Blanking control method, system, device and computer storage medium

Abstract

The application discloses a discharging control method, system, device and computer storage medium, relates to the technical field of discharging control, and is applied to a discharging control system. The discharging control system comprises a discharging control module and a weighing control module. The material discharging parameter of a material to be discharged is acquired, the first control discharging instruction of the material to be discharged is determined according to the material discharging parameter, and the first control discharging instruction is used for controlling the discharging control module to be in a first discharging state. In the first discharging state, the discharging weight data fed back by the weighing control module is acquired, the second control discharging instruction of the material to be discharged is determined according to the discharging weight data and the material discharging parameter, the second control discharging instruction is used for controlling the discharging control module to be in a second discharging state, the discharging speed of the second discharging state is smaller than that of the first discharging state, in the second discharging state, the discharging end instruction is determined according to the material discharging parameter and a preset historical discharging result, and the intelligence of discharging control is improved.

Description

Technical Field

[0001] This application relates to the field of material feeding control technology, and in particular to a material feeding control method, system, device and computer storage medium. Background Technology

[0002] With the development of feeding scenarios (such as feeding and bagging certain beans), users have also put forward higher requirements for feeding control methods in feeding scenarios.

[0003] Traditional material feeding control involves manually estimating the feeding result (such as the weight value or the volume of the bag) and then manually closing the gate when the feeding is deemed complete. This method has certain shortcomings, as it requires manual identification of the feeding result, resulting in low intelligence in the feeding control.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a feeding control method, system, device, and computer storage medium, aiming to solve the technical problem of low intelligence in feeding control.

[0006] To achieve the above objectives, this application proposes a material feeding control method, which is applied to a material feeding control system. The material feeding control system includes a material feeding control module and a weighing control module. The material feeding control method includes: Obtain the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters, wherein the first control feeding instruction is used to control the feeding control module to be in the first feeding state; In the first feeding state, the feeding weight data fed back by the weighing control module is obtained, and the second control feeding instruction for the material to be fed is determined according to the feeding weight data and the material feeding parameters. The second control feeding instruction is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. In the second feeding state, a feeding end command is determined based on the material feeding parameters and preset historical feeding results to complete the feeding control.

[0007] In one embodiment, the feeding control system further includes a material vibration screening module located at the feeding port of the feeding control module, and the step of determining the first control feeding command for the material to be fed based on the material feeding parameters includes: Determine the falling material characteristics of the material to be fed in the material feeding parameters, and determine the maximum opening command of the material to be fed based on the falling material characteristics; The maximum vibration frequency corresponding to the maximum opening command is determined in the preset frequency opening correspondence table, and the maximum vibration frequency and the maximum opening command are used as the first control feeding command, wherein the maximum vibration frequency is used to control the material vibration screening module.

[0008] In one embodiment, the step of determining the second control feeding command for the material to be fed based on the feeding weight data and the material feeding parameters includes: Determine the switching weight threshold and structural material characteristics of the material to be fed in the material feeding parameters; When the first material weight value in the material weight data is greater than or equal to the switching weight threshold, the corresponding first opening change position and first opening change rate value are determined according to the structural material characteristics, and the instruction to control the material feeding control module to change to the first opening change position at the first opening change rate value is used as the second control feeding instruction for the material to be fed.

[0009] In one embodiment, after the step of determining the second control feeding command for the material to be fed based on the feeding weight data and the material feeding parameters, the method further includes: When the feeding control module controls the material feeding with the first opening change rate value, the second feeding weight value fed back by the weighing control module is obtained. When the second feeding weight value is greater than the preset adjacent weight threshold and the feeding control module has not reached the first opening change position, a feeding end command is determined based on the second feeding weight value and the preset historical feeding result.

[0010] In one embodiment, the step of determining the material feeding end command based on the second material feeding weight value and preset historical material feeding results includes: The first weight change value of the second feeding weight value is determined when the first opening change rate value is controlled, and the estimated weight change value is determined based on the first weight change value and the second weight change value corresponding to the material feeding parameters in the preset historical feeding results. The estimated weight change value is the new weight value when the feeding control module reaches the first opening change position. When the sum of the estimated weight change value and the switching weight threshold is less than the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters, the step of determining the feeding end command based on the material feeding parameters and the preset historical feeding results is executed. When the sum of the estimated weight change value and the switching weight threshold is greater than or equal to the weight difference between the closing drop weight and the target feeding weight of the material to be fed in the material feeding parameters, the feeding control module is controlled in a third feeding state with a second opening change rate value. In the third feeding state, a feeding end command is determined according to the material feeding parameters and the preset historical feeding results, wherein the second opening change rate value is greater than the first opening change rate value.

[0011] In one embodiment, the step of determining the material feeding end command based on the material feeding parameters and preset historical feeding results includes: The closing drop weight and target feeding weight of the material to be fed are determined in the material feeding parameters, wherein the closing drop weight is the feeding weight when the feeding control module changes position from the first opening to the closing position; The target drop weight is obtained by correcting the closing drop weight based on the preset historical feeding results. When the sum of the third feeding weight value fed back by the weighing control module and the target drop weight is equal to the target feeding weight, a feeding end command is generated. The feeding end command is used to control the feeding control module to change position from the first opening to closing.

[0012] In one embodiment, the feeding control method further includes: After each feeding control is completed, the final feeding weight value fed back by the weighing control module and the target feeding weight value in the material feeding parameters are obtained. When the target material weight value is not equal to the final material weight value, a correction value corresponding to the material feeding parameter is generated based on the difference between the target material weight value and the final material weight value, and the correction value corresponding to the material feeding parameter is used as a preset historical feeding result.

