Intelligent conveying method and system for continuous forming of quick-frozen confectionery

Abstract

The application belongs to the technical field of food processing automation, and relates to a quick-frozen dessert continuous forming intelligent conveying method and system, which comprises the following steps: acquiring information about the rhythm of dessert green body incoming materials, and determining whether a conveying belt bearing section is in a close receiving state or a pulled-apart matching state; when the conveying belt bearing section is in the close receiving state, controlling a tension adjusting roller to relax the bearing section, reducing the pitch of flexible cups integrally formed on the conveying belt to a first interval smaller than the diameter of the dessert, and physically separating the desserts falling into each cup by the side wall; then controlling the tension adjusting roller to move and uniformly stretch the bearing section, dynamically enlarging the pitch of the cups from the first interval to a second interval matched with the mesh belt of a quick freezer, and sending out; when the conveying belt bearing section is in the pulled-apart matching state, controlling the tension adjusting roller to directly stretch the bearing section to the second interval of the pitch of the cups, and sending out. The application realizes the adaptive matching of dessert anti-adhesion and rhythm fluctuation, and guarantees the continuous operation of the whole process.

Description

Technical Field

[0001] This application relates to the field of food processing automation technology, and in particular to a method and system for continuous forming and conveying of quick-frozen pastries. Background Technology

[0002] On automated frozen pastry production lines, after the forming machine produces raw dough such as buns and dumplings, they are typically transported to the freezing equipment by a conveyor belt. To ensure that the pastries enter the freezing machine's mesh belt neatly, existing conveyor lines often incorporate sorting mechanisms such as diversion baffles, guide wheels, or transition trays to arrange the pastries at certain intervals and complete the transfer. These mechanical methods can meet basic production continuity requirements when the pastry surface is relatively dry and the discharge rhythm is stable.

[0003] However, in actual continuous production, the surface temperature of freshly formed dough pieces has not yet dropped, the gluten structure is not fully set, and the surface moisture content is high with noticeable stickiness. Even with a sorting mechanism, when the spacing between dough pieces on the conveyor belt fluctuates due to the rhythm of the forming machine's discharge, fixed mechanical limits alone cannot effectively constrain the relative position of each piece. Dough pieces with too small a spacing are prone to sticking together after slight contact, and forcibly separating them will tear the surface; areas with too large a spacing will cause the subsequent material to arrive at a relatively faster speed, creating local congestion in the confluence section before entering the freezer, leading to dough pieces piling up and irreversible plastic deformation. On the other hand, the discharge speed of the forming machine is not absolutely constant due to factors such as the softness of the dough and the fullness of the filling, while the feed conveyor belt of the freezer usually maintains a uniform linear speed. Traditional fixed-speed transition conveyor belts cannot sense and process such real-time rhythm differences, and manual assistance is still required during production to adjust or rearrange the trays as needed, which restricts the continuous operation of the entire process.

[0004] Therefore, how to achieve a conveying method that can adapt to changes in the incoming material cycle in real time between forming and quick-freezing, and avoid the stickiness and deformation of the raw dough pieces due to their soft and sticky properties, is a technical problem that needs to be solved in the current continuous production of quick-frozen pastries.

[0005] In view of the above, this application is hereby submitted. Summary of the Invention

[0006] The purpose of this application is to propose an intelligent conveying method and system for continuous forming of quick-frozen pastries. The aim is to achieve a conveying method that can adapt to changes in the incoming material rhythm in real time between forming and quick-freezing, and to avoid the sticking and deformation of the pastry blanks due to their soft and sticky properties.

[0007] To address the aforementioned technical problems, this application provides an intelligent conveying method for continuous forming of quick-frozen pastries, employing the following technical solution: Obtain the batching time information of raw dough pieces; Based on the incoming material cycle time information, determine the current required pitch state of the conveyor belt carrying section. The current required pitch state is either a tight receiving state or a loose matching state. When it is determined that the current required pitch state is a tight acceptance state, the first control command is generated; According to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the pastry blanks falling into each cup are physically separated by the side wall of the cup, and after the pastry blanks fall in, the second control command is generated. According to the second control command, the tension adjustment roller is moved to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated pastry blanks are sent out at the second spacing. When it is determined that the current required pitch state is the open matching state, a third control command is generated; According to the third control command, the tension adjusting roller is moved to change the path length of the conveyor belt to stretch the carrying section, so that the pitch of each cup reaches the second spacing, so that the pastry blanks falling into each cup are sent out at the second spacing.

[0008] Furthermore, controlling the movement of the tension adjusting roller includes: Obtain the actual spacing between the dots; Calculate the difference between the actual spacing of the dots and the preset second spacing; When the difference exceeds the preset range, the displacement compensation amount of the tension regulating roller is determined based on the difference. Generate compensation control commands based on the displacement compensation amount; According to the compensation control command, the displacement compensation amount of the tension adjusting roller is controlled so that the pitch of each cup is restored to the second spacing.

[0009] Furthermore, controlling the movement of the tension adjusting roller includes: Obtain spatial constraint information of the production site where the conveyor belt is located; Based on the spatial constraint information, determine the direction of movement of the tension adjusting roller, which can be vertical or horizontal. When the direction of movement is determined to be vertical, the tension adjusting roller is controlled to move downward along the vertical guide rail to increase the length of the conveyor belt's path in the vertical direction. When the direction of movement is determined to be horizontal, the tension adjusting roller is controlled to move horizontally along the horizontal guide rail to increase the length of the conveyor belt's horizontal path.

[0010] Furthermore, controlling the movement of the tension adjusting roller to change the path length of the conveyor belt to uniformly stretch the carrying section includes: Based on the first spacing and the preset second spacing, determine the total deformation required for the load-bearing section to be stretched; Based on the running speed of the conveyor belt, the total deformation is distributed to various positions from the beginning to the end of the carrying section, and the displacement of the tension adjusting roller at each position is determined. The tension adjusting roller is controlled to move gradually according to the determined displacement, so that the pitch of each cup increases uniformly from the first pitch to the second pitch.

[0011] Furthermore, according to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, including: Obtain the diameter information of the raw dough blank; Based on the diameter information, the first spacing is determined, and the first spacing is smaller than the diameter; The tension adjusting roller is controlled to be in the retracted position so that the pitch of the cups on the conveyor belt is reduced to the first spacing.

[0012] Furthermore, after determining the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information, the following steps are taken: Obtain the actual delivery distance of the pastries; Compare the actual distance at which the pastries are delivered with the preset second distance; When the comparison results show that the actual delivery distance of the dots is inconsistent with the preset second distance, the process of determining the current required pitch state for the next step is corrected based on the comparison results.

[0013] Furthermore, after the dough is poured in, a second control command is generated, including: Get the signal of the pastry falling in; Based on the signal of the dough falling into the cup, count the number of dough pieces that fall into each cup. When the count reaches the preset threshold, it is determined that the cup at the beginning of the conveyor belt has completed the receiving of pastries. Once it is confirmed that the pastry has been accepted, a second control command is generated.

[0014] Furthermore, before determining the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information, the following steps are taken: The incoming material cycle time information is filtered to obtain the processed incoming material cycle time information; Based on the processed incoming material cycle time information, determine the current required pitch state of the conveyor belt carrying section.

