A liquid food intelligent pushing device and a food supply device

Abstract

The present application relates to a kind of liquid food intelligent pushing device and food supply device.Pushing device includes the first parameter acquisition unit, obtains the pushing speed of pushing member;Second parameter acquisition unit, based on the pushing speed of pushing member and target speed, obtains the speed error of pushing member;Master unit, based on PID control model, current speed error, historical speed error integral value and first speed error change rate, obtains the transmission control parameter of transmission mechanism, and based on transmission control parameter, transmission control is carried out to transmission mechanism;Parameter updating unit, when meeting model parameter updating condition, based on current speed error, second speed error change rate, resistance change rate, parameter updating is carried out to PID control model model parameter.Cleverly balanced the response speed and response accuracy of PID control model, realizes that PID control model still maintains high response speed on the basis of guaranteeing response accuracy.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the field of push control, and in particular to a liquid food intelligent pushing device and a food supply device. BACKGROUND

[0002] In the intensive care environment, critically ill patients usually cannot move autonomously due to the severity of the illness, and their daily life completely depends on the assistance of medical staff. For such patients who cannot eat normally, nutritional support becomes a key link in the treatment process. Among them, the conventional food is processed into a liquid state by professional equipment and then fed, which is the main way to ensure that such patients can obtain the necessary nutrients. This liquid nutritional supply method can ensure that patients can still obtain various types of nutrients required by the body in the case of being unable to eat normally, thereby maintaining basic physiological functions and providing a basic guarantee for subsequent treatment and rehabilitation.

[0003] Currently, there are some electrically propelled liquid food feeding devices, for example, the utility model patent with application number 202421862124.6 discloses a liquid food feeding device for intensive care, which includes a feeding device body for liquid food feeding of critically ill patients, and the feeding device body is composed of a pushing seat and a food storage cylinder. An operation panel and a non-slip rubber pad are arranged on the pushing seat, and a battery, a microprocessor, an electric heating element, a temperature sensor, and an electric telescopic rod are arranged inside the pushing seat. An installation groove, a first missing groove, and a second missing groove are formed on the pushing seat, the food storage cylinder is installed in the installation groove, a piston is movably arranged in the food storage cylinder, the piston is connected to one end of a push rod, and the other end of the push rod is connected to a push handle. The output end of the electric telescopic rod is connected to a push plate. When the device is in use, it is not only convenient to install and disassemble and easy to clean, but also can effectively reduce the work burden of nursing staff and facilitate the absorption of nutrients by critically ill patients due to the constant temperature heating and automatic pushing of liquid food. However, due to the uniformity problem of liquid food at different pushing positions, the pushing resistance at different pushing positions during the pushing process has certain differences. Even if the electric pushing method is used to ensure the continuous and stable output of the pushing force, the speed stability during the pushing process cannot be guaranteed due to the existence of the problem of the pushing resistance at different pushing positions during the pushing process.

[0004] Currently, there are some real-time control schemes through a PID control model to ensure that the real-time speed is maintained at the target speed, and there are generally two cases. Case one: the real-time PID control only refers to the speed-related data; case two: the real-time PID control refers to both the speed-related data and the resistance-related data. If the above two cases are applied to the flow food pushing scene, in case one, the control accuracy is not high enough because the real-time control does not refer to the resistance-related data, that is, the problem of uneven resistance which has a great impact on the working condition of the pushing device is not considered. In case two, although the resistance-related data is considered, the response speed of the PID control model will be reduced because the real-time control is based on the comprehensive calculation of the two kinds of data each time.

[0005] Therefore, it is urgent to develop a flow food pushing device which can realize accurate control of real-time pushing speed throughout the whole process while ensuring the control response speed. SUMMARY

[0006] The embodiments of the present specification provide a flow food intelligent pushing device and a food supply device, which can realize accurate control of real-time pushing speed throughout the whole process while ensuring the control response speed.

[0007] The technical scheme is as follows:

[0008] In a first aspect, the embodiments of the present specification provide a flow food intelligent pushing device, which comprises a base, a transmission mechanism, and a pushing piece for pushing a needle cylinder erected outside the base on a pushing path through the transmission mechanism. A resistance sensor for obtaining pushing resistance is arranged on the pushing surface of the pushing piece for pushing the needle cylinder. The device further comprises a control module, which comprises a first parameter acquisition unit, a second parameter acquisition unit, a master control unit, and a parameter update unit.

[0009] The first parameter acquisition unit acquires the pushing speed of the pushing piece.

[0010] The second parameter acquisition unit acquires the speed error of the pushing piece based on the pushing speed of the pushing piece and the target speed.

[0011] The master control unit acquires the transmission control parameter of the transmission mechanism based on the PID control model, the current speed error, the historical speed error integral value, and the first speed error change rate between the acquisition time of the last speed error and the acquisition time of the current speed error, and controls the transmission of the transmission mechanism based on the transmission control parameter.

[0012] The parameter updating unit updates the PID control model parameters based on the current speed error and a second speed error change rate and a resistance change rate between the update time of the last parameter updating and the acquisition time of the current speed error when the model parameter updating condition is met.

[0013] The parameter updating unit obtains a speed error fitting straight line and a resistance fitting straight line based on the multiple speed errors and the multiple push resistances of the pusher obtained in sequence between the update time of the last parameter updating and the acquisition time of the current speed error, and in combination with the acquisition times corresponding to the multiple speed errors and the acquisition times corresponding to the multiple push resistances, and further obtains the second speed error change rate and the resistance change rate.

[0014] As a preferred scheme, the master control unit obtains the first speed error change rate based on the last obtained speed error, the current speed error, and the acquisition time interval between the acquisition time of the last speed error and the acquisition time of the current speed error.

[0015] As a preferred scheme, the parameter updating unit comprises a first fitting sub-unit.

[0016] The first fitting sub-unit obtains the fitting weight corresponding to each of the multiple speed errors based on the acquisition times corresponding to the multiple speed errors, and obtains the speed error fitting straight line based on the multiple speed errors obtained in sequence between the update time of the last parameter updating and the acquisition time of the current speed error, the fitting weights corresponding to the multiple speed errors, and in combination with the acquisition times corresponding to the multiple speed errors.

[0017] As a preferred scheme, the parameter updating unit comprises a second fitting sub-unit.

[0018] The second fitting sub-unit obtains the fitting weight corresponding to each of the multiple push resistances based on the acquisition times corresponding to the multiple push resistances, and obtains the resistance fitting straight line based on the multiple push resistances obtained in sequence between the update time of the last parameter updating and the acquisition time of the current speed error, the fitting weights corresponding to the multiple push resistances, and in combination with the acquisition times corresponding to the multiple push resistances.

