A method and system for controlling the flow of confectionery dusting powder as an alternative to multi-stage dusting

Abstract

The application provides a candy powder coating airflow control method and system instead of multi-stage powder blowing, and relates to the technical field of control. The method comprises the following steps: acquiring the spatial distribution of powder types in a powder coating chamber, and determining a planned motion path of a target candy, which passes through at least two powder regions of different types; determining the direction and intensity of the airflow to be sprayed based on the real-time position of the target candy and the planned motion path; and controlling the candy powder coating airflow nozzle group to spray airflow to the target candy in the direction and at the intensity, so as to drive the target candy to move along the planned motion path. The application replaces the traditional multi-stage powder blowing device by actively planning the motion path of the candy through different powder regions and combining airflow driving, simplifies the equipment structure, and improves the flexibility and automation degree of the powder coating process.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a method and system for controlling the airflow of candy coating, which is an alternative to multi-stage blowing. Background Technology

[0002] In confectionery manufacturing, a multi-stage powder blowing process is often used to create multiple layers of different materials or colors. This involves setting up multiple independent powder blowing chambers along the production line, each containing a single type of powder. The candy passes through each chamber sequentially via a conveyor belt, and powder is blown onto the surface of the candy through fixed nozzles, achieving layering. This multi-stage powder blowing method suffers from problems such as a long equipment layout, large footprint, and poor flexibility. When the candy formula or powder type needs to be changed, it often requires machine shutdown for adjustment or even replacement of the equipment structure, making it difficult to respond quickly to production changes. Furthermore, the physical separation between multiple independent powder chambers prevents powder mixing, making the mechanism complex and inconvenient for cleaning and maintenance.

[0003] Some existing technologies attempt to create different powder concentration zones within a single chamber through airflow partitioning. However, the movement path of the candy is usually constrained by mechanical conveyor belts or fixed tracks, making it impossible to actively adapt to changes in powder distribution. Furthermore, if the airflow is not properly controlled, it can easily scatter and mix powder in adjacent areas, compromising the clarity of the layered coating and severely affecting the product's appearance and quality. Summary of the Invention

[0004] This application provides a method and system for controlling the airflow of candy coating to replace multi-stage blowing powder, thereby improving the above-mentioned problems.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, this application proposes a candy coating airflow control method to replace multi-stage powder blowing. This method is applied to a candy coating airflow control system to replace multi-stage powder blowing. The control system includes a coating chamber, an airflow nozzle assembly, and a control terminal. The method is executed by the control terminal and includes: acquiring the spatial distribution of powder types within the coating chamber and determining the planned movement path of the target candy, wherein the planned movement path passes through at least two different types of powder regions within the coating chamber; determining the direction and intensity of the airflow to be sprayed based on the real-time position of the target candy and the planned movement path; and controlling the airflow nozzle assembly to spray airflow towards the target candy based on the direction and intensity, thereby driving the target candy to move along the planned movement path.

[0006] Therefore, the method obtains the spatial distribution of powder types in the coating chamber and plans the movement path of the candy through at least two different powder types. The control terminal controls the airflow nozzle group to spray airflow to drive the candy along the path according to the real-time position. Thus, the candy is sequentially coated with multiple types of powder using a single coating chamber and controllable airflow, replacing the traditional production line that requires multiple separate powder blowing devices. This not only simplifies the equipment structure and reduces costs, but also improves production flexibility and the programmability of the coating path, allowing for rapid switching of candy varieties and coating formulas.

[0007] In conjunction with the first aspect, optionally, based on the real-time position and planned motion path of the target candy, the direction and intensity of the airflow to be injected are determined, including: acquiring the boundary surface of each type of powder region in the spatial distribution of powder types, and determining the allowable airflow normal velocity threshold at each sampling point on the boundary surface based on the powder type of each type of powder region; determining the desired acceleration of the target candy based on its real-time position, current velocity, mass, and the corresponding target position and target velocity on the planned motion path, and determining the required thrust vector based on the desired acceleration and a preset air resistance model; acquiring the installation coordinates, initial direction of the nozzle outlet axis, and outlet airflow velocity attenuation function of each nozzle in the airflow nozzle group; and performing the following calculations using the injection intensity value and injection direction angle of each nozzle as decision variables: for each sampling point on the boundary surface, based on the installation coordinates of each nozzle... The system uses the target, injection direction angle, injection intensity value, and outlet airflow velocity attenuation function to obtain the partial airflow velocity vector generated by each nozzle at the sampling point and performs vector superposition to obtain the total airflow velocity vector at the sampling point. The component of the total airflow velocity vector in the normal direction at the sampling point is obtained as the airflow normal intrusion velocity. Based on the injection direction angle, injection intensity value, real-time position and windward area of ​​the target candy, and preset aerodynamic coefficients, the thrust vector generated by each nozzle on the target candy is determined and vector synthesized to obtain the actual thrust vector. A first cost term is constructed as the modulus of the difference between the actual thrust vector and the required thrust vector, and a second cost term is constructed as the sum of squares of the portion of the airflow normal intrusion velocity at all sampling points that exceeds the corresponding allowable airflow normal velocity threshold. By minimizing the weighted sum of the first and second cost terms, the injection intensity value and injection direction angle of each nozzle, as well as the direction and intensity of the airflow to be injected, are determined.