[0015] Furthermore, before obtaining the batching information for raw dough pieces, the following steps are taken: Receive the preset elastic modulus of the conveyor belt and the initial pitch of the cup; Based on the elastic modulus and initial pitch, the correspondence between the displacement of the tension regulating roller and the pitch change of the cup is calibrated. Based on the corresponding relationship, the control parameters of the tension regulating roller are preset.

[0016] To address the aforementioned technical problems, this application also provides an intelligent conveying system for continuous forming of quick-frozen pastries, employing the following technical solution: A continuous forming intelligent conveying system for quick-frozen pastries includes: The rhythm acquisition module is used to acquire the rhythm information of incoming dough blanks; The status determination module is used to determine the current required pitch status of the conveyor belt carrying section based on the incoming material cycle information. The current required pitch status is either a tight receiving state or a loose matching state. The first instruction module is used to generate a first control instruction when it is determined that the current required pitch state is a tight acceptance state. The first control module is used to control the tension adjusting roller to keep the carrying section relaxed according to the first control command, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the pastry blanks falling into each cup are physically separated by the side wall of the cup, and generate the second control command after the pastry blanks fall in. The second control module is used to control the movement of the tension adjustment roller according to the second control command, so as to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated pastry blanks are sent out at the second spacing. The second instruction module is used to generate a third control instruction when it is determined that the current required pitch state is the open matching state; The third control module is used to control the movement of the tension adjusting roller according to the third control command, and to stretch the carrying section by changing the path length of the conveyor belt so that the pitch of each cup reaches the second spacing, so as to send out the pastry blanks falling into each cup at the second spacing.

[0017] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution: A computer device includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the intelligent conveying method for continuous forming of quick-frozen pastries as described above.

[0018] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below: A computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of the intelligent conveying method for continuous forming of quick-frozen pastries as described above.

[0019] Compared with the prior art, this application has the following main advantages: The intelligent conveying method for continuous forming of quick-frozen pastries disclosed in this application obtains the feed rate information of the pastry blanks; by obtaining the feed rate information, it captures the changes in the output of the forming machine in real time, providing a data basis for subsequent adaptive adjustment of the pitch, and solving the technical problem that traditional conveying methods cannot sense changes in the feed rate.

[0020] Based on the incoming material rhythm information, the current required pitch state of the conveyor belt carrying section is determined. The current required pitch state is either a tight receiving state or a loose matching state. By determining the current required pitch state, the conveyor belt can adaptively select the working mode according to the incoming material rhythm, which solves the technical problem that traditional conveying methods cannot actively switch modes and can only passively bear rhythm fluctuations.

[0021] When it is determined that the current required pitch state is a tight receiving state, the first control command is generated. By generating the first control command, it is ensured that the bearing section is in a relaxed state before the surface falls in, which solves the technical problem that the adjustment action of the traditional conveying method is lagging behind the change of incoming material.

[0022] According to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the dough blanks falling into each cup are physically separated by the side wall of the cup. After the dough blanks fall in, the second control command is generated. By controlling the tension adjusting roller to relax the carrying section and reduce the pitch of the cups to less than the diameter of the dough, the dough is physically separated by the side wall of the cup, which fundamentally solves the technical problem of soft dough sticking together and tearing when they touch each other. At the same time, the second control command is generated only after the dough falls in, ensuring that all dough is in place before stretching, which provides a guarantee for subsequent smooth pitch change.

[0023] According to the second control command, the tension adjusting roller is moved to change the path length of the conveyor belt and uniformly stretch the carrying section, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated dough pieces are sent out at the second spacing. By controlling the movement of the tension adjusting roller to uniformly stretch the carrying section and dynamically increase the pitch of the cups from the first spacing to the second spacing that matches the quick-freezing machine's mesh belt, the separated dough pieces are smoothly sent out at a uniform pitch, realizing the adaptive conversion from uneven material inflow to uniform material outflow. This solves the technical problem of stacking deformation of the confluence section caused by the fluctuation of the forming machine's cycle time, and allows the dough pieces to smoothly transition to the quick-freezing machine's mesh belt, realizing continuous operation of the entire process.

[0024] When it is determined that the current required pitch state is the opening matching state, a third control command is generated. By generating the third control command, the system can flexibly switch the working mode according to the incoming material situation, avoiding redundant pitch change actions when anti-sticking is not required, and solving the technical problem of low efficiency in traditional single-mode operation.

[0025] According to the third control command, the tension adjusting roller is moved to change the path length of the conveyor belt, thereby stretching the carrying section and making the pitch of each cup reach the second spacing, so that the pastry blanks falling into each cup are sent out at the second spacing. By controlling the tension adjusting roller to make the cup pitch directly reach the second spacing, the pastry is sent out directly at the matching spacing when the material is uniform. This simplifies the control process, reduces repeated stretching and wear of the belt, and enables the system to operate efficiently under different material conditions. Attached Figure Description

[0026] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is an exemplary system architecture diagram to which this application can be applied; Figure 2 This is a flowchart of an embodiment of the intelligent conveying method for continuous forming of quick-frozen pastries according to this application; Figure 3 This is a schematic diagram of a structural embodiment of the intelligent conveying system for continuous forming of quick-frozen pastries according to this application; Figure 4 This is a schematic diagram of the structure of one embodiment of the computer device according to this application. Detailed Implementation

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0031] like Figure 1 As shown, the system architecture 100 may include a first terminal device 101, a second terminal device 102, a third terminal device 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the first terminal device 101, the second terminal device 102, the third terminal device 103, and the server 105. The network 104 may include various connection types, such as wired or wireless communication links, or fiber optic cables, etc.

[0032] Users can use the first terminal device 101, the second terminal device 102, and the third terminal device 103 to interact with the server 105 via the network 104 to receive or send messages, etc. Various communication client applications can be installed on the first terminal device 101, the second terminal device 102, and the third terminal device 103, such as web browser applications, shopping applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0033] The first terminal device 101, the second terminal device 102, and the third terminal device 103 can be various electronic devices with displays and support web browsing, including but not limited to smartphones, tablets, e-book readers, MP3 (Moving Picture Experts Group Audio Layer III) players, MP4 (Moving Picture Experts Group Audio Layer IV) players, laptops, and desktop computers, etc.

[0034] Server 105 can be a server that provides various services, such as a backend server that supports the pages displayed on the first terminal device 101, the second terminal device 102, and the third terminal device 103.

[0035] It should be noted that the intelligent conveying method for continuous forming of quick-frozen pastries provided in this application embodiment is generally executed by terminal equipment, and correspondingly, the intelligent conveying system for continuous forming of quick-frozen pastries is generally installed in the terminal equipment.

[0036] It should be understood that Figure 1 The number of terminal devices, networks, and servers shown is merely illustrative. Depending on implementation needs, any number of terminal devices, networks, and servers can be included.

[0037] Continue to refer to Figure 2 The diagram shows a flowchart of an embodiment of the intelligent conveying method for continuous forming of quick-frozen pastries according to this application. The intelligent conveying method for continuous forming of quick-frozen pastries includes the following steps: Step S201: Obtain the batching information of the raw dough blanks.