[0019] As a preferred scheme, the transmission mechanism is arranged inside the base, the bottom structure of the pusher is in transmission connection with the transmission mechanism, and the structural body of the pusher extends from the inside of the base to the outside of the base.

[0020] The device further comprises multiple optical couplings arranged at intervals in the extension direction of the push path and arranged inside the base; the pusher is provided with a shielding member capable of shielding the multiple optical couplings in sequence during the pushing process of the pusher.

[0021] The first parameter acquisition unit acquires the pushing speed of the pushing member based on the time difference between the times at which the two optical couplings receive the sudden light signal and the interval distance of the two optical couplings in the pushing path direction.

[0022] As a preferred solution, the device comprises a first optical coupling band and a second optical coupling band, which are arranged in the pushing path direction and are arranged on both sides of the pushing path respectively, and a plurality of optical couplings are arranged on the first optical coupling band and the second optical coupling band at intervals;

[0023] The pushing member is provided with a first shielding member and a second shielding member on both sides respectively, the first shielding member can shield the optical couplings on the first optical coupling band in sequence during the pushing process of the pushing member, and the second shielding member can shield the optical couplings on the second optical coupling band in sequence during the pushing process of the pushing member, and the first shielding member and the second shielding member are symmetrically arranged on both sides of the pushing member with the pushing path as the axis of symmetry.

[0024] Among them, the optical couplings on the first optical coupling band and the optical couplings on the second optical coupling band are alternately arranged at intervals in the pushing path direction.

[0025] As a preferred solution, it further comprises a third parameter acquisition unit, a timing unit and a speed compensation unit.

[0026] The third parameter acquisition unit acquires the target pushing time length.

[0027] The second parameter acquisition unit acquires the target speed based on the target pushing time length and the pushing path length.

[0028] The timing unit records the cumulative pushing time length of the pushing member in the pushing process.

[0029] The speed compensation unit compensates the target speed based on the target pushing time length, the cumulative pushing time length, and the position information of the optical coupling that receives the sudden light signal most recently.

[0030] As a preferred solution, it further comprises a wire harness storage mechanism arranged on one side of the pushing path inside the base.

[0031] The wire harness storage mechanism comprises a support plate arranged in the pushing path direction and a chain at least partially supported on the support plate; one end of the chain is fixedly connected to the bottom of the pushing member, and the other end of the chain is fixedly connected to one end of the support plate close to the discharge end of the needle cylinder erected outside the base; the support plate has a folding space between the support plate and the pushing path for the chain to fold during the pushing process of the pushing member; the connecting wire harness of the resistance sensor is connected to the control module arranged inside the base after being pulled out from the bottom of the pushing member and passing through the hollow space inside the chain.

[0032] As a preferred solution, the pushing member has an extension structure inside the base extending to the end of the needle cylinder erected outside the base; the plurality of optical couplings are arranged at the connection between the chain and the support plate and between the end of the needle cylinder erected outside the base; the extension structure is provided with a shielding member capable of shielding the plurality of optical couplings in sequence during the pushing of the pushing member.

[0033] The base is further provided with a top-touch structure inside the base for top-touching the chain retraction end when the chain retraction end reaches a preset position to limit the retraction degree of the chain.

[0034] In a second aspect, the embodiments of the present specification provide a food supply device, comprising the liquid food intelligent pushing device of the first aspect of the above-mentioned embodiments and the needle cylinder erected outside the base.

[0035] In a third aspect, the embodiments of the present specification provide a liquid food intelligent pushing method, based on the food supply device of the second aspect of the above-mentioned embodiments, comprising:

[0036] obtaining the pushing speed of the pushing member;

[0037] obtaining the speed error of the pushing member based on the pushing speed of the pushing member and the target speed;

[0038] obtaining the transmission control parameter of the transmission mechanism based on the PID control model, the current speed error, the historical speed error integral value, and the first speed error change rate between the acquisition time of the last speed error and the acquisition time of the current speed error, and performing transmission control on the transmission mechanism based on the transmission control parameter;

[0039] The above steps are repeatedly executed, and during the execution, when the model parameter update condition is met, the PID control model parameter is updated based on the current speed error and the second speed error change rate and the resistance change rate between the update time of the last parameter update and the acquisition time of the current speed error;

[0040] Wherein, based on the plurality of speed errors and the plurality of pushing resistances of the pushing member obtained in sequence between the update time of the last parameter update and the acquisition time of the current speed error, and in combination with the acquisition time corresponding to each of the plurality of speed errors and the acquisition time corresponding to each of the plurality of pushing resistances, the speed error fitting straight line and the resistance fitting straight line are obtained, and then the second speed error change rate and the resistance change rate are obtained.

[0041] Fourthly, embodiments of this specification provide an electronic device, including a processor and a memory; the processor is connected to the memory; the memory is used to store executable program code; the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to perform the steps described in the third aspect of the above embodiments.

[0042] Fifthly, embodiments of this specification provide a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the steps described in the three aspects of the above embodiments.

[0043] The beneficial effects of the technical solutions provided in some embodiments of this specification include at least the following:

[0044] During the pushing process, the transmission mechanism is controlled based on the PID control model, the current speed error, the integral value of the historical speed error, and the first speed error change rate to ensure that the pushing speed of the pushing component is stably maintained at the target speed. Furthermore, during transmission control, when the model parameter update conditions are met, the PID control model parameters are updated based on the current speed error, the second speed error change rate, and especially the resistance change rate (resistance change is the direct cause of operating condition changes, especially in the scenario of pushing liquid food, while speed error change is the result, requiring system inertial delay to manifest; the resistance change rate directly reflects operating condition changes, skipping the system's dynamic response process and capturing operating condition change trends earlier). This ensures that the PID control model can adapt to the latest operating condition changes of the pushing device during the pushing process, thereby better ensuring that the pushing speed of the pushing component is stably maintained at the target speed.

[0045] A novel control strategy is proposed that cleverly balances the model's response speed and accuracy. In the real-time control phase, the PID control model ignores drag-related data to reduce computational load, thereby improving response speed and ensuring the system's dynamic agility. During the non-real-time model parameter update phase, drag-related data is introduced to periodically calibrate the PID control model parameters, enabling them to accurately adapt to the device's phased operating conditions, thus enhancing the robustness and long-term stability of the PID control model. This achieves a PID control model that maintains high response speed while ensuring response accuracy.

