conveyor belt 111 include one or more of a dynamic parameter, a load parameter, and an external interference parameter of the first conveyor belt 111;

[0153] And / or, a second model is established according to the working parameters of the second conveyor belt 112, and an adaptive algorithm for adaptively controlling the second conveyor belt 112 is determined based on the second model; abnormal data of the snack placement state is calculated based on the adaptive algorithm, and the second adaptive conveying speed is output; wherein, the working parameters of the second conveyor belt 112 include one or more of the dynamic parameters, load parameters and external interference parameters of the second conveyor belt 112.

[0154] In this embodiment, by combining the characteristics of the conveyor belt system and the control requirements, a suitable adaptive algorithm is selected, and parameter optimization and system integration are performed to determine the current required conveying speed of the conveyor belt, thereby achieving adaptive control of the conveyor belt. This satisfies the requirements of automated, intelligent, and refined production effects. Specifically, the following steps may also be included:

[0155] System modeling: First, the conveyor belt system is modeled. Specifically, the dynamic characteristics, load characteristics, and external disturbances of the conveyor belts (first conveyor belt 111, second conveyor belt 112) are understood and modeled into a mathematical model.

[0156] Designing adaptive algorithms: Based on the system modeling results, design adaptive algorithms suitable for controlling the conveyor belts (first conveyor belt 111 and second conveyor belt 112). Common adaptive control algorithms include Model Reference Adaptive Control (MRAC) and Adaptive Sliding Mode Control (ASMC). These algorithms can achieve adaptive control of the conveyor belt system by online estimation and adjustment of control parameters.

[0157] Sensor data acquisition: Use sensors (such as encoders or speed sensors) to collect the motion status of the conveyor belts (first conveyor belt 111, second conveyor belt 112) in real time, including information such as speed and position. This data will be used as feedback signals for the adaptive algorithm;

[0158] Adaptive parameter estimation: Utilizes an adaptive algorithm to estimate the dynamic characteristics of the conveyor belt system (first conveyor belt 111, second conveyor belt 112). Based on real-time sensor data, the control parameters are continuously updated and adjusted to adapt to changes in system parameters and external disturbances.

[0159] Control output calculation: Based on the parameter estimation results of the adaptive algorithm, the control output signal is calculated. The control output can be adjusted by adjusting the input (such as the motor drive) of the conveyor belt (the first conveyor belt 111 and the second conveyor belt 112) to achieve the desired conveyor belt (the first conveyor belt 111 and the second conveyor belt 112) speed;

[0160] Control effect evaluation: Real-time monitoring and performance evaluation of the system. Based on feedback signals and target requirements, the control effect of the adaptive algorithm is evaluated and necessary adjustments and optimizations are made.

[0161] System Stability Analysis: Conduct system stability analysis to ensure the stability and robustness of the adaptive algorithm. Use mathematical modeling, simulation, and experimental verification to evaluate the algorithm's performance and adjust and improve it.

[0162] Among them, it is also necessary to pay attention to the boundary conditions, stability and reliability of the system to ensure the control effect and operational safety.

[0163] In one embodiment, S400 further includes:

[0164] When the snack grabbing state is normal, the first conveyor belt 111 is controlled to use the first preset conveying speed to convey the material tray to the grabbing station 113. After being grabbed by the grabbing station 113, the empty material tray is conveyed out of the grabbing station 113; wherein, the first adaptive conveying speed is greater than or less than the first preset conveying speed, and the first preset conveying speed is configured as the initial speed of the first conveyor belt 111.

[0165] In this embodiment, when the snack grabbing state is normal, or when the machine is just turned on, the first conveyor belt 111 is controlled to use a first preset conveying speed to convey the material tray to the grabbing station 113, so as to achieve stable conveying of the material tray, wherein the first preset conveying speed is preset according to work needs.