[0038] In this embodiment, the intelligent conveying method for continuous forming of quick-frozen pastries operates on electronic devices (e.g., Figure 1 The terminal device shown can send or receive data via wired or wireless connection. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G / 5G connections, Wi-Fi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultra-wide band) connections, and other currently known or future wireless connection methods.

[0039] The feed rate information refers to the time interval between the sequential falling of green blanks at the outlet of the forming machine or the number of blanks falling per unit time. This information reflects the output speed of the forming machine and its fluctuations. In this invention, the rate of feed refers to the time interval between two adjacent green blanks falling into the conveyor belt, measured in seconds per blank.

[0040] In this embodiment, a pulse signal output by a photoelectric sensor is received at the outlet of the forming machine. When the dough blank passes through the sensor's detection area, the sensor outputs a high-level pulse. The time interval between two adjacent pulses is recorded by a timer, thereby obtaining real-time material feeding cycle information. Alternatively, the discharge speed signal output from the forming machine control system can be directly read as the material feeding cycle information. The purpose of obtaining this information is to provide a basis for subsequently determining the required pitch state of the conveyor belt carrying section, so that the operating state of the conveyor belt can follow the material feeding changes of the forming machine in real time. Since the discharge speed of the forming machine is affected by factors such as the softness of the dough and the fullness of the filling, the material feeding cycle is not a constant value. It is necessary to dynamically monitor multiple continuously acquired cycle values ​​to identify the trend of cycle changes.

[0041] Step S202: Based on the incoming material cycle time information, determine the current required pitch state of the conveyor belt carrying section. The current required pitch state is either a tight receiving state or a loose matching state.

[0042] The carrying section refers to the working section of the conveyor belt used to carry and transport the raw dough pieces forward; that is, the upper section of the conveyor belt located between the driving and driven rollers. Pitch state refers to the center-to-center distance between adjacent trays on the carrying section, including two states: tightly closed and open. The tightly closed state means the tray pitch is reduced to less than the diameter of the dough piece, while the open-match state means the tray pitch is increased to match the running pitch of the quick-freezing machine's conveyor belt.

[0043] In this embodiment, the current discharge status of the molding machine is determined based on the incoming material cycle time information obtained in step S201. A preset cycle time threshold is stored internally. This threshold is pre-calculated based on the ratio of the quick-freezing machine's mesh belt running pitch to the conveyor belt's running speed. Specifically, this threshold reflects the time interval between adjacent dough pieces passing the end of the conveyor belt when the dough pieces are arranged at the target spacing. When the incoming material cycle time is less than this threshold, it indicates that the molding machine is discharging too quickly, and adjacent dough pieces may fall almost simultaneously, posing a risk of mutual contact and adhesion, thus requiring a close-fitting state. When the incoming material cycle time is greater than or equal to this threshold, it indicates that the discharge cycle time is normal or slightly slower, and there is no risk of dough pieces piling up due to excessively short time intervals, thus requiring a more spaced-out matching state. This judgment process is performed in real time; a judgment is executed every time new incoming material cycle time information is obtained to address the dynamic changes in the molding machine's discharge cycle time.

[0044] Step S203: When it is determined that the current required pitch state is a tight acceptance state, a first control command is generated.

[0045] The first control command is a control signal sent to the drive mechanism of the tension adjusting roller, which commands the tension adjusting roller to move to a position that keeps the bearing section relaxed.

[0046] In this embodiment, when step S202 determines that a close-contact state is required, a first control command is generated. The specific form of this command depends on the type of drive mechanism: If the drive mechanism is a servo motor, the first control command is a communication data packet containing the target position and movement speed; if the drive mechanism is a stepper motor, it is a certain number of pulse signals; if it is a pneumatic mechanism, it is a switching signal. This command is generated based on pre-set relaxation position parameters, which correspond to the retraction limit position of the tension adjusting roller. At this point, the conveyor belt's path is shortest, and the carrying section is in a fully relaxed state. The purpose of generating this command is to adjust the conveyor belt's carrying section to a relaxed state in advance, reducing the cup pitch and preparing for the continuous falling dough pieces.

[0047] Step S204: According to the first control command, control the tension adjusting roller to keep the carrying section relaxed so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the pastry blanks falling into each cup are physically separated by the side wall of the cup, and after the pastry blanks fall in, generate the second control command.

[0048] The tension adjusting roller is a movable roller along a guide rail, positioned below the carrying section of the conveyor belt. Changing its position on the guide rail alters the length of the conveyor belt's path, thus adjusting the tension of the carrying section. The trays are flexible containers integrally formed with the conveyor belt, each tray's cavity precisely accommodating one raw pastry piece. The inner surface of the trays is coated with a food-grade non-stick coating (such as food-grade Teflon or silicone coating) to prevent the high-moisture, sticky raw pastry pieces from adhering to the inner wall of the tray. Pitch refers to the straight-line distance between the centers of two adjacent trays. The first gap refers to the pitch between adjacent trays when the carrying section is in a relaxed state; this gap is less than the diameter of the raw pastry piece.

[0049] In this embodiment, the tension adjusting roller is driven to move to the retracted position according to the first control command, so that the conveyor belt's bypass path is at its shortest state, and the carrying section remains relaxed. At this time, the cup pitch is reduced to the first spacing. The dough pieces falling from the forming machine fall into the cups at the beginning of the conveyor belt in sequence. Since the inner wall of the cup is coated with an anti-stick coating, the dough pieces do not adhere to the cup wall. Even if the surface moisture content of the dough pieces is high, they can fall naturally to the bottom of the cup under the action of gravity and move with the cup. Since the cup pitch is smaller than the diameter of the dough pieces, the side wall of the cup naturally separates adjacent dough pieces, and there is no lateral contact or compression between the dough pieces, which fundamentally eliminates the conditions for soft dough pieces to stick together due to contact. A photoelectric sensor set above the beginning of the conveyor belt detects whether the dough pieces have fallen into the cups. When a dough piece falling signal is detected, the number of dough pieces that have fallen in is counted. When the number reaches a preset value (e.g., the total number of cups that can be received at the beginning of the carrying section), a second control command is generated to prepare for entering the stretching stage. The reason for generating the second control command only after the pastries have fallen in is to ensure that all the pastries that need to be accepted have entered their respective cups, and to avoid misalignment caused by pastries not having finished falling in during the stretching process.

[0050] In step S205, according to the second control command, the tension adjusting roller is moved to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated pastry blanks are sent out at the second spacing.

[0051] The second spacing is a preset target pitch value, which matches the running pitch of the quick-freezing machine's mesh belt, ensuring a smooth transition of the pasta from the conveyor belt to the quick-freezing machine's mesh belt.