[0046] The speed error fitting straight line and the resistance fitting straight line are obtained by linear fitting, and then the second speed error change rate and the resistance change rate are obtained, instead of directly calculating the second speed error change rate and the resistance change rate by using the information related to the two time nodes of the starting time and the ending time, so that the obtained second speed error change rate and resistance change rate can better reflect the stage change trend of the pushing device. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0048] Figure 1 An overall structural schematic diagram of a liquid food intelligent pushing device is shown.

[0049] Figure 2 An internal structural schematic diagram of a liquid food intelligent pushing device is shown.

[0050] Figure 3 An overall structural schematic diagram of a needle cylinder is shown.

[0051] Figure 4 An internal structural schematic diagram of the discharge end of a needle cylinder is shown.

[0052] Figure 5 A flowchart of a liquid food intelligent pushing method is shown.

[0053] Figure 6 A schematic block diagram of an electronic device is shown.

[0054] In the figure: 1, base; 2, pushing piece; 21, pushing surface; 22, first connecting through slot; 23, second connecting through slot; 24, extension structure; 31, lock button; 32, lock structure; 41, driving motor; 42, ball screw; 5, signal triggering mechanism; 6, top touch structure; 7, optical coupler; 71, first optical coupler belt; 72, second optical coupler belt; 8, support plate; 9, chain; 101, push rod; 102, cylinder body; 103, display panel; 104, containing chamber; 105, inner chamber; 106, gasket; 11, sliding rod; 12, sliding slot. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification.

[0056] The terms "first", "second", "third", etc. in the specification and claims in the present specification and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0057] The following description provides examples and does not limit the scope, applicability, or examples set forth in the claims. Changes can be made to the functions and arrangements of described elements without departing from the scope of the present specification. Various examples can omit, substitute, or add various procedures or components as appropriate. For example, the described methods can be performed in a different order than described, and various steps can be added, omitted, or combined. Furthermore, features described with respect to some examples can be combined in other examples.

[0058] Figure 1 An overall structural schematic diagram of a liquid food intelligent pushing device is shown. Figure 2 An internal structural schematic diagram of a liquid food intelligent pushing device is shown. As shown in Figure 1 , Figure 2 The liquid food intelligent pushing device can at least include a base 1, a transmission mechanism, and a pushing piece 2 driven by the transmission mechanism to push a needle cylinder erected outside the base 1 on a pushing path, and a resistance sensor for obtaining a pushing resistance is arranged on a pushing surface 21 of the pushing piece 2 for pushing the needle cylinder. The device further includes a control module, which includes a first parameter acquisition unit, a second parameter acquisition unit, a main control unit, and a parameter update unit.

[0059] The first parameter acquisition unit acquires a pushing speed of the pushing piece 2.

[0060] The second parameter acquisition unit acquires a speed error of the pushing piece 2 based on the pushing speed of the pushing piece 2 and a target speed.

[0061] The main control unit acquires a transmission control parameter of the transmission mechanism based on a PID control model, a current speed error, a historical speed error integral value, and a first speed error change rate between a time when a last speed error is acquired and a time when the current speed error is acquired, and performs transmission control on the transmission mechanism based on the transmission control parameter.

[0062] The parameter updating unit updates the PID control model parameters based on the current speed error and the second speed error change rate and the resistance change rate between the update time of the last parameter update and the acquisition time of the current speed error when the model parameter update condition is met.

[0063] The parameter updating unit obtains the multiple speed errors and the multiple push resistances of the pusher 2 obtained in sequence between the update time of the last parameter update and the acquisition time of the current speed error, and obtains the speed error fitting straight line and the resistance fitting straight line in combination with the acquisition times corresponding to the multiple speed errors respectively and the acquisition times corresponding to the multiple push resistances respectively, and further obtains the second speed error change rate and the resistance change rate.

[0064] The model update condition can be that the number of times of obtaining the push speed of the pusher 2 reaches a preset number, that is, the model parameter is updated once every preset number of times of obtaining the push speed; or the model parameter is updated once every preset update interval, that is, the model parameter is updated once every preset update interval. The specific setting can be made according to actual needs.

[0065] It can be understood that, due to the uniformity difference problem of the liquid food at different push positions, the push resistance at different push positions in the push process exists certain difference, and further causes the problem of speed stability in the push process. Therefore, in the multiple embodiments of the present specification:

[0066] Based on the PID control model, the current speed error, the historical speed error integral value, and the first speed error change rate between the acquisition time of the last speed error and the acquisition time of the current speed error, the transmission control parameter is calculated in real time, and the dynamic change of the system is quickly responded (that is, the transmission control parameter calculation is performed once every time the push speed is obtained).

[0067] When the model parameter update condition is met, the PID control model parameters are updated based on the current speed error and the second speed error change rate and the resistance change rate between the update time of the last parameter update and the acquisition time of the current speed error (note: the time span corresponding to the second speed error change rate and the resistance change rate is larger than the time span corresponding to the first speed error change rate), to adapt to the latest working condition change trend.

[0068] It needs to be emphasized that although the speed error change rate can also reflect the working condition change trend, the resistance change rate can reflect the working condition change trend more in advance than the speed error change rate, and the reason is as follows:

[0069] The resistance change is the direct cause of the working condition change (especially in the scene of pushing liquid food), and the speed error change is the result, which needs to pass through the system inertia delay to appear, that is, the resistance change rate can directly reflect the working condition change, skipping the system dynamic response process, and can capture the working condition change trend earlier.

[0070] More importantly, the embodiments of the present specification creatively propose a control strategy, which skillfully balances the response speed and response accuracy of the model. In the real-time control stage, the PID control model does not consider the resistance related data to reduce the control calculation amount, thereby improving the control response speed and ensuring the dynamic agility of the system; in the non-real-time model parameter updating stage, the resistance related data is additionally introduced to calibrate the PID control model parameters in stages, so that it can accurately adapt to the stage working condition of the device, thereby enhancing the robustness and long-term stability of the PID control model. On the basis of ensuring the response accuracy, the PID control model still maintains a high response speed.

[0071] In addition, the speed error fitting straight line and the resistance fitting straight line are obtained by linear fitting, and then the second speed error change rate and the resistance change rate are obtained, instead of directly calculating the second speed error change rate and the resistance change rate by using the information related to the two time nodes of the starting time and the ending time, so that the obtained second speed error change rate and resistance change rate can better reflect the stage working condition change trend of the pushing device.

