Feeding control parameter determination and feeding control method, device, system and controller

Abstract

The application provides a feeding control parameter determination and feeding control method, device, system and controller. The method comprises: obtaining a target feeding number and an actual feeding thickness of each feeding operation according to an initial overall height of a target material stack, and a feeding height threshold of a feeding machine; performing a feeding height calculation step to obtain a feeding height of one feeding operation according to a given gear shaping height of the feeding machine, the actual feeding thickness, and an actual remaining height of the target material stack; updating the actual remaining height of the target material stack based on the actual feeding thickness, and repeatedly performing the feeding height calculation step until the obtained number of each feeding height meets the target feeding number. In this way, the initial overall height of the measured feeding stack is measured to one-time speculate the feeding operation number and the feeding operation thickness of the target material stack, thereby improving the feeding efficiency of the feeding machine and reducing the residual material of the feeding operation.

Description

Technical Field

[0001] This application relates to the field of mechanical control technology, and in particular to a feeding control parameter determination and feeding control method, device, system, electronic device, storage medium, computer program product, and controller. Background Technology

[0002] The feeding machine is an automated device located at the front end of the material box and board printing line. It is used to divide a large pile of material boards into smaller piles and automatically push the material boards to the printing press for the piece-by-piece printing process. Specifically, on the automated production line of the material box, the material boards need to be cut according to specifications and stacked into multiple stacks with the printing side facing down. Then, they are sent to the feeding machine by the logistics conveyor line. The feeding machine divides the stacks into multiple sub-stacks and pushes them in batches, flipping them so that the printing side of the cardboard faces up. Then, the material boards are sent one by one to the feeding section of the printing press, waiting for printing.

[0003] Currently, in the process of feeding stacks in batches by the feeder, the feeding thickness of each feeding operation is a fixed parameter that is set in advance. Therefore, when the height of the stacks to be pushed is not uniform each time, the existing technology will lead to an increase in the number of stack pushes, which will affect the feeding efficiency and result in a large amount of unpushed residual material, which will increase the scrap rate. Summary of the Invention

[0004] In view of this, the feeding control parameter determination and feeding control scheme provided in this application can improve the feeding efficiency of the feeder and reduce the residual material in the feeding operation.

[0005] According to a first aspect of the present application, a method for determining feeding control parameters is provided, applied to a feeding machine. The method includes: obtaining a target number of feeding operations and the actual feeding thickness of each feeding operation based on the initial overall height of the target material stack and a feeding height threshold of the feeding machine; a feeding height calculation step, obtaining the feeding height of one feeding operation based on the given tooth height of the feeding machine, the actual feeding thickness, and the actual remaining height of the target material stack; updating the actual remaining height of the target material stack based on the actual feeding thickness, and repeating the feeding height calculation step until the number of obtained feeding heights satisfies the target number of feeding operations; wherein the target material stack is located on the lifting platform of the feeding machine, and the feeding height represents the lifting height of the lifting platform.

[0006] According to a second aspect of the embodiments of this application, a feeding control method is provided, applied to a feeding machine including a lifting platform, a pusher cart, a height sensor, and a feeding position. The method includes: after a target material stack is located on the lifting platform, raising the lifting platform until the height sensor senses the top surface of the target material stack to detect the initial overall height of the target material stack; controlling the feeding machine to repeatedly perform feeding operations until the actual number of executions of each feeding operation meets the target number of feeding operations, wherein each feeding operation controlled by the feeding machine includes: according to each feeding operation... The feeding height is controlled, and the lifting platform is controlled to perform lifting operations until the actual height of the lifting platform matches the feeding height of each feeding operation; the pushing trolley is controlled to perform a material picking operation on the target material stack on the lifting platform to obtain the material stack to be pushed in each feeding operation; the pushing trolley is controlled to push the material stack to be pushed in each feeding operation to the target feeding area via the feeding position; wherein, the actual remaining height of the target material stack, the feeding height of each feeding operation, and the target feeding number are obtained using the feeding control parameter determination method as described in the first aspect.

[0007] According to a fourth aspect of the embodiments of this application, a feeding control parameter determination device is provided, applied to a feeding machine. The device includes: a preprocessing module, used to obtain a target feeding number and an actual feeding thickness for each feeding operation based on the initial overall height of the target material stack and a feeding height threshold of the feeding machine; a calculation module, used for a feeding height calculation step to obtain the feeding height of one feeding operation based on a given tooth height of the feeding machine, the actual feeding thickness, and the actual remaining height of the target material stack; and an analysis module, used to update the actual remaining height of the target material stack based on the actual feeding thickness, and the calculation module repeatedly executes the feeding height calculation step until the number of obtained feeding heights satisfies the target feeding number; wherein the target material stack is located on the lifting platform of the feeding machine, and the feeding height represents the lifting height of the lifting platform.

[0008] According to a fourth aspect of the embodiments of this application, a feeding control device is provided, applied to a feeder including a lifting platform, a pusher cart, a height sensor, and a feeding position. The device includes: a detection module, configured to raise the lifting platform after a target material stack is located on the lifting platform until the height sensor senses the top surface of the target material stack, to detect the initial overall height of the target material stack; and a control module, configured to control the feeder to repeatedly perform feeding operations until the number of executions of each feeding operation meets a target number of feeding operations; the control module controls each feeding operation performed by the feeder, including: Based on the feeding height of each feeding operation, the lifting platform is controlled to perform a lifting operation so that the actual height of the lifting platform matches the feeding height of each feeding operation; the pushing trolley is controlled to perform a material picking operation on the target material stack on the lifting platform to obtain the material stack to be pushed in each feeding operation; the pushing trolley is controlled to push the material stack to be pushed in each feeding operation to the target feeding area via the feeding position; wherein, the actual remaining height of the target material stack, the feeding height of each feeding operation, and the target feeding number are obtained using the feeding control parameter determining device as described in the third aspect.

[0009] According to a fifth aspect of the embodiments of this application, a controller is provided, the controller being communicatively connected to a feeder, the controller storing control instructions, which, when executed, cause the controller to perform the method described in the first or second aspect.

[0010] According to a sixth aspect of the present application, a feeding control system is provided, comprising: a controller and a drive device as described in the fifth aspect, wherein the drive device is configured to drive an execution device to operate according to a control command received from the controller, and the execution device includes at least the lifting platform and the pusher cart.

[0011] According to a seventh aspect of the present application, an electronic device is provided, including: a processor, a memory, a communication interface, and a bus, wherein the processor, the memory, and the communication interface communicate with each other via the bus; the memory is used to store at least one executable instruction, which causes the processor to perform an operation corresponding to the method described in the first aspect above, or causes the processor to perform an operation corresponding to the method described in the second aspect above.

[0012] According to an eighth aspect of the present application, a computer-readable storage medium is provided, wherein computer instructions are stored on the computer-readable storage medium, and when executed by a processor, the computer instructions cause the processor to perform the method described in the first aspect above, or the processor to perform the method described in the first aspect above.