[0013] Furthermore, to achieve the above objectives, this application also proposes a material feeding control system, which includes a controller, a material feeding control module, and a weighing control module. The controller is connected to both the material feeding control module and the weighing control module. The controller includes: The parameter control module is used to acquire the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters, wherein the first control feeding instruction is used to control the feeding control module to be in the first feeding state; The weight control module is used to acquire the feeding weight data fed back by the weighing control module in the first feeding state, and determine the second control feeding command of the material to be fed according to the feeding weight data and the material feeding parameters. The second control feeding command is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. The material feeding control module is used to determine the material feeding end command based on the material feeding parameters and preset historical feeding results in the second feeding state, so as to complete the feeding control.

[0014] In addition, to achieve the above objectives, this application also proposes a feeding control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the feeding control method as described above.

[0015] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the feeding control method described above.

[0016] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the feeding control method described above.

[0017] This application provides a material feeding control method applied to a material feeding control system. The material feeding control system includes a material feeding control module and a weighing control module. By acquiring the material feeding parameters of the material to be fed, a first control feeding command is determined based on the material feeding parameters. The first control feeding command controls the material feeding control module to be in a first feeding state. In the first feeding state, the material feeding weight data fed back by the weighing control module is acquired. A second control feeding command is determined based on the material feeding weight data and the material feeding parameters. The second control feeding command controls the material feeding control module to be in a second feeding state, where the feeding speed is less than that in the first feeding state. In the second feeding state, the feeding speed is determined based on the material feeding parameters and preset historical feeding results. The material feeding control method uses material feeding parameters to determine the first feeding control command for the material to be fed. Then, it obtains the feeding weight data fed back from the weighing control module based on the first feeding control command, and combines this with the material feeding parameters to determine the second feeding control command for the material to be fed. Finally, in the second feeding state, the feeding end command is determined based on the material feeding parameters and preset historical feeding results, thus avoiding the problem of manually identifying the feeding results. This feeding control method can control the feeding control module based on the first and second feeding control commands, making the entire feeding process highly intelligent. Furthermore, the feeding speed in the second feeding state can be preferentially designed to be lower than that in the first feeding state to reduce feeding time and improve feeding efficiency. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the first embodiment of the material feeding control method of this application; Figure 2 This is a schematic diagram illustrating the implementation process of the material feeding control method of this application; Figure 3 This is a schematic diagram of the historical traceability process of the material control method of this application; Figure 4 This is a schematic diagram of the controller module in the material feeding control system of this application; Figure 5 This is a schematic diagram of the hardware operating environment involved in the device in this application.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0021] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0022] There are generally two common material feeding control methods. The first is manual visual inspection combined with manual gate opening and closing. However, this method is easily affected by fatigue, frequently resulting in overloading or underloading, and it is highly dependent on manual operation. The second method uses simple timed control logic (i.e., setting a fixed duration for gate opening) in conjunction with a single-stage constant-speed vibrating screen for material feeding. However, this method has low control precision, and the simple timed control cannot adapt to dynamic changes in the material's moisture content and viscosity, leading to huge fluctuations in the actual feeding volume each time. In other words, the above control methods either lack intelligence or have low precision for different feeding objects. Furthermore, statistical analysis revealed that both of these material feeding control methods have a blind spot due to the drop height. At the moment the gate closing command is issued, there is a distance of suspended drop between the material and the weighing pan, but the weight of this suspended material cannot be predicted or dynamically deducted, resulting in the final static weight always being greater than the set value.

[0023] Therefore, based on the shortcomings of the above-mentioned material feeding control schemes, the material feeding control method of this application is proposed. The solution of this application embodiment is: to determine the first control feeding command of the material to be fed through the material feeding parameters, and then to obtain the feeding weight data fed back by the weighing control module through the first control feeding command, and to determine the second control feeding command of the material to be fed in combination with the material feeding parameters. In the final second feeding state, the feeding end command is determined according to the material feeding parameters and the preset historical feeding results, thus avoiding the problem of feeding results requiring manual identification. This material feeding control method can control the feeding control module based on the first control feeding command and the second control feeding command, so that the entire feeding process is in a highly intelligent state. Furthermore, the feeding speed in the second feeding state can be preferentially designed to be lower than the feeding speed in the first feeding state, so as to reduce the feeding time and improve the feeding efficiency.

[0024] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a device capable of performing the above functions, such as a material feeding control device. The following description uses a material feeding control device as an example to illustrate this embodiment and the subsequent embodiments.

[0025] Based on this, the embodiments of this application provide a material feeding control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the material feeding control method of this application.