[0072] Among them, the PID control model is as follows:

[0073] ;

[0074] Among them, denotes the transmission control parameter, denotes the proportional gain coefficient, denotes the integral gain coefficient, denotes the differential gain coefficient, denotes the speed error, denotes the speed error and the speed error between the two, denotes the total number of speed errors obtained at the acquisition time of the current speed error.

[0075] Here, the model parameter updating refers to updating , , in the PID control model.

[0076] In some embodiments of the present specification, the master unit obtains the first speed error change rate based on the last obtained speed error, the current speed error, and the acquisition time interval between the acquisition time of the last speed error and the acquisition time of the current speed error.

[0077] The calculation formula of the first speed error change rate is as follows:

[0078]

[0079] In some embodiments of the present specification, the parameter updating unit comprises a first fitting subunit;

[0080] The first fitting subunit obtains the fitting weight corresponding to each of the plurality of speed errors based on the acquisition time corresponding to each of the plurality of speed errors, and obtains the speed error fitting straight line based on the plurality of speed errors obtained in sequence between the update time of the last parameter updating and the acquisition time of the current speed error, the fitting weight corresponding to each of the plurality of speed errors, and the acquisition time corresponding to each of the plurality of speed errors.

[0081] In some embodiments of the present specification, the parameter updating unit comprises a second fitting subunit;

[0082] The second fitting subunit obtains the fitting weight corresponding to each of the plurality of push resistances based on the acquisition time corresponding to each of the plurality of push resistances, and obtains the resistance fitting straight line based on the plurality of push resistances obtained in sequence between the update time of the last parameter updating and the acquisition time of the current speed error, the fitting weight corresponding to each of the plurality of push resistances, and the acquisition time corresponding to each of the plurality of push resistances.

[0083] It can be understood that, for the second speed error change rate and the resistance change rate related to the working condition change trend, if only the information related to the two time nodes of the starting time and the ending time is used for calculation, the fluctuation in the intermediate process cannot be reflected, and the real change trend in the time period cannot be well reflected. Therefore, in the plurality of embodiments of the present specification:

[0084] 1. The second speed error change rate is obtained based on the speed error fitting straight line;

[0085] 2. The resistance change rate is obtained based on the resistance fitting straight line;

[0086] to more reasonably reflect the working condition change trend of the push device.

[0087] ​​It should be noted that, in obtaining the speed error fitting straight line, the acquisition time of the speed error is taken as the abscissa, the specific value of the speed error is taken as the ordinate, and the straight line fitting operation is performed; in obtaining the resistance fitting straight line, the acquisition time of the pushing resistance is taken as the abscissa, the specific value of the pushing resistance is taken as the ordinate, and the straight line fitting operation is performed. The straight line fitting can be but not limited to the least square fitting method.

[0088] In addition, it can also be understood that the working condition change trend is mainly obtained for optimizing the PID control model for future pushing control, so the fitting weight of each of the plurality of speed errors can be obtained based on the acquisition time corresponding to each of the plurality of speed errors (note: the later the acquisition time, the greater the fitting weight), and the fitting weight of each of the plurality of pushing resistances can be obtained based on the acquisition time corresponding to each of the plurality of pushing resistances (note: the later the acquisition time, the greater the fitting weight). Further, the working condition change trend is more reasonably reflected.

[0089] It should be noted that the straight line fitting can be but not limited to the weighted least square fitting method.

[0090] It can be understood that the traditional PID controller adjusts the system error through the proportional, integral and differential links, and the proportional gain coefficient, integral gain coefficient and differential gain coefficient of the traditional PID controller are fixed, which is difficult to adapt to complex, nonlinear or time-varying systems, such as the liquid food pushing scene involved in the embodiments of the present specification. If only the fixed proportional gain coefficient, integral gain coefficient and differential gain coefficient are used for transmission control parameter output, the pushing stability and real-time pushing speed precise control cannot be well guaranteed. Therefore, in the embodiments of the present specification, a fuzzy PID control method is used to output the transmission control parameters of the transmission mechanism, and the fuzzy control rule applied therein is related to the current speed error and the second speed error change rate and the resistance change rate between the update time of the last parameter update and the acquisition time of the current speed error. In the embodiments of the present specification, the proportional gain coefficient and the differential gain coefficient are preferentially controlled by the fuzzy control rule, and in other embodiments, the control of the integral gain coefficient can also be increased.

[0091] In the embodiments of the present specification, the logic for updating the proportional gain coefficient and the differential gain coefficient based on the current speed error, the second speed error change rate and the resistance change rate can be but not limited to the following several kinds (note: since there are many possible situations, only two situations are exemplarily illustrated):

[0092] 1. If the current speed error is positive, the second speed error change rate is negative and high, and the resistance change rate is negative and small, the proportional gain coefficient adopts a large value, and the differential gain coefficient adopts a moderate value;

[0093] Reason:

[0094] (1) The positive speed error indicates that the pushing speed is much higher than the target speed, and the system response is insufficient. At this time, a larger proportional gain coefficient should be used to improve the control strength and speed up the system response.

[0095] (2) The negative second speed error change rate and the negative resistance change rate indicate that the pushing speed is decreasing at a faster rate, and a larger differential gain coefficient should be used to provide stronger predictive control damping to avoid overshoot. However, the resistance change rate is small, indicating that the pushing speed is decreasing slowly, so a moderate differential gain coefficient can be used to provide moderate predictive control damping.

[0096] 2. If the current speed error is negative, the second speed error change rate is positive, and the resistance change rate is negative, the proportional gain coefficient is small, and the differential gain coefficient is moderate.

[0097] Reason:

[0098] (1) The negative speed error indicates that the pushing speed is slightly lower than the target speed, and a smaller proportional gain coefficient should be used to avoid excessive reaction leading to reverse overshoot.

[0099] (2) The positive second speed error change rate and the negative resistance change rate indicate that the pushing speed is increasing at a slower rate, and a smaller differential gain coefficient should be used to provide weaker predictive control damping and allow the system to have a moderate adjustment space. However, the resistance change rate is small, indicating that the pushing speed is increasing slowly, so a moderate differential gain coefficient should be used to provide moderate predictive control damping.