[0013] According to a ninth aspect of the embodiments of this application, a computer program product is provided, including computer instructions that instruct a computing device to perform an operation corresponding to the method described in the first aspect, or to perform an operation corresponding to the method described in the second aspect.

[0014] As can be seen from the above technical solution, this application can calculate the target feeding number and actual feeding thickness of the target material stack in one go by measuring the initial overall height of the target material stack. This can not only improve the feeding efficiency of the feeding machine, but also reduce or avoid waste of residual material in the feeding operation. Attached Figure Description

[0015] Figure 1 This is a flowchart of a method for determining feeding control parameters, which is an exemplary embodiment of this application.

[0016] Figure 2 A simplified structural diagram of the feeding control parameter determination method and the feeding control method applicable to this application.

[0017] Figure 3 A flowchart of a method for determining feeding control parameters, which is another exemplary embodiment of this application.

[0018] Figure 4 A flowchart illustrating a feeding control method as an exemplary embodiment of this application.

[0019] Figure 5 A schematic diagram illustrating the different operational stages of the feeding operation performed by the feeder.

[0020] Figure 6 This is a flowchart of a feeding control method as another exemplary embodiment of this application.

[0021] Figure 7 This is a structural diagram of a feeding control parameter determination device, which is an exemplary embodiment of this application.

[0022] Figure 8 This is a structural diagram of a feeding control device that is an exemplary embodiment of this application.

[0023] Figure 9 This is a schematic diagram of an electronic device that is an exemplary embodiment of this application.

[0024] List of reference numerals in the attached diagram:

[0025] 100. Method for determining feeding control parameters

[0026] 102. Based on the initial overall height of the target stack and the feeding height threshold of the feeder, obtain the target number of feeding operations and the actual feeding thickness for each feeding operation.

[0027] 104. Based on the given tooth height of the feeder, the actual feeding thickness, and the actual remaining height of the target stack, the feeding height for one feeding operation is obtained.

[0028] 106. Determine whether the quantity obtained at each feeding height meets the target feeding frequency.

[0029] 108. Calculation of the final feeding height

[0030] 300. Method for determining feeding control parameters

[0031] 302. Based on the quotient of the initial overall height of the target stack and the first feeding height threshold, round down to obtain the theoretical number of feeding operations for the target stack.

[0032] 304. Based on the quotient of the initial overall height of the target stack and the theoretical number of feeding operations, the theoretical feeding thickness is obtained.

[0033] 306. Determine whether the second feeding height threshold is greater than or equal to the theoretical feeding thickness.

[0034] 308. Determine the theoretical number of feeding cycles as the target number of feeding cycles.

[0035] 310. Increase the theoretical feeding count by one to obtain the target feeding count.

[0036] 312. Based on the quotient of the initial overall height of the target stack and the target number of feedings, the actual feeding thickness is obtained.

[0037] 400. Feeding Control Method

[0038] 402. After the target material stack is positioned on the lifting platform, raise the lifting platform until the height sensor detects the top surface of the target material stack to determine the initial overall height of the target material stack.

[0039] 404. Control the feeding machine to repeatedly perform the feeding operation until the actual number of times each feeding operation is performed meets the target number of feeding operations.

[0040] 600. Feeding Control Method

[0041] 602. Sequentially designate one of the feeding operations as the current feeding operation.

[0042] 604. Based on the reference feeding height of the current feeding operation, control the lifting platform to perform a lifting operation so that the actual height of the lifting platform matches the reference feeding height.

[0043] 606. Control the pusher to move from the initial position to the picking position, perform a picking operation on the target material stack, and obtain the material stack to be pushed in the current feeding operation.

[0044] 608. Based on the current feeding operation's lifting height, raise the lifting platform until its actual height matches the lifting feeding height, and control the pusher trolley to move from the material picking position to the pre-pushing position, so that a portion of the material stack to be pushed enters the feeding position.

[0045] 610. Based on the current feeding height, control the lifting platform to lower until its actual height matches the feeding height, and control the pusher to move from the pre-push position to the target push position, so that the material stack to be pushed is pushed to the target feeding area via the feeding position.

[0046] 612. Determine whether the actual number of times each feeding operation is executed meets the target number of feeding operations.

[0047] 614. The feeding machine completes the feeding operation of the target material stack.

[0048] 20. Target stack 210, target feeding area 900, electronic equipment

[0049] 20a~20f, 700 stack of materials to be pushed, 902 device for determining feeding control parameters, processor

[0050] 200. Feeding machine; 702. Pre-processing module; 904. Communication interface

[0051] 202, Lifting Platform; 704, Computing Module; 906, Memory

[0052] 204, Material Pusher Cart; 706, Analysis Module; 908, Bus

[0053] 205, trolley toothed feeder 800, feeding control device 910, program

[0054] 206. Height sensor 802. Detection module

[0055] 208, Feeding position 804, Control module Detailed Implementation

[0056] To enable those skilled in the art to better understand the technical solutions in the embodiments of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art should fall within the protection scope of the embodiments of this application.

[0057] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. The steps in the following method embodiments are for illustrative purposes only and are not intended to limit the invention.

[0058] The paper feeder is an automated device located at the front end of the cardboard printing line. It is used to divide a large pile of cardboard into smaller piles and automatically push the cardboard to the printing press for sectional printing.

[0059] The feeding operation of the paper feeding machine currently has the following main problems:

[0060] (1) Pushing in batches according to a fixed feeding height. Since the actual height of the material stack to be pushed is not uniform each time, when the height of the material stack in the last pushing operation is lower than the fixed feeding height, an additional pushing operation will be added, which reduces the feeding efficiency of the paper feeder.

[0061] (2) For the remaining material boards left over from each push operation, if we want to push all the remaining material boards, we need to add another feeding operation. If we don't push these remaining material boards, it will result in waste of material boards. Even if we recycle and reuse these remaining material boards, it still requires manual intervention, which increases labor costs. In addition, reusing the waste material boards can easily damage the printing surface of the material boards, increasing the scrap rate of the finished products in the later printing process.

[0062] (3) After each feeding operation, the host computer needs to re-detect the material level and then control the lifting platform to lift into place at a very slow speed to prepare for the next feeding operation. This will result in a long waiting time between two adjacent feeding operations, causing the feeding operation efficiency of the paper feeder to be low.

[0063] In view of the various problems of the prior art, the embodiments of this application provide a feeding control parameter determination and feeding control method, device, electronic device, storage medium and computer program product, which can effectively improve the feeding operation efficiency and reduce the residual material in the feeding operation.

[0064] The specific implementation of each embodiment of this application will be described in detail below with reference to the accompanying drawings.

[0065] It should be noted that in the various embodiments of this application, "thickness" and "height" are used to characterize the dimensions of the object in the vertical direction.

[0066] Method for determining feeding control parameters

[0067] Figure 1A flowchart of a feeding control parameter determination method 100 according to an exemplary embodiment of this application is shown. It can be applied to a feeding machine and can enable the feeding machine to perform feeding operations according to the various feeding control parameters determined by the feeding control parameter determination method 100 of this embodiment.

