An execution control and warning system for a battery automatic feeding machine

Abstract

The present invention relates to the field of early warning control technology, and specifically discloses an execution control early warning system for a battery automatic feeding machine to achieve adaptive adjustment during the real-time feeding process and avoid the problem of poor feeding caused by material folding during feeding. It includes: a powder pre-feeding module that performs pre-mixing and conveying operations on each component of the powder after confirming the specific gravity; a feeding confirmation module that mixes the powder after pre-mixing and conveying at a preset feeding point, and performs secondary metering before feeding to determine the actual mass parameters; and judges whether there is a deviation error in the feeding at the feeding point according to the weight sensor signal and the image of the center position of the material accumulation at the feeding point, and generates a calibration strategy according to the deviation error result; a control module that discharges the mixed powder after determining the actual mass parameters by secondary metering, performs control analysis through an automatic feeding control program, and judges the feeding control efficiency; an early warning module generates a control early warning signal according to the judgment result of the feeding control efficiency and feeds back to adjust the calibration strategy.

Description

Technical Field

[0001] The present invention relates to the technical field of warning control, and particularly relates to an execution control warning system for a battery automatic feeding machine. Background Art

[0002] The battery automatic feeding machine is mainly used for automatic batching and feeding of the positive and negative electrode materials of lithium batteries; and through intelligent control, it can realize automatic weighing and conveying of various raw materials (including powders and liquids), thereby improving the accuracy and efficiency of batching.

[0003] In the execution control warning system of the battery automatic feeding machine, the PLC controller receives signals from various sensors, makes logical judgments and calculations according to the set process parameters, and realizes the automatic control of the entire feeding process by programming. The system outputs control signals to the actuating elements (such as motors, valves, etc.), thereby realizing precise control of processes such as material conveying, metering, and mixing.

[0004] Currently, during the feeding process of the battery automatic feeding machine, due to the lack of real-time feeding calibration process, it is easy to cause the feeding to deviate from the center position of the preset feeding point, resulting in feeding discounting. As the number of feeding times accumulates, it affects the accuracy of subsequent feeding and ultimately affects the finished product yield; moreover, in the execution control warning system, in order to prevent feeding discounting caused by too fast or too slow feeding speed, for the situation of poor feeding, there is a lack of detection technology to predict and adjust the feeding position, avoiding possible secondary damage to the materials during the return process of unreasonable materials, further affecting the product quality. Summary of the Invention

[0005] The purpose of the present invention is to provide an execution control warning system for a battery automatic feeding machine, and solve the following technical problems:

[0006] How to achieve adaptive adjustment during the real-time feeding process and avoid the problem of poor feeding caused by feeding discounting.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] An execution control warning system for a battery automatic feeding machine, comprising:

[0009] A powder pre-feeding module, used for pre-mixing and conveying each component of the powder after confirming the specific gravity;

[0010] A feeding confirmation module, used for mixing the powder after pre-mixing and conveying at a preset feeding point, and performing secondary metering before feeding to determine the actual mass parameters;

[0011] and used to determine whether there is a deviation error in the feeding at the blanking point based on the weight sensor signal obtained at the blanking point and the image of the blanking accumulation center position, and generate a calibration strategy according to the deviation error result;

[0012] A control module, used to feed the mixed powder after determining the actual quality parameters through secondary metering, and perform control analysis through an automatic feeding control program to judge the feeding control efficiency;

[0013] An early warning module, used to generate a control early warning signal according to the judgment result of the feeding control efficiency and feedback to adjust the calibration strategy.

[0014] Preferably, the feeding confirmation module includes:

[0015] By the formula Calculate to obtain the deviation coefficient of the th blanking point; where is the total number of powder components, and ∈ ; is the specific gravity coefficient of the th group of powder at the th blanking point; is the pre-mixing mass parameter of the th group of powder at the th blanking point; is the standard mixing loss deviation value of the th blanking point; is the target quality parameter of the th blanking point; is the position deviation value from the blanking accumulation center position to the blanking point .