[0166] In one embodiment, S500 further includes:

[0167] When the snack placement state is normal, the second conveyor belt 112 is controlled to use the second preset conveying speed to convey the material tray through the grabbing station 113, and the grabbing station 113 places the grabbed snacks into the empty tray to form a packaged item, and the packaged item is conveyed out of the grabbing station 113; wherein, the second adaptive conveying speed is greater than or less than the second preset conveying speed, and the first preset conveying speed is configured as the initial speed of the second conveyor belt 112.

[0168] When the snack placement state is normal, or when the machine is just started, the second conveyor belt 112 is controlled to use the second preset conveying speed to convey the material tray through the grabbing station 113 to achieve stable conveying of the empty tray, wherein the second preset conveying speed is preset according to work needs.

[0169] See also Figure 7-8 , in one embodiment, further comprising:

[0170] Two second conveyor belts 112 are provided, and the two second conveyor belts 112 are respectively provided on both sides of the first conveyor belt 111;

[0171] Each second conveyor belt 112 shares at least one grabbing station 113 with each first conveyor belt 111;

[0172] The two grabbing stations 113 are arranged front and back or left and right, and the two grabbing stations 113 grab the snacks on the tray respectively. Specifically, one grabbing station 113 grabs the snacks on the left side of the tray, and the other grabbing station 113 grabs the snacks on the right side of the tray; so as to improve work efficiency.

[0173] One embodiment of the present invention further provides an adaptive conveyor belt control device, comprising:

[0174] An acquisition module is used to acquire the grabbing status of the grabbing station 113; wherein the grabbing status of the grabbing station 113 includes a snack grabbing status and a snack placing status;

[0175] a first control module, configured to control the first conveyor belt 111 to convey the snacks on the tray through the grabbing station 113 at a first adaptive conveying speed when the snack grabbing state is abnormal, so that after the snacks are grabbed by the grabbing station 113, the empty tray is conveyed out of the grabbing station 113; wherein the first adaptive conveying speed is calculated based on abnormal snack grabbing state data, wherein the abnormal snack grabbing state data includes one or more of a snack grabbing trajectory of the tray, a conveying time of the tray, and an actual number of snacks grabbed by the robot;

[0176] The second control module is used to control the second conveyor belt 112 to use the second adaptive conveying speed to convey the empty tray through the grabbing station 113 when the snack placement state is abnormal, and the grabbing station 113 places the grabbed snacks into the empty tray to form a packaged item, and the packaged item is conveyed out of the grabbing station 113; wherein, the second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0177] In this embodiment, the advantages and beneficial effects of the adaptive conveyor belt control method have been described above and will not be repeated here. Since the adaptive conveyor belt control device uses the adaptive conveyor belt control method, the adaptive conveyor belt control device also has the same advantages and beneficial effects.

[0178] See also Figure 7-8 One embodiment of the present invention further provides an adaptive conveyor belt control system, comprising:

[0179] An acquisition device is used to acquire the grasping state of the grasping station 113; wherein the grasping state of the grasping station 113 includes a snack grasping state and a snack placing state;

[0180] The first conveyor belt 111 is configured to convey the snacks on the tray through the grabbing station 113 at a first adaptive conveying speed when the snack grabbing state is abnormal. After the snacks are grabbed by the grabbing station 113, the empty tray is conveyed out of the grabbing station 113. The first adaptive conveying speed is calculated based on abnormal snack grabbing state data, which includes one or more of a snack grabbing trajectory of the tray, a tray conveying time, and an actual number of snacks grabbed by the robot.

[0181] The second conveyor belt 112 uses a second adaptive conveying speed to convey the empty tray through the grabbing station 113 when the snack placement state is abnormal. The grabbing station 113 places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station 113. The second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray.

[0182] In this embodiment, the advantages and beneficial effects of the adaptive conveyor belt control method have been described above and will not be repeated here. Since the adaptive conveyor belt control system uses the adaptive conveyor belt control method, its adaptive conveyor belt control system also has the same advantages and beneficial effects.

[0183] One embodiment of the present invention further provides a snack production process, comprising the following steps:

[0184] Place the baked snacks on a tray;

[0185] The empty tray and the tray with the snacks are transported using an adaptive conveyor belt control method as described above, and are grasped by the grasping station 113 to form the packaged items, which are then transported to the packaging area for packaging.