[0026] Reference Figure 1This application provides a material feeding control method. In a first embodiment of the material feeding control method, the method is applied to a material feeding control system, which includes a material feeding control module and a weighing control module. The material feeding control method includes: Step S10: Obtain the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters. The first control feeding instruction is used to control the feeding control module to be in the first feeding state. In this embodiment, the material feeding control method is applied to a material feeding control system, which includes a material feeding control module and a weighing control module. The material feeding control module controls the feeding speed or quantity and can consist of pneumatic components, a servo motor, and a driven gate. The weighing control module is used to weigh the material in real time, such as using a high-frequency weighing sensor and related components. The entire system may also include a lower-level controller and a higher-level computer, collectively referred to as the controller in this application. The lower-level controller is responsible for the millisecond-level timing logic and interrupt control of the underlying hardware, such as opening or closing the gate. The higher-level computer runs visual monitoring software to coordinate global scheduling instructions, such as issuing instructions to control the feeding of a specific material or to retrieve the feeding process data of a specific material. For example, the operator selects a specific material formula through the graphical user interface on the higher-level computer, and then extracts the material's unique characteristic parameters, the target feeding weight, the switching weight threshold, the material density coefficient, the initial drop prediction value, and the upper and lower limits of the feeding frequency from a local or cloud database as material feeding parameters for subsequent feeding control. Furthermore, after determining the material feeding parameters of the material to be fed, the first control feeding command is determined based on these parameters. This first control feeding command controls the feeding control module to be in the first feeding state, primarily controlling the gate opening within the module. For example, if the material to be fed is soybeans, the first control feeding command controls the gate opening to angle A1. If the material is mung beans, the first control feeding command controls the gate opening to angle A2. A1 can be set greater than A2. This is because soybeans have a larger volume requiring a larger opening (too small an opening could cause gate blockage), while mung beans are smaller (lower mass and less demanding opening size requirements). An excessively large opening could lead to uncontrollable trajectory issues. Therefore, the first feeding control is performed based on the material feeding parameters, allowing for faster feeding and ensuring feeding efficiency.

[0027] Step S20: In the first feeding state, the feeding weight data fed back by the weighing control module is obtained, and the second control feeding instruction for the material to be fed is determined according to the feeding weight data and the material feeding parameters. The second control feeding instruction is used to control the feeding control module to be in the second feeding state. The feeding speed in the second feeding state is less than the feeding speed in the first feeding state. Step S30: In the second feeding state, determine the feeding end command based on the material feeding parameters and preset historical feeding results to complete the feeding control.

[0028] In this embodiment, after determining the first control feeding command, the feeding control module is controlled, thus placing it in a first feeding state. The first feeding state refers to a faster weight change compared to the second feeding state, meaning the feeding speed is slower in the second feeding state. Simultaneously, in the first feeding state (i.e., the state the feeding control module is in when controlled by the first control feeding command), the feeding weight data fed back by the weighing control module is acquired in real time. Based on the feeding weight data and material feeding parameters, a second control feeding command is determined for the material to be fed. This second control feeding command controls the feeding control module to be in the second feeding state, where the feeding speed is lower than that in the first feeding state. For example, assuming a material weight of Z1 needs to be fed, it can be fed directly up to weight Z2 in the first feeding state, providing a weight range of Z1-Z2 to the feeding control module, thereby ensuring control accuracy. In other words, the entire process doesn't simply shut off with a faster feeding speed. This introduces unpredictable variables during the shut-off process. For example, soybeans might increase less during this phase, while mung beans might increase more. Another possibility is that soybeans, due to their larger volume, might shut off prematurely, resulting in a smaller increase, while the pressure at the closing gate could cause a rapid increase in soybean volume. Therefore, this process cannot be accurately controlled, leading to an inability to roughly estimate the subsequent feeding weight and affecting the final feeding weight. Furthermore, a rapid shut-off process can damage the feeding materials. Therefore, a second feeding state is added to the entire process, where the feeding control module operates in a slower feeding state. This facilitates subsequent quality control and accurate shut-off, thereby ensuring feeding accuracy and reducing damage to the feeding materials.

[0029] Furthermore, in the second feeding state, the feeding weight data is judged in real time. Then, combined with the material feeding parameters and preset historical feeding results, a feeding end command is determined. That is, by determining that the feeding weight data is at a specific weight, closing the gate ensures that the final feeding weight data is infinitely close to the target feeding weight of the material to be fed. It is worth noting that this specific weight is less than the target feeding weight because when the gate is closed, there will be a certain amount of intermediate weight between the gate position and the material's loading position. Taking this intermediate weight into account ensures the accuracy of the target feeding weight. In other words, a slower feeding speed is used at this time to roughly estimate the intermediate weight between the gate position and the material's loading position, thus ensuring the final feeding accuracy. Furthermore, the timing of the shut-off will be corrected by combining the weight error of the material to be fed in the preset historical feeding results, thereby further improving the accuracy of the entire feeding control. The historical feeding results refer to the recording of process data and final data of each material to be fed in the historical feeding process. The final data refers to the final feedback weight and the required target feeding weight. The process data refers to the timing of the gate shut-off, the timing of switching to the second feeding state, and the weight change in the second feeding state, etc.

[0030] In one embodiment, reference is made to Figure 2 , Figure 2 This is a schematic diagram illustrating an implementation process of the material feeding control method of this application. By determining the parameters of the material to be fed, a control command for rapid feeding is established. This allows the feeding control module to be controlled in the first feeding state, and the weight value is monitored in real time. Once a certain weight value is reached, the entire control switches to slow feeding control to facilitate subsequent rapid shutdown and to accumulate a portion of the weight in the air during shutdown, eliminating errors caused by air drop and ensuring the accuracy of the feeding weight. Of course, the weight in the air at the time of shutdown is still determined based on the parameters of the material to ensure precise control for different materials. For example, the entire system is highly automated, eliminating reliance on the experience of skilled workers. Furthermore, feeding control based on the parameters of the material allows it to be applied to materials with different humidity and viscosity, expanding the application scenarios of the feeding control. For example, production data (process data and final data) for each feeding process of the entire system is entered into the database in real time and reports can be exported at any time, realizing digital management of the workshop and fully meeting the stringent quality traceability requirements of modern smart factories.