[0100] The membership function set and fuzzy reasoning rule set designed for the current speed error, second speed error change rate, and resistance change rate to achieve the above update logic (note: the membership function set and fuzzy reasoning rule set are basic content involved in fuzzy control, so they will not be expanded here) can be designed according to actual needs. Here is not to show details, the following only explains the general process of fuzzy control:

[0101] Firstly, a membership function set needs to be set for the current speed error, the second speed error change rate and the resistance change rate respectively, each membership function set including a plurality of membership functions, each membership function corresponding to a fuzzy partition interval (for example, error negative small interval, error positive large interval, change rate positive small interval, change rate negative high interval, change rate negative small interval, etc.), and the membership value of the current speed error, the second speed error change rate and the resistance change rate corresponding to each fuzzy partition interval can be obtained based on the plurality of membership functions;

[0102] Further, a fuzzy reasoning rule set needs to be set, including a plurality of fuzzy reasoning rules;

[0103] Further, after obtaining the membership information corresponding to the current speed error, the second speed error change rate and the resistance change rate, the minimum value operation method can be used to calculate the rule membership value of each rule;

[0104] Finally, based on the rule membership value of each rule and the defuzzification function (for example, center weighted average method), the output value corresponding to the proportional gain coefficient and the differential gain coefficient can be obtained.

[0105] Referring to Figure 2 In some embodiments of the present specification, the transmission mechanism is arranged inside the base 1, the bottom structure of the pushing member 2 is in transmission connection with the transmission mechanism, and the structure body extends from the inside of the base 1 to the outside of the base;

[0106] The transmission mechanism includes a driving motor 41 fixedly arranged inside the base 1 and a ball screw 42 connected with the driving motor 41; the bottom of the pushing member 2 is parallelly provided with a first connecting through slot 22 and a second connecting through slot 23; the ball screw 42 is arranged in the first connecting through slot 22; the base 1 is further fixedly provided with a sliding rod 11 parallel to the ball screw 42, and the sliding rod 11 is arranged in the second connecting through slot 23;

[0107] It can be understood that the transmission control parameter at this time can be the output power of the driving motor 41.

[0108] It can also be understood that by arranging the ball screw 42 and the sliding rod 11 in parallel and arranging them in the first connecting through slot 22 and the second connecting through slot 23 respectively, the pushing member 2 as a whole can be more smoothly pushed forward.

[0109] Referring to Figure 1As shown, in some embodiments of the present specification, the base 1 is provided with a sliding groove 12 extending from the inside of the base 1 to the outside of the base 1 and limiting the sliding of the pushing member 2 within the length range thereof, which is arranged along the pushing path and has a width dimension adapted to the part of the pushing member 2 extending from the inside of the base 1 to the outside of the base 1.

[0110] It can be understood that the pushing length of the pushing member 2 can be controlled by the control module, but in some cases, the pushing member 2 may still be pushed excessively due to improper electrical control. Therefore, the pushing range of the pushing member 2 is effectively physically limited by the sliding groove 12.

[0111] In some embodiments of the present specification, the base 1 is further provided with a signal triggering mechanism 5 at the end of the moving path of the pushing member 2 in the base 1, which can be in contact with the pushing member 2 and send a contact signal to the control module after the contact.

[0112] The control module obtains the transmission control parameter of the transmission mechanism based on the contact signal after receiving the contact signal, so that the pushing member 2 no longer continues to push.

[0113] It can be understood that the pushing range of the pushing member 2 can be effectively limited by the signal triggering mechanism 5. It can also be understood that the sliding groove 12 can physically limit the pushing range of the pushing member 2 when the signal triggering mechanism 5 cannot effectively limit the pushing range of the pushing member 2.

[0114] In some embodiments of the present specification, the device further comprises a plurality of optical couplings 7 arranged along the pushing path direction and spaced apart; the pushing member 2 is provided with a shielding member (not shown in the figure) which can shield the plurality of optical couplings 7 in sequence during the pushing process of the pushing member 2. Figure 2

[0115] The first parameter acquisition unit obtains the pushing speed of the pushing member 2 based on the time difference of the sudden light signal received by the two optical couplings 7 that have received the sudden light signal most recently and the interval distance of the two optical couplings 7 in the pushing path direction.

[0116] ​It can be understood that directly installing a speedometer on the pusher 2 will face multiple challenges. First, the use of a speedometer is relatively high in cost; second, it is difficult to install a speedometer and a resistance sensor in the limited installation space of the pusher 2 at the same time, and the close installation distance of the speedometer and the resistance sensor may cause signal interference and affect the measurement accuracy; more importantly, during the pushing process, the pusher 2 will directly bear a complex mechanical environment and potential impact, which greatly increases the risk of damage to the sensor installed thereon. Therefore, in multiple embodiments of the present specification, an optical coupler 7 is used for indirect speed measurement, rather than directly setting a speedometer on the pusher 2 for speed measurement.

[0117] In addition, it can also be understood that after using the optical coupler 7 for speed measurement, it is more meaningful to use the resistance change rate to update the parameters of the PID control model. Because there is a certain distance between each optical coupler 7, the speed measurement frequency cannot be high, and therefore only through the second speed error change rate cannot better reflect the working condition change trend, at this time, it is particularly important to additionally increase a resistance sensor with a higher acquisition frequency to obtain a resistance change rate that can better reflect the working condition change trend.

[0118] It should be noted that since the optical coupler 7 is used for speed measurement, the time interval of the shielding member passing through each adjacent two optical couplers 7 is indefinite, and therefore the sampling time interval of the pushing speed will change slightly under this embodiment scheme.

[0119] In some embodiments of the present specification, a third parameter acquisition unit, a timing unit, and a speed compensation unit are further included.

[0120] The third parameter acquisition unit acquires a target pushing time length.

[0121] The second parameter acquisition unit acquires a target speed based on the target pushing time length and the pushing path length.

[0122] The timing unit records the cumulative pushing time length of the pusher 2 during the pushing process.

[0123] The speed compensation unit compensates the target speed based on the target pushing time length, the cumulative pushing time length, and the position information of the optical coupler 7 that has most recently received the sudden light signal.

[0124] It can be understood that in some cases, a target pushing time length is set, for example, it is desired to push the liquid food within 30 minutes, and therefore the target speed can be acquired according to the pushing path length and the target pushing time length. During the pushing process, the remaining time length can also be acquired according to the cumulative pushing time length and the target pushing time length, and the target speed is compensated in real time based on the remaining path length and the remaining time length, so that the final pushing total time length is consistent or similar to the target pushing time length.

[0125] Therefore, in this embodiment, the speed is detected by the optical coupler 7, and the detection of the remaining path length can also be effectively realized.

[0126] In some embodiments of the present specification, the device comprises a first optical coupler strip 71 and a second optical coupler strip 72, which are arranged in the direction of the pushing path and are respectively arranged on both sides of the pushing path. The first optical coupler strip 71 and the second optical coupler strip 72 are both arranged with a plurality of optical couplers 7 at intervals.