[0068] Figure 2 This is a schematic diagram of a feeder 200 applicable to the feeding control parameter determination method 100 of this application. Figure 2 As shown, the feeding machine 200 mainly includes a lifting platform 202, a pusher 204, a height sensor 206, and a feeding position 208.

[0069] The lifting platform 202 is used to place the target material stack 20. The pusher 204 includes a pusher tooth 205, which can be inserted into a designated position of the target material stack 20 to obtain the material stack to be pushed in each feeding operation, such as the material stacks to be pushed 20a to 20f, and push the material stacks to be pushed 20a to 20f in batches to the target feeding area 210 via the feeding position 208.

[0070] The feeder 200 is also equipped with a height sensor 206, which is used to sense the target stack 20 on the lifting platform 202.

[0071] As shown in the figure, the method 100 of this embodiment mainly includes the following steps:

[0072] Step 102: Based on the initial overall height of the target stack and the feeding height threshold of the feeder, obtain the target number of feeding operations and the actual feeding thickness of each feeding operation.

[0073] In this embodiment, the actual feeding thickness of each feeding operation represents the vertical dimension of the stack to be pushed corresponding to each feeding operation. For example, Figure 2 The dimensions of the stacks to be pushed, 20a to 20f, are shown in the vertical direction.

[0074] In some embodiments, the feeding height threshold of the feeder 200 may include a first feeding height threshold and a second feeding height threshold.

[0075] Specifically, the theoretical number of feedings of the target material stack 20 can be determined based on the initial overall height of the target material stack 20 and the first feeding height threshold. The target number of feedings and the actual feeding thickness of the target material stack 20 can be determined based on the theoretical number of feedings of the target material stack 20, the initial overall height of the target material stack 20, and the second feeding height threshold.

[0076] In some embodiments, the stack to be pushed for each feeding operation can be determined based on the target number of feedings of the target stack 20 and the actual feeding thickness of each feeding operation.

[0077] For example, in Figure 2In the example shown, based on the target number of feeding operations and the actual feeding thickness of the target stack 20, six stacks 20a to 20f to be pushed can be determined corresponding to six feeding operations.

[0078] Step 104: Based on the given tooth height of the feeder, the actual feeding thickness, and the actual remaining height of the target stack, obtain the feeding height for one feeding operation.

[0079] In this embodiment, the feeding height represents the lifting height of the lifting platform 202.

[0080] In this embodiment, since the actual remaining height of the target stack is updated after each feeding operation is completed, the feeding height of each feeding operation is different.

[0081] In some embodiments, the given feeding operation parameters of the feeder include: feeding upward adjustment height and feeding downward adjustment height. Correspondingly, the feeding height for each feeding operation includes: base feeding height, upward feeding height and downward feeding height.

[0082] Specifically, for any current feeding operation in each feeding operation, the reference feeding height of the current feeding operation can be obtained based on the given tooth height of the feeder, the actual feeding thickness, and the actual remaining height of the target material stack.

[0083] In this embodiment, the reference feeding height for each feeding operation can be calculated using the following formula 1:

[0084] H elevator_N =H tooth -H actTotal_N +H acteachPush (Formula 1)

[0085] In Formula 1 above, H elevator_N H represents the reference feed height corresponding to the Nth feed operation. tooth H represents the given tooth height of the feeder 200. actTotal_N H represents the actual remaining height of the target stack 20 corresponding to the Nth feeding operation. acteachPush This indicates the actual thickness of the feed material.

[0086] For example, given that the height of the toothed feeder 200 is 1820 mm, the actual remaining height of the target stack 20 corresponding to the current feeding operation is 1600 mm, and the actual feeding thickness is 320 mm, based on the above formula 1, the reference feeding height for the Nth feeding operation can be obtained as 540 mm.

[0087] In some embodiments, the upward feeding height of the current feeding operation can be obtained based on the reference feeding height and the upward feeding height of the current feeding operation, and the downward feeding height of the current feeding operation can be obtained based on the reference feeding height and the downward feeding height of the current feeding operation.

[0088] In this embodiment, the upward feeding height and downward feeding height for each feeding operation can be calculated using the following formula 2:

[0089]

[0090] In formula 2 above, H stepup_N Indicates the lifting height of the Nth feeding operation, H prestepup Indicates that the feeding height is adjusted upwards, H stepdown_N Represents the descending feeding height of the Nth feeding operation, H prestepdown Indicates that the feeding height is adjusted downwards, H elevator_N This represents the reference feeding height for the Nth feeding operation.

[0091] For example, if the baseline feeding height for the current feeding operation is 540 mm, the upward feeding height is 30 mm, and the downward feeding height is 28 mm, then using Formula 2 above, we can obtain that the upward feeding height for the current feeding operation is 570 mm, and the downward feeding height for the current feeding operation is 512 mm.

[0092] In some embodiments, the actual remaining height of the target stack 20 corresponding to the next feeding operation can be updated based on the difference between the actual remaining height and the actual feeding thickness of the target stack 20 corresponding to the current feeding operation, wherein the next feeding operation is a feeding operation that follows the current feeding operation in each feeding operation.

[0093] In this embodiment, the actual remaining height of the updated target stack 20 corresponding to the next feeding operation can be calculated using the following formula 3:

[0094] H actTotal_N+1 =H actTotal_N -H acteachPush (Formula 3)

[0095] In formula 3 above, H actTotal_N+1 H represents the actual remaining height of the target stack 20 corresponding to the (N+1)th feeding operation (the next feeding operation). actTotal_N H represents the actual remaining height of the target stack 20 corresponding to the Nth feeding operation (the current feeding operation). acteachPush This indicates the actual thickness of the feed material.

[0096] For example, if the actual remaining height of the target stack 20 corresponding to the current feeding operation is 1600 mm and the actual feeding thickness is 320 mm, then the actual remaining height of the target stack 20 corresponding to the next feeding operation is 1280 mm.

[0097] Therefore, the advantage of this embodiment is that after the feeder completes the current feeding operation, it does not need to re-detect the updated height of the target material stack through the sensor. It can accurately calculate the updated height of the target material stack 20 corresponding to the next feeding operation based on the actual feeding thickness of each feeding operation and the current height of the target material stack, thereby reducing the detection pause time between adjacent feeding operations.

[0098] In some of the embodiments described, the given feeding operation parameters of the feeder 200 may also include the thickness of the remaining material after feeding.

[0099] In cases where the given feeding operation parameters for the feeder 200 include the thickness of the remaining material after feeding, this step also includes:

[0100] For the final feeding operation in each feeding operation, the reference feeding height of the final feeding operation is obtained based on the given tooth height and feeding residue thickness of the feeder 200, and the lifting feeding height of the final feeding operation is obtained based on the reference feeding height and feeding adjustment height of the final feeding operation.

