A state-aware electrode cap adaptive dressing method and system

Abstract

The application discloses a state-aware electrode cap self-adaptive dressing method and system, relates to the dressing processing technical field, acquires a process signal sequence in an electrode cap dressing process, and is segmented to obtain a plurality of discrimination windows; signals in each discrimination window are processed to obtain signals in each discrimination window after processing; a feature vector is constructed based on the signals in each discrimination window after processing; the feature vector is compared with each threshold value, a current dressing state is discriminated in combination with a state discrimination rule; and based on the current dressing state, a corresponding parameter update rule is combined to automatically update control parameters of equipment. The control parameters are automatically adjusted according to the discriminated dressing state, so that the end face quality stability is improved and the probability of adhesion is reduced without increasing complex hardware.

Description

Technical Field

[0001] This invention relates to the field of grinding and finishing technology, and in particular to an adaptive grinding method and system for electrode caps based on state perception. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] Current online electrode cap grinding methods mostly employ fixed rotation speed, fixed pressure, or manual adjustment based on experience. Due to factors such as centering deviation during robot top pressure grinding, the grinding process becomes unstable, and common defects include chip adhesion to the end face, chip breakage marks, uneven surface, and tool sticking.

[0004] The problems with existing technologies are: the lack of discernible indicators for the state of the grinding process makes it impossible to correct deviations in a timely manner when chips adhere or abnormal conditions emerge; relying solely on adjusting a single parameter makes it difficult to balance efficiency and quality, and can easily lead to "getting worse with each adjustment" or excessive conservatism; and the lack of an adaptive closed-loop strategy in the grinding process results in poor quality consistency among different batches of electrode caps and different tool states. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides a state-aware adaptive grinding method and system for electrode caps, which aims to improve the end face quality stability and reduce the probability of chip adhesion without increasing the complexity of hardware.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, the present invention provides a state-aware adaptive grinding method for electrode caps, comprising:

[0008] The process signal sequence during the electrode cap grinding process is acquired and segmented to obtain multiple discrimination windows;

[0009] The signals within each discrimination window are processed to obtain the processed signals within each discrimination window;

[0010] A feature vector is constructed based on the signal within each discrimination window after processing;

[0011] The feature vector is compared with each threshold, and combined with the state discrimination rule, the current grinding state is determined.

[0012] Based on the current grinding status and in accordance with the corresponding parameter update rules, the control parameters of the equipment are adaptively updated.

[0013] In a further technical solution, the process signals include robot end-effector normal force, end-effector torque, joint torque, and spindle power / current.

[0014] A further technical solution is that the feature vector is represented as follows:

[0015]

[0016] in, Represents the eigenvector. This indicates the average contact pressure within the current window. Indicates the degree of pressure fluctuation. Represents the normalized volatility coefficient. This indicates the extreme value of the internal force within the current window. Indicates the amplitude of the fluctuation. It represents energy.

[0017] A further technical solution is that the grinding state includes a stable finishing grinding state, a chip adhesion tendency state on the end face, a chip breakage tendency state, and a tool adhesion tendency state.

[0018] Further technical solutions, the specific rules for judging the state of each grinding condition are as follows:

[0019] The state discrimination rule for the stable optical finishing polishing state is as follows:

[0020]

[0021] The rule for determining the tendency of the end face to adhere to debris is as follows:

[0022]

[0023] The rule for determining the state of the chip breakage mark tendency is as follows:

[0024]

[0025] The rule for determining the stickiness tendency state is as follows:

[0026]

[0027] in, Represents the normalized volatility coefficient. Indicates the volatility coefficient threshold. Indicates the amplitude of the fluctuation. Indicates the threshold value for fluctuation. Indicates energy. Indicates the energy threshold. Represents a set of states. This indicates a stable, polished finish. This indicates a tendency for debris to adhere to the end face. This indicates the tendency of the chipping marks to break. This indicates the extreme value of the internal force within the current window. Indicates the force threshold. This indicates the average contact pressure within the current window. Indicates the average contact pressure threshold. This indicates a tendency for the knife to stick.