[0008] Therefore, when determining the airflow direction and intensity, by introducing the allowable airflow normal velocity threshold corresponding to the boundary surface of the powder area, and taking the deviation between the actual thrust and the required thrust, as well as the amount of airflow intrusion into the boundary, as optimization costs, it is possible to ensure that the candy moves along the planned path while actively suppressing the disturbance of the jet airflow to the boundary of adjacent powder areas of different types, preventing powder cross-mixing, and thus ensuring the clarity of the interface of the multi-layer coating and the appearance quality of the product.

[0009] In conjunction with the first aspect, optionally, the permissible airflow normal velocity threshold at each sampling point on the boundary surface is determined based on the powder type of each type of powder region, including: obtaining the angle of repose, characteristic particle size, and particle density in the particle size distribution of each type of powder; for each sampling point on the boundary surface, obtaining the powder type of the powder regions adjacent to the sampling point, and determining the permissible airflow normal velocity threshold at the sampling point based on the smaller angle of repose, larger characteristic particle size, and larger particle density among the powder types on both sides. : =k*sqrt(( *g*( - ) / )*tan( )) Where k is the preset safety factor. With a relatively large characteristic particle size, For a larger particle density, Where is the air density, and g is the acceleration due to gravity. It is a relatively small angle of repose.

[0010] Therefore, based on the material properties of the powder, such as the angle of repose, characteristic particle size, and particle density, the permissible airflow normal velocity threshold at the boundary sampling point can be calculated using a quantitative formula. This threshold can reflect the airflow erosion resistance of different powder piles, improving the accuracy and scientific nature of powder area protection and control, and avoiding the conservative or failure problems that may be caused by setting a fixed threshold based on experience.

[0011] In conjunction with the first aspect, optionally, determining the planned movement path of the target candy includes: obtaining the identifier and spatial range of each type of powder region in the spatial distribution of powder types; obtaining the sequence of powder types to be sequentially coated on the target candy, the powder type sequence including at least two different powder types; and, based on the powder type sequence, sequentially determining the powder region corresponding to each powder type in the powder type sequence in the powder coating chamber, and determining a continuous path from the starting point through the determined powder regions sequentially as the planned movement path.

[0012] Therefore, by obtaining the sequence of powder types that the target candy needs to be coated with, and automatically planning a continuous path that passes through the corresponding powder areas in the spatial distribution of powder types, the candy movement trajectory that directly matches the requirements of the coating process is generated. This eliminates the need for manual offline programming, improves production preparation efficiency and the adaptability of path planning to changes in powder area distribution.

[0013] In conjunction with the first aspect, optionally, obtaining the spatial distribution of powder types within the breading chamber includes: obtaining sensor sensing values ​​at multiple preset locations within the breading chamber, the sensors including capacitive sensors; determining the powder type at each preset location based on the sensor sensing values ​​and a preset correspondence between sensor response curves and powder types; discretizing the breading chamber space into a three-dimensional voxel grid, and for each voxel, determining the powder type of the voxel using a weighted voting method based on its distance to neighboring preset locations and the powder type at those preset locations, thereby constructing the spatial distribution of powder types.

[0014] Therefore, by using capacitive sensors to collect multi-point sensing values ​​and constructing the spatial distribution of powder types based on three-dimensional voxel grids and weighted voting, it is possible to obtain the distribution area of ​​different powders in the powder coating chamber in real time and accurately under non-contact conditions, providing a high-resolution and reliable spatial information foundation for subsequent path planning and airflow boundary protection.

[0015] In conjunction with the first aspect, optionally, when determining the injection intensity value and injection direction angle of each nozzle by minimizing the weighted sum, the weighting of the first cost term and the second cost term is dynamically adjusted according to the minimum distance between the real-time position of the target candy and the boundary surface of the adjacent type of powder area; when the minimum distance is less than the preset first distance threshold, the weight of the second cost term is increased; when the minimum distance is greater than the preset second distance threshold, the weight of the second cost term is decreased.