[0031] In this embodiment, a feeding control method is provided, applied to a feeding control system. The feeding control system includes a feeding control module and a weighing control module. By acquiring the feeding parameters of the material to be fed, a first feeding control command is determined based on the feeding parameters. The first feeding control command controls the feeding control module to be in a first feeding state. In the first feeding state, the feeding weight data fed back by the weighing control module is acquired. A second feeding control command is determined based on the feeding weight data and the feeding parameters. The second feeding control command controls the feeding control module to be in a second feeding state, where the feeding speed is less than that in the first feeding state. In the second feeding state, the feeding speed is determined based on the feeding parameters and preset historical feeding results. The material feeding control method uses material feeding parameters to determine the first feeding control command for the material to be fed. Then, it obtains the feeding weight data fed back from the weighing control module based on the first feeding control command, and combines this with the material feeding parameters to determine the second feeding control command for the material to be fed. Finally, in the second feeding state, the feeding end command is determined based on the material feeding parameters and preset historical feeding results, thus avoiding the problem of manually identifying the feeding results. This feeding control method can control the feeding control module based on the first and second feeding control commands, making the entire feeding process highly intelligent. Furthermore, the feeding speed in the second feeding state can be preferentially designed to be lower than that in the first feeding state to reduce feeding time and improve feeding efficiency.

[0032] Furthermore, based on the first embodiment of this application described above, a second embodiment of the material feeding control method of this application is proposed. In this embodiment, step S10 of the above-mentioned material feeding control system further includes a material vibration screening module set at the feeding port position of the material feeding control module, and a step of determining the first control feeding command of the material to be fed according to the material feeding parameters, including: Step S11: Determine the falling material characteristics of the material to be fed in the material feeding parameters, and determine the maximum opening command of the material to be fed based on the falling material characteristics. Step S22: Determine the maximum vibration frequency corresponding to the maximum opening command in the preset frequency opening correspondence table, and use the maximum vibration frequency and the maximum opening command as the first control feeding command, wherein the maximum vibration frequency is used to control the material vibration screening module.

[0033] In this embodiment, the feeding control system also includes a material vibration screening module located at the feeding port of the feeding control module. This is mainly to ensure normal feeding. For example, the material vibration screening module can be a screen, thus ensuring that the material to be fed will not get stuck at the gate and controlling the feeding speed. For example, if a screen vibrates once every 1 second and once every 5 seconds, the situation of vibrating once every 1 second will result in uniform feeding, while the situation of vibrating once every 5 seconds will result in a uniform decrease in feeding, with the peak at the beginning of 5 seconds and the lowest peak at the end of 5 seconds. In the control of rapid feeding, the falling characteristics of the material to be fed are mainly based on the material feeding parameters, and the maximum opening command of the material to be fed is determined based on the falling material characteristics. For example, due to its own bulk density, soybeans fall within ±30° of the opening, while mung beans fall within ±50° of the opening. Therefore, by combining the opening and position of the material receiving device, the maximum opening command for the material to be discharged can be determined. To ensure accurate and efficient discharge into the material receiving device, the opening needs to be controlled within the range specified by the maximum opening command, which refers to the maximum opening degree of the gate at that time. Furthermore, to avoid slow discharge speeds or gate blockages, the maximum vibration frequency corresponding to the maximum opening command needs to be determined in a preset frequency opening correspondence table. The maximum vibration frequency is the vibration frequency that matches the maximum opening command, generally used to ensure the material falls evenly and at maximum speed. Too high a frequency will affect the final falling position, exceeding the opening of the material receiving device. The preset frequency opening correspondence table shows the relationship between vibration frequency and opening position. Different preset frequency opening correspondence tables can be determined for different materials to ensure precise control. For example, a variable frequency vibrating screen in the material vibration screening module receives the material and controls its flow rate, while simultaneously driving the discharge gate to a fully open state for rapid discharge. At this time, the high-frequency weighing sensor in the weighing control module continuously collects and uploads the current cumulative weight data at a millisecond sampling rate. The entire first feeding state rapidly injects materials into the material receiving object, such as the weighing pan, with the maximum physical throughput, thereby greatly reducing the overall feeding time of a single feeding.

[0034] For example, a unique maximum vibration frequency and maximum opening command can be determined for different materials to be fed, allowing for maximum feeding speed. For instance, multiple experiments have shown that for soybeans, when the maximum vibration frequency is F1 and the maximum opening command is K1, the soybeans are fed at the maximum speed without any issues of them not accurately landing on the receiving surface. Alternatively, a unique maximum vibration frequency and maximum opening command can be determined based on the feeding area of ​​the receiving surface and its distance from the gate. For example, different feeding areas and distances from the gate require different maximum vibration frequencies and maximum opening commands, which can be determined according to a predefined frequency-opening correspondence table. These will not be elaborated upon here.

[0035] Furthermore, based on the first and / or second embodiments of this application described above, a third embodiment of the material feeding control method of this application is proposed. In this embodiment, step S20, the step of determining the second control feeding command for the material to be fed based on the feeding weight data and material feeding parameters, includes: Step S21: Determine the switching weight threshold and structural material characteristics of the material to be fed in the material feeding parameters; Step S22: When the first material weight value in the material weight data is greater than or equal to the switching weight threshold, the corresponding first opening change position and first opening change rate value are determined according to the structural material characteristics, and the instruction of controlling the material feeding control module to change to the first opening change position with the first opening change rate value is used as the second control material feeding instruction for the material to be fed.