[0016] Preferably, compare the deviation coefficient of the th blanking point with the preset standard deviation coefficient threshold range :

[0017] If < , it is judged that there is no deviation error range of the blanking point;

[0018] If ∈ , it is judged that there is a risk of deviation error range of the blanking point; Further:

[0019] Analyze the deviation value between the actual quality parameter after mixing at this blanking point and the target quality parameter , and use the deviation value Compare with a preset threshold for comparison:

[0020] If the deviation value < , continue to run;

[0021] If the deviation value ≥ , generate a calibration strategy;

[0022] If > , it is determined that there is a problem with the deviation error range of the blanking point, and a warning signal is generated.

[0023] Preferably, the automatic feeding control program includes:

[0024] The host computer starts;

[0025] Obtain the historical dynamic image information of the blanking start point to the blanking end point position of the feeding action execution device;

[0026] Extract the execution action parameter set in the dynamic image information as a training sample and input it into the PLC controller to construct a mathematical control model, and send a drive control signal to the actuator;

[0027] The driving action of the feeding action execution device starts;

[0028] The hopper starts to discharge;

[0029] The hopper stops discharging;

[0030] The driving action of the feeding action execution device terminates;

[0031] The feeding action execution device is reset;

[0032] End, send an end signal to the PLC controller and feedback to the host computer.

[0033] Preferably, the control analysis includes:

[0034] Obtain the control coefficient by the formula ; where is a preset conversion coefficient, and 0 < < 1; is the total number of control action units recorded during the blanking process, and ∈ ; is the execution action parameter of the th recorded control action; is to arithmetic mean, It is the execution action parameter for the first record control action; For the th record control action's execution action parameter.

[0035] Preferably, compare the control coefficient with the preset standard control coefficient threshold range as follows:

[0036] If , it is determined that the feeding efficiency is normal;

[0037] If , it is determined that the feeding efficiency is abnormal, and a control warning signal is generated. Further:

[0038] If < , it is determined that the feeding efficiency is low, and the calibration strategy is adjusted to increase the initial feeding efficiency setting;

[0039] If > , it is determined that the feeding efficiency is high, and the calibration strategy is adjusted to decrease the initial feeding efficiency setting.

[0040] Preferably, the calibration strategy:

[0041] Calibrate the position of the material discharging point according to the deviation value, and determine the initial material discharging speed and the initial material discharging interval duration at this position;

[0042] And adjust the initial material discharging speed and the initial material discharging interval duration according to the feeding efficiency.

[0043] Preferably, the process of the warning module feedback adjusting the calibration strategy is as follows:

[0044] When < , increase the initial material discharging speed and extend the initial material discharging interval duration;

[0045] When > , decrease the initial material discharging speed and shorten the initial material discharging interval duration.

[0046] The beneficial effects of the present invention:

[0047] (1) The present invention ensures the feeding mixing and feeding confirmation processes by setting up a feeding confirmation module. Firstly, the powder materials after premixing and conveying are mixed at a preset feeding point, and secondary metering is carried out before feeding to determine the actual quality parameters. Further precise feeding and mixing are carried out according to the actual quality parameters, which serves as a reference for judging whether there are problems with poor feeding. Secondly, according to the weight sensor signal and the image of the center position of the feeding pile obtained at the feeding point, it is judged whether there is a deviation error in the feeding at this feeding point, and a calibration strategy is generated based on the deviation error result. The feeding process is optimized through the calibration strategy to reduce the occurrence of problems with poor feeding.

[0048] (2) The present invention confirms the automatic feeding program by setting up a control module to feed the mixed powder materials after determining the actual quality parameters through secondary metering, and carries out the automated control process of feeding through the automatic feeding control program. It judges whether the generated feeding control efficiency meets the requirements to optimize the feeding control efficiency. By setting up a warning module, corresponding control warning signals are generated according to the result of the feeding control efficiency, and the adaptability of the calibration strategy is adjusted to optimize the detection and adjustment process during the real-time feeding process, and avoid problems with poor feeding caused by feeding discounts.

[0049] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the advantages described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0051] Figure 1 It is a module diagram of an execution control warning system for an automatic battery feeding machine of the present invention;

[0052] Figure 2 It is a flowchart of an automatic feeding control program of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0054] Please refer to Figure 1 As shown in the figure, the present invention is an execution control warning system for an automatic battery feeding machine, including:

[0055] The powder pre-feeding module is used to perform pre-mixing and conveying operations on each component of the powder after the specific gravity is confirmed.