[0016] Therefore, it can be seen that by dynamically adjusting the weights of the first and second cost terms based on the distance between the candy and the boundary of the powder area, the focus is on motion following accuracy when the candy is far from the boundary, and the penalty for the intrusion of the boundary airflow is strengthened when the candy is close to the boundary. This achieves a smooth switch between the two control objectives, effectively reducing the risk of boundary powder mixing while ensuring the accuracy of the powder coating path, and is also conducive to saving airflow energy consumption.

[0017] In conjunction with the first aspect, optionally, during the process of controlling the airflow nozzle assembly to spray airflow toward the target candy, the method further includes: acquiring real-time signals from optical or capacitive sensors located near the boundary surface, calculating the spatial gradient of powder concentration based on the real-time signals; determining that the powder region boundary has shifted in the local segment when the direction of the spatial gradient of powder concentration in a certain local segment deviates from the expected gradient direction by more than a preset angle; determining the distance and direction of the boundary shift based on the magnitude and direction of the spatial gradient of powder concentration, and correcting the permissible airflow normal velocity threshold at the sampling point in the local segment.

[0018] Therefore, by real-time monitoring of the spatial gradient of powder concentration near the boundary surface, determining the boundary shift when a gradient direction deviation is detected, and feeding back the allowable airflow normal velocity threshold, it is possible to dynamically compensate for the regional boundary shift caused by the long-term action of the jet airflow or powder settling, maintain the isolation stability of different types of powder regions, and thus further improve the consistency of powder coating quality in continuous production and the system's self-correction capability against long-term operational disturbances.

[0019] Secondly, this application proposes an alternative to a multi-stage blowing method for candy coating airflow control, characterized by comprising: The acquisition module is used to acquire the spatial distribution of powder types in the coating chamber and determine the planned movement path of the target candy, wherein the planned movement path passes through at least two different types of powder areas in the coating chamber. The determination module is used to determine the direction and intensity of the airflow to be ejected based on the real-time position of the target candy and the planned motion path. The control module controls the airflow nozzle assembly to spray airflow toward the target candy based on direction and intensity, thereby driving the target candy to move along a planned motion path.

[0020] A third aspect of this invention provides an electronic 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 to enable the at least one processor to perform the method proposed in the first aspect of the present invention.

[0021] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect of the present invention. Attached Figure Description

[0022] Figure 1 This is a schematic flowchart of a candy coating airflow control method that replaces multi-stage blowing powder, as proposed in an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of a candy coating airflow control system that replaces multi-stage blowing powder, as proposed in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the structure of a processing device proposed in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] This application proposes an alternative to multi-stage powder blowing for candy coating airflow control system, including a coating chamber, an airflow nozzle group 20, and a control terminal. The coating chamber is a closed or semi-closed space, and multiple different types of powder regions can be formed inside by means of manual laying or airflow suspension, such as region A (powdered sugar), region B (cocoa powder), region C (matcha powder), etc., and there are boundary curved surfaces between each region.

[0027] The airflow nozzle assembly consists of multiple nozzles whose spray direction and intensity can be adjusted independently. The nozzles are arranged around the powder coating chamber. The high-speed airflow carries and drives the target candy, while also disturbing the powder area. The control terminal can be an industrial computer or an embedded controller, communicating with the drive mechanisms of each nozzle in the airflow nozzle assembly, such as servo steering gimbals and flow control valves, as well as sensors installed inside the assembly, such as capacitive sensor arrays and optical sensors, to run the control method of this application embodiment.

[0028] Figure 1 This is a flowchart illustrating a method for controlling the airflow of candy coating, which is an alternative to multi-stage blowing, as proposed in this application. The method is executed by a control terminal and includes steps S101 to S103.

[0029] S101: Obtain the spatial distribution of powder types in the coating chamber and determine the planned movement path of the target candy.

[0030] Understandably, the planned movement path passes through at least two different types of powder areas in the powder coating chamber, so that the candy can sequentially come into contact with and be coated with multiple powders in a single journey.

[0031] Specifically, multiple preset locations can be selected within the powder coating chamber to install capacitive sensors. Since different powders exhibit different dielectric constants, the powder type can be distinguished based on the capacitance change value output by the sensor.

[0032] The control terminal acquires the sensing values ​​of each capacitance sensor and determines the powder type at each set location based on the pre-calibrated correspondence between the sensor response curve and the powder type. For example, response values ​​falling within a first range are identified as powdered sugar, and those within a second range are identified as cocoa powder. For instance, a capacitance value in the range of 1.5pF-2.0pF corresponds to powdered sugar, 2.1pF-2.8pF to cocoa powder, and 2.9pF-3.6pF to matcha powder.