[0028] A further technical solution is that the parameter update rule is expressed as follows:

[0029] If the current grinding state is a stable finishing grinding state, then maintain the current parameters or gradually change according to the preset end curve;

[0030] If the current grinding state is characterized by a tendency for chip adhesion on the end face, then a combination of pressure reduction and speed increase should be used for adjustment.

[0031] If the current grinding condition is prone to chip breaking marks, then reduce the grinding pressure and speed.

[0032] If the current regrinding state is prone to sticking, quickly reduce the regrinding pressure and maintain it for the set time.

[0033] A further technical solution is to adaptively update the control parameters to satisfy parameter constraints, as expressed as:

[0034]

[0035]

[0036]

[0037] in, Indicates the first The pressure of refining each discrimination window Indicates the first The pressure of refining each discrimination window This represents the maximum value of the change in grinding pressure. This indicates the minimum grinding pressure. This indicates the maximum value of the grinding pressure. Indicates the first The grinding speed of each discrimination window This indicates the minimum grinding speed. This indicates the maximum speed of the grinding cycle.

[0038] Secondly, the present invention provides a state-aware adaptive grinding system for electrode caps, comprising:

[0039] The signal acquisition module is configured to acquire the process signal sequence during the electrode cap grinding process and segment it to obtain multiple discrimination windows.

[0040] The signal processing module is configured to process the signal in each discrimination window to obtain the processed signal in each discrimination window.

[0041] The feature extraction module is configured to construct feature vectors based on the signals within each processed discrimination window.

[0042] The state discrimination module is configured to compare the feature vector with each threshold and, in conjunction with the state discrimination rules, determine the current grinding state.

[0043] The parameter update module is configured to adaptively update the control parameters of the equipment based on the current grinding status and the corresponding parameter update rules.

[0044] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a state-aware adaptive electrode cap grinding method as described in the first aspect.

[0045] Fourthly, the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a state-aware adaptive grinding method for electrode caps as described in the first aspect.

[0046] The above one or more technical solutions have the following beneficial effects:

[0047] This invention enables the grinding system to identify the grinding status of the electrode cap end face during the grinding process and automatically adjust the rotation speed and top pressure based on the identification results, thereby improving the end face quality stability and reducing the probability of chip adhesion without increasing the complexity of the hardware.

[0048] This invention transforms the grinding process from experience-based control to state-driven control by constructing a windowed feature vector and executing a parameter update mapping function based on the state discrimination result. Compared to the fixed parameter method, parameter correction can be performed at the stage when abnormal states occur, significantly improving the stability of the grinding process.

[0049] This invention can complete state identification and parameter updates based solely on process signals obtainable from the robot side, without requiring additional vision systems or complex sensors, thus possessing excellent industrial feasibility and promotional value. Furthermore, by triggering parameter adjustments only in abnormal or final stages while maintaining efficiency parameters during the stable finishing phase, this invention ensures that the overall grinding cycle variation does not exceed 5%, while significantly improving end-face quality stability, achieving a balance between efficiency and quality. Attached Figure Description

[0050] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0051] Figure 1 This is a flowchart of an adaptive grinding method for electrode caps based on state awareness, according to an embodiment of the present invention.

[0052] Figure 2 This is a flowchart of an embodiment of the present invention of an adaptive grinding method for electrode caps based on state perception;

[0053] Figure 3 This is a schematic diagram of the state discrimination rules in an embodiment of the present invention. Detailed Implementation

[0054] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, 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 invention pertains.

[0055] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0056] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0057] Example 1

[0058] like Figure 1 , Figure 2 As shown, this embodiment discloses an adaptive grinding method for electrode caps based on state awareness, which includes the following steps:

[0059] S1: Acquire the process signal sequence during the electrode cap grinding process and segment it to obtain multiple discrimination windows;

[0060] In this embodiment, during the electrode cap grinding process, the sampling period is used as the reference. Acquisition of process signal sequence Process signals include the robot's end effector normal force. End torque Joint torque and spindle power / current .

[0061] The continuous signal is segmented into segments using a sliding window, with each discrimination window having a length of [length missing]. , No. The sample set of each window is denoted as:

[0062] .

[0063] Discretizing continuous signals through sliding window processing facilitates subsequent state-driven control while avoiding transient noise interference.