[0127] The pushing member 2 is respectively provided with a first shielding member and a second shielding member on both sides, which can shield the plurality of optical couplers 7 on the first optical coupler strip 71 in sequence during the pushing process of the pushing member 2, and the second shielding member can shield the plurality of optical couplers 7 on the second optical coupler strip 72 in sequence during the pushing process of the pushing member 2. The first shielding member and the second shielding member are symmetrically arranged on both sides of the pushing member 2 with the pushing path as the axis of symmetry (Note: Figure 2 The first shielding member and the second shielding member are not shown in the figure).

[0128] Among them, the optical couplers 7 on the first optical coupler strip 71 and the optical couplers 7 on the second optical coupler strip 72 are alternately arranged in the direction of the pushing path (Note: Such arrangement mode can make the plurality of optical couplers 7 as dispersed as possible). Further, during the pushing process of the pushing member 2, the first shielding member 71 and the second shielding member 72 will alternately shield the optical couplers 7 in the first optical coupler strip 71 and the optical couplers 7 in the second optical coupler strip 72.

[0129] The first shielding member and the second shielding member alternately shield the optical couplers 7 in the first optical coupler strip 71 and the optical couplers 7 in the second optical coupler strip 72 are explained by way of example as follows:

[0130] Assuming that the first shielding member is arranged on the side of the pushing member 2 close to the first optical coupler strip 71, and the second shielding member is arranged on the side of the pushing member 2 close to the second optical coupler strip 72, at this time, if the first optical coupler 7 shielding is the first shielding member shielding the optical coupler 7 in the first optical coupler strip 71, then the next optical coupler 7 shielding is the second shielding member shielding the optical coupler 7 in the second optical coupler strip 72, and so on.

[0131] It can be understood that, Figure 2 In order to facilitate display, only a few optical couplers 7 are exemplarily shown, and in actual cases, in order to obtain more accurate stage working condition change trend of the pushing device, the setting density of the optical couplers 7 will be higher, so if all the optical couplers 7 are arranged on one side of the pushing path, at least the following problems will occur:

[0132] Shielding problem:

[0133] If the same side of the light coupling 7 is set too high, the shielding member may also partially or completely shield the adjacent B light coupling when shielding the A light coupling due to the large volume of the shielding member (it should be noted that when the light coupling 7 is shielded, the output circuit level is reversed);

[0134] Heat dissipation problem:

[0135] The light coupling 7 generates heat when working, and when a large number of light couplings 7 are tightly packed together, the heat will accumulate, causing the local temperature to be too high, which will accelerate the aging of the device and affect its working performance.

[0136] By dispersing the light couplings 7 on both sides of the pushing path according to the scheme described in the embodiments of the present specification, the above problems can be well avoided, thereby ensuring the accuracy of the acquisition of the trend data of the pushing device.

[0137] It can be understood that the speed of the pushing member 2 can also be measured by using an encoder speed measurement method, i.e., detecting the rotation of the motor, but the encoder speed measurement needs to use a single-chip microcomputer to read the waveform frequency of the encoder at regular intervals, which has high software complexity and has the problem of counting deviation, and the cost of the motor with the encoder is relatively high. The use of light coupling 7 has lower cost and lower software complexity, and only needs to read a specific IO level.

[0138] Referring to Figure 2 In some embodiments of the present specification, a wire harness storage mechanism is also arranged inside the base 1 on one side of the pushing path.

[0139] The wire harness storage mechanism includes a support plate 8 arranged in the direction of the pushing path and a chain 9 at least partially supported on the support plate 8; one end of the chain 9 is fixedly connected to the bottom of the pushing member 2, and the other end of the chain 9 is fixedly connected to one end of the support plate 8 close to the discharge end of the needle cylinder erected outside the base 1; the support plate 8 has a folding space between the pushing path for the chain 9 to fold during the pushing of the needle cylinder by the pushing member 2; the connection wire harness of the resistance sensor is connected to the control module arranged inside the base 1 after being pulled out from the bottom of the pushing member 2 and passing through the hollow space inside the chain 9.

[0140] It can be understood that the resistance sensor arranged on the pushing surface 21 has a connection wire harness connected to the control module, so in order to avoid the risk of wire jamming during the movement of the pushing member 2, a wire harness storage mechanism is additionally arranged in multiple embodiments of the present specification to better store the connection wire harness of the resistance sensor, thereby avoiding adverse effects on the movement of the pushing member 2.

[0141] It can be understood that in some embodiments of the present application, since the wire harness storage mechanism is arranged on the side of the pushing path inside the base 1, it is not suitable to arrange the photocoupler 7 directly from the starting position of the pushing of the pushing member 2, otherwise the arrangement position of the photocoupler 7 and the wire harness storage mechanism will overlap, and the internal space of the intelligent pushing device for liquid food is cramped, and if the arrangement position of the photocoupler 7 and the wire harness storage mechanism inside the base 1 overlaps, it will cause the problem of difficulty in production and installation of the device. Therefore, in some embodiments of the present application, the pushing member 2 has an extension structure 24 extending to one end of the discharge end of the needle cylinder arranged outside the base 1 inside the base 1; the plurality of photocouplers 7 are arranged at the connection between the chain 9 and the support plate 8 and between the discharge end of the needle cylinder arranged outside the base 1; and the extension structure is provided with a shielding member capable of shielding the plurality of photocouplers 7 in sequence during the pushing of the pushing member 2. It can also be understood that at this time, the signal triggering mechanism 5 can top touch the extension end of the extension structure 24 and send a top touch signal to the control module after top touch.

[0142] It can also be understood that if the length of the chain 9 is controlled, the chain 9 can also limit the path length that the pushing member 2 can push. However, since the plurality of photocouplers 7 and the resistance sensor are distributed relatively dispersedly, in order to ensure that the connection distance between the plurality of photocouplers 7 and the resistance sensor and the control module is not too far, the control module should be arranged at the central position of the pushing device, at this time the length of the chain 9 cannot be too short, thereby causing that it cannot directly limit the path length that the pushing member 2 can push. Therefore, as shown in Figure 2 It can also be understood that in some embodiments of the present application, the base 1 is further provided with a top touch structure 6 for top touching the chain retraction end when the chain retraction end reaches the preset position to limit the retraction degree of the chain. When the retraction degree of the chain 9 reaches the limit, the pushing member 2 just reaches the end position of the moving path inside the base 1. That is, by arranging a pair of top touch structures 6 for top touching the chain retraction end, the retraction degree of the chain 9 is limited, and the path length that the pushing member 2 can push is limited.