[0033] Next, the internal space of the breading chamber is discretized into a uniform three-dimensional voxel grid. For each voxel, at least three spatially adjacent designated locations are searched. A weighted voting process is then performed based on the distance between these adjacent designated locations and the voxel: the closer the designated location, the higher the weight of the powder type it represents in the vote; for example, the inverse of the distance is used as the weight. The total weight of each powder type on the voxel is calculated, and the powder type with the highest total weight is selected as the powder type of that voxel. By traversing all voxels, the spatial distribution of powder types within the entire breading chamber is obtained. This distribution is essentially a three-dimensional matrix, where each element represents the powder type identifier at the corresponding location.

[0034] Based on this, the planned movement path of the target candy can be further determined.

[0035] As one implementation method, the control terminal first acquires the identifier and spatial extent of each powder type region in the spatial distribution of powder types. For example, using a connected component analysis algorithm, voxels of the same powder type and spatially adjacent to each other are merged into one region, and their boundary voxel sets are extracted to obtain the identifier and spatial envelope of each region. Then, the sequence of powder types to be coated on the target candy is acquired. This sequence is set according to the product formula, such as "powdered sugar - cocoa powder - matcha powder", and contains at least two different powder types. Based on this sequence, the powder regions corresponding to each powder type in the sequence are sequentially determined in the coating chamber. For example, powdered sugar region A, cocoa powder region B, and matcha powder region C are found sequentially, and a continuous three-dimensional path is determined that passes through region A, region B, and region C sequentially from the starting point. The generation of this path can be based on a path search algorithm, aiming at the shortest path length or the least movement time, and ensuring that the segments of the path within each region meet the preset coating dwell time requirements. For example, the continuous path obtained by setting the dwell time in the sugar powder area to 0.5s, the cocoa powder area to 0.8s, and the matcha powder area to 0.6s is the planned motion path, and its spatial coordinate sequence is stored in the control terminal.

[0036] By using a capacitive sensor array and weighted voting-based powder type recognition, non-contact, full-field real-time perception of powder spatial distribution is achieved, eliminating the need for physical isolation of powder areas and providing precise spatial information for subsequent path planning and airflow control. Furthermore, automatic path planning based on powder type sequences allows for direct mapping between the candy's coating trajectory and the recipe, eliminating the need for manual programming and significantly improving production line changeover efficiency and automation levels.

[0037] S102: Based on the real-time position of the target candy and the planned motion path, determine the direction and intensity of the airflow to be ejected.

[0038] Understandably, the control terminal obtains the real-time position of the target candy through real-time positioning methods, such as visual tracking, ultrasonic positioning, or pneumatic feedback caused by nozzle control, and acquires its current speed and mass. The mass can be pre-measured and input, or dynamically estimated based on the initial mass plus the mass of the coated powder. For example, if the initial candy mass is 2g, the mass increases by 0.3g for each layer of powder that adheres.

[0039] First, calculate the expected acceleration of the target candy. Based on the planned motion path, determine the target path point closest to the real-time position, and the target velocity that path point should reach.

[0040] Based on the real-time position, current velocity, target position, and target velocity of the target candy, the desired acceleration vector is calculated using methods such as proportional-derivative control (PD) or model predictive control (MMC), enabling the candy to both approach the target position and track the target velocity. For example, using PD control, the proportional coefficient Kp = 0.8 and the derivative coefficient Kd = 0.12.

[0041] Next, based on the desired acceleration and candy mass, and considering air resistance, the required thrust vector is determined. The air resistance model can be simplified to... =0.5* * * * The direction is opposite to the direction of the relative airflow velocity, therefore the required thrust vector is equal to the vector sum of the inertial force and the drag.

[0042] Next, the control terminal acquires the installation coordinates of each nozzle in the airflow nozzle assembly, the initial direction of the nozzle outlet axis (i.e., the calibration direction vector during installation), and the outlet airflow velocity attenuation function under different jet intensities. The attenuation function describes the decrease in airflow velocity along the jet direction from the nozzle outlet with distance. It can usually be obtained through experimental calibration in a table or fitted as a piecewise function, for example... (d)= / (1+ ),in Positively correlated with spray intensity This refers to the characteristic attenuation distance. For example, a certain nozzle... =15cm, when When the wind speed is 10 m / s, the wind speed drops to 5 m / s at d = 15 cm.

[0043] To determine the optimal injection parameters, decision variables are defined as the injection intensity value and injection direction angle for each nozzle, i.e., the nozzle can deflect within a certain cone angle range. The direction angle includes elevation and azimuth angles, or can be directly represented by a unit direction vector. Based on these decision variables, the following calculations are performed: Extract the boundary surface of each type of powder region from the spatial distribution of powder types.