[0052] In this embodiment, the tension adjusting roller is driven to gradually extend forward or move downward from the retracted position according to the second control command, thereby gradually increasing the length of the conveyor belt's winding path and uniformly stretching the carrying section. Since the cup holder and the conveyor belt are integrally formed flexible structures, the pitch of the cup holder increases synchronously with the stretching of the carrying section during the stretching process, gradually increasing from the first pitch to the second pitch. The moving speed of the tension adjusting roller is controlled according to the running speed of the conveyor belt, ensuring that the cup holder pitch uniformly increases from the first pitch to the second pitch throughout the entire process of the carrying section moving from the beginning to the end of the conveyor belt. The dough pieces are constrained within the cup holder cavity and move together with the cup holder, preventing relative sliding on the belt surface and thus avoiding surface damage or deformation caused by friction. When the dough pieces are conveyed to the end of the conveyor belt, the cup holder pitch has increased to the second pitch, and the dough pieces smoothly transition onto the quick-freezing machine's mesh belt with a uniform spacing, avoiding local congestion and stacking deformation in the confluence section.

[0053] Step S206: When it is determined that the current required pitch state is the open matching state, a third control command is generated.

[0054] The third control command is a control signal sent to the drive mechanism of the tension adjusting roller. Its function is to command the tension adjusting roller to move to the position where the bearing section is stretched to the target pitch.

[0055] In this embodiment, when step S202 determines that the matching state needs to be stretched (i.e., the incoming material cycle time is normal or slightly slow, and the dough pieces will not accumulate and stick due to excessively short time intervals), a third control command is generated. The target position of this command is to stretch the carrying section to a position where the cup pitch is exactly equal to the second spacing. Unlike the first control command, the third control command is issued before or during the dough pieces falling into the cup, so that the conveyor belt is in a stretched state while receiving the dough pieces, and the dough pieces are directly transported to the end at the stretched pitch. The generation condition of this command is based on the cycle time judgment, reflecting the system's ability to adaptively select the working mode according to the incoming material situation.

[0056] In step S207, according to the third control command, the tension adjusting roller is moved to stretch the carrying section by changing the path length of the conveyor belt, so that the pitch of each cup reaches the second spacing, so as to send out the pastry blanks that fall into each cup at the second spacing.

[0057] In this embodiment, the tension adjusting roller is driven to move to a position that stretches the bearing section to the target length according to the third control command, so that the cup pitch reaches the second spacing. At this time, the dough falling from the forming machine falls directly into the cup that has been stretched to the target pitch, and is conveyed to the end by the conveyor belt at a spacing that matches the quick-freezing machine mesh belt, smoothly transitioning onto the quick-freezing machine mesh belt. This process skips the pitch change process of first shrinking and then enlarging, which is suitable for situations where the incoming material cycle is relatively uniform and there is no need to prevent sticking by shrinking the pitch. It simplifies the control process, reduces the number of times the conveyor belt extends and retracts, and helps to extend the service life of the belt.

[0058] This application obtains the feeding cycle information of raw dough blanks; by obtaining the feeding cycle information, it captures the changes in the output of the forming machine in real time, providing a data basis for subsequent adaptive adjustment of the pitch, thus solving the technical problem that traditional conveying methods cannot sense changes in the feeding.

[0059] Based on the incoming material rhythm information, the current required pitch state of the conveyor belt carrying section is determined. The current required pitch state is either a tight receiving state or a loose matching state. By determining the current required pitch state, the conveyor belt can adaptively select the working mode according to the incoming material rhythm, which solves the technical problem that traditional conveying methods cannot actively switch modes and can only passively bear rhythm fluctuations.

[0060] When it is determined that the current required pitch state is a tight receiving state, the first control command is generated. By generating the first control command, it is ensured that the bearing section is in a relaxed state before the surface falls in, which solves the technical problem that the adjustment action of the traditional conveying method is lagging behind the change of incoming material.

[0061] According to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the dough blanks falling into each cup are physically separated by the side wall of the cup. After the dough blanks fall in, the second control command is generated. By controlling the tension adjusting roller to relax the carrying section and reduce the pitch of the cups to less than the diameter of the dough, the dough is physically separated by the side wall of the cup, which fundamentally solves the technical problem of soft dough sticking together and tearing when they touch each other. At the same time, the second control command is generated only after the dough falls in, ensuring that all dough is in place before stretching, which provides a guarantee for subsequent smooth pitch change.

[0062] According to the second control command, the tension adjusting roller is moved to change the path length of the conveyor belt and uniformly stretch the carrying section, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated dough pieces are sent out at the second spacing. By controlling the movement of the tension adjusting roller to uniformly stretch the carrying section and dynamically increase the pitch of the cups from the first spacing to the second spacing that matches the quick-freezing machine's mesh belt, the separated dough pieces are smoothly sent out at a uniform pitch, realizing the adaptive conversion from uneven material inflow to uniform material outflow. This solves the technical problem of stacking deformation of the confluence section caused by the fluctuation of the forming machine's cycle time, and allows the dough pieces to smoothly transition to the quick-freezing machine's mesh belt, realizing continuous operation of the entire process.

[0063] When it is determined that the current required pitch state is the opening matching state, a third control command is generated. By generating the third control command, the system can flexibly switch the working mode according to the incoming material situation, avoiding redundant pitch change actions when anti-sticking is not required, and solving the technical problem of low efficiency in traditional single-mode operation.

[0064] According to the third control command, the tension adjusting roller is moved to change the path length of the conveyor belt, thereby stretching the carrying section and making the pitch of each cup reach the second spacing, so that the pastry blanks falling into each cup are sent out at the second spacing. By controlling the tension adjusting roller to make the cup pitch directly reach the second spacing, the pastry is sent out directly at the matching spacing when the material is uniform. This simplifies the control process, reduces repeated stretching and wear of the belt, and enables the system to operate efficiently under different material conditions.

[0065] In some optional implementations of this embodiment, the step of controlling the movement of the tension adjusting roller includes: Obtain the actual spacing between the dots; Calculate the difference between the actual spacing of the dots and the preset second spacing; When the difference exceeds the preset range, the displacement compensation amount of the tension regulating roller is determined based on the difference. Generate compensation control commands based on the displacement compensation amount; According to the compensation control command, the displacement compensation amount of the tension adjusting roller is controlled so that the pitch of each cup is restored to the second spacing.

[0066] The actual spacing between points refers to the actual center-to-center distance between adjacent points on the conveyor belt output section. A vision sensor is a device that uses image acquisition and processing technology to obtain spatial position information of the measured object. In this embodiment, an industrial charge-coupled device (CCD) camera is preferably used as the vision sensor. Pitch drift refers to the phenomenon where the actual pitch of the cup deviates from the target value due to factors such as elastic fatigue caused by long-term operation of the conveyor belt, changes in ambient temperature, or mechanical wear. Displacement compensation is the additional distance that the tension adjusting roller needs to move to correct pitch drift.

[0067] In this embodiment, an industrial CCD camera positioned above the conveyor belt output section acquires images of the surface points. The acquired images are binarized and edge-detected to identify the center coordinates of each surface point. The distance between the centers of adjacent surface points is then calculated to obtain the actual spacing between the surface points. This actual spacing is subtracted from a preset second spacing to obtain the difference. When the absolute value of this difference exceeds a preset range, for example, ±2 mm, the displacement compensation amount of the tension adjusting roller is determined based on the magnitude and direction of the difference. The displacement compensation amount is determined based on a pre-calibrated correspondence between the displacement of the tension adjusting roller and the change in the cup pitch. This correspondence is a linear proportional relationship, with the proportionality coefficient determined by the geometric winding pattern of the conveyor belt and the elastic modulus of the material. When the actual spacing is less than the second spacing, the difference is negative, and the calculated displacement compensation amount is positive, meaning the pressure of the tension adjusting roller needs to be increased to further stretch the bearing section. When the actual spacing is greater than the second spacing, the difference is positive, and the displacement compensation amount is negative, meaning the pressure of the tension adjusting roller needs to be decreased. Based on the displacement compensation amount, a compensation control command is generated to control the tension adjusting roller to move by the corresponding displacement amount, so that the cup pitch is restored to the second spacing. This closed-loop compensation process continues during the operation of the production line, with the vision sensor continuously detecting and providing feedback at a set sampling frequency (e.g., 10 times per second).