[0064] S2: Process the signal in each discrimination window to obtain the processed signal in each discrimination window;

[0065] In this embodiment, the signal within the window is de-stressed and filtered to reduce the impact of low-frequency drift on the discrimination. For example, the normal force signal is subjected to mean removal and bandpass filtering:

[0066]

[0067] in, The mean of the signal within the window. For bandpass filtering operators, To determine the normal force signal within the window, The signal within the processed discrimination window is used for this purpose. The purpose of this windowing is to avoid interference from transient noise on the discrimination results; to ensure that the parameter update frequency matches the equipment response capability; and to discretize the continuous grinding process to facilitate state-driven control.

[0068] By employing the aforementioned technical features, low-frequency interference is eliminated, characteristic components related to the processing state are highlighted, and the accuracy of state discrimination is improved.

[0069] S3: Construct feature vectors based on the signals within each discrimination window after processing;

[0070] In this embodiment, in each discrimination window Built-in feature vectors :

[0071]

[0072] in, This indicates the average contact pressure within the current window; Indicates the degree of pressure fluctuation; This represents the normalized fluctuation coefficient, which reflects the proportion of fluctuation per unit average pressure when the contact is stable. Smaller size, when debris or uneven contact occurs. Get bigger; This indicates the extreme value of the force within the current window, used to detect impact-type abnormal states; It indicates the runout amplitude, used to identify runout and eccentricity generated during the grinding process; It represents energy.

[0073] Specifically:

[0074] ,

[0075]

[0076] in, This represents the normal force at the robot's end effector. This represents the mean. Indicates standard deviation, This represents a small constant used to prevent the denominator from being zero.

[0077] Indicates the mutation rate of force. This represents the extreme value of the internal force within the window, used to detect impact-type abnormal states, and is expressed as:

[0078]

[0079]

[0080] in, This indicates the time step, i.e., the length of the time window. This indicates the current moment during the grinding process. This indicates the current time interval. The expression is a first-order difference approximation of pressure versus time, used to measure the degree of instantaneous impact. When sticking or chip clogging occurs, the contact force will rise or fall rapidly, leading to… The instantaneous value increases.

[0081] Normal force on the robot end effector With joint torque Perform frequency domain analysis, and let the characteristic frequency of the principal shaft or contact be... The amplitude of the bounce is defined as follows: This is used to identify runout and eccentricity generated during the grinding process, and is represented as:

[0082]

[0083] in, Indicates grinding force signal Frequency components after Fourier transform Indicates bandwidth. This represents the Fourier transform.

[0084] For high frequency band When adhesion leads to friction dominance, material adhesion and tearing occur, the frictional characteristics of the contact interface change, and the high-frequency vibration component is enhanced. This can be achieved by calculating energy... To represent:

[0085] .

[0086] Through the aforementioned technical features, the physical state of the grinding process can be characterized from multiple dimensions in the time and frequency domains. By using multi-dimensional features, refined identification of different abnormal states can be achieved.

[0087] S4: Compare the feature vector with each threshold, and combine it with the state discrimination rules to determine the current grinding state;

[0088] In this embodiment, a set of states is defined for stable finishing grinding, end-face chip adhesion tendency, chip breakage tendency, and tool sticking tendency:

[0089]

[0090] in, To stabilize the polishing and finishing process. This indicates a tendency for chip adhesion on the end face. It is in a state of tendency to show chipping marks. This indicates a tendency for the tool to stick. The tendencies of chip adhesion to the end face, chip breakage marks, and tool sticking are all abnormal conditions.

[0091] like Figure 3 As shown, relevant thresholds are set for stable finishing grinding state, end face chip adhesion tendency state, chip breakage tendency state, and tool sticking tendency state, including fluctuation coefficient threshold. , fluctuation amplitude threshold Energy threshold Force threshold Average contact pressure threshold .

