Self-adaptive conveying belt control method, device and system and dessert production process

The invention provides a self-adaptive conveying belt control method, device and system and a dessert production process. The method comprises the steps that the grabbing state of a grabbing station is obtained; the grabbing state of the grabbing station comprises a dessert grabbing state and a dessert placing state; when the dessert grabbing state is abnormal, a first self-adaptive conveying speed is calculated according to abnormal data of the dessert grabbing state, and a first conveying belt is controlled to convey desserts on a material disc to pass through the grabbing station at the first self-adaptive conveying speed; when the dessert placing state is abnormal, a second self-adaptive conveying speed is calculated according to abnormal data of the dessert placing state, a second conveying belt is controlled to convey an empty support to pass through a grabbing station at the second self-adaptive conveying speed, the grabbed desserts are placed into the empty support by the grabbing station to form a to