[0036] In this embodiment, during the entire first feeding state, the first feeding weight value in the feeding weight data is monitored in real time. The system then determines whether to enter the second feeding state based on this first feeding weight value. The first feeding weight value refers to the weight of the material already fed, collected in real time by the weighing control module. When the first feeding weight value in the feeding weight data is found to be greater than or equal to a switching weight threshold, it is determined that the system needs to enter the second feeding state for control. The switching weight threshold is a user-defined weight value for switching to slow feeding. For example, setting the switching weight threshold to approximately 70% of the target feeding weight provides sufficient time for a gradual transition to the second feeding state, while the initial 70% rapid feeding significantly saves feeding time. In another embodiment, the switching weight threshold can also be appropriately adjusted according to different types of materials to be fed. For example, if the feeding speed is still lower than normal due to factors such as viscosity, the switching weight threshold can be moved further down to 70%, thereby reducing the overall feeding time. Of course, when the first material weight value in the material weight data is less than the switching weight threshold, the first material weight value in the material weight data will be continuously acquired until the first material weight value in the material weight data is greater than or equal to the switching weight threshold, and then the subsequent control steps will be entered.

[0037] Furthermore, when the conditions for switching to the second feeding state are met, the corresponding first opening change position and first opening change rate value will be determined based on the structural material characteristics. That is, the first opening change position refers to the smallest opening that can be fed by the structural material characteristics. For example, the opening of a large material will be defined as larger than the opening of a small material. For example, the diameter of a soybean is generally L1. When feeding soybeans, the first opening change position will be set to L1+l1, where l1 is a user-defined extension change amount, such as 1 cm. The structural material characteristics refer to the structural characteristics of the material to be fed, which can generally be characterized by the diameter value of the minimum feeding opening or its own hardness value. The first opening change rate value refers to the defined rate at which the opening decreases uniformly or at a variable speed. This rate is generally a constant value, but the hardness value of the material to be fed needs to be considered, so as to ensure that the opening is reduced without affecting the integrity of the material to be fed. For example, the entire switching control process is as follows: when the first material weight value in the real-time collected material weight data reaches the preset switching weight threshold, the controller smoothly reduces the gate opening to a slightly open state according to the preset curve (this curve is the first opening change rate value, which needs to be adaptively set according to different materials to be fed). At the same time, it can also significantly reduce the output frequency of the inverter in the material vibration screening module (the frequency can be controlled to decrease slowly or directly drop to the lowest frequency). That is, the frequency conversion vibrating screen then enters the low-frequency pulse micro-feeding mode, and the material changes from a continuous flow state to a discrete particle falling state. This effectively eliminates the fluid inertia generated by large flow rate feeding and prevents the material from excessively accumulating and exceeding the target weight. Furthermore, the entire process can also ensure accurate weight control in the future. That is, the low flow rate feeding can better and more accurately calculate the weight of the material in the air when the gate is closed, so as to ensure the accuracy of feeding.

[0038] In another embodiment, after determining the second control feeding command for the material to be fed based on the feeding weight data and the material feeding parameters, the process includes: Step S23: Obtain the second feeding weight value fed back by the weighing control module when the feeding control module controls the first opening change rate value; Step S24: When the second material feeding weight value is greater than the preset adjacent weight threshold and the material feeding control module has not reached the first opening change position, a material feeding end command is determined based on the second material feeding weight value and the preset historical material feeding results.

[0039] In this embodiment, after determining the second control feeding command, the feeding control module is controlled according to the second control feeding command at the first opening change rate value until the change reaches the first opening change position. Then, the feeding end command is determined based on the material feeding parameters and preset historical feeding results. In another case, when the feeding control module controls at the first opening change rate value, it may find that the feeding speed is too fast, which may cause problems with subsequent targeted control. In this case, a preset adjacent weight threshold is set. Assuming the switching weight threshold is Z1, the target feeding weight is Z2, and the time from the first opening change rate value to the first opening change position is T, then the change per second should be approximately (Z2-Z1) / T. The change per second can be slightly greater than (Z2-Z1) / T in the first half of the time, and slightly less than (Z2-Z1) / T in the second half of the time. That is, the preset adjacent weight threshold at the middle time point can be set to Z1+(Z2-Z1) / 2. Of course, it can also be adaptively set according to other rules. In another embodiment, the corresponding weight threshold can be determined once per second. That is, a corresponding weight threshold range can be set for each second within T. For example, assuming that the weight change is linear throughout the process, each second within T can correspond to a unique weight threshold range. Then, if the second feeding weight value is greater than the maximum weight threshold value for that second for M consecutive seconds, and the feeding control module has not reached the first opening change position, it is determined that a feeding end command needs to be determined based on the second feeding weight value and the preset historical feeding results. That is, in order to avoid the inability to perform subsequent control, it is necessary to intervene and control in advance, rather than only being able to control after reaching the first opening change position. This can ensure the accuracy of subsequent weight control and avoid the problem of directly exceeding the feeding weight.

[0040] For example, the method of judging every second is as follows: assuming that 1S should be Z1+Z3-k, 2S should be Z1+2Z3-3k, and 3S should be Z1+3Z3-6k, and a fluctuation value Z4 is allowed every second, that is, the weight change is linear: Z=Z3-kT, where k is the rate of change, Z3 is the initial material weight, and T is the total control runtime. If the actual situation is: 1S is actually Z1+Z3-k+Z4+1, 2S is actually Z1+2Z3-3k+Z4+2, and 3S is actually Z1+3Z3-6k+Z4+3, then it can be determined that the weight is greater than the corresponding maximum weight threshold for 3 consecutive seconds, and the material feeding control module has not reached the first opening change position, then intervention control will be performed.