[0101] In this embodiment, the reference feeding height and the lifting feeding height for the final feeding operation can be calculated using the following formula 4:

[0102]

[0103] In formula 4 above, H elevatorEnd H represents the reference feed height for the final feeding operation. tooth H represents the given tooth height of the feeder 200. ResidueThickness H represents the thickness of the remaining material after feeding. stepupEnd H represents the final feeding height during the feeding operation. prestepup This indicates that the feeding height has been adjusted upwards.

[0104] In some embodiments, the thickness of the feed surplus material can be obtained by multiplying the thickness of each sheet in the stack by the number of surplus sheets.

[0105] For example, with each sheet of material being 5 mm thick and 2 sheets of leftover material, a feeding allowance of 10 mm can be obtained.

[0106] For example, given that the height of the feed tooth of the feeder 200 is 1820 mm, the thickness of the remaining material is 10 mm, and the upward adjustment height of the feed is 30 mm, the reference feed height for the final feed operation can be obtained as 1810 mm and the upward feed height for the final feed operation can be obtained as 1840 mm using the above formula 4.

[0107] Step 106: Determine whether the quantity obtained at each feeding height meets the target feeding number. If yes, proceed to step 108; otherwise, return to step 104.

[0108] In this embodiment, if the quantity obtained at each feeding height (i.e., the number of times step 104 is repeated) is equal to the target feeding count, a judgment result is obtained that the quantity obtained at each feeding height meets the target feeding count. If the quantity obtained at each feeding height is less than the target feeding count, a judgment result is obtained that the quantity obtained at each feeding height does not meet the target feeding count.

[0109] Step 108: Calculate the final feeding height.

[0110] In this embodiment, when the number of each feeding height meets the target feeding number, it means that all feeding control parameters for each feeding operation of the target stack have been calculated and the process can be exited.

[0111] The feeding control parameter determination method provided in this embodiment measures the initial overall height of the target material stack to calculate the target feeding number and actual feeding thickness of the target material stack in one go. This enables the feeder to perform efficient feeding tasks and can reduce or avoid unpushable material plates in the feeding operation, reduce waste of residual material, improve the material stack pushing efficiency, and meet the production needs of high-speed printing.

[0112] Specifically, by measuring the initial overall height of the target stack, an average feeding thickness algorithm based on a preset pushing height is achieved. Compared with the existing feeding operation performed based on a fixed feeding thickness, the technical solution of this embodiment can not only avoid the need to add a feeding operation due to residual material plates, but also avoid waste caused by residual material plates, thereby improving feeding efficiency and reducing scrap rate.

[0113] The feeding control parameter determination method provided in this embodiment can provide the feeding machine with accurate and smooth execution of each feeding operation by calculating the reference feeding height, lifting feeding height and lowering feeding height for each feeding operation, thereby improving the feeding operation efficiency.

[0114] The feeding control parameter determination method provided in this embodiment can independently calculate the reference feeding height and lifting feeding height of the final feeding operation based on the set parameters of the feeding residue thickness, so as to flexibly meet the material plate pushing requirements under different production conditions.

[0115] Figure 3 A flowchart of a feeding control parameter determination method 300 according to another exemplary embodiment of this application is shown. As shown in the figure, the method 300 of this embodiment mainly includes the following steps:

[0116] Step 302: Based on the quotient of the initial overall height of the target stack and the first feeding height threshold, perform rounding down to obtain the theoretical feeding number of the target stack.

[0117] In some embodiments, the initial overall height of the target stack 202 can be detected using the height sensor 206 of the feeder 200.

[0118] In some embodiments, the height sensor 206 may include, but is not limited to, a photoelectric sensor.

[0119] For example, the lifting platform 202 can be controlled to rise from an initial position (e.g., a position with a relative height of 0) so that the height sensor 206 can detect the initial overall height of the target stack 20.

[0120] In this embodiment, the theoretical number of feeding operations for the target stack can be calculated using the following formula 5:

[0121]

[0122] In formula 5 above, K nom H represents the theoretical number of feeds to the target stack. initialTotal T1 represents the initial overall height of the target stack, and T1 represents the first feeding height threshold.

[0123] In this embodiment, the first feeding height threshold can be determined based on the maximum allowable feeding thickness of a single feeding operation of the pusher 204.

[0124] For example, at the initial overall height H of the target stack initialTotal With a height of 1600 mm and a first feeding height threshold T1 of 360 mm, the theoretical number of feeding cycles for the target stack can be calculated using the above formula 5 as 4.

[0125] Step 304: Obtain the theoretical feeding thickness based on the quotient of the initial overall height of the target stack and the theoretical number of feedings.

[0126] In this embodiment, the theoretical feed thickness can be calculated using the following formula 6:

[0127]

[0128] In formula 6 above, H nomeachPush H represents the theoretical feed thickness. initialTotal K represents the initial overall height of the target stack. nomThis indicates the theoretical number of feeds.

[0129] Step 306: Determine whether the second feeding height threshold is greater than or equal to the theoretical feeding thickness. If yes, proceed to step 308; otherwise, proceed to step 310.

[0130] In this embodiment, the second feeding height threshold and the theoretical feeding thickness can be compared. If the second feeding height threshold is not less than the theoretical feeding thickness, step 308 is executed; if the second feeding height threshold is less than the theoretical feeding thickness, step 310 is executed.

[0131] In this embodiment, the second feeding height threshold can be determined based on the maximum allowable turning thickness of the back-end process equipment (e.g., the turning machine) of the feeder.

[0132] Step 308: Determine the theoretical feeding count as the target feeding count, that is, K. act =K nom .

[0133] Step 310: Increase the theoretical feeding count by one to obtain the target feeding count, i.e., K. act =K nom +1.

[0134] In steps 308 and 310 above, K act Indicates the target number of feeds.

[0135] Step 312: Obtain the actual feeding thickness based on the quotient of the initial overall height of the target stack and the target number of feedings.

[0136] In this embodiment, the actual feeding thickness can be calculated using the following formula 7:

[0137]

[0138] In formula 7 above, H acteachPush H represents the actual feed thickness. initialTotal K represents the initial overall height of the target stack. act Indicates the actual number of feedings.

[0139] The feeding control parameter determination method provided in this embodiment determines the target feeding number and actual feeding thickness of the target material stack based on the initial overall height of the target material stack, the first feeding height threshold, and the second feeding height threshold through a secondary algorithm, thereby maximizing the efficiency of the pushing operation.

[0140] Specifically, in this embodiment, a first feeding height threshold is determined based on the maximum allowable feeding thickness, and a second feeding height threshold is determined based on the maximum allowable turning thickness in the back-end process of the feeder. Based on the first feeding height threshold, the theoretical feeding times and theoretical feeding thickness of the target material stack are initially calculated. Then, based on the comparison between the second feeding height threshold and the theoretical feeding thickness, the target feeding times and actual feeding thickness of the target material stack are determined. This not only meets the operational requirement of minimizing the feeding times and improving the feeding efficiency of the feeder, but also meets the operational requirements of the feeder and its back-end process equipment, ensuring the smooth execution of the overall process.