[0186] In this embodiment, the advantages and beneficial effects of the adaptive conveyor belt control method have been described above and will not be repeated here. Since the snack production process uses the adaptive conveyor belt control method, the snack production process also has the same advantages and beneficial effects.

[0187] Desserts are a type of food made from one or more of the following ingredients: cereals, beans, potatoes, oils, sugar, eggs, etc., with or without other ingredients, through a series of processes including mixing, shaping, and cooking. Cream, egg whites, cocoa, jam, etc. are often added to the surface of the product or inside the product before or after cooking.

[0188] In one embodiment, the dessert may also be a moon cake. Specifically, before placing the baked dessert on the tray, the process further includes:

[0189] Dough making: First, mix flour, oil, and water to make a soft and elastic dough. Alum or lye water is often added to the dough to enhance the taste and color of the mooncakes.

[0190] Filling preparation: Common mooncake fillings include red bean paste, lotus seed paste, and five-nut fillings. Depending on the filling, the preparation method will also vary. For example, when making red bean paste, you need to cook the red beans and grind them into a fine red bean paste; when making lotus seed paste, you need to mix the lotus seed paste with other ingredients.

[0191] Stuffing: Divide the dough into small pieces, flatten them with your palms, and then fill them with the appropriate amount of filling. Usually, after filling, you need to tighten the dough again to make the surface smooth.

[0192] Moulding: The mooncakes with fillings are placed in a special mould and pressure is applied to form a specific pattern or design. These patterns and designs can be traditional, such as the moon, flowers and birds, or modern, such as brand logos and blessings.

[0193] Baking: Place the printed mooncakes in the oven and bake them at high temperature for a certain period of time until the surface of the mooncakes turns golden yellow. The baking time and temperature vary depending on the size and taste of the mooncakes. The baked mooncakes (snacks) are obtained.

[0194] In one embodiment, the present invention also provides a computer-readable storage medium, in which a computer program is stored. The computer program includes program instructions. When the program instructions are executed by a processor of an electronic device, the processor executes a method as described in any one of the possible implementation methods described above.

[0195] In one embodiment, the present invention also provides an electronic device, comprising: a processor, a sending device, an input device, an output device and a memory, the memory being used to store computer program code, the computer program code comprising computer instructions, and when the processor executes the computer instructions, the electronic device executes a method as described in any one of the possible implementation methods described above.

[0196] See also Figure 6 , Figure 6 A schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention.

[0197] The electronic device 2 includes a processor 21, a memory 22, an input device 23, and an output device 24. The processor 21, memory 22, input device 23, and output device 24 are coupled via a connector, which may include various interfaces, transmission lines, or buses, etc., although this is not limited in the present embodiment. It should be understood that in various embodiments of the present invention, coupling refers to interconnection in a specific manner, including direct connection or indirect connection through other devices, such as various interfaces, transmission lines, buses, etc.

[0198] The processor 21 may be one or more graphics processing units (GPUs). If the processor 21 is a GPU, the GPU may be a single-core GPU or a multi-core GPU. Alternatively, the processor 21 may be a processor group consisting of multiple GPUs, with the multiple processors coupled to each other via one or more buses. Alternatively, the processor may be another type of processor, and the embodiments of the present invention are not limited thereto.

[0199] The memory 22 can be used to store computer program instructions and various computer program codes, including program codes for executing the embodiments of the present invention. Optionally, the memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), which is used for related instructions and data.

[0200] The input device 23 is used to input data and / or signals, and the output device 24 is used to output data and / or signals. The output device 23 and the input device 24 can be independent devices or an integrated device.

[0201] It is understandable that in the embodiment of the present invention, the memory 22 is not only used to store relevant instructions, and the embodiment of the present invention does not limit the specific data stored in the memory.

[0202] It is understandable that Figure 6 Only a simplified design of an electronic device is shown. In actual applications, the electronic device may further include other necessary components, including but not limited to any number of input / output devices, processors, memories, etc., and all video analysis devices that can implement the embodiments of the present invention are within the scope of protection of the present invention.