[0068] This application uses a vision sensor to detect the actual spacing between the dots in real time and feeds it back to the controller. The controller calculates the difference, determines the displacement compensation amount, and drives the tension adjusting roller for precise compensation. This achieves precise closed-loop control of the cup support pitch, and can monitor and compensate for the slight drift of the cup support pitch caused by elastic fatigue, changes in ambient temperature, or mechanical wear caused by long-term operation of the belt. This ensures that the cup support pitch always accurately matches the running pitch of the quick-freezing machine's conveyor belt during long-term operation, avoiding poor transition, uneven spacing, or stacking deformation caused by accumulated errors, and improving the stability and reliability of the system during long-term operation.

[0069] In some optional implementations of this embodiment, the step of controlling the movement of the tension adjusting roller includes: Obtain spatial constraint information of the production site where the conveyor belt is located; Based on the spatial constraint information, determine the direction of movement of the tension adjusting roller, which can be vertical or horizontal. When the direction of movement is determined to be vertical, the tension adjusting roller is controlled to move downward along the vertical guide rail to increase the length of the conveyor belt's path in the vertical direction. When the direction of movement is determined to be horizontal, the tension adjusting roller is controlled to move horizontally along the horizontal guide rail to increase the length of the conveyor belt's horizontal path.

[0070] Spatial constraint information refers to the limitations on the installation space of the conveying equipment at the production site, mainly including the available space in the vertical direction and the available space in the horizontal direction.

[0071] In this embodiment, spatial constraint information input by the user is received through a human-machine interface. This information includes the available dimensions of the production site in the vertical and horizontal directions. The direction of movement of the tension adjusting roller is determined based on the acquired spatial constraint information. When the available space in the vertical direction is less than a preset height threshold, the horizontal translation mode is selected; when the available space in the horizontal direction is less than a preset width threshold, the vertical pressing mode is selected. When the movement direction is determined to be vertical, the tension adjusting roller is controlled to move downwards along the vertical guide rail. After the conveyor belt passes around the tension adjusting roller, it forms a vertical bypass path. As the tension adjusting roller moves downwards, the length of this bypass path increases, thus stretching the carrying section. When the movement direction is determined to be horizontal, the tension adjusting roller is controlled to translate along the horizontal guide rail. After the conveyor belt passes around the tension adjusting roller, it forms a horizontal bypass path. As the tension adjusting roller moves horizontally, the length of this bypass path increases, similarly stretching the carrying section. Under both movement modes, the relationship between the displacement of the tension adjusting roller and the change in the conveyor belt path length is determined by the geometric bypass method, and this relationship is pre-stored during the system calibration phase.

[0072] This application provides a flexible mechanical layout option by obtaining spatial constraint information of the production site and selecting the vertical pressing or horizontal translation movement mode of the tension adjusting roller according to the height or width limitation. The pressing mode can utilize vertical space to reduce horizontal occupation and is suitable for production lines with limited width; the translation mode is suitable for occasions with limited height. Both movement modes can linearly change the belt path length to achieve continuous and uniform adjustment of the cup pitch, adapting to the spatial constraints and equipment layout requirements of different production sites.

[0073] In some optional implementations of this embodiment, the step of controlling the movement of the tension adjusting roller to change the path length of the conveyor belt and uniformly stretch the carrying section includes: Based on the first spacing and the preset second spacing, determine the total deformation required for the load-bearing section to be stretched; Based on the running speed of the conveyor belt, the total deformation is distributed to various positions from the beginning to the end of the carrying section, and the displacement of the tension adjusting roller at each position is determined. The tension adjusting roller is controlled to move gradually according to the determined displacement, so that the pitch of each cup increases uniformly from the first pitch to the second pitch.

[0074] Total deformation refers to the total amount of stretching required from the beginning to the end of the bearing section. Its value is equal to the total length of the bearing section corresponding to the second spacing minus the total length of the bearing section corresponding to the first spacing.

[0075] In this embodiment, the total deformation of the bearing segment is first calculated based on the total number N of cups supported on the bearing segment, the first spacing P1, and the second spacing P2. The calculation formula is: For example, if there are 50 cups on the supporting section, with a first spacing of 48 mm and a second spacing of 100 mm, then the total deformation... =50×(100-48)=2600 mm. Then, the conveyor belt's running speed v is obtained, which is determined by the rotational speed and diameter of the drive roller. The drive roller's rotational speed is detected in real time by an encoder, and the conveyor belt's running speed is calculated. The time required for the carrying section to travel from the beginning to the end is T=L0 / v, where L0 is the total length of the carrying section. The total deformation... The tension is evenly distributed over time T, and the moving speed of the tension adjusting roller is determined to be... / T, where This is the total displacement of the tension adjusting roller from the retracted position to the target position, and this total displacement is related to... The geometric relationship between them is determined by the way the conveyor belt travels (e.g., for a downward-pressing structure). =2× For translational structures, =2× The tension adjusting roller is controlled to move at a constant speed, so that the pitch of the cup at each position increases at the same rate throughout the entire process from the beginning to the end of the bearing section, increasing uniformly from the first pitch to the second pitch.

[0076] This application determines the total deformation required for the bearing section based on the difference between the first and second pitches, and distributes this total deformation evenly to various positions from the beginning to the end of the bearing section according to the conveyor belt running speed. By controlling the tension adjusting roller to move gradually and uniformly according to the determined displacement, a uniform transition of the cup pitch from the first to the second pitch is achieved. This avoids uneven cup deformation or unstable surface posture that may be caused by sudden pitch changes, ensuring that the surface maintains a stable posture during the pitch change process, and creating favorable conditions for a smooth transition to the quick-freezing machine conveyor belt.

[0077] In some optional implementations of this embodiment, the step of controlling the tension adjusting roller to keep the carrying section relaxed according to the first control command, so as to reduce the pitch of the cups on the conveyor belt to the first spacing, includes: Obtain the diameter information of the raw dough blank; Based on the diameter information, the first spacing is determined, and the first spacing is smaller than the diameter; The tension adjusting roller is controlled to be in the retracted position so that the pitch of the cups on the conveyor belt is reduced to the first spacing.

[0078] The diameter of the pastry blank refers to its maximum lateral dimension after shaping. The first pitch is the initial pitch value determined based on the pastry diameter, and this value is smaller than the pastry diameter.