[0141] Feeding control method

[0142] Figure 4 A flowchart of an exemplary feeding control method 400 of this application is shown. As shown, the method 400 of this embodiment mainly includes the following steps:

[0143] Step 402: After the target material stack is located on the lifting platform, raise the lifting platform until the height sensor detects the top surface of the target material stack to detect the initial overall height of the target material stack.

[0144] For example, the target stack 20 can be placed on the lifting platform 202 (see reference). Figure 5 In stage A), the lifting platform 202 is raised until the height sensor 206 senses the top surface of the target material stack 20. The lifting platform 202 is then stopped, and the current height of the lifting platform 202 is obtained. Based on the given sensing height of the height sensor 206 and the current height of the lifting platform 202, the difference calculation is performed to obtain the initial overall height of the target material stack 20.

[0145] Step 404: Control the feeding machine to repeatedly perform the feeding operation until the actual number of times each feeding operation is performed meets the target number of feeding operations.

[0146] In some embodiments, each feeding operation performed by the feeder may include:

[0147] Based on the feeding height of each feeding operation, control the lifting platform to perform lifting operations so that the actual height of the lifting platform matches the feeding height of each feeding operation. Control the pusher to perform a material picking operation on the target material stack on the lifting platform to obtain the material stack to be pushed in each feeding operation, and control the pusher to push the material stack to be pushed in each feeding operation to the target feeding area via the feeding position.

[0148] In this embodiment, the actual remaining height of the target stack, the feeding height of each feeding operation, and the target number of feeding operations are obtained using the feeding control parameter determination method embodiments described above.

[0149] In some embodiments, the positioning coordinates of the lifting platform of the feeder can be calculated based on the feeding height of each feeding operation, and the positioning coordinates can be assigned to the target positioning position of the control program so as to control the actual height of the lifting platform to match the feeding height of each feeding operation.

[0150] The feeding control method provided in this embodiment, based on the feeding control parameters determined in the above-mentioned feeding control parameter determination method embodiments, performs the feeding operation of the target material stack, which can improve the feeding efficiency of the feeder and reduce the residual material in the feeding operation.

[0151] The feeding control method provided in this embodiment only needs to detect the height of the material stack once before each feeding operation. During the execution of each feeding operation, there is no need to re-detect the height of the material stack. It can provide the feeder to continuously execute each feeding operation without deceleration, and there is no obvious pause between two adjacent feeding operations. This can improve the feeding efficiency of the feeder and meet the production requirements of high-speed printing.

[0152] Figure 6 A flowchart of a feeding control method 600 according to another exemplary embodiment of this application is shown. This embodiment is a specific implementation of step 404 described above. Figure 6 As shown, the method 600 in this embodiment mainly includes the following steps:

[0153] Step 602: Sequentially select one of the feeding operations as the current feeding operation.

[0154] Specifically, the current feeding operation can be determined by sequentially selecting one feeding operation from each feeding operation in the order of first, second, and third feeding operations.

[0155] Step 604: Based on the reference feeding height of the current feeding operation, control the lifting platform to perform a lifting operation so that the actual height of the lifting platform matches the reference feeding height.

[0156] refer to Figure 5 The lifting platform 202 can be controlled to perform a lifting operation based on the reference feeding height of the current feeding operation until the actual height of the lifting platform 202 matches the reference feeding height (reference). Figure 5 (Stage B). In this case, the horizontal height of the bottom surface of the stack 20a to be pushed in the current feeding operation should be equal to the horizontal height of the pusher tooth 205 of the pusher trolley 204.

[0157] In this embodiment, the reference feeding height for the current feeding operation is determined based on the above-described embodiments of the feeding control parameter determination methods.

[0158] Step 606: Control the pusher to move from the initial position to the picking position, perform the picking operation on the target material stack, and obtain the material stack to be pushed in the current feeding operation.

[0159] refer to Figure 5 The pusher 204 can be controlled to move from its initial position to a position approaching the stack 20a to be pushed, so that the pusher teeth 205 of the pusher 204 insert into the bottom of the stack 20a to be pushed, and the stack 20a to be pushed in the current feeding operation can be obtained. After the pusher 204 presses the stack 20a to be pushed, the pusher 204 can be controlled to lift the stack 20a to be pushed upward, so that at least a part of the bottom surface of the stack 20a to be pushed is in contact with the remaining part of the target stack 20 (e.g., Figure 2 The stack of materials to be pushed (20b) shown is separated to facilitate the subsequent feeding operation of the stack of materials to be pushed (refer to...). Figure 5 Stage C).

[0160] Step 608: According to the current feeding operation's lifting height, raise the lifting platform until the actual height of the lifting platform matches the lifting feeding height, and control the pusher to move from the material picking position to the pre-pushing position, so that a part of the material stack to be pushed enters the feeding position.

[0161] refer to Figure 5 The lifting platform 202 can be controlled to lift according to the current feeding height until the actual height of the lifting platform 202 matches the feeding height. The pusher trolley 204 is then controlled to move further from the picking position to the pre-pushing position, so that a portion of the material stack 20a to be pushed enters the feeding position 208 (see reference). Figure 5 Stage D).

[0162] Specifically, when the actual height of the lifting platform 202 matches the lifting and feeding height, the top surface of the remaining part of the target stack 20 (e.g., the top surface of the stack 20b to be pushed) should be slightly higher than the bottom side of the feeding position 208. In this case, the stack 20a to be pushed can smoothly enter the feeding position 208 by means of the pushing force applied by the pusher 204.

[0163] In this embodiment, the lifting height of the current feeding operation is determined based on the above-described embodiments of the feeding control parameter determination methods.

[0164] Step 610: Based on the current feeding height, control the lifting platform to perform a lowering operation until the actual height of the lifting platform matches the feeding height, and control the pusher to move from the pre-push position to the target push position, so that the material stack to be pushed is pushed to the target feeding area via the feeding position.

[0165] refer to Figure 5The lifting platform 202 can be controlled to lower according to the current feeding height until the actual height of the lifting platform 202 matches the feeding height. The pusher trolley 204 is then controlled to move from the pre-push position to the target push position until the material stack 20a to be pushed is pushed to the target feeding area 210 via the feeding position 208 (see reference). Figure 5 Phase E to Phase F).

[0166] Specifically, when the actual height of the lifting platform 202 matches the descent feeding height, the top surface of the remaining portion of the target stack 20 (e.g., the top surface of the stack to be pushed 20b) should be slightly lower than the bottom side of the feeding position 208, so that the top surface of the stack to be pushed 20a and the top surface of the remaining portion of the target stack 20 (e.g., the top surface of the stack to be pushed 20b) are separated from each other. This design not only allows the stack to be pushed 20a to be smoothly pushed to the target feeding area 210 via the feeding position 208 under the pushing operation of the pusher 204, but also prevents the remaining material plates of the target stack 20 from being carried into the feeding position 208, affecting the normal execution of the feeding operation.

[0167] In this embodiment, the descending feeding height of the current feeding operation is determined based on the above-described embodiments of the feeding control parameter determination methods.