[0203] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0204] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here. Those skilled in the art will also clearly understand that the descriptions of the various embodiments of the present invention have different focuses. For the convenience and brevity of description, the same or similar parts may not be repeated in different embodiments. Therefore, for parts not described or not described in detail in one embodiment, reference can be made to the descriptions of other embodiments.

[0205] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0206] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0207] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0208] In the above embodiments, all or part of the embodiments can be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital versatile disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0209] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by a computer program instructing related hardware to perform the processes. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0210] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An adaptive conveyor belt control method, characterized in that: The following steps are involved: Acquiring a grasping state of a grasping station; wherein the grasping state of the grasping station includes a snack grasping state and a snack placing state; When the pastry grabbing state is abnormal, the first conveyor belt is controlled to use a first adaptive conveying speed to convey the pastry on the tray through the grabbing station. After the pastry is grabbed by the grabbing station, the empty tray is conveyed out of the grabbing station. The first adaptive conveying speed is calculated based on abnormal pastry grabbing state data, and the abnormal pastry grabbing state data includes one or more of the pastry grabbing trajectory of the tray, the conveying time of the tray, and the actual number of pastries grabbed by the robot. When the placement state of the snack is abnormal, the second conveyor belt is controlled to use a second adaptive conveying speed to convey the empty tray through the grabbing station, and the grabbing station places the grabbed snack into the empty tray to form a packaged item, and the packaged item is conveyed out of the grabbing station; wherein the second adaptive conveying speed is calculated based on abnormal snack placement state data, and the abnormal snack placement state data includes coordinate point information of the empty tray and the conveying time of the empty tray; Obtain the coordinate point information of the empty pallet, the current conveying speed of the second conveyor belt and the placement time of the manipulator; wherein the coordinate point information of the empty pallet is configured as the relationship between the empty pallet near the output port of the grabbing station and the grabbing station, and the coordinate point information of the empty pallet includes first position information and second position information, the first position information is configured as the empty pallet near the output port of the grabbing station is within the grabbing station, and the second position information is that the empty pallet near the output port of the grabbing station is before the process of the grabbing station; determine the conveying time of the empty pallet according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt; wherein the conveying time of the empty pallet includes first conveying time and second conveying time, the first conveying time is configured as the conveying time required for the empty pallet near the output port of the grabbing station to be conveyed out of the grabbing station; the second conveying time is configured as the conveying time required for the empty pallet near the output port of the grabbing station to enter the grabbing station; determine the snack placement status according to the placement time of the manipulator and the conveying time of the empty pallet.

2. The adaptive conveyor belt control method according to claim 1, wherein: The obtaining of the gripping status of the gripping station includes: Obtaining the snack grabbing trajectory of the tray, the current conveying speed of the first conveyor belt, and the grabbing time of the manipulator; Determining the conveying time of the tray at the grasping station according to the snack grabbing trajectory of the tray and the current conveying speed of the first conveyor belt to obtain the conveying time of the tray; Determine the number of snacks grabbed by the manipulator during the conveying time of the tray according to the grabbing time of the manipulator and the conveying time of the tray, and obtain the actual grabbing number of the manipulator; If the actual number of snacks grabbed by the robot arm is inconsistent with the number of snacks on the tray, it is determined that the snack grabbing state is abnormal.

3. The adaptive conveyor belt control method according to claim 2, wherein: Acquire an image of the tray located in the grabbing station to obtain an image of the tray; wherein the image of the tray includes the positions of all snacks; Performing coordinate point conversion on the position of the dessert to obtain coordinate point information of the dessert; The snack grabbing trajectory of the tray is obtained based on the coordinate point information of the snack.

4. The adaptive conveyor belt control method according to claim 2, wherein: Determining the coordinate point information of the next snack to be grabbed according to the snack grabbing trajectory of the tray; Determining the grasping distance of the manipulator according to the coordinate point information of the next snack to be grasped and the coordinate point information of the empty tray; The grasping time of the manipulator is obtained according to the current grasping speed and grasping distance of the manipulator.