[0079] In this embodiment, the diameter information of the dough blank input by the user is received through a human-computer interaction interface. For example, the user inputs that the diameter of the steamed bun blank is 60 mm. A first spacing is determined based on this diameter information, specifically, the first spacing is set to 80% of the dough blank diameter, i.e., 48 mm. This ratio is chosen based on the following considerations: On the one hand, a pitch smaller than the diameter ensures that the sidewalls of the cups can physically separate adjacent surfaces. An 80% pitch maintains a 20% diameter gap (i.e., 12 mm) between adjacent surfaces, which is sufficient to prevent the sticky, soft surface with high moisture content from contacting and sticking together. On the other hand, this ratio avoids an excessively dense cup structure due to a pitch that is too small (e.g., less than 70%), which would affect the flexibility and stretching uniformity of the belt during subsequent stretching. This provides sufficient deformation space for stretching from 48 mm to 100 mm, which matches the pitch of the quick-freezing machine. After determining the first pitch, the tension adjusting roller is moved to the retracted position to keep the carrying section relaxed. At this point, the cup pitch on the conveyor belt is the first pitch.

[0080] This application quantifies the initial pitch of the cup to 80% of the diameter of the surface, which ensures that a sufficient physical isolation barrier is formed between the side walls of the cup, completely eliminating the possibility of lateral contact between the surface and the surface. It also avoids the impact of an excessively small pitch on the flexibility and stretching uniformity of the belt, and reserves a reasonable deformation space for subsequent stretching and scaling up to match the pitch of the quick-freezing machine, thus taking into account both the anti-adhesion effect and mechanical feasibility.

[0081] In some optional implementations of this embodiment, the steps following the determination of the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information include: Obtain the actual delivery distance of the pastries; Compare the actual distance at which the pastries are delivered with the preset second distance; When the comparison results show that the actual delivery distance of the dots is inconsistent with the preset second distance, the process of determining the current required pitch state for the next step is corrected based on the comparison results.

[0082] The actual feeding distance of the dough refers to the distance between adjacent dough pieces actually detected at the end of the conveyor belt.

[0083] In this embodiment, the actual feeding distance of the dough pieces is obtained by a vision sensor positioned above the end of the conveyor belt, and this acquisition method is the same as the vision detection method described above. The obtained actual feeding distance is compared with a preset second distance, and the deviation value between the two is calculated. When the deviation value is not zero, it indicates that there is a deviation in the current control parameters or judgment logic. The judgment threshold used in the next execution of step S202 is corrected based on this deviation value. The specific correction method is as follows: If the actual delivery distance is consistently greater than the second distance, it indicates that the current judgment threshold is too low under the same incoming material cycle time, causing the system to enter the opening matching state too early or the stretching amplitude to be too large. The cycle time threshold is then increased by one step. Conversely, if the actual delivery distance is consistently less than the second distance, it indicates that the judgment threshold is too high, causing the system to enter the opening matching state too late or the stretching amplitude to be insufficient. The cycle time threshold is then decreased by one step. This correction process is performed after each delivery cycle is completed, iterating continuously to bring the judgment threshold closer to the optimal value.

[0084] This application compares the actual detected surface point delivery distance at the end of the conveyor belt with a preset second distance, and corrects the judgment threshold used in the next pitch state determination process based on the deviation value, thus forming a cross-cycle control optimization. This enables the system to continuously self-adjust and optimize the control strategy during long-term operation, improving the system's adaptability to different production conditions.

[0085] In some optional implementations of this embodiment, the step of generating the second control command after the dough blank falls in includes: Get the signal of the pastry falling in; Based on the signal of the dough falling into the cup, count the number of dough pieces that fall into each cup. When the count reaches the preset threshold, it is determined that the cup at the beginning of the conveyor belt has completed the receiving of pastries. Once it is confirmed that the pastry has been accepted, a second control command is generated.

[0086] The dough falling signal is a detection signal used to determine whether the dough blank has fallen into the tray. The preset quantity threshold refers to the number of trays at the beginning of the conveyor belt used to receive dough.

[0087] In this embodiment, a photoelectric sensor positioned above the beginning of the conveyor belt acquires the dough falling signal. This photoelectric sensor includes a light emitter and a light receiver positioned opposite each other. When the dough blank falls from the forming machine outlet and passes through the sensor's detection area, the dough blocks the light, causing a change in the light intensity received by the light receiver. The sensor outputs a pulse signal, which is the dough falling signal. Each received pulse signal increments the counter. A preset quantity threshold is pre-stored, equal to the number of cups on the conveyor belt's initial bearing section from the dropping position to the starting stretching position. For example, if there are 10 cups in this section, the preset quantity threshold is 10. When the counter reaches 10, it indicates that all the cups at the beginning of the conveyor belt have contained the dough, generating a second control command and resetting the counter to zero for the next round of counting. This application acquires the signal of pasta falling into the cup and counts the number of pasta falling into the cup. When the number reaches a preset threshold, a stretching control command is generated. This ensures that stretching only begins after a sufficient number of pasta have been accepted, avoiding premature stretching that would cause some cups to be empty or stretching too late that would cause pasta to accumulate. This makes the timing of the stretching operation more reasonable and controllable.

[0088] In some optional implementations of this embodiment, the steps prior to determining the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information include: The incoming material cycle time information is filtered to obtain the processed incoming material cycle time information; Based on the processed incoming material cycle time information, determine the current required pitch state of the conveyor belt carrying section.

[0089] Filtering refers to the mathematical processing of the collected incoming material cycle time information signal to eliminate noise and random fluctuations in the signal and extract effective information that reflects the essential changing trend of the incoming material cycle time.

[0090] In this embodiment, the incoming material cycle time information obtained in step S201 is filtered. Specifically, a moving average filtering method is used, which involves storing the most recently acquired M incoming material cycle time values ​​(e.g., M=5) and calculating the arithmetic mean of these M values ​​as the processed incoming material cycle time information. The mathematical expression for the moving average filtering is: T′=(T1+T2+...+TM) / M, where T′ represents the filtered incoming material cycle time value, and T1 to TM are the original values ​​of the most recently acquired M incoming material cycle times. This filtering method can effectively filter out high-frequency noise components caused by mechanical vibration, sensor jitter, etc. After filtering, the incoming material cycle time information is smoother and more stable, eliminating the interference of instantaneous fluctuations on the judgment result. The filtered incoming material cycle time information is used as the judgment basis for step S202, instead of directly using the original collected values.

[0091] This application eliminates noise and random fluctuations in the signal by performing moving average filtering on the acquired material receiving cycle time information, avoiding misjudgment and frequent jumps in control commands caused by instantaneous disturbances, and improving the accuracy of system judgment and the stability of operation.

[0092] In some optional implementations of this embodiment, the steps prior to obtaining the batching information of the raw dough include: Receive the preset elastic modulus of the conveyor belt and the initial pitch of the cup; Based on the elastic modulus and initial pitch, the correspondence between the displacement of the tension regulating roller and the pitch change of the cup is calibrated. Based on the corresponding relationship, the control parameters of the tension regulating roller are preset.

[0093] The modulus of elasticity is a physical parameter describing the elastic deformation capacity of conveyor belt materials. It represents the ratio of stress to strain within the elastic deformation range of the material, and its unit is Pascal. Initial pitch refers to the pitch between adjacent support cups when the conveyor belt is in a fully relaxed state, i.e., when the tension adjusting roller is in the retracted position.