[0092] When comparing the feature vector with each threshold, the first level prioritizes judging the coefficient of variation and stability of the grinding force, i.e., the normalized fluctuation coefficient. Its volatility threshold The comparison is performed to determine whether the value is greater than or equal to the fluctuation coefficient threshold, and then the energy is... Its energy threshold The comparison is performed to determine if it is greater than or equal to the energy threshold; then the risk value of the wear-off force is determined, i.e., the fluctuation amplitude. Its fluctuation amplitude threshold Compare the values ​​to determine if they are greater than or equal to the fluctuation amplitude threshold; then determine the drastic changes in the grinding force, i.e., the extreme values ​​of the force. Its force threshold The system compares the values ​​to determine if they are greater than or equal to the force threshold. It then uses a rule-based judgment unit to detect anomalies based on the discrimination rules and outputs the determined state.

[0093] The specific judgment rules are as follows:

[0094] The criteria for determining a stable finish grinding state are as follows:

[0095]

[0096] The criteria for determining the tendency of the end face to adhere to debris are as follows:

[0097]

[0098] The criteria for determining the tendency of chip breakage marks are as follows:

[0099]

[0100] The rule for determining the tendency of the knife to stick is as follows:

[0101]

[0102] Volatility coefficient threshold Determined by historical sample statistics, and expressed as:

[0103]

[0104] in, This represents the mean of the normalized volatility coefficient. This represents the multiplier.

[0105] jitter amplitude threshold This is used to determine whether the grinding force exceeds the normal range. It is determined through experimental data and set to 95% of the maximum grinding force value in historical grinding data. This percentage can be adjusted through experimental data.

[0106] Energy threshold The key factors used to assess the stability of the regrinding process and the risk of chip adhesion are expressed as follows:

[0107]

[0108]

[0109] in, This indicates the energy generated during the grinding process. Indicates the grinding depth; This represents the average energy consumed during the grinding process. The standard deviation of energy.

[0110] Force threshold It was determined through statistical analysis of historical wear and tear data, and can be expressed as:

[0111]

[0112] in, This represents the average value of the grinding force. The standard deviation of grinding force.

[0113] Average contact pressure threshold Based on statistical analysis of historical repair data, it is represented as follows:

[0114]

[0115]

[0116] in, Indicates the average contact pressure. This indicates the contact area between the electrode cap and the regrinding tool; This represents the average value of normal grinding force. The standard deviation represents the normal grinding force.

[0117] By combining multiple rules for discrimination, accurate differentiation of different abnormal states can be achieved, providing a basis for subsequent adaptive parameter adjustments. Furthermore, the relevant thresholds are determined statistically from historical samples, exhibiting good robustness.

[0118] S5: Based on the current grinding status and in conjunction with the corresponding parameter update rules, the control parameters of the equipment are adaptively updated.

[0119] In this embodiment, let the first The control parameters corresponding to each discrimination window (the grinding speed and grinding pressure controlled in the robot control system) are:

[0120]

[0121] in, For grinding speed, The grinding pressure. Based on the condition judgment result. Output parameter update law .

[0122] Furthermore, to ensure safety and feasibility, parameter constraints are set, and a saturation operator is employed:

[0123]

[0124]

[0125] in, This is the minimum grinding speed. This represents the maximum grinding speed. This represents the minimum grinding pressure. This represents the maximum grinding pressure. A saturation function, meaning that when the variable... When it exceeds the upper and lower limits, it is restricted to within the two boundaries; This refers to the actual value of the grinding speed or grinding pressure. This is the minimum value of the grinding speed or grinding pressure, which is the lower limit that is permissible. This refers to the maximum value of the grinding speed or grinding pressure, which is the upper limit that can be set. For the minimum value function, select the minimum value of the variable within the parentheses; This is a function for maximizing the value; it selects the maximum value of the variable within the parentheses.

[0126] Based on the state discrimination result Output parameter update law The details are as follows:

[0127] When the state is determined to be a stable finishing grinding state, the current parameters are maintained or the parameters are gradually changed according to the preset end curve. The equations are as follows:

[0128]

[0129] or

[0130]

[0131] in, For the first The grinding speed of each discrimination window For the first The grinding speed of each discrimination window For the first The pressure of refining each discrimination window For the first The pressure of refining each discrimination window , This is the preset step size.