5. The adaptive conveyor belt control method according to claim 1, wherein: Determining the conveying time of the empty pallet according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt includes: Obtaining the first conveying time according to the first position information and the current conveying speed of the second conveyor belt; The second conveying time is obtained according to the second position information and the current conveying speed of the second conveyor belt.

6. The adaptive conveyor belt control method according to claim 1, wherein: Determining the placement state of the snack according to the placement time of the robot and the conveying time of the empty tray includes: If the placement time of the robot is greater than the first conveying time, it is determined that the placement state of the snack is abnormal; Alternatively, if the placement time of the robot arm is less than the second conveying time, it is determined that the placement state of the snack is abnormal.

7. The adaptive conveyor belt control method according to claim 1, wherein: The acquisition of the coordinate point information of the empty tray includes: Acquire a first image and a second image of the second conveyor belt; wherein the first image is configured as an image of the second conveyor belt in front of the grabbing station, and the first image includes empty pallets to be transported to the grabbing station; and the second image is configured as an image of the second conveyor belt in the grabbing station, and the second image includes all empty pallets and items to be packaged in the grabbing station; Performing image fusion on the first image and the second image, and determining the position of the empty pallet near the output port of the grabbing station based on the fusion result to obtain the actual position of the empty pallet; When the actual position of the empty tray is within the grabbing station, determining the actual position of the empty tray as the first position information, and performing coordinate point conversion on the first position information; When the actual position of the empty pallet is before the process of the grabbing station, the actual position of the empty pallet is determined as the second position information, and the coordinate point conversion is performed on the second position information.

8. The adaptive conveyor belt control method according to any one of claims 1 to 7, wherein: Also includes: Establishing a first model according to the operating parameters of the first conveyor belt, and determining an adaptive algorithm for adaptively controlling the first conveyor belt based on the first model; Calculating abnormal data of the snack placement state based on the adaptive algorithm and outputting the first adaptive conveying speed; wherein the operating parameters of the first conveyor belt include one or more of the dynamic parameters, load parameters, and external interference parameters of the first conveyor belt; And / or, a second model is established according to the operating parameters of the second conveyor belt, and an adaptive algorithm for adaptively controlling the second conveyor belt is determined based on the second model; abnormal data of the snack placement state is calculated based on the adaptive algorithm, and the second adaptive conveying speed is output; wherein the operating parameters of the second conveyor belt include one or more of the dynamic parameters, load parameters and external interference parameters of the second conveyor belt.

9. The adaptive conveyor belt control method according to claim 8, wherein: Also includes: When the snack grabbing state is normal, the first conveyor belt is controlled to use the first preset conveying speed to convey the material tray to the grabbing station. After being grabbed by the grabbing station, the empty material tray is conveyed out of the grabbing station; wherein, the first adaptive conveying speed is greater than or less than the first preset conveying speed, and the first preset conveying speed is configured as the initial speed of the first conveyor belt.

10. The adaptive conveyor belt control method according to claim 9, wherein: Also includes: When the snack placement state is normal, the second conveyor belt is controlled to use the second preset conveying speed to convey the material tray through the grabbing station, and the grabbing station places the grabbed snacks into the empty tray to form items to be packaged, and the items to be packaged are conveyed out of the grabbing station; wherein, the second adaptive conveying speed is greater than or less than the second preset conveying speed, and the first preset conveying speed is configured as the initial speed of the second conveyor belt.