[0041] Furthermore, the step of determining the material feeding end command based on the second material feeding weight value and the preset historical material feeding results includes: Step S241: Determine the second feeding weight value and the first weight change value when the first opening change rate value is controlled. Then, determine the estimated weight change value based on the first weight change value and the second weight change value corresponding to the material feeding parameters in the preset historical feeding results. The estimated weight change value is the new weight value when the feeding control module reaches the first opening change position. Step S242: When the sum of the estimated weight change value and the switching weight threshold is less than the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters, the step of determining the feeding end instruction based on the material feeding parameters and the preset historical feeding results is executed. Step S243: When the sum of the estimated weight change value and the switching weight threshold is greater than or equal to the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters, the feeding control module is controlled in the third feeding state with the second opening change rate value. In the third feeding state, the feeding end command is determined according to the material feeding parameters and the preset historical feeding results, wherein the second opening change rate value is greater than the first opening change rate value.

[0042] In this embodiment, the first weight change value is determined when the second feeding weight value is controlled by the first opening change rate value. The first weight change value refers to the change in feeding weight from the start of the second feeding state to the current moment, for example, an increase of Z11. At the same time, the estimated weight change value is determined based on the first weight change value and the second weight change value corresponding to the material feeding parameters in the preset historical feeding results. The estimated weight change value is the new weight value when the feeding control module reaches the first opening change position. The second weight change value refers to the weight change value when changing from the current moment to the first opening change position. For example, when feeding soybeans, the weight change values ​​when changing from the current moment to the first opening change position 5 times are 5, 5, 5, 6, 6, then the second weight change value should be (5+5+5+6+6) / 5=5.4, and the estimated weight change value should be Z11+5.4. Then, the entire second feeding state is judged by combining the actual and theoretical increase to determine whether intervention control is required. Therefore, when it is determined that the sum of the estimated weight change and the switching weight threshold is less than the weight difference between the closing drop weight of the material to be discharged and the target discharge weight in the material discharge parameters, it can be determined that the operation to the first opening change position can still be controlled normally. That is, under normal circumstances, it would take 2 seconds to reach the first opening change position, but at this time it only takes 2-0 seconds. Further, at this time, it is necessary to monitor the second discharge weight value in real time to determine whether the second discharge weight value exceeds the weight threshold defined at this time point. Then, it is necessary to perform a real-time judgment on the relationship between the sum of the estimated weight change and the switching weight threshold and the weight difference between the closing drop weight of the material to be discharged and the target discharge weight in the material discharge parameters to ensure the accuracy of subsequent control. That is, the entire control flow is close to the seamless control of high-speed discharge, low-speed discharge and closing gate. Therefore, real-time monitoring is required to ensure the accuracy of the entire discharge control. In another embodiment, when the sum of the estimated weight change value and the switching weight threshold is greater than or equal to the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters, the sum of the estimated weight change value and the switching weight threshold should theoretically be equal to the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters (equivalent to seamlessly closing the gate). Therefore, it is impossible to reach the first opening change position at this time, and subsequent control is impossible. Therefore, intervention control is required.For example, the vibration frequency can be further reduced (assuming the vibration frequency has been reduced to its minimum). Another approach is to control the feeding control module to a third feeding state using the second opening change rate value. In the third feeding state, the feeding end command is determined based on the material feeding parameters and preset historical feeding results. That is, the module runs to the first opening change position at a faster rate. The third feeding state refers to changing to the first opening change position at the second opening change rate value, thereby controlling the continuous increase in weight by reducing the change time. Of course, in extreme cases, the gate can be directly closed and then opened in reverse to the first opening change position to compensate, ensuring the accuracy of the entire feeding control. Another approach is to set the vibration frequency to 0 until after the first opening change position, then restore it to the minimum vibration frequency, and then execute the step of determining the feeding end command based on the material feeding parameters and preset historical feeding results in the second feeding state to achieve feeding control.

[0043] Furthermore, based on the first, second, and / or third embodiments of this application described above, a fourth embodiment of the material feeding control method of this application is proposed. In this embodiment, the step of determining the material feeding end command based on material feeding parameters and preset historical feeding results includes: Step a, determine the closing drop weight and target feeding weight of the material to be fed in the material feeding parameters, wherein the closing drop weight is the feeding weight when the feeding control module changes position from the first opening to the closing position; Step b: Based on the preset historical feeding results, the closing drop weight is corrected to obtain the target drop weight. When the sum of the third feeding weight value fed back by the weighing control module and the target drop weight equals the target feeding weight, a feeding end command is generated. The feeding end command is used to control the feeding control module to change position from the first opening to closing.

[0044] In this embodiment, when the material is unloaded and the gate is closed, control is performed based on the closing drop weight and target unloading weight of the material in the material unloading parameters. Because the unloading rate is very low at this time, the number of materials falling per second can be clearly known, and thus the unloading weight per second can be determined. Simultaneously, the time from the change in position of the first opening to the closing of the gate can be known, thus the weight during this closing period can be determined. Furthermore, by combining the descent of the material to be unloaded, the weight of the material in the air can be determined. For example, based on the mass and height of the material to be unloaded, it can be known that it takes T1 seconds to completely fall into the loading position. Therefore, T1 is multiplied by the unloading weight per second to obtain the closing drop weight, which is the weight of the material in the air. This allows for the reverse dynamic calculation of the gate's early closing timing. In other words, under normal circumstances, when the sum of the third discharge weight value fed back by the weighing control module (i.e., the gate is closed) and the calculated weight of the suspended material in the air (closed drop weight) equals the target discharge weight, the highest priority hardware interrupt instruction inside the controller (i.e., the discharge end instruction used to control the discharge control module to change position from the first opening to closed) ignores other normal task cycles and urgently cuts off the drive power of the discharge gate and the variable frequency vibrating screen in milliseconds, achieving extremely rapid physical cutoff. Furthermore, to ensure the accuracy of the entire control, the closed drop weight can be further corrected by combining preset historical discharge results to obtain the target drop weight, that is, the actual closed drop weight value in the discharge control of the material to be discharged in the preset historical discharge results. For example, in the previous 5 feeding controls of soybeans, the target feeding weights were 10, 9, 8, 7, and 6, and the third feeding weights were 9.9, 8.8, 7.9, 6.8, and 5.9. Then we know that the average weight of the closed drop in the previous 5 feeding controls is (0.1+0.2+0.1+0.2+0.1) / 5=0.14, which is equivalent to an overweight error of 0.04. The closed drop weight of 0.1 will be corrected to obtain the target drop weight of 0.08. Assuming that the correction is defined as half of the average value, the result of this time will be stored in the preset historical feeding results to ensure that the final result is infinitely close to the target feeding weight, so as to ensure the accuracy of feeding control.