[0168] In some embodiments, after the current feeding operation is completed, the lifting platform 202 can be controlled to return to the initial position to wait for the next feeding operation.

[0169] Step 612: Determine whether the actual number of times each feeding operation is executed meets the target number of feeding operations. If yes, proceed to step 614; otherwise, return to step 602.

[0170] In this embodiment, if the actual number of times each feeding operation is executed is equal to the target number of feeding operations, it means that the feeding operation of the target stack 20 has been completed, and step S614 is executed. If the actual number of times each feeding operation is executed is less than the target number of feeding operations, it means that the feeding operation of the target stack 20 has not been completed, and step 602 is returned.

[0171] In this embodiment, the target number of feeds is determined based on the above-described embodiments of the feeding control parameter determination method.

[0172] Step 614: The feeding machine finishes feeding the target stack.

[0173] In this embodiment, the process can be exited when the feeding operation of the target stack has been completed.

[0174] In summary, the feeding control method provided in this embodiment can control the feeder to perform each feeding operation according to the reference feeding height, the upward feeding height, and the downward feeding height for each feeding operation. This not only improves the success rate of the feeding operation but also increases the processing speed of the feeding operation.

[0175] Feeding control parameter determination device

[0176] Figure 7 A structural diagram of a feeding control parameter determining device 700 according to an exemplary embodiment of this application is shown. As shown, the feeding control parameter determining device 700 of this embodiment is applied to a feeder 200, and the device 700 includes:

[0177] The preprocessing module 702 is used to obtain the target number of feeding operations and the actual feeding thickness of each feeding operation based on the initial overall height of the target stack 20 and the feeding height threshold of the feeder 200.

[0178] The calculation module 704 is used to obtain the feeding height of one feeding operation based on the given tooth height of the feeder 200, the actual feeding thickness, and the actual remaining height of the target stack 20.

[0179] The analysis module 706 is used to update the actual remaining height of the target stack 20 based on the actual feeding thickness, and the calculation module repeatedly executes the feeding height calculation steps until the number of each feeding height meets the target feeding number.

[0180] The target material stack 20 is located on the lifting platform 202 of the feeder 200, and the feeding height represents the lifting height of the lifting platform 202.

[0181] Optionally, the feeding height threshold of the feeder 200 includes a first feeding height threshold and a second feeding height threshold, wherein the first feeding height threshold is determined based on the maximum allowable feeding thickness of a single feeding operation; the first feeding height threshold is determined based on the maximum allowable turning thickness of the downstream process equipment of the feeder.

[0182] Optionally, the preprocessing module 702 is further configured to: perform a floor function on the initial overall height of the target stack 20 and the quotient of the first feeding height threshold to obtain the theoretical feeding count of the target stack 20; obtain the theoretical feeding thickness based on the initial overall height of the target stack 20 and the quotient of the theoretical feeding count; compare the second feeding height threshold and the theoretical feeding thickness 306; if the second feeding height threshold is not less than the theoretical feeding thickness, determine the theoretical feeding count as the target feeding count 308; if the second feeding height threshold is less than the theoretical feeding thickness, increase the theoretical feeding count by one to obtain the target feeding count 310; and obtain the actual feeding thickness 312 based on the initial overall height of the target stack 20 and the quotient of the target feeding count.

[0183] Optionally, the given feeding operation parameters of the feeder 200 include: feeding upward adjustment height and feeding downward adjustment height.

[0184] Optionally, the calculation module 704 is further configured to: sequentially determine one of each feeding operation as the current feeding operation; obtain the reference feeding height of the current feeding operation based on the given tooth height of the feeder 200, the actual feeding thickness, and the actual remaining height of the target stack 20 corresponding to the current feeding operation; obtain the upward feeding height of the current feeding operation based on the upward feeding height and the reference feeding height of the current feeding operation; and obtain the downward feeding height of the current feeding operation based on the downward feeding height and the reference feeding height of the current feeding operation.

[0185] Optionally, the analysis module 706 is further configured to obtain the actual remaining height of the target stack 20 corresponding to the next feeding operation based on the actual remaining height of the target stack 20 corresponding to the current feeding operation and the actual feeding thickness; update the actual remaining height of the target stack 20 corresponding to the next feeding operation to the actual remaining height of the target stack 20 corresponding to the current feeding operation, and have the calculation module 704 continue to perform the calculation of the feeding height.

[0186] Optionally, the calculation module 704 is further configured to: for the last final feeding operation in each feeding operation, obtain the reference feeding height of the final feeding operation based on the given tooth height of the feeder 200 and the thickness of the remaining feeding material; and obtain the lifting feeding height of the final feeding operation based on the reference feeding height of the final feeding operation and the feeding upward adjustment height.

[0187] Feeding control device

[0188] Figure 8A schematic diagram of the structure of a feeding control device 800 according to an exemplary embodiment of this application is shown. As shown, the feeding control device 800 of this embodiment is applied to a feeder 200 including a lifting platform 202, a pusher trolley 204, a height sensor 206, and a feeding position 208. The device 800 includes:

[0189] The detection module 802 is used to raise the lifting platform 202 after the target material stack 20 is located on the lifting platform 202 until the height sensor 206 senses the top surface of the target material stack (20) to detect the initial overall height of the target material stack 20;

[0190] Control module 804 is used to control the feeder 200 to repeatedly perform the feeding operation until the number of times each feeding operation is performed meets the target number of feeding operations;

[0191] The control module 804 controls each feeding operation performed by the feeder 200, including:

[0192] Based on the feeding height of each feeding operation, the lifting platform 202 is controlled to perform a lifting operation so that the actual height of the lifting platform 202 matches the feeding height of each feeding operation; the pushing cart 204 is controlled to perform a material picking operation on the target material stack 20 on the lifting platform 202 to obtain the material stack to be pushed in each feeding operation; the pushing cart 204 is controlled to push the material stack to be pushed in each feeding operation to the target feeding area 210 via the feeding position 208; wherein, the actual remaining height of the target material stack 20, the feeding height of each feeding operation, and the target feeding number are obtained using the aforementioned feeding control parameter determination device embodiments.

[0193] In some embodiments, the control module 804 may send control commands to the frequency converter (not shown) of the lifting platform 202 or the pusher 204. The frequency converter may convert the control commands of the control module 804 into control electrical signals, and drive the lifting platform 202 or the pusher 204 to operate via the motor (not shown) of the lifting platform 202 or the pusher 204.

[0194] Optionally, the control module 804 controls each feeding operation performed by the feeder 200, including:

[0195] One of each feeding operation is designated as the current feeding operation. Based on the reference feeding height of the current feeding operation, the lifting platform 202 is controlled to perform a lifting operation until its actual height matches the reference feeding height. The pushing cart 204 is then controlled to move from its initial position to its picking position to perform a picking operation on the target material stack 20, acquiring the material stack to be pushed in the current feeding operation. Based on the upward feeding height of the current feeding operation, the lifting platform 202 is controlled to perform a lifting operation until its actual height matches the upward feeding height, and the pushing cart 204 is then controlled to move from its initial position to its picking position. The material picking position is moved to the pre-push position, so that a portion of the material stack to be pushed enters the feeding position 208; according to the descent feeding height of the current feeding operation, the lifting platform 202 is controlled to perform a lowering operation until the actual height of the lifting platform 202 matches the descent feeding height, and the pusher trolley 204 is controlled to move from the pre-push position to the target pushing position, so that the material stack to be pushed is pushed to the target feeding area 210 via the feeding position 208; wherein, the reference feeding height, the upward feeding height, and the downward feeding height of each feeding operation are obtained using the aforementioned feeding control parameter determination device embodiment.