[0132] When the condition is determined to be a state of tendency for chip adhesion on the end face, a combination of "pressure reduction + speed increase" adjustment is adopted, or pressure reduction is given priority. The combination adjustment method is as follows:

[0133]

[0134] in, This refers to the adjustment amount of grinding pressure when determining the tendency of the end face to adhere to chips. This refers to the adjustment amount of the grinding speed when the end face is determined to be prone to chip adhesion. , Adjustment of variable values: Experimental data is used to obtain the changing trend of grinding force under different speeds and pressures, and to determine which grinding conditions resulted in chip adhesion or wear problems, thus determining the adjustment range. The speed adjustment range is 5%-10%, and the grinding pressure adjustment range is 5%-10%.

[0135] When a tendency for chip breakage marks to occur due to vibration or eccentricity is identified, i.e., a chip breakage mark tendency state, in order to reduce instantaneous impact and contact instability, the grinding pressure is reduced and a slight speed reduction can be adopted. The stabilization method is as follows:

[0136]

[0137] in, This refers to the adjustment amount of grinding pressure when determining the tendency of chip breaking marks. This refers to the adjustment amount of the grinding speed when the end face is determined to be prone to chip adhesion. , A small adjustment is used to suppress periodic load peaks caused by jitter. When the jitter amplitude threshold... When the predetermined threshold is exceeded, it means that there is a tendency to produce chip breakage marks, and it is necessary to reduce the speed and pressure, that is, the reduction in speed and pressure is less than 5%, and the specific value is determined based on the experimental results.

[0138] When a risk of tool sticking is identified, i.e., a tendency for tool sticking, the following approach is adopted: rapidly reduce the regrinding pressure and maintain it for a set time.

[0139]

[0140] in, For safe grinding pressure.

[0141] Furthermore, to ensure control stability, parameter updates must satisfy the following:

[0142]

[0143]

[0144]

[0145] in, This represents the maximum value of the grinding pressure change, ensuring that the grinding pressure does not become too fast during frame skipping.

[0146] After the abnormal state is eliminated, the parameters gradually return to the preset steady-state value:

[0147]

[0148] in, This is a smooth adjustment amount for grinding pressure and grinding speed. The preset ideal pressure value is used as a reference for grinding pressure.

[0149] The overall state-driven mapping function is:

[0150]

[0151] in, This is the set of parameter update rules for the corresponding state. The above updates can be implemented using any of the following methods: step-based, hierarchical, or gradual. The update cycle is... It can be set according to the actual equipment's allowable acceleration / deceleration capacity and pressure response speed. , The range of values ​​for .

[0152] After updating the control parameters, determine whether the termination conditions are met. If so, end the grinding process; otherwise, continue acquiring process signals. The termination conditions are mainly: the robot's end-effector normal force, i.e., the grinding force has stabilized; the grinding process has reached the preset duration (4-6 seconds); and the robot's joint torque has stabilized.

[0153] In some implementations, the process signals used for state discrimination, in addition to the robot's end effector normal force, joint torque, and spindle power, may also include any one or more combinations of vibration signals, acoustic emission signals, electrode cap grinding times, and welding times. These signals can be used individually or combined through weighted fusion to construct comprehensive features. Regarding feature construction, in addition to mean, fluctuation coefficient, mutation rate, and frequency domain energy, statistical features such as variance, skewness, and wavelet energy can also be used as state discrimination indicators.

[0154] Example 2

[0155] This embodiment discloses a state-aware adaptive electrode cap grinding system, including:

[0156] The signal acquisition module is configured to acquire the process signal sequence during the electrode cap grinding process and segment it to obtain multiple discrimination windows.

[0157] The signal processing module is configured to process the signal in each decision window to obtain the processed signal in each decision window.

[0158] The feature extraction module is configured to construct feature vectors based on the signals within each processed discrimination window.

[0159] The state discrimination module is configured to compare the feature vector with each threshold and, in conjunction with the state discrimination rules, determine the current grinding state.

[0160] The parameter update module is configured to adaptively update the control parameters of the equipment based on the current grinding status and the corresponding parameter update rules.

[0161] Example 3

[0162] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method of Embodiment 1.

[0163] Example 4

[0164] The purpose of this embodiment is to provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the method of Embodiment 1.