[0045] Furthermore, refer to Figure 3 , Figure 3 This is a schematic diagram of the historical traceability process of the material cutting control method of this application. The material cutting control method also includes: Step c: After each feeding control is completed, obtain the final feeding weight value and the target feeding weight value in the material feeding parameters fed back by the weighing control module. Step d: When the target material weight value and the final material weight value are not equal, generate a correction value corresponding to the material feeding parameter based on the difference between the target material weight value and the final material weight value, and use the correction value corresponding to the material feeding parameter as the preset historical feeding result.

[0046] In this embodiment, after each feeding control is completed, the weighing control module feeds back the final feeding weight value and the target feeding weight value in the material feeding parameters. If the target feeding weight value and the final feeding weight value are not equal, a correction value corresponding to the material feeding parameters is generated based on the difference between the two values, and this correction value is used as a preset historical feeding result. The final feeding weight value refers to the final weight after the gate is closed, when there is no material in the air. The target feeding weight value refers to the weight that needs to be fed during the entire control process. Therefore, if the theoretical weight and the actual weight are not equal, an error can be identified. Each error is averaged to ensure that the subsequent final feeding weight value and the target feeding weight value in the material feeding parameters are completely equal, thus guaranteeing the accuracy of the entire feeding control. For example, the controller can calculate the deviation between the actual weight (final feed weight) and the target weight (target feed weight), and substitute this error data into the moving average filtering algorithm model to automatically update and optimize the predicted drop value for the next feed based on the error distribution pattern of multiple historical batches, giving the system the ability to learn and cope with changes in material viscosity and humidity.

[0047] In another embodiment, the entire material feeding control process can also collect the material feeding timestamp, precise time consumption, and final error value, and permanently write them to the database as structured logs to support subsequent process optimization and quality traceability. In particular, the weight change in the second material feeding state can serve as the basis for subsequent intervention and control in the second material feeding state to ensure the accuracy of the entire material feeding control.

[0048] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the material control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0049] This application also provides a material feeding control system; please refer to... Figure 4 The feeding control system is applied to the feeding control system, which includes a controller, a feeding control module, and a weighing control module. The controller is connected to both the feeding control module and the weighing control module. The controller includes: The parameter control module 10 is used to acquire the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters. The first control feeding instruction is used to control the feeding control module to be in the first feeding state. The weight control module 20 is used to acquire the feeding weight data fed back by the weighing control module in the first feeding state, and determine the second control feeding command of the material to be fed based on the feeding weight data and the material feeding parameters. The second control feeding command is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. The feeding control module 30 is used to determine the feeding end command based on the material feeding parameters and preset historical feeding results in the second feeding state, so as to complete the feeding control.

[0050] The material feeding control system provided in this application, employing the material feeding control method described in the above embodiments, can solve the technical problem of low intelligence in material feeding control. Compared with the prior art, the beneficial effects of the material feeding control system provided in this application are the same as those of the material feeding control method provided in the above embodiments, and other technical features in the material feeding control system are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0051] This application provides a feeding control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the feeding control method in the above embodiment 1.

[0052] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing the material feeding control device in the embodiments of this application. The material feeding control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The feeding control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0053] like Figure 5As shown, the unloading control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the unloading control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the feeding control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show feeding control devices with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented alternatively.

[0054] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0055] The feeding control device provided in this application, employing the feeding control method described in the above embodiments, can solve the technical problem of low intelligence in feeding control. Compared with the prior art, the beneficial effects of the feeding control device provided in this application are the same as those of the feeding control method provided in the above embodiments, and other technical features of this feeding control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0056] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0057] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0058] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the feeding control method in the above embodiments.

[0059] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible storage medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable storage medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0060] The aforementioned computer-readable storage medium may be included in the unloading control device; or it may exist independently and not be assembled into the unloading control device.

[0061] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the feeding control device, cause the feeding control device to: Obtain the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters. The first control feeding instruction is used to control the feeding control module to be in the first feeding state. In the first feeding state, the feeding weight data fed back by the weighing control module is obtained, and the second control feeding command of the material to be fed is determined based on the feeding weight data and the material feeding parameters. The first control feeding command is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. In the second feeding state, the feeding end command is determined based on the material feeding parameters and preset historical feeding results to complete the feeding control.

[0062] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0063] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0064] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0065] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described material feeding control method, thereby solving the technical problem of low intelligence in material feeding control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the material feeding control method provided in the above embodiments, and will not be repeated here.

[0066] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the feeding control method described above.