[0196] It should be noted that the information interaction and execution process between the various units in the aforementioned feeding control parameter determination device or feeding control device are based on the same concept as the aforementioned feeding control parameter determination method or feeding control method embodiment. For details, please refer to the description in the aforementioned feeding control parameter determination method or feeding control method embodiment, and will not be repeated here.

[0197] controller

[0198] An exemplary embodiment of this application also provides a controller, which is communicatively connected to a feeder. The controller stores control instructions, which, when executed, cause the controller to perform the processing steps described in the aforementioned embodiments of the feeding control parameter determination method, or to perform the steps described in the aforementioned embodiments of the feeding control method.

[0199] In some embodiments, the controller includes, but is not limited to, a PLC controller, a microcontroller, etc.

[0200] Feeding control system

[0201] An exemplary embodiment of this application also provides a feeding control system, including the controller and drive device of the foregoing embodiments. The drive device is used to drive the operation of the execution device according to the control instructions of the controller, and the execution device includes at least the foregoing lifting platform 202 and the foregoing pushing cart 204.

[0202] In some embodiments, the drive unit may include a frequency converter and a servo motor.

[0203] In addition, the feeding machine involved in the foregoing embodiments can be a paper feeding machine, or a board (such as cardboard, metal plate, wood board, etc.) feeding machine, etc.

[0204] electronic devices

[0205] Figure 9 This is a schematic diagram of an electronic device provided in an embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device. See also... Figure 9 The electronic device 900 provided in this application embodiment includes: a processor 902, a communications interface 904, a memory 906, and a bus 908. Wherein:

[0206] The processor 902, communication interface 904, and memory 906 communicate with each other via bus 908.

[0207] Communication interface 904 is used to communicate with other electronic devices or servers.

[0208] The processor 902 is used to execute program 910, which can specifically execute the relevant steps in the above-described embodiments of the feeding control parameter determination and feeding control method.

[0209] Specifically, program 910 may include program code that includes computer operation instructions.

[0210] The processor 902 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The smart device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0211] Memory 906 is used to store program 910. Memory 906 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0212] Specifically, program 910 can be used to cause processor 902 to execute the feeding control parameter determination and feeding control method in any of the foregoing embodiments.

[0213] The specific implementation of each step in program 910 can be found in the corresponding steps and units described in the above embodiments of the feeding control parameter determination and feeding control method, and will not be repeated here. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the equipment and modules described above can be referred to the corresponding process descriptions in the aforementioned method embodiments, and will not be repeated here.

[0214] Computer-readable storage media

[0215] This application also provides a computer-readable storage medium storing instructions for causing a machine to perform the feeding control parameter determination and feeding control method as described herein. Specifically, a system or apparatus equipped with a storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer (or CPU or MPU) of the system or apparatus to read and execute the program code stored in the storage medium.

[0216] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of this application.

[0217] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0218] Computer program products

[0219] This application also provides a computer program product, including computer instructions that instruct a computing device to perform any corresponding operation in the above-described plurality of method embodiments.

[0220] It should be noted that, depending on the implementation needs, the various components / steps described in the embodiments of this application can be broken down into more components / steps, or two or more components / steps or parts of the operation of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of this application.

[0221] The methods described in the embodiments of this application can be implemented in hardware, firmware, or as software or computer code that can be stored in a recording medium (such as a CD-ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code downloaded over a network that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium. Thus, the methods described herein can be processed by software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that the computer, processor, microprocessor controller, or programmable hardware includes storage components (e.g., RAM, ROM, flash memory, etc.) capable of storing or receiving software or computer code that, when accessed and executed by the computer, processor, or hardware, implements the methods described herein. Furthermore, when a general-purpose computer accesses code used to implement the methods shown herein, the execution of the code transforms the general-purpose computer into a dedicated computer for executing the methods shown herein.

[0222] It should be noted that not all steps and modules in the above processes and system structure diagrams are mandatory; some steps or modules can be omitted as needed. The execution order of each step is not fixed and can be adjusted as required. The system structure described in the above embodiments can be a physical structure or a logical structure. That is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or they may be jointly implemented by certain components in multiple independent devices.

[0223] In this patent application, nouns and pronouns relating to people are not limited to specific genders.

[0224] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operations. The hardware module may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operations. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.

[0225] The present invention has been shown and described in detail above with reference to the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art will know that more embodiments of the present invention can be obtained by combining the code review methods in the different embodiments above. These embodiments are also within the protection scope of the present invention.

Claims

1. A method for determining feeding control parameters, applied to a feeder (200), the method comprising: Based on the initial overall height of the target stack (20) and the feeding height threshold of the feeder (200), the target feeding number and the actual feeding thickness of each feeding operation are obtained. The feeding height calculation step is to obtain the feeding height of one feeding operation based on the given tooth height of the feeder (200), the actual feeding thickness, and the actual remaining height of the target stack (20). Based on the actual feeding thickness, update the actual remaining height of the target stack (20), and repeat the feeding height calculation step until the number of each feeding height meets the target feeding number; The target stack (20) is located on the lifting platform (202) of the feeder (200), and the feeding height represents the lifting height of the lifting platform (202).

2. The method for determining feeding control parameters according to claim 1, wherein, The feeding height threshold of the feeder (200) includes a first feeding height threshold and a second feeding height threshold; Furthermore, the step of obtaining the target feeding count and actual feeding thickness (300) based on the initial overall height of the target stack (20) and the feeding height threshold of the feeder (200) includes: Based on the quotient of the initial overall height of the target stack (20) and the first feeding height threshold, the floor function is rounded down to obtain the theoretical feeding number of the target stack (20). The theoretical feeding thickness is obtained based on the quotient of the initial overall height of the target stack (20) and the theoretical feeding number. Compare the second feeding height threshold with the theoretical feeding thickness (306). If the second feeding height threshold is not less than the theoretical feeding thickness, the theoretical feeding number is determined as the target feeding number (308). If the second feeding height threshold is less than the theoretical feeding thickness, the theoretical feeding number is increased by one to obtain the target feeding number (310). The actual feeding thickness (312) is obtained based on the quotient of the initial overall height of the target stack (20) and the target number of feedings; wherein, The first feeding height threshold is determined based on the maximum allowable feeding thickness for a single feeding operation; The second feeding height threshold is determined based on the maximum allowable material turning thickness of the back-end process equipment of the feeder.