[0044] For example, faces of different voxel types adjacent to each other are extracted to form a triangular mesh surface, which serves as the boundary surface. Sampling points are then selected uniformly or adaptively according to the curvature on this surface. For example, the sampling point spacing is set to 2 mm. For each sampling point, an allowable airflow normal velocity threshold is determined based on its location and the material properties of the powder on both sides. .

[0045] Simultaneously, for each sampling point, the velocity vector of the split airflow generated by the nozzle at the sampling point is calculated based on the installation coordinates, injection direction angle, and injection intensity value of each nozzle.

[0046] The calculation process is as follows: The scalar velocity v_jet at the sampling point is determined by the jet intensity value and the attenuation function. Then, the velocity direction is determined based on the unit direction vector from the nozzle to the sampling point (considered only when the sampling point is within the effective jet cone angle of the nozzle; the velocity is zero if it exceeds the cone angle). The velocity vectors of all nozzles are superimposed to obtain the total airflow velocity vector at the sampling point. .Pick The projection onto the normal direction of the boundary surface at the sampling point, if the projection direction is the direction of crossing the boundary from outside the region into the region, is taken as the normal intrusion velocity of the airflow. If it is in the opposite direction, it is considered to have no risk of intrusion, and the intrusion speed is recorded as zero.

[0047] For the target candy, the thrust generated by each nozzle on the candy is calculated based on the spray direction angle, spray intensity, real-time position and frontal area of ​​the candy, and preset aerodynamic coefficients. Typically, the aerodynamic thrust of a single nozzle on the candy can be expressed as: =0.5* * * * *i in Let be the effective wind speed of the nozzle at the candy location, and i be the direction of thrust from the candy to the nozzle, with the actual thrust direction opposite to the airflow direction.

[0048] It should be clarified here that if the airflow is directed from the nozzle towards the candy, then the thrust direction is the direction of the airflow. The aerodynamic coefficients will be determined experimentally. and effective windward area This is usually related to the candy's posture and can be simplified to a fixed value or based on an average shape approximation. For example, for spherical candies, Take 0.5, This is the projected area. The actual thrust vector is obtained by summing the thrust vectors generated by all nozzles. .

[0049] Furthermore, construct the first cost term. The actual thrust vector With the required thrust vector The difference in modulus, i.e. =|| - ||. Construct the second cost term The sum of squares of the portions of the airflow normal intrusion velocity at all sampling points that exceed the corresponding allowable threshold: =Σmax .

[0050] Total cost J = α* +β* Where α and β are weighting coefficients. Numerical optimization algorithms, such as interior-point methods, sequential quadratic programming, or heuristic algorithms, are used to adjust the injection intensity and injection direction angle of each nozzle to minimize the total cost J. The final decision variable values ​​determine the direction and intensity of the airflow to be injected into each nozzle.

[0051] The permissible airflow normal velocity threshold introduced in the above calculation process This directly relates to the stringency of boundary protection. This embodiment provides a quantitative determination method combining powder physical properties: Obtain the angle of repose, characteristic particle size (D50 or D90), and particle density for each type of powder. The angle of repose reflects the internal friction characteristics and shear resistance of the powder pack; the characteristic particle size and particle density affect the inertia of the particles and their critical starting velocity under airflow. For each boundary sampling point, determine the powder types on either side of that point and obtain the smaller angle of repose for the two powders. Larger characteristic particle size and larger particle density This method of value selection is based on the "weakest link effect": boundary instability is often determined by the powder on the side with weaker erosion resistance, while airflow's ability to carry particles and the greater difficulty in blowing away particles with larger particle sizes and densities result in a more conservative safety threshold when a larger value is taken. Then, the following formula is used for calculation. : =k*sqrt(( *g*( - ) / )*tan( )) Where k is a preset safety factor, usually taken as 0.3~0.8; g is the acceleration due to gravity; The formula is based on the force balance analysis of the particle bed surface under airflow shear: the shear stress generated by the airflow is balanced with the effective gravity and internal friction resistance of the particles, from which the critical starting wind speed is derived; after adjusting the coefficient k, the allowable intrusion speed is obtained. Therefore, the protection threshold at the sampling point adaptively changes with the different characteristics of adjacent powders, ensuring the scientific and accurate nature of boundary protection.

[0052] Furthermore, in the process of minimizing the weighted sum, the weights α and β are not fixed, but are determined based on the minimum distance between the real-time position of the target candy and the boundary surfaces of adjacent types of powder regions. Make dynamic adjustments. When Less than the preset first distance threshold That is, when the candy approaches the boundary, the weight β is increased, so that the optimization focuses more on suppressing the boundary airflow intrusion, preventing the nozzle from having to increase the airflow due to the candy's proximity, which could lead to boundary instability; when Greater than the preset second distance threshold (Candy is far from the boundary,) > When this happens, reduce the weight β to focus the optimization on thrust following accuracy and reduce unnecessary energy consumption. For example, set... =3cm =15cm, and when the candy is 2cm away from the boundary, β is automatically increased to 3 times the baseline value. This dynamic weighting strategy achieves coordination between two control objectives, ensuring the accurate execution of the coating path while actively protecting the isolation of the powder area at key locations.