[0067] The computer program product provided in this application can solve the technical problem of low intelligence in material feeding control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the material feeding control method provided in the above embodiments, and will not be repeated here.

[0068] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A material feeding control method, characterized in that, The feeding control method is applied to a feeding control system, which includes a feeding control module and a weighing control module. The feeding control method includes: Obtain the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters, wherein the first control feeding instruction is used to control the feeding control module to be in the first feeding state; In the first feeding state, the feeding weight data fed back by the weighing control module is obtained, and the second control feeding instruction for the material to be fed is determined according to the feeding weight data and the material feeding parameters. The second control feeding instruction is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. In the second feeding state, a feeding end command is determined based on the material feeding parameters and preset historical feeding results to complete the feeding control.

2. The material feeding control method as described in claim 1, characterized in that, The feeding control system further includes a material vibration screening module located at the feeding port of the feeding control module. The step of determining the first control feeding command for the material to be fed based on the material feeding parameters includes: Determine the falling material characteristics of the material to be fed in the material feeding parameters, and determine the maximum opening command of the material to be fed based on the falling material characteristics; The maximum vibration frequency corresponding to the maximum opening command is determined in the preset frequency opening correspondence table, and the maximum vibration frequency and the maximum opening command are used as the first control feeding command, wherein the maximum vibration frequency is used to control the material vibration screening module.

3. The material feeding control method as described in claim 1, characterized in that, The step of determining the second control feeding command for the material to be fed based on the feeding weight data and the material feeding parameters includes: Determine the switching weight threshold and structural material characteristics of the material to be fed in the material feeding parameters; When the first material weight value in the material weight data is greater than or equal to the switching weight threshold, the corresponding first opening change position and first opening change rate value are determined according to the structural material characteristics, and the instruction to control the material feeding control module to change to the first opening change position at the first opening change rate value is used as the second control feeding instruction for the material to be fed.

4. The material feeding control method as described in claim 3, characterized in that, After the step of determining the second control feeding command for the material to be fed based on the feeding weight data and the material feeding parameters, the following steps are included: When the feeding control module controls the material feeding with the first opening change rate value, the second feeding weight value fed back by the weighing control module is obtained. When the second feeding weight value is greater than the preset adjacent weight threshold and the feeding control module has not reached the first opening change position, a feeding end command is determined based on the second feeding weight value and the preset historical feeding result.

5. The material feeding control method as described in claim 4, characterized in that, The step of determining the material feeding end command based on the second material feeding weight value and the preset historical material feeding results includes: The first weight change value of the second feeding weight value is determined when the first opening change rate value is controlled, and the estimated weight change value is determined based on the first weight change value and the second weight change value corresponding to the material feeding parameters in the preset historical feeding results. The estimated weight change value is the new weight value when the feeding control module reaches the first opening change position. When the sum of the estimated weight change value and the switching weight threshold is less than the weight difference between the closing drop weight of the material to be fed and the target feeding weight in the material feeding parameters, the step of determining the feeding end command based on the material feeding parameters and the preset historical feeding results is executed. When the sum of the estimated weight change value and the switching weight threshold is greater than or equal to the weight difference between the closing drop weight and the target feeding weight of the material to be fed in the material feeding parameters, the feeding control module is controlled in a third feeding state with a second opening change rate value. In the third feeding state, a feeding end command is determined according to the material feeding parameters and the preset historical feeding results, wherein the second opening change rate value is greater than the first opening change rate value.

6. The material feeding control method as described in claim 1, characterized in that, The step of determining the material feeding end command based on the material feeding parameters and preset historical feeding results includes: The closing drop weight and target feeding weight of the material to be fed are determined in the material feeding parameters, wherein the closing drop weight is the feeding weight when the feeding control module changes position from the first opening to the closing position; The target drop weight is obtained by correcting the closing drop weight based on the preset historical feeding results. When the sum of the third feeding weight value fed back by the weighing control module and the target drop weight is equal to the target feeding weight, a feeding end command is generated. The feeding end command is used to control the feeding control module to change position from the first opening to closing.

7. The material feeding control method according to any one of claims 1 to 6, characterized in that, The material feeding control method further includes: After each feeding control is completed, the final feeding weight value fed back by the weighing control module and the target feeding weight value in the material feeding parameters are obtained. When the target material weight value is not equal to the final material weight value, a correction value corresponding to the material feeding parameter is generated based on the difference between the target material weight value and the final material weight value, and the correction value corresponding to the material feeding parameter is used as a preset historical feeding result.

8. A material feeding control system, characterized in that, The feeding control system includes a controller, a feeding control module, and a weighing control module. The controller is connected to both the feeding control module and the weighing control module. The controller includes: The parameter control module is used to acquire the material feeding parameters of the material to be fed, and determine the first control feeding instruction of the material to be fed based on the material feeding parameters, wherein the first control feeding instruction is used to control the feeding control module to be in the first feeding state; The weight control module is used to acquire the feeding weight data fed back by the weighing control module in the first feeding state, and determine the second control feeding command of the material to be fed according to the feeding weight data and the material feeding parameters. The first control feeding command is used to control the feeding control module to be in the second feeding state, and the feeding speed in the second feeding state is less than the feeding speed in the first feeding state. The material feeding control module is used to determine the material feeding end command based on the material feeding parameters and preset historical feeding results in the second feeding state, so as to complete the feeding control.

9. A material feeding control device, characterized in that, The feeding control device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the feeding control method as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium is a computer-readable storage medium, and a computer program is stored on the computer storage medium. When the computer program is executed by a processor, it implements the steps of the feeding control method as described in any one of claims 1 to 7.

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