[0056] The feeding confirmation module is used to mix the powder after pre-mixing and conveying at a preset feeding point, and perform secondary metering before feeding to determine the actual quality parameters.

[0057] And it is used to judge whether there is a deviation error in the feeding at the feeding point according to the weight sensor signal and the image of the center position of the feeding pile obtained at the feeding point, and generate a calibration strategy according to the deviation error result.

[0058] The control module is used to feed the mixed powder after the actual quality parameters are determined by secondary metering, perform control analysis through an automatic feeding control program, and judge the feeding control efficiency.

[0059] The warning module is used to generate a control warning signal according to the judgment result of the feeding control efficiency and feedback to adjust the calibration strategy.

[0060] In the above technical solution, the powder pre-feeding module confirms the components of the fed powder, ensures that the data of the mixed powder before the next feeding is used as a comparison, realizes the pre-mixing and conveying operation, and the powder pre-feeding module solves the problem of poor feeding caused by caking of the powder to be mixed during production, transportation and storage, as well as the pretreatment of dehumidifying, drying, conveying and metering of raw materials, and also ensures the process of pre-adjusting in case of changing the specific gravity of the powder, ensuring a full preparation process before the next feeding confirmation. By setting the feeding confirmation module, the feeding mixing and feeding confirmation processes are ensured; mainly, one is used to mix the powder after pre-mixing and conveying at a preset feeding point, and perform secondary metering before feeding to determine the actual quality parameters; further precise feeding and mixing are carried out according to the actual quality parameters, and the actual quality parameters are used as a comparison basis for judging whether the problem of poor feeding occurs, such as the situation of feeding discount; secondly, the feeding confirmation module is also used to judge whether there is a deviation error in the feeding at the feeding point according to the weight sensor signal and the image of the center position of the feeding pile obtained at the feeding point, and generate a calibration strategy according to the deviation error result, and optimize the feeding process through the calibration strategy to reduce the occurrence of problems of poor feeding.

[0061] The control module is also set to feed the mixed powder after the actual quality parameters are determined by secondary metering, realizing the confirmation of the automatic feeding program and the automatic control process of feeding through the automatic feeding control program, and then judging whether the generated feeding control efficiency meets the requirements and optimizing the feeding control efficiency. By setting the warning module, according to the feeding control efficiency result, corresponding control warning signals are generated and the adaptability of the calibration strategy is adjusted, realizing the optimization of the detection and adjustment process during the real-time feeding process, and avoiding the problem of poor feeding caused by feeding discount.

[0062] As an implementation manner of the present invention, the feeding confirmation module includes:

[0063] The deviation coefficient of the th blanking point is calculated through the formula ; where is the total number of powder components, and ∈ ; is the specific gravity coefficient of the th group of powder materials at the th blanking point; is the pre-mixing mass parameter of the th group of powder materials at the th blanking point; is the standard mixing loss deviation value of the th blanking point; is the target mass parameter of the th blanking point; is the position deviation value from the blanking accumulation center position to the blanking point .

[0064] In the above technical solution, the prediction of the feeding deviation situation is realized through the setting of the calculation method of the feeding confirmation module. Specifically, the deviation coefficient is calculated and confirmed through the formula , and by analyzing the magnitude of the deviation coefficient, it is judged whether there is a deviation of the blanking point during the feeding confirmation stage. Specifically, according to the actual changes in the weight and feeding position after the mixing of each component of the powder, it is judged whether there is a deviation risk at the blanking point, and further judgment is carried out. And for the existing deviation situation, it is adjusted through the calibration strategy to refine the calibration adjustment content.

[0065] Among them, the standard mixing loss deviation value is the standard deviation value of the feeding discount determined according to the historical parameter set information fitted by the weight sensor and the volume sensor during the feeding after mixing, and is obtained by pre-fitting according to historical data; the blanking accumulation center position of the blanking point is determined by real-time collecting the blanking accumulation image of the blanking point through the video sensor set at the blanking place, and the deviation value of the blanking accumulation center position of the blanking point is determined by the distance from the geometric center position of the preset blanking point. Let be the geometric center point position of the blanking accumulation image contour, be the center point position of the blanking point, refers to the distance from the geometric center point position of the blanking accumulation image contour to the center point position of the blanking point, ​It is the deviation distance from the geometric center point of the blanking stack image contour to the center point of the blanking point.