3. The method for determining feeding control parameters according to claim 1, wherein, The given feeding operation parameters of the feeder (200) include: feeding upward adjustment height and feeding downward adjustment height; Furthermore, the feeding height for each feeding operation includes: the base feeding height, the upward feeding height, and the downward feeding height; Furthermore, the feeding height calculation step includes: In sequence, one of the feeding operations is designated as the current feeding operation. The reference feeding height of the current feeding operation is obtained based on the given tooth height of the feeder (200), the actual feeding thickness, and the actual remaining height of the target stack (20) corresponding to the current feeding operation. The lifting height of the current feeding operation is obtained based on the feeding adjustment height and the reference feeding height of the current feeding operation. The lowering feeding height of the current feeding operation is obtained based on the feeding adjustment height and the reference feeding height of the current feeding operation.

4. The method for determining feeding control parameters according to claim 3, wherein, The step of updating the actual remaining height of the target stack (20) based on the actual feeding thickness and repeating the feeding height calculation step includes: Based on the actual remaining height of the target stack (20) corresponding to the current feeding operation and the actual feeding thickness, the actual remaining height of the target stack (20) corresponding to the next feeding operation is obtained; The target stack (20) is updated to correspond to the actual remaining height of the next feeding operation, and the feeding height calculation step is returned to be executed.

5. The method for determining feeding control parameters according to claim 3, wherein, The given feeding operation parameters of the feeder (200) include the thickness of the remaining material after feeding; Furthermore, the feeding height calculation step further includes: For the final feeding operation in each feeding operation, The reference feeding height for the final feeding operation is obtained based on the given tooth height of the feeder (200) and the thickness of the remaining material. The lifting height of the final feeding operation is obtained based on the reference feeding height and the feeding adjustment height.

6. A feeding control method applied to a feeder (200) including a lifting platform (202), a pusher (204), a height sensor (206), and a feeding position (208), the method comprising: After the target stack (20) is located on the lifting platform (202), the lifting platform (202) is raised until the height sensor senses the top surface of the target stack (20) to detect the initial overall height of the target stack (20); The feeding machine (200) is controlled to repeatedly perform feeding operations until the actual number of times each feeding operation is performed meets the target number of feeding operations. Each feeding operation performed by the feeding machine (200) includes: Based on the feeding height of each feeding operation, control the lifting platform (202) to perform lifting operations until the actual height of the lifting platform (202) matches the feeding height of each feeding operation; The pusher (204) is controlled to perform a material picking operation on the target stack (20) on the lifting platform (202) to obtain the stack to be pushed in each feeding operation; The pusher (204) is controlled to push the material stack to be pushed in each feeding operation to the target feeding area (210) via the feeding position (208). in, The actual remaining height of the target stack (20), the feeding height of each feeding operation, and the target feeding number are obtained using the feeding control parameter determination method as described in any one of claims 1 to 5.

7. The feeding control method according to claim 6, wherein, The feeding height for each feeding operation includes the base feeding height, the upward feeding height, and the downward feeding height; Furthermore, each feeding operation performed by the control of the feeder (200) includes: Each feeding operation is sequentially identified as the current feeding operation; Based on the reference feeding height of the current feeding operation, control the lifting platform (202) to perform a lifting operation until the actual height of the lifting platform (202) matches the reference feeding height; Control the pusher (204) to move from the initial position to the picking position, perform a picking operation on the target material stack (20), and obtain the material stack to be pushed in the current feeding operation; According to the current feeding operation's lifting height, control the lifting platform (202) to perform a lifting operation until the actual height of the lifting platform (202) matches the lifting feeding height, and control the pusher (204) to move from the picking position to the pre-pushing position, so that a part of the material stack to be pushed enters the feeding position (208). According to the current feeding operation's descent height, control the lifting platform (202) to perform a descent operation until the actual height of the lifting platform (202) matches the descent feeding height, and control the pusher (204) to move from the pre-push position to the target push position, so that the material stack to be pushed is pushed to the target feeding area (210) via the feeding position (208). The reference feeding height, upward feeding height, and downward feeding height for each feeding operation are obtained using the feeding control parameter determination method as described in any one of claims 3 to 5.

8. A feeding control parameter determining device (700), applied to a feeder (200), the device comprising: The preprocessing module (702) is used to obtain the target number of feeding operations and the actual feeding thickness of each feeding operation based on the initial overall height of the target stack (20) and the feeding height threshold of the feeder (200). The calculation module (704) is used to obtain the feeding height of one feeding operation based on the given tooth height of the feeder (200), the actual feeding thickness, and the actual remaining height of the target stack (20); The analysis module (706) is used to update the actual remaining height of the target stack (20) based on the actual feeding thickness, and the calculation module repeatedly performs the calculation of the feeding height until the number of each feeding height meets the target feeding number. The target stack (20) is located on the lifting platform (202) of the feeder (200), and the feeding height represents the lifting height of the lifting platform (202).

9. A feeding control device (800) applied to a feeder (200) including a lifting platform (202), a pusher (204), a height sensor (206), and a feeding position (208), the device comprising: The detection module (802) is used to raise the lifting platform (202) after the target stack (20) is located on the lifting platform (202) until the height sensor (206) senses the top surface of the target stack (20) to detect the initial overall height of the target stack (20); The control module (804) is used to control the feeder (200) to repeatedly perform the feeding operation until the number of times each feeding operation is performed meets the target number of feeding operations; The control module (804) controls each feeding operation performed by the feeder (200), including: Based on the feeding height of each feeding operation, the lifting platform (202) is controlled to perform a lifting operation so that the actual height of the lifting platform (202) matches the feeding height of each feeding operation; The pusher (204) is controlled to perform a material picking operation on the target stack (20) on the lifting platform (202) to obtain the stack to be pushed in each feeding operation; The pusher (204) is controlled to push the material stack to be pushed in each feeding operation to the target feeding area (210) via the feeding position (208). in, The actual remaining height of the target stack (20), the feeding height of each feeding operation, and the target feeding number are obtained using the feeding control parameter determination device as described in claim 8.

10. A controller communicatively connected to a feeder (200), the controller storing control instructions that, when executed, cause the controller to perform the method as claimed in any one of claims 1 to 5, or the method as claimed in any one of claims 6 to 7.

11. A feeding control system, comprising: The controller as described in claim 10; A drive unit is used to drive the operation of the actuator according to the control command received from the controller, the actuator including at least the lifting platform (202) and the pusher cart (204).

12. An electronic device, comprising: The processor, the communication interface, the memory, and the bus are connected, and the processor, the communication interface, and the memory communicate with each other via the bus. The memory is used to store at least one executable instruction that causes the processor to perform an operation corresponding to the method as described in any one of claims 1 to 5, or to perform an operation corresponding to the method as described in any one of claims 6 to 7.

13. A computer-readable storage medium storing computer instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 5, or the method of any one of claims 6 to 7.

14. A computer program product comprising computer instructions that instruct a computing device to perform an operation corresponding to the method of any one of claims 1 to 5, or to perform an operation corresponding to the method of any one of claims 6 to 7.

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