[0165] The steps and methods involved in the apparatuses of Embodiments 3 and 4 above correspond to those in Embodiment 1. For specific implementation details, please refer to the relevant description section of Embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood as including any medium capable of storing, encoding, or carrying an instruction set for execution by a processor and enabling the processor to perform any of the methods in this invention.

[0166] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computer devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computer device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. The present invention is not limited to any particular combination of hardware and software.

[0167] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0168] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A state-aware adaptive grinding method for electrode caps, characterized in that, include: The process signal sequence during the electrode cap grinding process is acquired and segmented to obtain multiple discrimination windows; The signals within each discrimination window are processed to obtain the processed signals within each discrimination window; A feature vector is constructed based on the signal within each discrimination window after processing; The feature vector is represented as follows: in, Represents the eigenvector. This indicates the average contact pressure within the current window. Indicates the degree of pressure fluctuation. Represents the normalized volatility coefficient. This indicates the extreme value of the internal force within the current window. Indicates the amplitude of the fluctuation. Indicates energy; The feature vector is compared with each threshold, and the current grinding state is determined by combining the state discrimination rules. The specific state discrimination rules for each grinding state are as follows: The state discrimination rule for stable finishing grinding is as follows: The state discrimination rule for the tendency of the end face to adhere to debris is as follows: The rules for determining the state of chip breakage marks are as follows: The rule for determining the sticky knife tendency state is as follows: in, Represents the normalized volatility coefficient. Indicates the volatility coefficient threshold. Indicates the amplitude of the fluctuation. Indicates the threshold value for fluctuation. Indicates energy. Indicates the energy threshold. Represents a set of states. This indicates a stable, polished finish. This indicates a tendency for debris to adhere to the end face. This indicates the tendency of the chipping marks to break. This indicates the extreme value of the internal force within the current window. Indicates the force threshold. This indicates the average contact pressure within the current window. Indicates the average contact pressure threshold. Indicates a tendency for the knife to stick; Based on the current grinding status and in accordance with the corresponding parameter update rules, the control parameters of the equipment are adaptively updated.

2. The state-aware adaptive grinding method for electrode caps as described in claim 1, characterized in that, The process signals include the robot end effector normal force, end effector torque, joint torque, and spindle power / current.

3. The state-aware adaptive grinding method for electrode caps as described in claim 1, characterized in that, The parameter update rule is expressed as follows: If the current grinding state is a stable finishing grinding state, then maintain the current parameters or gradually change according to the preset end curve; If the current grinding state is characterized by a tendency for chip adhesion on the end face, then a combination of pressure reduction and speed increase should be used for adjustment. If the current grinding condition is prone to chip breaking marks, then reduce the grinding pressure and speed. If the current regrinding state is prone to sticking, quickly reduce the regrinding pressure and maintain it for the set time.

4. The state-aware adaptive grinding method for electrode caps as described in claim 3, characterized in that, The adaptive update of the control parameters satisfies the parameter constraints, as expressed as: in, Indicates the first The pressure of refining each discrimination window Indicates the first The pressure of refining each discrimination window This represents the maximum value of the change in grinding pressure. This indicates the minimum grinding pressure. This indicates the maximum value of the grinding pressure. Indicates the first The grinding speed of each discrimination window This indicates the minimum rotational speed required for grinding. This indicates the maximum speed of the grinding cycle.

5. A state-aware adaptive electrode cap grinding system, employing the state-aware adaptive electrode cap grinding method as described in any one of claims 1-4, characterized in that, include: The signal acquisition module is configured to acquire the process signal sequence during the electrode cap grinding process and segment it to obtain multiple discrimination windows. The signal processing module is configured to process the signal in each decision window to obtain the processed signal in each decision window. The feature extraction module is configured to construct feature vectors based on the signals within each processed discrimination window. The state discrimination module is configured to compare the feature vector with each threshold and, in conjunction with the state discrimination rules, determine the current grinding state. The parameter update module is configured to adaptively update the control parameters of the equipment based on the current grinding status and the corresponding parameter update rules.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the state-aware adaptive grinding method for electrode caps as described in any one of claims 1-4.

7. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the state-aware adaptive grinding method for electrode caps as described in any one of claims 1-4.

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