[0066] As an implementation manner of the present invention, the deviation coefficient of the nth blanking point is compared with the preset standard deviation coefficient threshold range as follows:

[0067] If < , it is determined that there is no deviation error range of the blanking point;

[0068] If ∈ , it is determined that there is a risk of deviation error range of the blanking point; further:

[0069] Analyze the actual quality parameter after mixing at this blanking point and the deviation value from the target quality parameter . Compare the deviation value with the preset threshold

[0070] as follows: < , continue to run;

[0071] If the deviation value ≥ , generate a calibration strategy;

[0072] If > , it is determined that there is a problem with the deviation error range of the blanking point, and a warning signal is generated.

[0073] In the above technical solution, the specific analysis process for the magnitude of the deviation coefficient is determined by means of comparative analysis. By comparing the deviation coefficient with the preset standard deviation coefficient threshold range , it is determined whether the deviation coefficient is within the interval of the preset threshold. If < , it is determined that there is no deviation error range of the blanking point, and the current feeding position is correct. If > , it is determined that there is a deviation problem at the current blanking point, and the error caused by the deviation needs to be calibrated, and a corresponding warning signal is generated in time.

[0074] If it belongs to this interval, that is, ∈ , further analysis is required. Specifically, based on the total actual mass parameter of the powder materials of each component after mixing at the feeding point, that is, judging and the target mass parameter of the deviation value , subtract from , and take the absolute value of the resulting value, and further judge whether the magnitude of the deviation value is within the specified threshold range. If it is judged that the threshold is exceeded, that is ≥ , determine the magnitude of the calibration required according to the magnitude of the deviation error, generate a corresponding calibration strategy for adjustment, otherwise continue to run. Based on this further quality judgment, the occurrence process from the risk of deviation error at the feeding point to the occurrence of deviation error can be predicted in advance.

[0075] Also, by setting a deviation threshold , the risk of deviation error and the occurrence of deviation error are further distinguished, so as to avoid the deviation gradually increasing during continuous operation, resulting in greater power consumption for calibration adjustment and pressure on the computing system, and to avoid the occurrence of powder flying (when the position of the feeding point deviates too much during the feeding process, the powder in the feeding and stirring process is likely to fly away due to stirring rotation), which affects the quality of the subsequent finished product.

[0076] Please refer to Figure 2 shown. As an embodiment of the present invention, the automatic feeding control program includes:

[0077] The host computer starts;

[0078] Obtain the historical dynamic image information of the feeding start point to the feeding end point position of the feeding action execution device;

[0079] Extract the execution action parameter set in the dynamic image information as a training sample and input it into the PLC controller to construct a mathematical control model, and send a drive control signal to the actuator;

[0080] The driving action of the feeding action execution device starts;

[0081] The hopper starts to feed;

[0082] The hopper stops feeding;

[0083] The driving action of the feeding action execution device terminates;

[0084] The feeding action execution device resets;

[0085] End, send an end signal to the PLC controller and feedback it to the host computer.

[0086] In the above technical solution, the acquisition of feeding parameter information and the feeding process of the adaptive intelligent feeder of the PLC controller are realized by setting an automatic feeding program. And according to the mathematical control model constructed during the feeding process, further training of the input execution action parameters is ensured, and an accurate control analysis process is optimized and output. The warning judgment of the feeding efficiency size and the adjustment feedback process of the calibration strategy are realized. The mathematical control model refers to the one obtained by training based on the PID control model. The historical dynamic image information is obtained according to the imaging device. The way to extract the execution action parameter set in the dynamic image information is to extract the key frame images of the starting point and the ending point of the material discharge from the stored historical dynamic images, and ensure that the collected key frame images can clearly reflect the actions and position changes during the material discharge process. And image processing is performed on the extracted key frame images, such as cropping, scaling, annotation, etc., so as to better highlight the swinging action contour of the control device during the material discharge process. By analyzing the position changes of the control device in the images of consecutive frames, the swinging action displacement during the material discharge process is calculated. According to the swinging action contour and displacement, the execution action information number of the stable execution material discharge operation device is extracted, and the execution action parameters related to the feeding efficiency are generated based on the existing machine learning model.