[0143] It can also be understood that after the top contact structure 6 contacts the chain gathering end, the entire chain 9 can still move to a certain extent, and the resistance of the chain 9 to the pushing member 2 continues to push after the chain 9 is contacted by the top contact structure 6 gradually increases as the chain 9 gradually gathers within the movement range, thereby achieving the effect of buffering and deceleration of the pushing member 2 at the end of pushing, thereby avoiding the hard stop of the pushing member 2 at the end of pushing (note: although the hard stop of the pushing member 2 at the end of pushing can also be avoided by electrical control of the control module, but control errors are inevitable, and therefore by setting the chain 9, the physical buffering and deceleration effect of the pushing member 2 can be achieved) and mechanical impact or damage caused by hard stop (note: such as impact damage of the pushing member 2 itself, impact damage of the pushing member 2 to the end of the chute 12, impact damage of the pushing member 2 to the signal triggering mechanism 5). This design not only improves the safety and reliability of the system, but also prolongs the service life of the equipment. That is, in the embodiments of the present specification, the wire harness storage mechanism not only plays the role of wire harness storage, but also plays the role of limiting the pushing length of the pushing member 2 and buffering and decelerating at the end of pushing of the pushing member 2.

[0144] Wherein, the reason that the resistance gradually increases as the chain 9 gradually gathers within the movement range is mainly that the chain 9 is composed of multiple chain links, and there is a small movement space between the chain links, when the chain 9 is gradually tightened, the small movement space between the chain links gradually disappears, thereby the rigidity of the entire chain 9 gradually increases, thereby causing the resistance to gradually increase (note: it can also be understood that the chain 9 is relatively long, and the small movement space between the chain links is also more, thereby it is more conducive to the play of the buffering and deceleration effect; therefore, the chain 9 is relatively long not only to adapt to the setting position of the control module, but also to improve the play of the buffering and deceleration effect).

[0145] The embodiments of the present specification also provide a food supply device. The food supply device can at least include the intelligent pushing device described in the above embodiments and a needle cylinder (the needle cylinder structure can refer to Figure 3 As shown, and it can be understood that the push rod 101 of the needle cylinder is installed on the pushing member 2, and the discharge end of the front end of the needle cylinder body 102 is locked at the lock catch structure 32).

[0146] Figure 4 The internal structure of the discharge end of the needle cylinder of some embodiments of the present disclosure is shown. The needle cylinder is provided with a containing chamber 104 spaced apart from the storage chamber in the needle cylinder body 102 (note: the discharge needle tube of the needle cylinder penetrates the containing chamber 104), and the containing chamber 104 is provided with an inner chamber 105 sharing the chamber bottom with the containing chamber 104, and the inner chamber 105 is provided with a temperature sensor attached to the chamber bottom thereof (note: Figure 4The temperature sensor is connected with the display panel 103 to display the temperature through the display panel 103. It can be understood that, for the consideration of power consumption, a gasket 106 can be additionally provided to block the power supply of the display panel 103 by being inserted into the accommodation chamber 104 or to turn on the power supply of the display panel 103 by being taken out of the accommodation chamber 104.

[0147] Figure 5 A flowchart of a method for intelligently pushing liquid food is shown. Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to. Each embodiment focuses on the differences from other embodiments. In particular, for the method for intelligently pushing liquid food, it is basically similar to the device for intelligently pushing liquid food, and thus the description is relatively simple. For the relevant parts, refer to the description of the device for intelligently pushing liquid food.

[0148] As shown in Figure 5 The method for intelligently pushing liquid food can at least include:

[0149] Step 502: acquiring the pushing speed of the pushing member 2;

[0150] Step 504: acquiring the speed error of the pushing member 2 based on the pushing speed of the pushing member 2 and the target speed;

[0151] Step 506: acquiring the transmission control parameter of the transmission mechanism based on the PID control model, the current speed error, the historical speed error integral value, and the first speed error change rate between the acquisition time of the last speed error and the acquisition time of the current speed error, and performing transmission control on the transmission mechanism based on the transmission control parameter;

[0152] Step 508: repeatedly performing the above steps, and in the execution process, when the model parameter update condition is met, updating the PID control model parameter based on the current speed error and the second speed error change rate and the resistance change rate between the update time of the last parameter update and the acquisition time of the current speed error;

[0153] In which, the multiple speed errors and the multiple pushing resistances of the pushing member 2 are acquired in sequence between the update time of the last parameter update and the acquisition time of the current speed error, and the speed error fitting straight line and the resistance fitting straight line are acquired in combination with the acquisition time corresponding to each of the multiple speed errors and the acquisition time corresponding to each of the multiple pushing resistances, and then the second speed error change rate and the resistance change rate are acquired.

[0154] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by 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 specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in or transmitted by a 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 through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that includes one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a digital versatile disc (DVD)), or a semiconductor medium (for example, a solid state disk (SSD)) and the like.

[0155] Figure 6 A block diagram of an electronic device 600 that can implement various embodiments of the present disclosure is shown. As shown, the electronic device 600 includes a processor 610, a disk drive 620, an input / output interface 630, a network interface 640, and a memory 650. The processor 610, the disk drive 620, the input / output interface 630, the network interface 640, and the memory 650 can be communicatively connected through a communication bus 660. Figure 6

[0156] The processor 610 can be implemented in the form of a general-purpose CPU, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is configured to execute related programs to implement the technical solutions provided by the present application.

[0157] ​The memory 650 can be implemented in the form of a ROM (Read Only Memory), a RAM (Read Access Memory), a static memory, a dynamic memory device, etc. The memory 650 can store an operating system 651 for controlling the operation of the electronic device 600, a basic input / output system (BIOS) 652 for controlling the low-level operation of the electronic device 600. In addition, a web browser 653, a data storage management system 654, etc. can also be stored. In summary, when the technical solutions provided in the present application are implemented by software or firmware, the relevant program codes are stored in the memory 650 and are invoked and executed by the processor 610.

[0158] The input / output interface 630 is configured to connect an input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, a prompt light, etc.

[0159] The network interface 640 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0160] The bus 660 includes a channel for transmitting information between various components (such as the processor 610, the disk drive 620, the input / output interface 630, the network interface 640, and the memory 650) of the device.

[0161] It should be noted that although the above device only shows the processor 610, the disk drive 620, the input / output interface 630, the network interface 640, the memory 650, the bus 660, etc., in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can only contain the components necessary to implement the method of the present application, and does not necessarily contain all the components shown in the figure.