[0053] Through the above steps, the control terminal calculates the injection parameters of each nozzle at the current moment, which serve as the direction and intensity of the airflow to be injected. These parameters ensure that the target candy can move precisely along the planned path, while minimizing the disturbance of the airflow to the boundaries of different types of powder areas.

[0054] S103: Based on direction and intensity, control the airflow nozzle assembly to spray airflow towards the target candy, so as to drive the target candy to move along the planned motion path.

[0055] The control terminal converts the calculated spray intensity and spray direction angle into control commands for each nozzle drive mechanism. For example, it sends PWM signals to adjust the opening of the air pump or valve to achieve the spray intensity, and sends pulse signals to control the steering motor to achieve the nozzle direction angle. Through the coordinated spray of the airflow nozzle group, the resultant force and resultant torque drive the candy to achieve levitation, translation, and rotation in the coating chamber, making it move along the planned motion path.

[0056] During continuous control, this method also possesses the ability to monitor and compensate for the drift of the powder region boundary in real time. Because the jet airflow acts on the powder pile for a long time, the boundary surface may experience slow erosion or powder migration, leading to a discrepancy between the actual region boundary and the initially obtained distribution. To address this, highly sensitive optical sensors, such as laser dust sensors or capacitive sensor arrays, are placed near the boundary surface. The control terminal acquires the real-time signals from these sensors and calculates the spatial gradient of the powder concentration. For example, for a row of capacitive sensors near the boundary, their sensed values ​​are read, and the concentration gradient vector is obtained by differential calculation.

[0057] Under steady-state conditions, the concentration gradient at the boundary should be approximately perpendicular to the boundary surface and directed from the low-concentration area to the high-concentration area, i.e., the expected gradient direction. When the actual monitored gradient direction deviates from the expected gradient direction by more than a preset angle in a certain local segment, it indicates that the boundary of that segment has shifted. For example, if the preset angle is 15°, and the measured gradient direction deviates from the expected direction by 20°, it is determined that shift has occurred.

[0058] Based on the magnitude and direction of the gradient, the distance and direction of boundary migration can be calculated, for example, using diffusion or translation models. Then, the control terminal corrects the allowable airflow normal velocity threshold at the sampling point in that local segment, typically reducing or shifting the threshold according to the migration direction and extent. This value is then re-introduced into the optimization program to adjust the injection strategy, suppressing further mixing or guiding powder repositioning. This closed-loop correction mechanism enhances the system's adaptability to long-term operational disturbances, ensuring a clear and stable coating interface during continuous production.

[0059] Please see Figure 2 Based on the same inventive concept, this application also proposes an alternative to multi-stage blowing powder candy coating airflow control system, comprising: The acquisition module is used to acquire the spatial distribution of powder types in the coating chamber and determine the planned movement path of the target candy, wherein the planned movement path passes through at least two different types of powder areas in the coating chamber. The determination module is used to determine the direction and intensity of the airflow to be ejected based on the real-time position of the target candy and the planned motion path. The control module controls the airflow nozzle assembly to spray airflow toward the target candy based on direction and intensity, thereby driving the target candy to move along a planned motion path.

[0060] Based on the same inventive concept, embodiments of this application also propose an electronic 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, the instructions being executed by the at least one processor to enable the at least one processor to perform the alternative multi-stage blowing candy coating airflow control method of the embodiments of this application.

[0061] Furthermore, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the alternative multi-stage blowing candy coating airflow control method of this application.

[0062] The following is a detailed introduction to each component of the processing equipment: The processor is the control center of the processing device. It can be a single processor or a collective term for multiple processing elements. For example, the processor can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0063] Alternatively, the processor can perform various functions of the processing device by running or executing software programs stored in memory and by calling data stored in memory.

[0064] The memory is used to store the software program that executes the solution of the present invention, and the execution is controlled by the processor. The specific implementation method can be referred to the above method embodiment, which will not be repeated here.

[0065] Optionally, the memory can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory can be integrated with the processor or exist independently and coupled to the processor through the interface circuit of the processing device; the embodiments of the present invention do not specifically limit this.

[0066] A transceiver is used to communicate with network devices or with terminal devices.

[0067] Optionally, the transceiver may include a receiver and a transmitter. The receiver is used to implement the receiving function, and the transmitter is used to implement the sending function.