[0087] As an implementation manner of the present invention, the control analysis includes:

[0088] By the formula The control coefficient is calculated as ; where is a preset conversion coefficient, and 0 < < 1; is the total number of recorded control action units during the execution of the material discharge process, and ∈ ; is the execution action parameter of the th recorded control action; is to arithmetic mean, is the execution action parameter of the first recorded control action; is the execution action parameter of the th recorded control action.

[0089] In the above technical solution, according to the control module, the automatic feeding control program realizes the control analysis of the feeding. The control coefficient is mainly calculated by the formula The control coefficient is calculated as ; According to the control coefficient Implement the analysis of the magnitude of the feeding efficiency, optimize the feeding efficiency and perform the feeding calibration process. And according to the parameter information of the equipment feeding control actions recorded, that is, determine the control coefficient by cumulatively confirming the changes in the execution action parameters obtained from each consecutive record, determine the stability of the actions executed according to the changes in the consecutive actions, and when the amplitude of the execution action during the discharging process of the feeding is greater than the amplitude of the execution action set by the standard, the generated control coefficient is greater, and when the amplitude is smaller, the control coefficient is smaller. When the control coefficient is not within a certain range, it is determined that there are factors affecting the feeding efficiency in the execution of the feeding action.

[0090] As an implementation manner of the present invention, compare the control coefficient with the preset standard control coefficient threshold interval :

[0091] If , it is determined that the feeding efficiency is normal;

[0092] If , it is determined that the feeding efficiency is abnormal, and a control warning signal is generated. Further:

[0093] If < , it is determined that the feeding efficiency is low, and the calibration strategy is adjusted to increase the initial feeding efficiency setting;

[0094] If > , it is determined that the feeding efficiency is high, and the calibration strategy is adjusted to decrease the initial feeding efficiency setting.

[0095] In the above technical solution, the method of determining the feeding efficiency by the magnitude of the control coefficient is determined by interval comparison; when it belongs to this interval, it is determined that the feeding efficiency is normal, and conversely, it is determined that the feeding efficiency is abnormal, and the calibration strategy needs to be adjusted to achieve the adaptive adjustment of the feeding efficiency. Specifically, when < , it is determined that the feeding efficiency is low, and the calibration strategy needs to be adjusted to increase the initial feeding efficiency; when > , it is determined that the feeding efficiency is high, and the calibration strategy needs to be adjusted to decrease the initial feeding efficiency.

[0096] As an implementation manner of the present invention, the calibration strategy:

[0097] Calibrate the position of the discharging point according to the deviation value, and determine the initial discharging speed and the initial discharging interval duration at this position;

[0098] And adjust the initial discharging speed and the initial discharging interval duration according to the feeding efficiency.

[0099] In the above technical solution, the calibration strategy is used to determine the feeding speed and the duration of the feeding interval at the discharging point. Here, the duration of the feeding interval includes the time from the start to the end of feeding and the time before starting the next feeding. Therefore, when adjusting the calibration strategy, in addition to adjusting the feeding speed, it also includes the adaptive adjustment of other judgment settings of the equipment. For example, if it is necessary to improve the feeding efficiency, due to the limitation of the amount of mixed powder during the feeding process, the speed change range is prioritized. Then, by starting the reset action before the end of feeding and determining the positioning of the material point during the preparation stage detected by the sensor, etc., the waiting time can be reduced to ensure that the factory can complete the processing of temporary urgent orders, thereby improving the feeding efficiency.

[0100] As an embodiment of the present invention, the process of the warning module feeding back and adjusting the calibration strategy is as follows:

[0101] When < , increase the initial feeding speed and extend the duration of the initial feeding interval;

[0102] When > , decrease the initial feeding speed and shorten the duration of the initial feeding interval.

[0103] In the above technical solution, the feeding process is optimized by adjusting the calibration strategy to achieve the adaptive adjustment of the feeding efficiency and optimize the calibration strategy in a timely manner according to the actual requirements.

[0104] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, equipment, and non-volatile computer storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0105] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended documents. In some cases, the actions or steps recorded in this application can be executed in a different order from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In certain embodiments, multi-tasking and parallel processing are also possible or may be beneficial.