[0094] In this embodiment, before the production line officially starts operation, the user inputs the conveyor belt's elastic modulus E and initial pitch P0 via a human-machine interface. The elastic modulus of the conveyor belt is determined by the physical properties of the conveyor belt material. Different materials (such as food-grade silicone with different hardness) have different elastic modulus values, which are provided by the conveyor belt supplier or determined through material tensile testing. Based on the elastic modulus E and the initial pitch P0, the displacement of the tension regulating roller is calibrated. Change in pitch relative to the cup The correspondence between them. The basic principle of calibration is: Displacement of the tension regulating roller Changes in conveyor belt path length There exists a geometric relationship between them, which is determined by the way the conveyor belt travels. For a downward-pressing structure, =2× For translational structures, =2× The change in conveyor belt path length Change in pitch relative to the cup The relationship between them is: = / N, where N is the total number of support cups on the bearing section. Meanwhile, considering the potential nonlinear elastic behavior of the conveyor belt material during stretching, the above linear relationship is corrected based on the elastic modulus E. The correction method is to calculate... The value is multiplied by a correction factor k, where k = E0 / E, and E0 is the standard elastic modulus used for calibration, and E is the actual input value. After calibration, the control parameters of the tension adjusting roller are preset according to this correspondence, including the displacement corresponding to the retraction position, the displacement corresponding to the target position, the maximum allowable displacement, and the displacement speed. These parameters are stored in non-volatile memory and can be called by the control program during actual operation.

[0095] This application pre-receives the elastic modulus and initial pitch of the conveyor belt, calibrates the correspondence between the displacement of the tension regulating roller and the change in the pitch of the cup holder, and presets control parameters, providing an accurate data foundation for subsequent real-time control. This enables the tension regulating roller displacement required to reach the target pitch to be calculated quickly and accurately during actual operation, thereby improving the system's response speed and control accuracy.

[0096] The blockchain referred to in this application is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Essentially, a blockchain is a decentralized database, a chain of data blocks linked together using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include an underlying blockchain platform, a platform product service layer, and an application service layer.

[0097] The embodiments of this application can acquire and process relevant data based on artificial intelligence technology. Artificial intelligence (AI) refers to the theories, methods, technologies, and application systems that use digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results.

[0098] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0099] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0100] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0101] Further reference Figure 3 As a response to the above Figure 2 The implementation of the method shown in this application provides an embodiment of a continuous forming intelligent conveying system for quick-frozen pastries. This device embodiment is similar to... Figure 2 Corresponding to the method embodiments shown, this device can be specifically applied to various electronic devices.

[0102] like Figure 3 As shown, the intelligent conveying system 300 for continuous forming of quick-frozen pastries described in this embodiment includes: a cycle time acquisition module 301, a status determination module 302, a first instruction module 303, a first control module 304, a second control module 305, a second instruction module 306, and a third control module 307. Wherein: The rhythm acquisition module 301 is used to acquire the rhythm information of the incoming dough blanks; The status determination module 302 is used to determine the current required pitch state of the conveyor belt carrying section based on the incoming material cycle information. The current required pitch state is either a tight receiving state or a loose matching state. The first instruction module 303 is used to generate a first control instruction when it is determined that the current required pitch state is a tight acceptance state. The first control module 304 is used to control the tension adjusting roller to keep the carrying section relaxed according to the first control command, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the pastry blanks falling into each cup are physically separated by the side wall of the cup, and generate the second control command after the pastry blanks fall in. The second control module 305 is used to control the movement of the tension adjusting roller according to the second control command, so as to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated pastry blanks are sent out at the second spacing. The second instruction module 306 is used to generate a third control instruction when it is determined that the current required pitch state is the open matching state; The third control module 307 is used to control the movement of the tension adjusting roller according to the third control command, and to stretch the carrying section by changing the path length of the conveyor belt so that the pitch of each cup reaches the second spacing, so as to send out the pastry blanks falling into each cup at the second spacing.

[0103] The intelligent conveying system for continuous forming of quick-frozen pastries provided in this application acquires the feed rate information of the raw pastry blanks; by acquiring the feed rate information, it captures the changes in the output of the forming machine in real time, providing a data basis for subsequent adaptive adjustment of the pitch, thus solving the technical problem that traditional conveying methods cannot sense changes in the feed rate.

[0104] Based on the incoming material rhythm information, the current required pitch state of the conveyor belt carrying section is determined. The current required pitch state is either a tight receiving state or a loose matching state. By determining the current required pitch state, the conveyor belt can adaptively select the working mode according to the incoming material rhythm, which solves the technical problem that traditional conveying methods cannot actively switch modes and can only passively bear rhythm fluctuations.

[0105] When it is determined that the current required pitch state is a tight receiving state, the first control command is generated. By generating the first control command, it is ensured that the bearing section is in a relaxed state before the surface falls in, which solves the technical problem that the adjustment action of the traditional conveying method is lagging behind the change of incoming material.

[0106] According to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed, so that the pitch of the cups on the conveyor belt is reduced to the first spacing, so that the dough blanks falling into each cup are physically separated by the side wall of the cup. After the dough blanks fall in, the second control command is generated. By controlling the tension adjusting roller to relax the carrying section and reduce the pitch of the cups to less than the diameter of the dough, the dough is physically separated by the side wall of the cup, which fundamentally solves the technical problem of soft dough sticking together and tearing when they touch each other. At the same time, the second control command is generated only after the dough falls in, ensuring that all dough is in place before stretching, which provides a guarantee for subsequent smooth pitch change.

[0107] According to the second control command, the tension adjusting roller is moved to change the path length of the conveyor belt and uniformly stretch the carrying section, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated dough pieces are sent out at the second spacing. By controlling the movement of the tension adjusting roller to uniformly stretch the carrying section and dynamically increase the pitch of the cups from the first spacing to the second spacing that matches the quick-freezing machine's mesh belt, the separated dough pieces are smoothly sent out at a uniform pitch, realizing the adaptive conversion from uneven material inflow to uniform material outflow. This solves the technical problem of stacking deformation of the confluence section caused by the fluctuation of the forming machine's cycle time, and allows the dough pieces to smoothly transition to the quick-freezing machine's mesh belt, realizing continuous operation of the entire process.

[0108] When it is determined that the current required pitch state is the opening matching state, a third control command is generated. By generating the third control command, the system can flexibly switch the working mode according to the incoming material situation, avoiding redundant pitch change actions when anti-sticking is not required, and solving the technical problem of low efficiency in traditional single-mode operation.

[0109] According to the third control command, the tension adjusting roller is moved to change the path length of the conveyor belt, thereby stretching the carrying section and making the pitch of each cup reach the second spacing, so that the pastry blanks falling into each cup are sent out at the second spacing. By controlling the tension adjusting roller to make the cup pitch directly reach the second spacing, the pastry is sent out directly at the matching spacing when the material is uniform. This simplifies the control process, reduces repeated stretching and wear of the belt, and enables the system to operate efficiently under different material conditions.

[0110] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 4 , Figure 4 This is a basic structural block diagram of the computer device in this embodiment.