11. An adaptive conveyor belt control device, characterized in that: include: An acquisition module is used to acquire the grasping status of the grasping station; wherein the grasping status of the grasping station includes the dessert grasping status and the dessert placing status; a first control module, configured to control the first conveyor belt to convey the snacks on the tray through the grabbing station at a first adaptive conveying speed when the snack grabbing state is abnormal, and to convey the empty tray out of the grabbing station after being grabbed by the grabbing station; wherein the first adaptive conveying speed is calculated based on abnormal snack grabbing state data, wherein the abnormal snack grabbing state data includes one or more of a snack grabbing trajectory of the tray, a conveying time of the tray, and an actual number of snacks grabbed by the robot; The second control module is used to control the second conveyor belt to use the second adaptive conveying speed to convey the empty tray through the grabbing station when the placement state of the snack is abnormal, and the grabbing station places the grabbed snacks into the empty tray to form a packaged item, and the packaged item is conveyed out of the grabbing station; wherein, the second adaptive conveying speed is calculated based on the abnormal data of the snack placement state, and the abnormal data of the snack placement state includes the coordinate point information of the empty tray and the conveying time of the empty tray; wherein, the coordinate point information of the empty tray, the current conveying speed of the second conveyor belt and the placement time of the manipulator are obtained; wherein, the coordinate point information of the empty tray is configured as the relationship between the empty tray near the output port of the grabbing station and the grabbing station, and the coordinate point information of the empty tray includes the first position The first position information is configured as the empty pallet near the output port of the gripping station is within the gripping station, and the second position information is configured as the empty pallet near the output port of the gripping station is before the process of the gripping station; the conveying time of the empty pallet is determined according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt; wherein, the conveying time of the empty pallet includes a first conveying time and a second conveying time, the first conveying time is configured as the conveying time required for the empty pallet near the output port of the gripping station to be conveyed out of the gripping station; the second conveying time is configured as the conveying time required for the empty pallet near the output port of the gripping station to enter the gripping station; the placement status of the snack is determined according to the placement time of the robot and the conveying time of the empty pallet.

12. An adaptive conveyor belt control system, characterized in that: include: An acquisition device is used to acquire the grasping status of the grasping station; wherein the grasping status of the grasping station includes a snack grasping status and a snack placing status; a first conveyor belt, configured to convey the snacks on the tray through the grabbing station at a first adaptive conveying speed when the snack grabbing state is abnormal, and to convey the empty tray out of the grabbing station after the tray is grabbed by the grabbing station; wherein the first adaptive conveying speed is calculated based on abnormal snack grabbing state data, the abnormal snack grabbing state data including one or more of a snack grabbing trajectory of the tray, a conveying time of the tray, and an actual number of snacks grabbed by the robot; The second conveyor belt uses a second adaptive conveying speed to convey the empty tray through the grabbing station when the placement state of the snack is abnormal, and the grabbing station places the grabbed snack into the empty tray to form a packaged item, and the packaged item is conveyed out of the grabbing station; wherein, the second adaptive conveying speed is calculated based on the abnormal data of the placement state of the snack, and the abnormal data of the placement state of the snack includes the coordinate point information of the empty tray and the conveying time of the empty tray; wherein, the coordinate point information of the empty tray, the current conveying speed of the second conveyor belt and the placement time of the manipulator are obtained; wherein, the coordinate point information of the empty tray is configured as the relationship between the empty tray near the output port of the grabbing station and the grabbing station, and the coordinate point information of the empty tray includes the first position information and the second Position information, the first position information is configured as the empty pallet near the output port of the gripping station is within the gripping station, and the second position information is that the empty pallet near the output port of the gripping station is before the process of the gripping station; the conveying time of the empty pallet is determined according to the coordinate point information of the empty pallet and the current conveying speed of the second conveyor belt; wherein, the conveying time of the empty pallet includes a first conveying time and a second conveying time, the first conveying time is configured as the conveying time required for the empty pallet near the output port of the gripping station to be conveyed out of the gripping station; the second conveying time is configured as the conveying time required for the empty pallet near the output port of the gripping station to enter the gripping station; the placement status of the snack is determined according to the placement time of the robot and the conveying time of the empty pallet.

13. A snack production process, applied to the adaptive conveyor belt control method according to any one of claims 1 to 10, characterized in that: The following steps are involved: Place the baked snacks on a tray; When the tray with the snacks is conveyed through the grabbing station, the snacks are grabbed and placed in an empty tray to form pieces to be packaged, and the pieces to be packaged are conveyed to the packaging station for packaging.

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