[0106] The above content is only an example and explanation of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined in this application, they should all fall within the protection scope of the present invention.

Claims

1. An execution control and early warning system for a battery automatic feeding machine, characterized in that: include: The powder pre-feeding module is used to pre-mix and convey the powders of each component after the specific gravity is confirmed; The feeding confirmation module is used to mix the premixed powder at the preset feeding point and perform secondary measurement before feeding to determine the actual quality parameters; and for judging whether a deviation error occurs in feeding at the feeding point according to a weight sensor signal obtained at the feeding point and an image of the center position of the feeding pile, and generating a calibration strategy according to the deviation error result; The control module is used to feed the mixed powder after the actual quality parameters are determined by secondary metering, and to perform control analysis through the automatic feeding control program to determine the feeding control efficiency; An early warning module is used to generate a control early warning signal and provide feedback to adjust the calibration strategy based on the result of the feeding control efficiency judgment; The feeding confirmation module comprises: By formula Calculate the first Deviation coefficient of feeding point ;in, is the total number of powder components, and ∈ ; For the The unloading point Specific gravity coefficient of the powder; For the The unloading point Quality parameters of powder materials before premixing; For the Deviation value of standard mixing loss at each feeding point; For the Target quality parameters for each unloading point; The center position of material stacking To the unloading point The position deviation value.

2. The execution control and early warning system of a battery automatic feeding machine according to claim 1 is characterized in that: The first Deviation coefficient of feeding point The threshold value of the coefficient of deviation from the preset standard To compare: like < , it is judged that the deviation error range of the material discharge point does not appear; like ∈ , then it is determined that there is a risk of deviation of the material discharge point from the error range; further: Analyze the actual quality parameters after mixing at this material discharge point and target quality parameters Deviation value , the deviation value With preset threshold To compare: If the deviation value < , then continue to run; If the deviation value ≥ , then generate a calibration strategy; like > , it is judged that there is a problem of deviation of the material discharge point from the error range and an early warning signal is generated.

3. The execution control and early warning system of a battery automatic feeding machine according to claim 1 is characterized in that: The automatic feeding control program includes: The host computer starts; Obtain historical dynamic image information of the position from the unloading start point to the unloading end point of the feeding action execution equipment; Extract the execution action parameter set in the dynamic image information as a training sample and input it into the PLC controller to build a mathematical control model, and send a drive control signal to the actuator; The feeding action executes the equipment driving action and starts; The hopper starts to discharge materials; The hopper stops unloading; The feeding action execution equipment driving action is terminated; The feeding action executes the equipment reset; When finished, send an end signal to the PLC controller and feedback to the host computer.

4. The execution control and early warning system of a battery automatic feeding machine according to claim 3 is characterized in that: The control analysis includes: By formula Calculate the control coefficient ;in, is the preset conversion coefficient, and 0< <1; To record the total number of control action units during the unloading process, and ∈ ; For the Record the execution action parameters of the control action; for arrive The arithmetic mean of Record the execution action parameters of the control action for the first time; For the This records the execution action parameters of the control action.

5. The execution control and early warning system of a battery automatic feeding machine according to claim 4 is characterized in that: The control coefficient The threshold range of the preset standard control coefficient To compare: like , then the feeding efficiency is judged to be normal; like , the feeding efficiency is judged to be abnormal, and a control warning signal is generated, and further: like < , it is judged that the feeding efficiency is low, and the calibration strategy is adjusted to improve the initial feeding efficiency setting; like > , then the feeding efficiency is judged to be too high, and the calibration strategy is adjusted to lower the initial feeding efficiency setting.

6. The execution control and early warning system of a battery automatic feeding machine according to claim 5, characterized in that: The calibration strategy: Calibrate the position of the unloading point according to the deviation value, and determine the initial unloading speed and initial unloading interval duration at the position; And adjust the initial feeding speed and initial feeding interval duration according to the feeding efficiency.

7. The execution control and early warning system of the battery automatic feeding machine according to claim 6 is characterized in that: The process of feedback adjustment of the calibration strategy by the early warning module is as follows: when < , increase the initial material feeding speed and extend the initial material feeding interval; when > , reduce the initial unloading speed and shorten the initial unloading interval.

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