[0162] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, causes the machine to perform the functions / acts specified in the flowcharts and / or block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0163] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include a lined- based system, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. Further, while operations are depicted in a particular, chronological order, this should not be understood as requiring such order or sequence of operations, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Likewise, while specific implementations are discussed herein, the scope of the present disclosure is not limited to the specific details and representations herein. Certain features described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable sub-combination. While the subject matter has been described above in the general context of "computer-executable instructions" that can be executed by a computer, those skilled in the art will recognize that the innovation also can be implemented in combination with other program modules or the like. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks and / or implement particular abstract data types. Moreover, those skilled in the art will appreciate that the subject innovation can be practiced with other computer system configurations, including single-processor or multiprocessor computer systems, minicomputers, mainframe computers, as well as computers, hand-held computing devices (e.g., PDA, phone), microprocessor-based or programmable consumer electronics, and the like, each of which can be operatively coupled to one or more associated devices.

[0164] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A liquid food intelligent delivery device, characterized in that, The device includes a base, a transmission mechanism, and a pusher that pushes a syringe mounted outside the base along a push path via the transmission mechanism. The pusher has a resistance sensor on its push surface to obtain the push resistance. The device also includes a control module, which includes a first parameter acquisition unit, a second parameter acquisition unit, a main control unit, and a parameter update unit. The first parameter acquisition unit acquires the push speed of the push item; The second parameter acquisition unit acquires the speed error of the pusher based on the pusher speed and the target speed; The main control unit acquires the transmission control parameters of the transmission mechanism based on the PID control model, the current speed error, the historical speed error integral value, and the first speed error change rate between the time of acquisition of the previous speed error and the time of acquisition of the current speed error, and performs transmission control on the transmission mechanism based on the transmission control parameters. When the model parameter update condition is met, the parameter update unit updates the PID control model parameters based on the current speed error and the second speed error change rate and drag change rate between the update time of the last parameter update and the acquisition time of the current speed error. The parameter update unit acquires multiple speed errors and multiple pushing resistances of the pusher sequentially between the update time of the last parameter update and the acquisition time of the current speed error, and combines the acquisition time corresponding to each of the multiple speed errors and the acquisition time corresponding to each of the multiple pushing resistances to obtain a speed error fitting line and a resistance fitting line, thereby obtaining the second speed error change rate and resistance change rate.

2. The intelligent liquid food delivery device according to claim 1, characterized in that, The main control unit obtains the first speed error change rate based on the previously obtained speed error, the current speed error, and the time interval between the time of obtaining the previous speed error and the time of obtaining the current speed error.

3. The intelligent liquid food delivery device according to claim 1, characterized in that, The parameter update unit includes a first fitting subunit; The first fitting subunit obtains the fitting weights corresponding to each of the multiple speed errors based on the acquisition time corresponding to each of the multiple speed errors, and obtains the speed error fitting line based on the multiple speed errors of the push device and the fitting weights corresponding to each of the multiple speed errors obtained sequentially between the update time of the last parameter update and the acquisition time of the current speed error.

4. The intelligent liquid food delivery device according to claim 1, characterized in that, The parameter update unit includes a second fitting subunit; The second fitting subunit obtains the fitting weights corresponding to each of the multiple pushing resistances based on the acquisition time corresponding to each of the multiple pushing resistances, and obtains the resistance fitting line based on the multiple pushing resistances and their corresponding fitting weights obtained sequentially between the update time of the last parameter update and the acquisition time of the current speed error, combined with the acquisition time corresponding to each of the multiple pushing resistances.

5. A liquid food intelligent delivery device according to claim 4, characterized in that, The transmission mechanism is located inside the base, and the bottom structure of the pusher is connected to the transmission mechanism, with its main structure extending from inside the base to outside the base. The device also includes multiple optocouplers spaced apart along the push path direction inside the base; the pusher is provided with a blocking member that can sequentially block the multiple optocouplers during the push process; The first parameter acquisition unit acquires the pushing speed of the pusher based on the time difference between the two optical couplers that received the latest abrupt light signal and the distance between the two optical couplers in the pushing path direction.

6. The intelligent liquid food delivery device according to claim 5, characterized in that, The device includes a first optical coupler strip and a second optical coupler strip, which are both arranged along the push path and respectively on both sides of the push path. Multiple optical couplers are arranged at intervals on both the first optical coupler strip and the second optical coupler strip. The pusher is provided with a first blocking component on each side, which can sequentially block multiple optical couplers on the first optical coupler during the pusher push process, and a second blocking component that can sequentially block multiple optical couplers on the second optical coupler during the pusher push process, and the first blocking component and the second blocking component are symmetrically arranged on both sides of the pusher with the push path as the axis of symmetry. The optical couplers on the first optical coupler band and the optical couplers on the second optical coupler band are alternately spaced in the direction of the push path.

7. A liquid food intelligent delivery device according to claim 5, characterized in that, It also includes a third parameter acquisition unit, a timing unit, and a speed compensation unit; The third parameter acquisition unit acquires the target push duration; The second parameter acquisition unit obtains the target speed based on the target push duration and the push path length; The timing unit records the cumulative push duration of the push device during the push process; The speed compensation unit compensates for the target speed based on the target push duration, cumulative push duration, and the position information of the optical coupler that received the latest abrupt change in light signal.

8. A liquid food intelligent delivery device according to claim 5, characterized in that, It also includes a wire harness storage mechanism located inside the base on one side of the push path; The wire harness storage mechanism includes a support plate arranged along the push path and a chain at least partially supported on the support plate; one end of the chain is fixedly connected to the bottom of the pusher, and the other end of the chain is fixedly connected to the end of the support plate near the discharge end of the syringe mounted outside the base; there is a retraction space between the support plate and the push path for the chain to retract during the process of the pusher pushing the syringe; the connecting wire harness of the resistance sensor passes through the bottom of the pusher and through the hollow space inside the chain before connecting to the control module located inside the base.

9. A liquid food intelligent delivery device according to claim 8, characterized in that, The pusher has an extension structure inside the base that extends toward the discharge end of the syringe mounted outside the base; the multiple optocouplers are spaced apart between the connection between the chain and the support plate and the discharge end of the syringe mounted outside the base; the extension structure is provided with a shielding member that can sequentially block the multiple optocouplers during the pusher's pushing process. The base also has a fixed contact structure that contacts the chain when it reaches a preset position to limit the degree of chain retraction.

10. A food supply device, characterized in that, Includes the liquid food intelligent delivery device as described in any one of claims 1 to 9 and a syringe mounted outside the base.

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