[0111] The computer device 4 includes a memory 41, a processor 42, and a network interface 43 that are interconnected via a system bus. It should be noted that only the computer device 4 with components 41, 42, and 43 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0112] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0113] The memory 41 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 41 may be an internal storage unit of the computer device 4, such as the hard disk or memory of the computer device 4. In other embodiments, the memory 41 may also be an external storage device of the computer device 4, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 4. Of course, the memory 41 may also include both the internal storage unit and its external storage device of the computer device 4. In this embodiment, the memory 41 is typically used to store the operating system and various application software installed on the computer device 4, such as computer-readable instructions for a continuous forming intelligent conveying method for quick-frozen pastries. In addition, the memory 41 can also be used to temporarily store various types of data that have been output or will be output.

[0114] In some embodiments, the processor 42 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 42 is typically used to control the overall operation of the computer device 4. In this embodiment, the processor 42 is used to execute computer-readable instructions stored in the memory 41 or to process data, for example, to execute computer-readable instructions for the intelligent conveying method for continuous forming of quick-frozen pastries.

[0115] The network interface 43 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 4 and other electronic devices.

[0116] This application also provides another embodiment, namely, a computer-readable storage medium storing computer-readable instructions that can be executed by at least one processor to cause the at least one processor to perform the steps of the above-described intelligent conveying method for continuous forming of quick-frozen pastries.

[0117] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0118] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A method for continuous forming and intelligent conveying of quick-frozen pastries, characterized in that, Includes the following steps: Obtain the batching time information of raw dough pieces; Based on the incoming material cycle time information, determine the current required pitch state of the conveyor belt carrying section, wherein the current required pitch state is either a tight receiving state or a loose matching state. When it is determined that the current required pitch state is the tight acceptance state, a first control command is generated; According to the first control command, the tension adjusting roller is controlled to keep the carrying section relaxed so that the pitch of the cups on the conveyor belt is reduced to the first gap, so that the pastry blanks falling into each of the cups are physically separated by the side walls of the cups, and a second control command is generated after the pastry blanks fall in. According to the second control command, the tension adjusting roller is controlled to move, so as to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first pitch to the preset second pitch, and the physically separated pastry blanks are sent out at the second pitch. When it is determined that the current required pitch state is the pull-out matching state, a third control command is generated; According to the third control command, the tension adjusting roller is moved, and the carrying section is stretched by changing the path length of the conveyor belt, so that the pitch of each cup reaches the second spacing, so that the pastry blanks falling into each cup are sent out at the second spacing.

2. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, The control of the movement of the tension adjusting roller includes: Obtain the actual spacing between the dots; Calculate the difference between the actual spacing of the dots and the preset second spacing; When the difference exceeds the preset range, the displacement compensation amount of the tension adjusting roller is determined based on the difference. Generate compensation control commands based on the displacement compensation amount; According to the compensation control command, the tension adjusting roller is controlled to move by the displacement compensation amount so that the pitch of each cup is restored to the second spacing.

3. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, The control of the movement of the tension adjusting roller includes: Obtain the spatial constraint information of the production site where the conveyor belt is located; Based on the spatial constraint information, the moving direction of the tension adjusting roller is determined, wherein the moving direction is either vertical or horizontal. When the direction of movement is determined to be vertical, the tension adjusting roller is controlled to move downward along the vertical guide rail to increase the length of the conveyor belt's path in the vertical direction. When the direction of movement is determined to be horizontal, the tension adjusting roller is controlled to move horizontally along the horizontal guide rail to increase the length of the conveyor belt's path in the horizontal direction.

4. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, Controlling the movement of the tension adjusting roller to change the path length of the conveyor belt and uniformly stretch the carrying section includes: The total deformation required for the stretching of the bearing segment is determined based on the first spacing and the preset second spacing. Based on the running speed of the conveyor belt, the total deformation is distributed to various positions of the bearing section from the beginning to the end, and the displacement of the tension adjusting roller at each position is determined. The tension adjusting roller is controlled to move gradually according to a determined displacement, so that the pitch of each cup increases uniformly from the first pitch to the second pitch.

5. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, The step of controlling the tension adjusting roller to keep the carrying section relaxed according to the first control command, so as to reduce the pitch of the cups on the conveyor belt to the first spacing, includes: Obtain the diameter information of the raw dough blank; The first spacing is determined based on the diameter information, wherein the first spacing is smaller than the diameter; The tension adjusting roller is controlled to be in the retracted position so that the pitch of the cups on the conveyor belt is reduced to the first spacing.

6. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, After determining the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information, the process includes: Obtain the actual delivery distance of the pastries; Compare the actual distance at which the pastry is delivered with the preset second distance; When the comparison result shows that the actual delivery distance of the surface dot is inconsistent with the preset second distance, the determination process of the current required pitch state is corrected according to the comparison result.

7. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, After the dough blank falls into the container, a second control command is generated, including: Obtain the signal of the pastry falling in; Based on the dough falling signal, count the number of dough pieces that fell into each of the cups; When the counted quantity reaches a preset threshold, it is determined that the cup at the beginning of the conveyor belt has completed the receiving of pastries. Once it is confirmed that the pastry has been accepted, the second control command is generated.

8. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, Before determining the current required pitch state of the conveyor belt carrying section based on the incoming material cycle time information, the process includes: The incoming material cycle time information is filtered to obtain the processed incoming material cycle time information; Based on the processed material feed rate information, the current required pitch state of the conveyor belt carrying section is determined.

9. The intelligent conveying method for continuous forming of quick-frozen pastries according to claim 1, characterized in that, Before obtaining the batching information of the raw dough, the following steps are included: Receive the preset elastic modulus of the conveyor belt and the initial pitch of the cup; Based on the elastic modulus and the initial pitch, the correspondence between the displacement of the tension adjusting roller and the pitch change of the cup is calibrated. Based on the aforementioned correspondence, the control parameters of the tension regulating roller are preset.

10. A continuous forming intelligent conveying system for quick-frozen pastries, characterized in that, include: The rhythm acquisition module is used to acquire the rhythm information of incoming dough blanks; The status determination module is used to determine the current required pitch state of the conveyor belt carrying section based on the incoming material cycle information. The current required pitch state is either a tight receiving state or a loose matching state. The first instruction module is used to generate a first control instruction when it is determined that the current required pitch state is the close acceptance state; The first control module is used to control the tension adjusting roller to keep the carrying section relaxed according to the first control command, so that the pitch of the cups on the conveyor belt is reduced to the first gap, so that the pastry blanks falling into each of the cups are physically separated by the side walls of the cups, and generate a second control command after the pastry blanks fall in. The second control module is used to control the movement of the tension adjusting roller according to the second control command, so as to change the path length of the conveyor belt and stretch the carrying section evenly, so that the pitch of each cup is dynamically increased from the first spacing to the preset second spacing, and the physically separated pastry blanks are sent out at the second spacing. The second instruction module is used to generate a third control instruction when it is determined that the current required pitch state is the pull-out matching state; The third control module is used to control the movement of the tension adjusting roller according to the third control command, and to stretch the carrying section by changing the path length of the conveyor belt, so that the pitch of each cup reaches the second spacing, so as to send out the pastry blanks falling into each cup at the second spacing.

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