[0068] Optionally, the transceiver can be integrated with the processor or exist independently and coupled to the processor through the router's interface circuit. This embodiment of the invention does not specifically limit this.

[0069] Figure 3 This is a schematic diagram of the structure of a processing device provided in an embodiment of the present invention. Exemplarily, this processing device may be a network device, or a chip (system) or other component or assembly that can be disposed in a network device. Figure 3 As shown, the processing device 300 may include a processor 301. Optionally, the processing device 300 may also include a memory 302 and / or a transceiver 303. The processor 301 is coupled to the memory 302 and the transceiver 303, for example, via a communication bus.

[0070] The following is combined Figure 3 A detailed description of each component of the processing equipment 300 is provided below: The processor 301 is the control center of the processing device 300. It can be a single processor or a collective term for multiple processing elements. For example, the processor 301 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0071] Alternatively, the processor 301 can perform various functions of the processing device 300 by running or executing software programs stored in the memory 302 and by calling data stored in the memory 302.

[0072] In a specific implementation, as one example, processor 301 may include one or more CPUs, for example... Figure 3 CPU0 and CPU1 are shown in the diagram.

[0073] In a specific implementation, as one embodiment, the processing device 300 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores used for processing data (e.g., computer program instructions).

[0074] The memory 302 is used to store the software program that executes the solution of the present invention, and the processor 301 controls the execution. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0075] Optionally, the memory 302 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 302 may be integrated with the processor 301 or exist independently, and may be connected via the interface circuit of the processing device 300. Figure 3 (Not shown in the image) is coupled to processor 301, and this embodiment of the invention does not specifically limit this.

[0076] Transceiver 303 is used for communication with other processing devices. For example, if processing device 300 is a terminal, transceiver 303 can be used to communicate with a network device or with another terminal device. As another example, if processing device 300 is a network device, transceiver 303 can be used to communicate with a terminal or with another network device.

[0077] Alternatively, transceiver 303 may include a receiver and a transmitter. Figure 3 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0078] Optionally, the transceiver 303 can be integrated with the processor 301, or it can exist independently and be connected via the interface circuit of the processing device 300. Figure 3 (Not shown in the image) is coupled to processor 301, and this embodiment of the invention does not specifically limit this.

[0079] Understandable, Figure 3 The structure of the processing device 300 shown does not constitute a limitation on the processing device. The actual processing device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0080] Furthermore, the technical effects of the processing device 300 can be referred to the technical effects of the methods in the above-described method embodiments, and will not be repeated here.

[0081] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0082] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM). The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuitry), firmware, or any other combination thereof. When implemented in software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the flow or function according to embodiments of the present invention is produced. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., infrared, wireless, microwave, etc.) means. A computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more sets of available media. Available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. Semiconductor media can be solid-state drives (SSDs).

[0083] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0084] In this invention, "at least one" refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. It should be understood that in various embodiments of this invention, the sequence number of the above processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this invention.

[0085] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

Claims

1. A method for controlling the airflow of candy coating as an alternative to multi-stage blowing, characterized in that, An airflow control system for candy coating, replacing multi-stage blowing, is provided. The control system includes a coating chamber, an airflow nozzle assembly, and a control terminal. The method is executed by the control terminal and includes: The spatial distribution of powder types in the coating chamber is obtained, and the planned movement path of the target candy is determined, wherein the planned movement path passes through at least two powder regions of different types in the coating chamber; Based on the real-time position of the target candy and the planned motion path, the direction and intensity of the airflow to be ejected are determined; Based on the direction and intensity, the airflow nozzle assembly is controlled to spray airflow toward the target candy, thereby driving the target candy to move along the planned motion path.

2. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 1, characterized in that, Based on the real-time position of the target candy and the planned motion path, the direction and intensity of the airflow to be ejected are determined, including: Obtain the boundary surface of each type of powder region in the spatial distribution of the powder type, and determine the allowable airflow normal velocity threshold at each sampling point on the boundary surface based on the powder type of each type of powder region; Based on the real-time position, current speed, and mass of the target candy, as well as the target position and target speed on the planned motion path, the desired acceleration of the target candy is determined, and the required thrust vector is determined based on the desired acceleration and a preset air resistance model. Obtain the installation coordinates, initial direction of the nozzle outlet axis, and outlet airflow velocity decay function for each nozzle in the airflow nozzle group under different injection intensities; Using the injection intensity value and injection direction angle of each nozzle as decision variables, the following calculations are performed: For each sampling point on the boundary surface, based on the installation coordinates, injection direction angle, injection intensity value, and outlet airflow velocity attenuation function of each nozzle, the airflow velocity vector generated by each nozzle at the sampling point is obtained and vector superimposed to obtain the total airflow velocity vector at the sampling point. The component of the total airflow velocity vector in the normal direction at the sampling point is obtained as the airflow normal intrusion velocity; Based on the injection direction angle, injection intensity value, real-time position and windward area of ​​the target candy, and preset aerodynamic coefficient of each nozzle, the thrust vector generated by each nozzle on the target candy is determined and vector synthesis is performed to obtain the actual thrust vector. The first cost term is constructed as the magnitude of the difference between the actual thrust vector and the required thrust vector, and the second cost term is constructed as the sum of squares of the portions of the airflow normal intrusion velocities at all the sampling points that exceed the corresponding allowable airflow normal velocity threshold. The injection intensity value and injection direction angle of each nozzle, as well as the direction and intensity of the airflow to be injected, are determined by minimizing the weighted sum of the first cost term and the second cost term.

3. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 2, characterized in that, The determination of the permissible airflow normal velocity threshold at each sampling point on the boundary surface based on the powder type of each type of powder region includes: Obtain the angle of repose, characteristic particle size, and particle density in the particle size distribution for each type of powder; For each sampling point on the boundary surface, the powder type of the powder regions on both sides adjacent to the sampling point is obtained, and the allowable airflow normal velocity threshold at the sampling point is determined based on the smaller angle of repose, larger characteristic particle size, and larger particle density among the powder types on both sides. : =k*sqrt(( *g*( - ) / )*tan( )) Where k is the preset safety factor. For the larger characteristic particle size, For the larger particle density, Where is the air density, and g is the acceleration due to gravity. The smaller angle of repose.

4. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 1, characterized in that, The process of determining the planned movement path of the target candy includes: Obtain the identifier and spatial range of each type of powder region in the spatial distribution of the powder types; To obtain the sequence of powder types that need to be sequentially coated onto the target candy, wherein the powder type sequence includes at least two different powder types; According to the powder type sequence, powder regions corresponding to each powder type in the powder coating chamber are sequentially determined, and a continuous path is determined from the starting point through the determined powder regions as the planned motion path.

5. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 1, characterized in that, The step of obtaining the spatial distribution of powder types within the powder coating chamber includes: The sensor values ​​at multiple predetermined locations within the breading chamber are acquired, and the sensors include capacitive sensors. Based on the sensor's sensed values ​​and the pre-defined correspondence between the sensor's response curve and the powder type, the powder type at each set location is determined. The powder coating chamber space is discretized into a three-dimensional voxel grid. For each voxel, the powder type of the voxel is determined by a weighted voting method based on its distance to a nearby set position and the powder type at that set position, thereby constructing the spatial distribution of the powder type.

6. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 2, characterized in that, When determining the injection intensity value and injection direction angle of each nozzle by minimizing the weighted sum, the weighting of the first cost term and the second cost term is dynamically adjusted according to the minimum distance between the real-time position of the target candy and the boundary surface of the adjacent type of powder region; When the minimum distance is less than a preset first distance threshold, the weight of the second cost term is increased; When the minimum distance is greater than a preset second distance threshold, the weight of the second cost term is reduced.

7. The method for controlling the airflow of candy coating as an alternative to multi-stage blowing powder according to claim 2, characterized in that, The process of controlling the airflow nozzle assembly to spray airflow toward the target candy also includes: Acquire real-time signals from optical or capacitive sensors positioned near the boundary surface, and calculate the spatial gradient of powder concentration based on the real-time signals; When the direction of the spatial gradient of powder concentration in a certain local segment deviates from the expected gradient direction by more than a preset angle, it is determined that the powder region boundary has shifted in the local segment. Based on the magnitude and direction of the spatial gradient of the powder concentration, the distance and direction of the boundary shift are determined, and the allowable airflow normal velocity threshold at the sampling point in the local segment is corrected.

8. A candy coating airflow control system that replaces multi-stage blowing powder, characterized in that, include: An acquisition module is used to acquire the spatial distribution of powder types in the coating chamber and determine the planned movement path of the target candy, wherein the planned movement path passes through at least two powder regions of different types in the coating chamber. The determining module is used to determine the direction and intensity of the airflow to be ejected based on the real-time position of the target candy and the planned motion path; A control module is configured to control the airflow nozzle assembly to spray airflow toward the target candy based on the direction and intensity, so as to drive the target candy to move along the planned motion path.

9. A processing device, characterized in that, include: At least one processor; And, a memory communicatively connected to at least one of the processors; The memory stores instructions executable by at least one of the processors, which are executed to enable the at least one processor to perform a candy coating airflow control method as an alternative to multi-stage blowing as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements a candy coating airflow control method as described in any one of claims 1-7, which is an alternative to multi-stage blowing.

Images